CN214031567U

CN214031567U - Tray and transfer robot

Info

Publication number: CN214031567U
Application number: CN202023024238.8U
Authority: CN
Inventors: 王华培
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2020-12-15
Filing date: 2020-12-15
Publication date: 2021-08-24
Anticipated expiration: 2030-12-15

Abstract

The utility model belongs to the technical field of the storage commodity circulation, a tray and transfer robot is specifically disclosed. Wherein, the tray includes: the bearing bottom plate is horizontally arranged; the two limiting plates are oppositely arranged on the upper surface of the bearing bottom plate at intervals, the bearing bottom plate and the two limiting plates surround to form an accommodating space with at least one side inlet and outlet, one end of a first guide plate is connected to the inlet and outlet of each limiting plate, and the other end of the first guide plate extends in an inclined mode in the direction far away from the two limiting plates; the first guide rolling part is arranged on the first guide plate, and the rolling surface of the first guide rolling part protrudes out of the inner side of the first guide plate. The transfer robot includes the above-described tray. The utility model discloses a tray and transfer robot can improve the smooth and easy nature that the packing box got into the tray, reduces the butt joint precision demand of tray and stock container.

Description

Tray and transfer robot

Technical Field

The utility model relates to a storage logistics technical field especially relates to a tray and transfer robot.

Background

The rapid development of electronic commerce brings unprecedented development opportunities to the warehouse logistics industry, also provides a serious challenge to warehouse logistics services, and the difficult problem of how to carry out package sorting flexibly and accurately with high efficiency and low cost is always faced by the warehouse logistics industry. With the continuous development of the robot technology, a robot is adopted to transport a target inventory container storing goods to be taken and placed to a manual station, and then the manual station takes out the products on the inventory container and puts the products into an order box. However, in the traditional sorting mode from inventory containers to people, the robot is required to transport the whole inventory containers to a goods sorting area, so that the load of the robot for transporting is increased, and great resource waste is caused.

As shown in fig. 1, the prior art provides a container handling robot that includes a robot carrier 100, a gantry 200 disposed on the robot carrier 100, and a pick-up mechanism 300 slidably mounted on the gantry 200, the pick-up mechanism 300 being used to remove containers from inventory receptacles. The goods taking mechanism 300 comprises a body 302 and a holding fork 301, wherein the body 302 is slidably connected with the door frame 200 and is used for bearing a goods box pulled by the goods taking mechanism, and the holding fork 301 is slidably connected with the body 302 and is used for extending out and pulling the goods box. The body 302 is of a U-shaped structure with an upward opening, and includes a bottom plate and two opposite side walls, and the two side walls are both provided with a retractable holding fork 301.

The container transfer robot provided by the prior art can realize the switching of containers on a stock container and a bottom plate through the extension and retraction of the holding fork 301, so that the containers can be directly transferred, and the problems of large load, high cost and low efficiency caused by transferring the stock containers are solved. However, when the container handling robot provided by the prior art pulls the container into the body 302 by the forks 301, there may be a problem that the container is clamped at the inlet of the body 302 due to incorrect placement position of the container or asynchronous operation of the two forks 302, which affects the smoothness of the container in the body 302 and may cause damage to the container or the container handling robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a tray improves the smooth and easy nature that the packing box got into the tray, avoids the card case problem of packing box business turn over tray.

Another object of the utility model is to provide a transfer robot improves the transfer smoothness nature of packing box between stock container and tray, reduces transfer robot and stock container's butt joint precision demand.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a pallet, comprising:

the bearing bottom plate is horizontally arranged;

the two limiting plates are oppositely arranged on the upper surface of the bearing bottom plate at intervals, the bearing bottom plate and the two limiting plates surround to form an accommodating space with at least one side inlet and outlet, one end of a first guide plate is connected to the inlet and outlet of each limiting plate, and the other end of the first guide plate extends in an inclined mode in the direction far away from the two limiting plates;

the first guide rolling part is arranged on the first guide plate, and the rolling surface of the first guide rolling part protrudes out of the inner side of the first guide plate.

As a preferred technical scheme of the tray, the first guiding rolling element comprises a first fixed shaft and a first rolling element which is rotatably sleeved on the first fixed shaft, the first fixed shaft is vertically arranged and connected with the first guiding plate, and part of the first rolling element protrudes out of the inner side of the first guiding plate; or

The first guide rolling part comprises a ball, and the ball is embedded in the first guide plate and can rotate relative to the first guide plate.

As a preferred technical scheme of the tray, the first guide plate is provided with a mounting opening in a penetrating manner, and the upper end and the lower end of the first fixed shaft are respectively connected with the upper side wall and the lower side wall of the mounting opening.

As a preferable technical scheme of the tray, the upper and lower side walls of the mounting opening extend outwards along the outer side of the first guide plate to form mounting parts, and the upper and lower ends of the first fixing shaft are respectively connected with the two mounting parts.

As a preferred technical scheme of the tray, a second guiding rolling member is arranged at the inlet and the outlet of the bearing bottom plate, and a rolling surface of the second guiding rolling member protrudes out of the upper surface of the bearing bottom plate.

As a preferred technical scheme of the tray, the bearing bottom plate comprises a flat main body plate and a second guide plate arranged at the inlet and outlet end of the bearing bottom plate, one end of the second guide plate is connected with the main body plate, the other end of the second guide plate extends downwards along the direction far away from the main body plate in an inclined manner, and the second guide rolling member is arranged on the main body plate and/or the second guide plate.

In a preferred embodiment of the tray, one end of the second guide plate, which is not connected to the main body plate, is bent downward to form a flange portion, and the flange portion abuts against a lower surface of the second guide plate.

The utility model provides a transfer robot, is in including removing the chassis and setting remove portal on the chassis, its characterized in that still includes packing box transmission device, packing box transmission device connect in can be relative on the portal goes up and down, packing box transmission device includes telescopic machanism, gets the case subassembly and as above the tray, telescopic machanism's stiff end with the tray is connected, telescopic machanism's flexible end with it connects to get the case subassembly.

A transfer robot comprises a moving chassis, a portal frame arranged on the moving chassis, and a container conveying mechanism which is arranged on the portal frame and can vertically lift relative to the portal frame, and is characterized by further comprising a tray which is arranged on the portal frame and fixed relative to the portal frame, and the container conveying mechanism is used for realizing the conversion of containers between the tray and an inventory container.

As an optimal technical scheme of a transfer robot, the container conveying mechanism comprises a telescopic mechanism, a container taking component and the tray, wherein the fixed end of the telescopic mechanism is connected with the tray, and the telescopic end of the telescopic mechanism is connected with the container taking component.

The beneficial effects of the utility model reside in that:

the tray provided by the utility model has the advantages that the containing space forms a flaring state at the inlet and the outlet by arranging the first guide plate, so that the container can be guided to enter and exit the containing space; the first guide rolling piece is arranged on the first guide plate, so that the rolling surface of the first guide rolling piece is in rolling fit with the side wall of the container when the container enters the accommodating space, the smoothness of the container entering the accommodating space can be further improved, the requirement on butt joint precision when the tray is in butt joint with the container is reduced, and the butt joint convenience is improved; meanwhile, the arrangement of the first guide rolling part is beneficial to adjusting the placing position of the container when the container enters the accommodating space, and the placing position accuracy of the container on the tray is improved.

The utility model provides a transfer robot through adopting foretell tray, can improve the transfer smoothness nature of packing box between transfer robot and stock container, reduces the probability that card case problem takes place, improves packing box and transfer robot's life.

Drawings

Fig. 1 is a schematic view of a prior art container handling robot;

fig. 2 is a schematic structural diagram of a container conveying mechanism according to an embodiment of the present invention;

fig. 3 is a partial enlarged view at I in fig. 2.

The reference numbers in fig. 1 are as follows:

100. a robot carrier; 200. a gantry; 300. a goods taking mechanism; 301. embracing a fork; 302. a body.

The reference numbers in fig. 2 and 3 are as follows:

1. a tray; 11. a load floor; 111. a main body plate; 112. a second guide plate; 113. a hem part; 12. a limiting plate; 13. a first guide plate; 131. an installation port; 14. a first guide roller; 141. a first fixed shaft; 142. a first rolling element; 15. a second guide roller; 16. a side plate;

2. a telescoping mechanism; 3. and (4) taking the box.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Example one

The embodiment provides a transfer robot, and it is mainly applied to storage logistics industry to realize the transfer of packing box between warehouse container and transfer robot, thereby realize getting to deposit the packing box that has order goods or express delivery and put and transport, realize getting goods or getting the goods operation based on the order. The method and the device can also be applied to other places where containers or goods need to be transported, and the specific application scene of the transporting robot is not limited in the embodiment.

The transfer robot comprises a movable chassis, a door frame arranged on the movable chassis, a container conveying mechanism and a lifting mechanism arranged between the door frame and the container conveying mechanism. The mobile chassis can realize autonomous movement, so that the transfer robot can perform linear, turning or reversing movement, and then carries the container to reach a target position; the door frame is vertically arranged on the movable chassis to support the container conveying mechanism; the container conveying mechanism is used for taking and placing containers so as to realize the transfer of the containers between the inventory containers and the carrying robot; the lifting mechanism is used for driving the container conveying mechanism to vertically lift relative to the portal frame so as to realize the taking and placing of containers on different layers on the inventory container.

The structural arrangement of moving chassis, gantry and lifting mechanism may refer to the prior art, as may the structural arrangement of robot carrier, gantry and lifting mechanism in patent application CN202010507395.x, or may refer to the structural arrangement of moving chassis, gantry and lifting mechanism in patent application CN202010524246.4, the utility model discloses do not specifically limit the structure except for packing box conveying mechanism.

As shown in fig. 2 and 3, the container conveying mechanism comprises a tray 1, a telescopic mechanism 2 and a container taking assembly 3, wherein the tray 1 is used for bearing a container to realize temporary storage of the container on the transfer robot; the telescopic mechanism 2 is connected with the box taking component 3 so as to drive the box taking component 3 to horizontally extend and retract relative to the tray 1; the container picking assembly 3 is adapted to pick up a container from a pallet 1 or inventory container such that the container picking assembly 3 moves in synchronism with the container such that the telescopic action of the telescopic mechanism 2 causes the container to be transferred between the pallet 1 and the inventory container.

For convenience of description, an XYZ coordinate system is established with the directions shown in fig. 2, where the X direction is the telescopic direction of the telescopic mechanism 2, the Z direction is the height direction, and the Y direction is determined by the right-hand coordinate law.

In this embodiment, the telescopic mechanisms 2 are respectively arranged on two sides of the tray 1 along the Y direction, the fixed end of each telescopic mechanism 2 is connected with the tray 1, and the telescopic end of each telescopic mechanism 2 is connected with the box taking component 3.

Tray 1 includes bearing bottom plate 11 and the limiting plate 12 of setting at bearing bottom plate 11 upper surface that the level set up, and limiting plate 12 is relative and the interval is provided with two along the Y direction, and bearing bottom plate 11 and two limiting plates 12 surround and form the accommodation space that has one side exit at least, and the packing box can pass through exit access accommodation space.

For the smoothness nature that improves packing box business turn over accommodation space, limiting plate 12 is connected with first deflector 13 in business turn over mouth department, and the one end and the limiting plate 12 of first deflector 13 are connected, and the other end of first deflector 13 extends along the relative limiting plate 12 slope of the direction of keeping away from another limiting plate 12. The first guide plate 13 is provided with a first guide roller 14, and at least a part of a rolling surface of the first guide roller 14 protrudes from the inner side of the first guide plate 13.

In the pallet 1 provided by the embodiment, the first guide plate 13 is arranged, so that the accommodating space forms a flaring state at the inlet and the outlet, and the direction of the container entering and exiting the accommodating space can be realized; by arranging the first guide rolling piece 14 on the first guide plate 13, when the container enters the accommodating space, the rolling surface of the first guide rolling piece 14 is in rolling fit with the side wall of the container, so that the smoothness of the container entering the accommodating space can be further improved, the requirement on the butt joint precision of the pallet 1 and the container during butt joint is met, and the requirement on the synchronism of the telescopic mechanisms 2 on the two sides is reduced; meanwhile, the arrangement of the first guide rolling part 14 is beneficial to adjusting the placing position of the container when the container enters the accommodating space, and the placing position accuracy of the container on the tray 1 is improved.

In this embodiment, the first guiding rolling element 14 includes a first fixed shaft 141 and a first rolling body 142 rotatably sleeved on the first fixed shaft 141, the first fixed shaft 141 is vertically disposed and connected to the first guiding plate 13, and the first rolling body 142 at least partially protrudes from the inner side of the first guiding plate 13. The first rolling body 142 may be, but is not limited to, a roller, and the like.

In other embodiments, the first guide rolling element 14 may also be a ball, a rolling bearing, or the like, and the roller is embedded in the first guide plate 13 and can rotate relative to the first guide plate 13.

To facilitate the installation of the first guide roller 14, the first guide plate 13 is formed with an installation opening 131, the first fixed shaft 141 is connected to the upper and lower sidewalls of the installation opening 131, and the first roller body 142 is partially received in the installation opening 131. In other embodiments, an avoiding opening may be formed in the first guide plate 13, an installation seat is disposed on the outer side of the first guide plate 13, the first fixed shaft 141 is installed on the installation seat, and the first rolling body 142 protrudes out of the inner side of the first guide plate 13 through the avoiding opening.

In order to improve the mounting stability of the first guide roller 14, the mounting opening 131 has mounting portions extending outward along the outer side of the first guide plate 13 on the upper and lower sidewalls, and both ends of the first fixing shaft 141 are connected to the two mounting portions, respectively. The installation stability of the first guide roller 14 can be improved on the basis of reducing the overall thickness of the first guide plate 13. Further, the mounting portion is formed when the mounting opening 131 is formed by punching, simplifying the processing convenience of the first guide plate 13.

In the present embodiment, the first guide plate 13 and the stopper plate 12 are integrally formed, and preferably, the first guide plate 13 is formed by bending the stopper plate 12. Further, the first guide plate 13 and the limiting plate 12 are made of metal materials, and therefore the service life is prolonged.

Further, the load-bearing bottom plate 11 includes a main plate 111 in a flat plate shape to be connected to a second guide plate 112 at one side of the entrance/exit of the main plate 111, one end of the second guide plate 112 is connected to the main plate 111, and the other end of the second guide plate 112 extends obliquely downward in a direction away from the main plate 111. The arrangement of the second guide plate 112 can reduce the requirement on the height alignment precision between the bottom of the container and the bearing bottom plate 11 in the container carrying process, and further improve the smoothness of the container entering and exiting the accommodating space.

Preferably, the bearing bottom plate 11 is provided with a second guide rolling member 15 at the entrance and exit, and a rolling surface portion of the second guide rolling member 15 protrudes from the upper surface of the bearing bottom plate 11. The setting of second direction rolling member 15 can further improve the smooth and easy nature that the packing box got into accommodation space, avoids the packing box when being carried because of the card case problem that the high deviation leads to appears in both sides, and can further adjust the locating position of packing box in accommodation space.

In this embodiment, the second guide roller 15 is provided on the main body plate 111 near the entrance/exit. In other embodiments, the second guide roller 15 may be provided on the second guide plate 112. The second guide rolling element 15 may be, but is not limited to, a roller, a rolling bearing, a ball, etc.

Preferably, at least two second guide rollers 15 are provided at intervals in the Y direction to enhance the guide effect.

Further, the front end of the second guide plate 112 is turned downwards to form a folded edge portion 113, and the folded edge portion 113 is attached to the lower surface of the second guide plate 112, so that when the container enters the accommodating space, the front end of the second guide plate 112 is scraped against the container, which causes the front end of the second guide plate 112 to be turned upwards or the container to be scratched.

In this embodiment, the tray 1 is a U-shaped structure with an open upper end, and has two opposite inlets and outlets, so that the container can enter and exit the accommodating space from any side of the inlet and outlet. The goods taking convenience of the container carrying mechanism is improved. Correspondingly, two ends of the limiting plate 12 along the X direction are respectively provided with a first guide plate 13, and each first guide plate 13 is provided with a first guide rolling part 14; the main body plate 111 is provided with second guide plates 112 at both ends in the X direction, and the bearing base plate 11 is provided with second guide rollers 15 at both ends in the X direction. In other embodiments, the tray 1 may also have only one access opening, that is, one side of the tray 1 along the X direction is provided with the access opening, and the other side of the tray 1 along the X direction is closed.

In order to facilitate the installation of the telescopic mechanisms 2, the tray 1 further comprises side plates 16 connected to two opposite sides of the bearing bottom plate 11 along the X direction, and the two groups of telescopic mechanisms 2 are respectively installed on the two side plates 16. The limiting plates 12 are located at the inner side of the corresponding side plates 16 and are opposite to and spaced from the corresponding side plates 16 to prevent the container from being scratched or interfered with the telescopic mechanism 2 when the container enters or exits the accommodating space.

Telescopic machanism can be second grade telescopic machanism, also can be tertiary telescopic machanism, and telescopic machanism 2's structure can refer to prior art and set up, for example, telescopic machanism 2 can be the flexible subassembly structure in patent application CN202010536681.9, also can adopt the structural style of the flexible subassembly in patent application CN202010518017.1, or can adopt other telescopic machanism's structural style among the prior art, the utility model discloses do not specifically limit to this. And it can be understood that when the tray 1 has only one side entrance and exit, the telescopic mechanism 2 adopts the one-way telescopic mechanism 2, and when the tray 1 has two entrances and exits, the telescopic mechanism 2 adopts the two-way telescopic mechanism 2.

Get the case subassembly and can be but not limited to adopt the clamp to embrace, lift or the form that pulls to get the packing box and put, the utility model discloses do not do specific restriction to getting the concrete structural style of case subassembly and getting the mode of putting to the packing box, it can refer to prior art and set up.

It will be appreciated that the transfer robot provided in this embodiment may further be provided with a temporary storage plate on the gantry for temporarily storing the containers, and the container transfer mechanism is used for transferring the containers between the temporary storage plate and the storage space, as disclosed in CN 202010524713.3.

In other embodiments, two or more groups of container transport mechanisms may be arranged on the gantry of the transfer robot along the height direction, as in CN202010518017.1, or in the transfer robot of patent application CN 202010401241.2.

Example two

The embodiment provides a transfer robot, which comprises a moving chassis, a gantry arranged on the moving chassis, a container conveying mechanism arranged on the gantry, and a tray. The difference from the first embodiment is that the pallet in the first embodiment is used as a part of the container conveying mechanism, and the container conveying mechanism is lifted vertically relative to the portal integrally, while in the present embodiment, the pallet is separated relative to the container conveying mechanism, the pallet is fixed on the portal, and at least two pallets are arranged at intervals along the height direction of the portal, and the container conveying mechanism can be lifted vertically to pick up containers on the pallets with different heights through the vertical lifting of the container conveying mechanism or place the containers on the pallets with different heights, so that the containers are transferred between the pallet and the storage container.

The specific structure of the pallet in this embodiment can refer to the structure of the pallet in the container conveying mechanism in the first embodiment, and the difference is that the bearing bottom plate or the side plate of the pallet in this embodiment is connected with the door frame. And it is understood that the tray provided in this embodiment may not include side panels. The form of connection and the particular structure of the connection of the pallet to the portal can be arranged in particular with reference to patent application CN202010524713.3 or other forms of arrangement known in the art.

The container transport mechanism provided in this embodiment may only include the telescopic mechanism 2 and the container taking assembly, and at this time, the container transport mechanism provided in this embodiment may be configured by referring to the prior art, such as the configuration in patent applications CN201920155391.2, CN201822219409.9 or CN 201920540411.8.

It is understood that the container conveying mechanism provided in this embodiment may also include a pallet structure, and the pallet structure preferably adopts the structure of the pallet 1 in the first embodiment, and may also adopt other pallet structure forms in the prior art.

The transfer robot that this embodiment provided through set up tray 1 among the embodiment on the portal, can effectively lead for packing box entering tray 1, improves packing box entering smoothness nature.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims

1. A pallet, comprising:

a load floor (11) arranged horizontally;

the two limiting plates (12) are arranged on the upper surface of the bearing bottom plate (11) oppositely at intervals, the bearing bottom plate (11) and the two limiting plates (12) surround to form an accommodating space at least provided with an inlet and an outlet at one side, one end of a first guide plate (13) is connected to the inlet and the outlet of the limiting plate (12), and the other end of the first guide plate (13) extends obliquely along the direction far away from the two limiting plates (12);

and the first guide rolling part (14) is arranged on the first guide plate (13), and the rolling surface of the first guide rolling part (14) protrudes out of the inner side of the first guide plate (13).

2. The pallet according to claim 1, wherein the first guide roller (14) comprises a first fixed shaft (141) and a first rolling body (142) rotatably fitted over the first fixed shaft (141), the first fixed shaft (141) being vertically disposed and coupled to the first guide plate (13), the first rolling body (142) partially protruding inside the first guide plate (13); or

The first guide rolling member (14) comprises a ball which is embedded in the first guide plate (13) and can rotate relative to the first guide plate (13).

3. The tray according to claim 2, wherein the first guide plate (13) is provided with a mounting opening (131) therethrough, and the upper and lower ends of the first fixed shaft (141) are connected to the upper and lower side walls of the mounting opening (131), respectively.

4. The tray according to claim 3, wherein the upper and lower sidewalls of the mounting opening (131) are outwardly extended with mounting portions toward the outer side of the first guide plate (13), and the upper and lower ends of the first fixing shaft (141) are respectively coupled with the two mounting portions.

5. Tray according to any one of claims 1-4, characterized in that the carrying floor (11) is provided with second guide rollers (15) at the access opening, the rolling surfaces of the second guide rollers (15) protruding above the upper surface of the carrying floor (11).

6. The tray according to claim 5, wherein the carrying bottom plate (11) comprises a flat plate-shaped main body plate (111) and a second guide plate (112) arranged at an inlet and outlet end of the carrying bottom plate (11), one end of the second guide plate (112) is connected with the main body plate (111), the other end of the second guide plate (112) extends obliquely downward in a direction away from the main body plate (111), and the second guide rolling member (15) is arranged on the main body plate (111) and/or the second guide plate (112).

7. The tray according to claim 6, wherein the end of the second guide plate (112) not connected to the main body plate (111) is bent downward to form a flange portion (113), and the flange portion (113) abuts against the lower surface of the second guide plate (112).

8. A transfer robot comprising a mobile chassis and a gantry arranged on the mobile chassis, characterized in that it further comprises a container transfer mechanism, said container transfer mechanism is connected to said gantry and can be lifted and lowered relative to said gantry, said container transfer mechanism comprises a telescoping mechanism (2), a container-taking assembly (3) and a tray as claimed in any one of claims 1 to 7, the fixed end of said telescoping mechanism (2) is connected to said tray, and the telescoping end of said telescoping mechanism (2) is connected to said container-taking assembly (3).

9. A transfer robot comprising a mobile chassis, a gantry mounted on the mobile chassis, and a container transfer mechanism mounted on the gantry and vertically liftable relative to the gantry, further comprising a pallet as claimed in any one of claims 1 to 7, the pallet being mounted on the gantry and fixed relative to the gantry, the container transfer mechanism being adapted to effect transfer of containers between the pallet and an inventory receptacle.

10. A transfer robot as claimed in claim 9, wherein the container transfer mechanism comprises a telescoping mechanism (2), a container picking assembly (3) and a pallet as claimed in any one of claims 1 to 7, the fixed end of the telescoping mechanism (2) being connected to the pallet and the telescoping end of the telescoping mechanism (2) being connected to the container picking assembly (3).