CN214456577U

CN214456577U - Cargo handling robot

Info

Publication number: CN214456577U
Application number: CN202023334666.0U
Authority: CN
Inventors: 梁朝智; 杜晓伟
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-10-22
Anticipated expiration: 2030-12-30

Abstract

The present invention provides a cargo handling robot, comprising: a frame having a carrying portion for carrying goods; the moving assembly is arranged on the rack and drives the rack to move through the moving assembly; the jacking assembly comprises a supporting part and a jacking part, and the jacking part is arranged in a lifting manner along the vertical direction relative to the supporting part so as to drive the goods to lift relative to the rack; the jacking assembly is in a jacking state, and when the jacking assembly is in the jacking state, the supporting part is in contact with a supporting surface below the goods handling robot; the frame and the jacking assembly can be arranged relatively close to or relatively far away from each other along the first direction; along the vertical direction, frame and jacking subassembly can freely movably set up in predetermined range. The cargo handling robot solves the problem that the handling robot in the related art is poor in working stability.

Description

Cargo handling robot

Technical Field

The invention relates to the field of robots, in particular to a cargo handling robot.

Background

In the fields of logistics, warehousing and the like, a robot is generally adopted to carry and transfer goods, so that the carrying efficiency is improved, and the labor cost is reduced.

In the related art, a transfer robot generally uses a fork arranged to be lifted to lift a load and move the load relative to a frame, so as to place the load on or off the frame. Adopt this kind of structural design's transfer robot at the in-process of operating the goods, the fork has the action of stretching out or withdrawing, leads to rocking easily at this in-process to the condition that the goods dropped appears easily, when carrying some more fragile goods, the fork stretches out or withdraws rocking that leads to and leads to the goods damaged easily even.

Therefore, the transfer robot in the related art has a problem of poor work smoothness.

Disclosure of Invention

The invention mainly aims to provide a cargo transfer robot to solve the problem that the transfer robot in the related art is poor in working stability.

In order to achieve the above object, the present invention provides a cargo-handling robot comprising: a frame having a carrying portion for carrying goods; the moving assembly is arranged on the rack and drives the rack to move through the moving assembly; the jacking assembly comprises a supporting part and a jacking part, and the jacking part is arranged in a lifting manner along the vertical direction relative to the supporting part so as to drive the goods to lift relative to the rack; the jacking assembly is in a jacking state, and when the jacking assembly is in the jacking state, the supporting part is in contact with a supporting surface below the goods handling robot; the frame and the jacking assembly can be arranged relatively close to or relatively far away from each other along the first direction; along the vertical direction, frame and jacking subassembly can freely movably set up in predetermined range.

Furthermore, a slide rail is arranged on the rack and extends along the first direction; the goods handling robot further comprises a sliding assembly and a connecting assembly, wherein the sliding assembly is slidably arranged on the sliding rail along a first direction; the coupling assembling includes: the first connecting piece is connected with the sliding assembly; the second connecting piece is connected with the supporting part of the jacking assembly; the transition connecting piece, first connecting piece and second connecting piece all are articulated with transition connecting piece.

Furthermore, a plurality of transition connecting pieces are arranged at intervals along the vertical direction; and the connecting lines of the hinge points formed between any two transition connecting pieces and the first connecting piece and the second connecting piece form a parallelogram.

Furthermore, the jacking assembly has a storage state, and when the jacking assembly is in the storage state, the jacking assembly is separated from the supporting surface below the goods handling robot; the slide module includes: the body structure is in sliding fit with the sliding rail; the lifting structure is arranged on the body structure in a lifting manner along the vertical direction; the lifting structure is connected with the first connecting piece so as to drive the jacking assembly to be switched between a jacking state and a storage state through the connecting assembly; the lifting driving structure is in driving connection with the body structure and the lifting structure so as to drive the lifting structure to lift through the lifting driving structure.

Furthermore, a first sliding fit part is arranged on the body structure, a second sliding fit part is arranged on the lifting structure, and the second sliding fit part is slidably arranged on the first sliding fit part along the vertical direction; the sliding assembly comprises a transmission piece, and the lifting driving structure is arranged on the body structure and connected with the transmission piece so as to drive the transmission piece to lift through the lifting driving structure; the lifting structure is hinged with the transmission piece so that the lifting structure can be rotatably arranged around a preset axis relative to the transmission piece; the preset axis extends along the second direction, and the first direction and the vertical direction are both perpendicular to the second direction.

Furthermore, a first contact surface is arranged on one side of the first connecting piece facing the second connecting piece, and a second contact surface is arranged on one side of the second connecting piece facing the first connecting piece; when the jacking assembly is in the storage state, the first contact surface is abutted to the second contact surface.

Furthermore, the first connecting piece is provided with a convex part which is arranged to protrude out of the first contact surface, and the second connecting piece is provided with a concave part which is arranged on the second contact surface; when the jacking assembly is in the storage state, the protruding portion is inserted into the recessed portion, and at least part of the surface of the protruding portion is in contact with at least part of the surface of the recessed portion.

Further, the boss has a first upper surface, at least a portion of which is disposed obliquely with respect to a horizontal plane; the recess has a second upper surface, at least part of which is arranged obliquely relative to the horizontal plane; when the jacking assembly is in the storage state, the first upper surface is abutted to the second upper surface.

Further, the first upper surface and the second upper surface are both planes forming an included angle of 45 degrees relative to the horizontal plane.

Further, the bottom of supporting part has the gyro wheel, and when jacking subassembly was in the jacking state, the gyro wheel contacted with the holding surface below the cargo handling robot.

The goods carrying robot applying the technical scheme of the invention comprises a rack, a moving assembly and a jacking assembly, wherein the rack is provided with a bearing part for bearing goods; the moving assembly is arranged on the rack so as to drive the rack to move through the moving assembly; the jacking assembly comprises a supporting part and a jacking part, and the jacking part is arranged in a lifting manner along the vertical direction relative to the supporting part so as to drive the goods to lift relative to the rack; the jacking assembly is in a jacking state, and when the jacking assembly is in the jacking state, the supporting part is in contact with a supporting surface below the goods handling robot; the frame and the jacking assembly can be arranged relatively close to or relatively far away from each other along the first direction; along the vertical direction, frame and jacking subassembly can freely movably set up in predetermined range. When using, after the jacking subassembly carries out the jacking to the goods, the jacking subassembly can independently realize the support to the goods, drives the frame through the removal subassembly this moment and is close to or keeps away from the jacking subassembly, can conveniently adorn the goods in the frame or lift off from the frame. In whole loading and unloading process, adopt the frame initiative to be close to or keep away from the mode of jacking subassembly and load and unload, and do not need the jacking subassembly to drive the goods and remove along the horizontal direction, can avoid rocking the problem that leads to the goods to drop or damage because of the jacking subassembly effectively. Because the frame and the jacking assembly can freely move relatively in a preset range along the vertical direction, when the supporting surface below the transfer robot is uneven, the frame can not drive the jacking assembly to shake even if jolting in the process of moving close to or far away from the jacking assembly, the stable support of the jacking assembly on goods is ensured, the goods can be stably loaded on the frame or unloaded from the frame, and the problem of poor work stability of the transfer robot in the related technology is solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 illustrates a schematic view of an embodiment of a cargo handling robot according to the present invention with a jacking assembly in a first position;

FIG. 2 illustrates a schematic view of an embodiment of a cargo handling robot according to the present invention with the jacking assembly in a second position;

FIG. 3 illustrates a schematic diagram of an embodiment of a cargo handling robot according to the present invention when the jacking assembly is in the second position and the jacking assembly is in the jacking state;

FIG. 4 illustrates a schematic connection diagram of the jacking assembly, the sliding assembly and the connecting assembly of an embodiment of the cargo handling robot according to the present invention;

FIG. 5 is an enlarged schematic view of a partial area of the cargo-handling robot of FIG. 4;

FIG. 6 shows a schematic structural diagram of a linkage assembly of an embodiment of a cargo handling robot according to the present invention;

FIG. 7 illustrates a schematic structural view of a first link and a second link of an embodiment of a cargo handling robot according to the present invention;

FIG. 8 illustrates a schematic structural view of a first link of an embodiment of a cargo handling robot according to the present invention;

FIG. 9 is a schematic diagram showing a partial structure of an embodiment of a cargo handling robot according to the present invention;

FIG. 10 is a schematic diagram showing the partial configuration of an embodiment of a cargo handling robot according to the present invention when the jacking assembly is in a stowed condition or the frame is over the obstacle;

FIG. 11 is a schematic diagram showing the partial structure of an embodiment of a cargo handling robot according to the present invention as it moves through a pit location;

fig. 12 shows a schematic structural view of a jacking assembly of an embodiment of the cargo handling robot according to the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1 to 12, the present invention provides a cargo handling robot, including: a frame 1 having a load-bearing portion for bearing a load; the moving assembly 2 is arranged on the rack 1 and drives the rack 1 to move through the moving assembly 2; the jacking assembly 3 comprises a supporting part 31 and a jacking part 32, and the jacking part 32 is arranged in a lifting manner relative to the supporting part 31 along the vertical direction so as to drive the goods to lift relative to the rack 1; the jacking assembly 3 has a jacking state, and when the jacking assembly 3 is in the jacking state, the supporting part 31 is in contact with a supporting surface below the goods handling robot; wherein, along the first direction, the frame 1 and the jacking component 3 can be arranged relatively close to or relatively far away from each other; along the vertical direction, the frame 1 and the jacking assembly 3 can be freely and movably arranged in a preset range.

The invention provides a cargo handling robot, which comprises a rack 1, a moving assembly 2 and a jacking assembly 3, wherein the rack 1 is provided with a bearing part for bearing cargos; the moving assembly 2 is arranged on the rack 1 so as to drive the rack 1 to move through the moving assembly 2; the jacking assembly 3 comprises a supporting part 31 and a jacking part 32, and the jacking part 32 is arranged in a manner of being capable of being lifted vertically relative to the supporting part 31 so as to drive the goods to be lifted relative to the rack 1; the jacking assembly 3 has a jacking state, and when the jacking assembly 3 is in the jacking state, the supporting part 31 is in contact with a supporting surface below the goods handling robot; wherein, along the first direction, the frame 1 and the jacking component 3 can be arranged relatively close to or relatively far away from each other; along the vertical direction, the frame 1 and the jacking assembly 3 can be freely and movably arranged in a preset range. When using, after jacking subassembly 3 carried out the jacking to the goods, jacking subassembly 3 can independently realize the support to the goods, drives frame 1 through removing subassembly 2 this moment and is close to or keeps away from jacking subassembly 3, can conveniently adorn the goods on frame 1 or lift off from frame 1. In whole loading and unloading process, adopt the mode that frame 1 initiative is close to or keeps away from jacking subassembly 3 to load and unload, and do not need jacking subassembly 3 to drive the goods and remove along the horizontal direction, can avoid effectively shaking the problem that leads to the goods to drop or damage because of jacking subassembly 3. Because the rack 1 and the jacking assembly 3 can freely move relatively in a preset range along the vertical direction, when the supporting surface below the transfer robot is uneven, the jacking assembly 3 cannot be driven to shake even if the rack 1 jolts in the process of moving close to or away from the jacking assembly 3, the stable support of the jacking assembly 3 on goods is ensured, the goods can be stably loaded into the rack 1 or unloaded from the rack 1, and the problem of poor work stability of the transfer robot in the related technology is solved.

In practical implementation, the moving assembly 2 may have various structural options as long as the frame 1 can move relative to the supporting surface, for example, the moving assembly 2 may be a crawler chassis, an AGV cart or a plurality of universal wheels. The moving assembly 2 may be powered or unpowered, and when the moving assembly 2 is unpowered (for example, it is a plurality of universal wheels), the frame 1 can be pushed to move by an operator.

In the present embodiment, the moving assembly 2 comprises two driven wheels 21 and one steering wheel 22, the rotation axes of the two driven wheels 21 coincide, and the steering wheel 22 is arranged in a triangular manner with the two driven wheels 21.

Specifically, a slide rail 11 is arranged on the frame 1, and the slide rail 11 extends along a first direction; the cargo handling robot further comprises a sliding assembly 4 and a connecting assembly 5, wherein the sliding assembly 4 is slidably arranged on the sliding rail 11 along a first direction; the connecting assembly 5 includes: the first connecting piece 51, the first connecting piece 51 is connected with the sliding component 4; a second connector 52, wherein the second connector 52 is connected with the supporting part 31 of the jacking assembly 3; transition piece 53, first connecting piece 51 and second connecting piece 52 are all articulated with transition piece 53.

Through adopting this kind of structural design, slide along slide rail 11 through sliding assembly 4, can make frame 1 be close to or keep away from jacking subassembly 3, in frame 1 removal in-process, if frame 1 takes place to jolt, accessible transition connection piece 53 rotates for first connecting piece 51 and second connecting piece 52 and adapts to the relative position relation of frame 1 and jacking subassembly 3, thereby make frame 1 and jacking subassembly 3 along vertical direction can be at predetermined within range free activity, avoid frame 1's jolt to cause jacking subassembly 3 to rock, guarantee the stability that jacking subassembly 3 supported the goods.

Of course, the connecting assembly 5 with other structure can be used between the sliding assembly 4 and the jacking assembly 3 to realize the connection between the two and ensure that a certain degree of freedom of relative movement exists between the two:

for example, in the second embodiment of the present application, the sliding assembly 4 is connected to the jacking assembly 3 by a rope or a chain.

For another example, in the third embodiment of the present application, the connection assembly 5 includes a first connection member connected to the sliding assembly 4, and a second connection member connected to the support portion 31 of the jacking assembly 3, the first connection member and the second connection member are both provided with pin holes extending along the vertical direction, the connection assembly 5 further includes a pin shaft, the pin shaft is inserted into the pin holes of the first connection member and the second connection member, so that when the rack 1 jolts, the first connection member moves along the pin shaft, thereby moving relative to the second connection member, so that the second connection member and the jacking assembly 3 remain stationary, and the support effect on the goods is prevented from being affected.

In particular implementation, the cargo handling robot includes a first driving structure coupled to the sliding assembly 4 to drive the sliding assembly 4 to slide in a first direction relative to the slide rail 11. Specifically, the first driving structure has various structural options as long as the driving effect on the sliding component 4 can be achieved, for example, the first driving structure may be a hydraulic cylinder, a servo linear module, a chain wheel linear module, or the like. In this embodiment, first drive structure is sprocket straight line module, and it includes at least two sprockets that set up along first direction interval, the chain that cooperates and be connected with sliding component 4 with a plurality of sprockets and the motor of being connected with at least one sprocket, rotates through motor drive sprocket to drive the sprocket and rotate, realize the drive to sliding component 4. Preferably, the motor is a hydraulic motor.

Specifically, the number of the transition pieces 53 is plural, and the plural transition pieces 53 are arranged at intervals in the vertical direction; the line connecting any two transition links 53 with the hinge points formed between the first link 51 and the second link 52 constitutes a parallelogram.

Therefore, when the frame 1 bumps, the relative rotation between the first connecting piece 51 and the second connecting piece 52 can be kept all the time, and the connection stability of the sliding component 4 and the jacking component 3 is ensured.

In addition, in the present embodiment, in order to improve the structural stability of the connection assembly 5, the number of the transition pieces 53 is plural, and the plural transition pieces 53 are arranged at intervals in the second direction, which is a direction perpendicular to the first direction in the horizontal plane.

Specifically, the jacking assembly 3 has a storage state, and when the jacking assembly 3 is in the storage state, the jacking assembly 3 is separated from a supporting surface below the cargo handling robot; the slide module 4 includes: a body structure 41, which is in sliding fit with the slide rail 11; a lifting structure 42 which is arranged on the body structure 41 in a lifting manner along the vertical direction; the lifting structure 42 is connected with the first connecting piece 51 so as to drive the jacking assembly 3 to be switched between a jacking state and a storage state through the connecting assembly 5; and the lifting driving structure 43 is in driving connection with both the body structure 41 and the lifting structure 42, so that the lifting driving structure 43 drives the lifting structure 42 to lift.

Through adopting this kind of structural design, when need not use jacking subassembly 3 to carry out the jacking to the goods, lift drive structure 43 can drive elevation structure 42 and rise to promote jacking subassembly 3, make jacking subassembly 3 and the supporting surface of goods handling robot below come off from the contact, thereby improve goods handling robot's trafficability characteristic.

In practical applications, the elevation driving mechanism 43 may have various structures, as long as the elevation driving mechanism 42 can be driven to ascend and descend, in this embodiment, the elevation driving mechanism 43 is an oil cylinder, but may also be an electric cylinder, an air cylinder, or the like.

The drive connection means a connection system capable of transmitting a driving force, and may be a direct connection or an indirect connection as long as it can drive the lifting mechanism 42 to lift.

Specifically, a first sliding fit portion is arranged on the body structure 41, a second sliding fit portion is arranged on the lifting structure 42, and the second sliding fit portion is slidably mounted on the first sliding fit portion along the vertical direction; the sliding assembly 4 comprises a transmission member 44, and the lifting driving structure 43 is mounted on the body structure 41 and connected with the transmission member 44, so that the lifting driving structure 43 drives the transmission member 44 to lift; the lifting structure 42 is hinged to the transmission member 44 such that the lifting structure 42 is rotatably disposed about a predetermined axis with respect to the transmission member 44; the preset axis extends along the second direction, and the first direction and the vertical direction are both perpendicular to the second direction.

Through adopting this kind of structural design, can open a degree of freedom with sliding assembly 4 for elevation structure 42 can rotate around predetermined axis, thereby avoids leading to the dead condition of card because of warping or swing between first sliding fit portion and the second sliding fit portion, guarantees that elevation structure 42 goes up and down smoothly.

In specific implementation, the first sliding fit portion and the second sliding fit portion only need to be capable of achieving a sliding fit function, and in this embodiment, one of the first sliding fit portion and the second sliding fit portion is a guide rail, and the other is a slider.

In addition, in order to improve the smoothness of the movement of the main body structure 41 along the slide rail 11, the slide assembly 4 is further provided with a pulley 45, and the pulley 45 is in contact with the slide rail 11.

Specifically, a side of the first connecting piece 51 facing the second connecting piece 52 is provided with a first contact surface 511, and a side of the second connecting piece 52 facing the first connecting piece 51 is provided with a second contact surface 521; when the jacking assembly 3 is in the storage state, the first contact surface 511 abuts against the second contact surface 521.

Through setting up first contact surface 511 and second contact surface 521, can carry on spacingly to first connecting piece 51 and second connecting piece 52 when both are laminated to make coupling assembling 5's structure remain stable, in order when guaranteeing that jacking subassembly 3 keeps the level, make lift drive structure 43 can transmit jacking force smoothly for jacking subassembly 3, thereby drive jacking subassembly 3 and rise to the state of accomodating.

Specifically, the first connector 51 is provided with a protrusion 512 protruding from the first contact surface 511, and the second connector 52 is provided with a recess 522 disposed on the second contact surface 521; when the jacking assembly 3 is in the storage state, the protrusion 512 is inserted into the recess 522, and at least part of the surface of the protrusion 512 is in contact with at least part of the surface of the recess 522.

By providing the protrusion 512 on the first contact surface 511 and the recess 522 on the second contact surface 521, when the protrusion 512 is inserted into the recess 522, at least a part of the surface of the protrusion 512 is attached to at least a part of the surface of the recess 522, so as to improve the stability of the relative position between the first connecting member 51 and the second connecting member 52, and ensure the stable lifting of the jacking assembly 3.

Specifically, the boss 512 has a first upper surface 513, at least a portion of the first upper surface 513 being disposed obliquely with respect to a horizontal plane; the recess 522 has a second upper surface 523, at least a portion of the second upper surface 523 being disposed obliquely to the horizontal plane; when the jacking assembly 3 is in the stowed state, the first upper surface 513 abuts the second upper surface 523.

Since the first upper surface 513 and the second upper surface 523 are disposed to be inclined to the horizontal plane, when the first upper surface 513 is in contact with the second upper surface 523, the first upper surface 513 can bear the pressure from the second upper surface 523, and since the first upper surface 513 and the second upper surface 523 are disposed to be inclined, the pressure can be resolved into a component force in the horizontal direction, so as to reduce the vertical force and the load of the elevating driving structure 43.

Specifically, the first upper surface 513 and the second upper surface 523 are both planes that form an angle of 45 ° with respect to the horizontal plane.

Specifically, the bottom of the supporting portion 31 has a roller 311, and when the jacking assembly 3 is in the jacking state, the roller 311 is in contact with the supporting surface below the cargo-handling robot.

An avoidance opening is formed in the frame 1, and the jacking assembly 3 is provided with a first position and a second position; when the jacking assembly 3 is at the first position, at least part of the jacking assembly 3 is positioned in the avoiding opening; when the jacking assembly 3 is at the second position, the jacking assembly 3 is arranged at an interval with the frame 1.

In addition, jacking subassembly 3 includes jacking drive structure, and jacking drive structure is connected with supporting part 31 and jacking portion 32 to drive jacking portion 32 through jacking drive structure and go up and down.

In specific implementation, the jacking driving structure can have various structure options, such as a hydraulic cylinder, an electric cylinder and the like.

In this embodiment, the jacking driving structure includes: a first connecting rod 33, wherein a first end of the first connecting rod 33 is hinged with the supporting part 31, and a second end of the first connecting rod 33 is matched with the jacking part 32 in a sliding way; a second connecting rod 34, a first end of the second connecting rod 34 is hinged with the jacking portion 32, a second end of the second connecting rod 34 is slidably matched with the supporting portion 31, and the first connecting rod 33 is hinged with the second connecting rod 34; a linear driving member 35, a first end of the linear driving member 35 is hinged with the supporting portion 31, and a second end of the linear driving member 35 is hinged with the first connecting rod 33 and/or the second connecting rod 34; wherein, supporting portion 31 and jacking portion 32 have the state of mutual contact, and when supporting portion 31 and jacking portion 32 contact, enclose between supporting portion 31 and the jacking portion 32 and become to hold the chamber, first connecting rod 33, second connecting rod 34 and linear driving piece 35 all are located and hold the intracavity. The linear driving member 35 may be a hydraulic cylinder, an electric cylinder, an air cylinder, or the like, which can perform a linear driving function.

In addition, in order to improve the support stability in the goods jacking process, the rack 1 comprises a first rack body, a second rack body and a third rack body which are sequentially arranged at intervals along a second direction, and the first rack body, the second rack body and the third rack body are connected into a whole; the avoidance openings are two, one avoidance opening is positioned between the first frame body and the second frame body, and the other avoidance opening is positioned between the second frame body and the third frame body; the jacking assemblies are two, and the two jacking assemblies and the two avoidance openings are arranged in a one-to-one correspondence mode.

Cargo handling robot includes battery and two automatically controlled cabinets, and the battery sets up in the second support body, and two automatically controlled cabinets set up in first support body and third support body one-to-one. Through adopting above-mentioned setting, automatically controlled cabinet sets up in the both sides of frame 1, and the battery sets up between two jacking subassemblies 3, can reduce the focus of transfer robot complete machine effectively, guarantees the stability of transfer robot in handling, is favorable to reducing transfer robot's height and volume.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cargo handling robot, comprising:

a frame having a carrying portion for carrying goods;

the moving assembly is arranged on the rack and drives the rack to move through the moving assembly;

the jacking assembly comprises a supporting part and a jacking part, and the jacking part is arranged in a lifting manner along the vertical direction relative to the supporting part so as to drive the goods to lift relative to the rack; the jacking assembly is in a jacking state, and when the jacking assembly is in the jacking state, the supporting part is in contact with a supporting surface below the cargo handling robot;

wherein, along a first direction, the machine frame and the jacking assembly can be arranged relatively close to or relatively far away from each other; along the vertical direction, the frame and the jacking assembly can be freely and movably arranged in a preset range.

2. The cargo handling robot of claim 1, wherein the frame has a rail extending along the first direction; the cargo handling robot further comprises a sliding assembly and a connecting assembly, wherein the sliding assembly is slidably arranged on the sliding rail along the first direction; the connecting assembly includes:

the first connecting piece is connected with the sliding assembly;

the second connecting piece is connected with the supporting part of the jacking assembly;

the first connecting piece and the second connecting piece are hinged to the transition connecting piece.

3. The cargo handling robot of claim 2, wherein the plurality of transition pieces are spaced apart in a vertical direction; and the connecting lines of the hinge points formed between any two transition connecting pieces and the first connecting piece and the second connecting piece form a parallelogram.

4. The cargo handling robot of claim 2 or 3, wherein the jacking assembly has a stowed condition, the jacking assembly being spaced from a support surface below the cargo handling robot when the jacking assembly is in the stowed condition; the sliding assembly includes:

the body structure is in sliding fit with the sliding rail;

the lifting structure is arranged on the body structure in a lifting manner along the vertical direction; the lifting structure is connected with the first connecting piece so as to drive the jacking assembly to be switched between the jacking state and the accommodating state through the connecting assembly;

and the lifting driving structure is in driving connection with the body structure and the lifting structure so as to drive the lifting structure to lift through the lifting driving structure.

5. The cargo handling robot of claim 4, wherein the body structure is provided with a first sliding fit portion, the lift structure is provided with a second sliding fit portion, and the second sliding fit portion is slidably mounted to the first sliding fit portion in a vertical direction;

the sliding assembly comprises a transmission piece, and the lifting driving structure is mounted on the body structure and connected with the transmission piece so as to drive the transmission piece to lift through the lifting driving structure; the lifting structure is hinged with the transmission piece, so that the lifting structure can be rotatably arranged around a preset axis relative to the transmission piece; the preset axis extends along a second direction, and the first direction and the vertical direction are both perpendicular to the second direction.

6. The cargo handling robot of claim 4, wherein a side of the first link facing the second link is provided with a first contact surface and a side of the second link facing the first link is provided with a second contact surface; when the jacking assembly is in the storage state, the first contact surface is abutted against the second contact surface.

7. The cargo handling robot of claim 6, wherein the first connector has a protrusion disposed to protrude from the first contact surface, and the second connector has a recess disposed to protrude from the second contact surface; when the jacking assembly is in the storage state, the convex part is inserted into the concave part, and at least part of the surface of the convex part is in contact with at least part of the surface of the concave part.

8. The cargo handling robot of claim 7, wherein the boss has a first upper surface, at least a portion of which is disposed at an incline relative to a horizontal plane; the recess has a second upper surface, at least part of which is disposed obliquely to the horizontal plane; when the jacking assembly is in the storage state, the first upper surface is abutted against the second upper surface.

9. The cargo handling robot of claim 8, wherein the first upper surface and the second upper surface are each planar surfaces that are angled at 45 ° relative to a horizontal plane.

10. The cargo handling robot of claim 1, wherein the bottom of the support portion has rollers that contact a support surface below the cargo handling robot when the jacking assembly is in the jacking state.