CN215400988U - Transfer robot and logistics system - Google Patents

Abstract

The application provides a transfer robot and logistics system, transfer robot includes robot main part and fork device, the fork device sets up in the robot main part, and the fork device can be followed the direction of height of robot main part and removed, rotating assembly includes rotary platform and installs the actuating mechanism on rotary platform, the accommodation space has between rotary platform and the robotic arm subassembly, an actuating mechanism is located this accommodation space, the robotic arm subassembly is connected with an actuating mechanism's output, thereby first actuating mechanism can drive the robotic arm subassembly rotatory, so that realize that the fork device all can get in the equidirectional not of robot main part and put the goods operation. The application provides a transfer robot and logistics system can improve transfer robot's the efficiency of getting and putting the goods.

Description

Transfer robot and logistics system

Technical Field

The utility model relates to the technical field of storage logistics, in particular to a carrying robot and a logistics system.

Background

With the development of artificial intelligence and automation technology, transfer robots are widely used in the field of warehouse logistics for transporting goods. In a logistics system, goods are generally stored on shelves, and a transfer robot is docked with the shelves, a conveyor line, or the like to pick up and place the goods and complete a goods transfer task.

At present, a fork for taking and placing goods is usually arranged on a transfer robot, a manipulator which can extend out in a fixed direction relative to a body of the transfer robot is usually arranged on the fork, the whole fork can rotate relative to the body of the transfer robot, and the manipulator generally finishes the goods taking and placing operation along the side of the advancing direction of the transfer robot.

However, in the prior art, the goods taking and placing efficiency of the transfer robot is low.

SUMMERY OF THE UTILITY MODEL

The utility model provides a transfer robot and a logistics system, which can improve the efficiency of taking and placing goods.

In a first aspect, the present application provides a transfer robot, which includes a robot main body and a fork device, wherein the fork device is disposed on the robot main body, and the fork device is movable relative to the robot main body along a height direction of the robot main body, so that the fork device can be docked with a goods shelf or a conveying line when goods are taken.

Wherein, the fork device includes rotating assembly and arm subassembly, rotating assembly includes rotary platform and installs the actuating mechanism on rotary platform, the accommodation space has between rotary platform and the arm subassembly, first actuating mechanism is located the accommodation space, the arm subassembly is connected with first actuating mechanism's output, thereby first drive structure can drive the arm subassembly and rotate for rotary platform, so that realize that the fork device all can get in the equidirectional not of robot main part and put the goods operation, the efficiency of getting when carrying the robot execution task and putting the goods is improved.

As an optional implementation manner, the first driving mechanism may include a first driving unit, a first transmission member and a second transmission member, an output end of the first driving unit is connected with the first transmission member, the second transmission member is located on a side of the first transmission member, an outer wall of the first transmission member is provided with a first engaging tooth, an outer wall of the second transmission member is provided with a second engaging tooth, the first engaging tooth and the second engaging tooth are engaged with each other, and the mechanical arm assembly is connected with the second transmission member.

As an optional implementation manner, the first transmission member may be a worm, the second transmission member may be a worm wheel, the worm is horizontally disposed in the accommodating space, and a rotation plane of the worm wheel is parallel to the rotation platform, so that the height of the accommodating space is reduced, and the space utilization rate is improved.

In addition, the first end of the worm can be connected with the first driving unit, a bearing seat is arranged on the rotating platform, and the second end of the worm can be installed on the bearing seat, so that the reliability of worm transmission is guaranteed.

As an alternative embodiment, the worm wheel may include a worm wheel main body and a supporting revolving member, the worm wheel main body and the supporting revolving member are coaxially arranged, the worm wheel main body is fixedly connected with an outer ring of the supporting revolving member, and an inner ring of the supporting revolving member is fixedly connected with the rotating platform; first actuating mechanism still includes the fixed plate, and the fixed plate sets up in the one side that the worm wheel deviates from rotary platform, and arm unit mount is on the fixed plate to realize arm unit and rotary platform's relative rotation, and the overall structure of worm wheel has better bearing capacity.

As an alternative embodiment, the robot arm assembly may include a support table and two robot arm sets, the support table may be connected to the output end of the first driving mechanism, and the two robot arm sets may be respectively disposed at both sides of the support table, so that a space for taking and placing goods is formed above the support table.

As an alternative embodiment, the mechanical arm group may include a fixed arm and at least one telescopic arm, two opposite sides of the telescopic arm along the length direction of the telescopic arm may be telescopic towards different sides of the extension direction of the fixed arm relative to the fixed arm, and the telescopic direction of the telescopic arms of the two mechanical arm groups is the same, so that the two mechanical arm groups may be matched with each other when picking or placing goods, and can realize telescopic movements in different directions in the front and back to complete picking and placing operations.

Wherein, flexible arm all can be provided with the butt piece along the both ends of its flexible direction, and the butt piece can rotate for flexible arm to keep off and establish in the both sides of getting the goods space, getting the in-process of putting the goods, the butt piece can with the goods butt, thereby when flexible arm is flexible, drive the goods and remove.

As an alternative embodiment, the mechanical arm assembly may further include a second driving mechanism, the second driving mechanism may include a second driving unit and a third transmission member, the second driving unit is mounted on the fixed arm, an output end of the second driving unit is connected to the third transmission member, and the third transmission member is connected to the telescopic arm, so as to drive the telescopic arm to move telescopically along a length direction thereof.

As an alternative embodiment, the third transmission element is located at the end of the fixed arm, the second drive unit is spaced apart from the third transmission element, and the output of the second drive unit is connected to the third transmission element via a first transmission belt, so that the mechanical arm assembly rotates with a smaller radius of rotation to avoid interference.

As an optional implementation mode, the third driving medium is the action wheel, second actuating mechanism can also include the fourth driving medium, the fourth driving medium is from the driving wheel, third driving medium and fourth driving medium set up respectively in the fixed arm along the relative both ends of extending direction, and third driving medium and fourth driving medium pass through the second drive belt and connect, the second drive belt is provided with a plurality of third meshing teeth along its extending direction, be provided with the fourth meshing tooth of arranging along its flexible direction on the flexible arm, third meshing tooth and fourth meshing tooth intermeshing, thereby guarantee flexible arm at the flexible stability and the reliability of getting put the goods in-process.

As an optional implementation manner, the second driving mechanism may further include a linkage unit, two ends of the linkage unit are respectively connected to the fixed arms of the two arm sets, and when the second driving unit drives, the linkage unit may implement synchronous movement of the two arm sets.

Wherein, the linkage unit can be ball spline group, and ball spline group includes integral key shaft and spline nut, and the first end of integral key shaft is the stiff end, and the stiff end is connected with one among two arm groups, and the second end of integral key shaft is the end that floats, and spline nut sets up in the end that floats, and can follow the length direction removal of integral key shaft, and spline nut is connected with another among two arm groups to the second drive unit during operation realizes the transmission of the torque between two arm groups.

As an optional implementation manner, the mechanical arm assembly may further include a width adjusting mechanism, the width adjusting mechanism is disposed between the two mechanical arm sets, two ends of the width adjusting mechanism are respectively connected to the two mechanical arm sets, and the two mechanical arm sets may be close to or far away from each other along a length direction of the width adjusting mechanism, so that a size of a goods taking space between the two mechanical arm sets may be adjusted to adapt to different application occasions.

As an alternative embodiment, the width adjusting mechanism may include a first lead screw unit and a second lead screw unit, the first lead screw unit may include a first lead screw body and a first lead screw nut, the second lead screw unit may include a second lead screw body and a second lead screw nut, a first end of the first lead screw body is connected to a first end of the second lead screw body, the first lead screw nut is disposed at a second end of the first lead screw body, and the first lead screw nut is connected to one of the two arm sets, the second lead screw nut is disposed at a second end of the second lead screw body, and the second lead screw nut is connected to the other of the two arm sets, so that relative movement of the two arm sets may be achieved by movement of the first lead screw nut relative to the first lead screw body and movement of the second lead screw nut relative to the second lead screw body.

Wherein, first lead screw main part and second lead screw main part can coaxial setting, and the screw thread of first lead screw main part and second lead screw main part revolves to the opposite direction to guarantee the motion opposite direction of two arm groups, in order to guarantee the accuracy of the interval adjustment between two arm groups.

As an optional implementation manner, the width adjusting mechanism may further include a third driving unit, an output end of the third driving unit is connected to one of the first lead screw main body and the second lead screw main body, so that the first lead screw main body and the second lead screw main body are used as driving members to drive the first lead screw nut and the second lead screw nut to move, respectively.

As an optional implementation manner, the mechanical arm assembly may further include a guide mechanism, and the guide mechanism may include a plurality of guide blocks and a plurality of guide shafts, and the guide blocks and the guide shafts are arranged in a one-to-one correspondence; a plurality of guide blocks set up respectively in the relative both sides of brace table, and the one end and the mechanical arm group of guiding axle are connected, and the other end of guiding axle can slide with the guide block relatively to provide the direction for the relative movement of two mechanical arm groups, guarantee to get the stability of goods space accommodation process.

As an alternative embodiment, the transfer robot may further include a lifting assembly disposed on the robot body and movable in a height direction of the robot body.

Wherein, lifting unit can include elevating system and link, and the one end of link is installed on elevating system, and the other end of link extends towards the side of robot main part, and the fork device can be installed on the link to along with elevating system reciprocates, can accomplish at the different high position and get and put the goods operation.

As an alternative embodiment, the robot main body may include a base and a storage shelf mounted on the base, and the lifting assembly is disposed on the storage shelf and is movable in a height direction of the storage shelf.

One side of the storage rack, which is far away from the fork device, can be provided with a plurality of storage grooves, the plurality of storage grooves are distributed along the height direction of the storage rack at intervals, and the fork device can put goods into different storage grooves.

In a second aspect, the present application provides a logistics system, which includes a goods shelf, a conveying line and the transfer robot of the first aspect, wherein the goods shelf is used for storing goods, the conveying line is used for conveying goods, and the transfer robot can be butted with the goods shelf or the conveying line and take and place the goods to complete corresponding conveying tasks.

The application provides a transfer robot and logistics system, this transfer robot includes robot main part and fork device, the fork device sets up in the robot main part, and the fork device can be followed the direction of height of robot main part and removed, rotating assembly includes rotary platform and installs the actuating mechanism on rotary platform, the accommodation space has between rotary platform and the robotic arm subassembly, an actuating mechanism is located this accommodation space, the robotic arm subassembly is connected with an actuating mechanism's output, thereby first actuating mechanism can drive the robotic arm subassembly rotatory, so that realize that the fork device all can get in the equidirectional of robot main part and put the goods operation, the efficiency of getting when carrying robot executive task is put is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure;

fig. 2 is a side view of a transfer robot according to an embodiment of the present application;

fig. 3 is a schematic structural view of a fork device in a transfer robot according to an embodiment of the present disclosure;

fig. 4 is a schematic structural view of another perspective view of a fork device in the transfer robot according to the embodiment of the present disclosure;

fig. 5 is a rear view of a fork device in the transfer robot according to the embodiment of the present disclosure;

fig. 6 is an exploded view of a fork arrangement in a transfer robot according to an embodiment of the present disclosure;

FIG. 7 is a top view of a rotating assembly of a transfer robot according to an exemplary embodiment of the present disclosure;

FIG. 8 is a cross-sectional view taken along line A-A of FIG. 7;

fig. 9 is an exploded view of a rotating assembly in a transfer robot according to an embodiment of the present disclosure;

fig. 10 is an exploded view of a worm wheel in the transfer robot according to the embodiment of the present disclosure;

FIG. 11 is an elevation view of a robot arm assembly of a transfer robot provided in an embodiment of the present application;

FIG. 12 is a top view of a robot arm assembly of a transfer robot according to an embodiment of the present disclosure;

FIG. 13 is a cross-sectional view taken in the direction B-B of FIG. 12;

FIG. 14 is a schematic structural view of a robot arm assembly in a transfer robot according to an embodiment of the present disclosure;

fig. 15 is a schematic view of a logistics system provided by an embodiment of the application.

Description of reference numerals:

100-a handling robot; 110-a robot body; 111-a base; 112-a storage rack; 1121-storage trough; 120-a fork arrangement; 121-an accommodating space; 122-a pick-up space; 130-a rotating assembly; 131-a rotating platform; 1311-a bearing seat; 1312-avoidance holes; 132-a first drive unit; 133-a first transmission member; 134-a second transmission; 1341-a worm gear body; 1342-supporting a rotating member; 1343-a fixation plate; 1344-inner plate; 135-a reducer; 136-a fixed seat; 140-a robot arm assembly; 141-a support table; 142-a set of arms; 1421-fixed arm; 1422-telescoping arm; 1423-abutments; 143-a second drive unit; 1431 — first drive belt; 144-a third transmission member; 1441 — fourth transmission; 1442-second drive belt; 145-linkage unit; 1451-spline shaft; 1452-spline nut; 146-a width adjustment mechanism; 1461-first lead screw unit; 1462-second lead screw unit; 1463-a third drive unit; 147-a guide mechanism; 148-stage; 150-a lifting assembly; 151-a lifting mechanism; 152-a connecting frame;

200-a shelf;

300-conveying line.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

First, it should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present application, and are not intended to limit the scope of the present application. And can be adjusted as needed by those skilled in the art to suit particular applications.

Next, it should be noted that in the description of the present application, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "inner", "outer", etc. are based on the direction or positional relationship shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or member must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Various robots are widely used in various fields such as industry and life, and a transfer robot plays an important role in industries such as transportation and logistics, and in a logistics system, goods are generally stored on a rack, and the transfer robot picks and places the goods by being aligned with the rack or a conveyor line and transfers the goods. The transfer robot is generally provided with a fork for taking and placing goods, the fork is generally provided with a manipulator which can extend towards a fixed direction relative to a body of the transfer robot, the fork can rotate relative to the body of the transfer robot, the manipulator generally finishes goods taking and placing operations along the side of the advancing direction of the transfer robot, when the transfer robot is butted with a goods shelf or a conveying line, the transfer robot needs to be integrally rotated to the goods taking side to be opposite to the goods shelf or the conveying line, and then the manipulator finishes goods taking and placing operations.

Therefore, in the prior art, when the transfer robot performs a cargo transportation task, if the transfer robot needs to be docked with other devices, it needs to be ensured that the side of the transfer robot along the advancing direction is opposite to the other devices, and the goods taking and placing from the front of the transfer robot cannot be completed, which results in that the transfer robot needs to perform posture adjustment at a specific rotating point, and then the goods taking operation can be completed. In addition, in some specific logistics occasions, for example, when goods are taken between adjacent shelves, enough space needs to be reserved for the rotating point of the transfer robot, and the overall space utilization rate of the warehousing system is reduced.

In view of the above problems, the embodiment of the application provides a transfer robot and a logistics system, through the structural design of a fork device on the transfer robot, the operation of picking and placing goods can be completed in all directions of a main body of the transfer robot, meanwhile, the rotating stroke of the fork from goods picking of goods on a goods shelf to the main body of the robot is reduced, and then the efficiency of picking and placing goods by the transfer robot is improved. In addition, in the whole logistics system, the space of the rotary position does not need to be reserved for the carrying robot, and the space utilization rate is improved.

Example one

The embodiment of the present invention provides a transfer robot, configured to pick and place goods, where the transfer robot may be applied to logistics distribution of an industrial production line, warehousing and ex-warehouse of manufacturing inventory products, warehousing and ex-warehouse of retail products, and also may be applied to different fields such as warehousing and ex-warehouse of e-commerce logistics, and products or goods related to transportation may be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, and the like.

In the embodiment of the present application, it is defined that the front side in the forward direction of the transfer robot is the front side of the transfer robot, the rear side in the forward direction thereof is the rear side of the transfer robot, and the opposite sides in the forward direction of the transfer robot are the left and right sides of the transfer robot, respectively.

Fig. 1 is a schematic structural diagram of a transfer robot according to an embodiment of the present application, fig. 2 is a side view of the transfer robot according to the embodiment of the present application, fig. 3 is a schematic structural diagram of a fork device in the transfer robot according to the embodiment of the present application, fig. 4 is a schematic structural diagram of another perspective view of the fork device in the transfer robot according to the embodiment of the present application, fig. 5 is a rear view of the fork device in the transfer robot according to the embodiment of the present application, and fig. 6 is an exploded view of the fork device in the transfer robot according to the embodiment of the present application.

As shown in fig. 1 to 6, the transfer robot 100 provided in this embodiment includes a robot main body 110 and a fork device 120, during a cargo transporting task, the robot main body 110 may be used to store a cargo, and the robot main body 110 may move along a corresponding transporting route so as to go to a specific location to pick up the cargo or transport the cargo to the specific location, and when the transfer robot 100 is docked with other devices, the fork device 120 is used to complete the picking and placing operation of the cargo.

Wherein the fork device 120 is disposed on the robot body 110, and the fork device 120 is movable along the height direction of the robot body 110, so that when taking goods, the fork device 120 can complete the goods taking operation from different devices or complete the goods taking operation from different height positions of one device.

The fork device 120 comprises a rotating assembly 130 and a mechanical arm assembly 140, the rotating assembly 130 comprises a rotating platform 131 and a first driving mechanism mounted on the rotating platform 131, and the mechanical arm assembly 140 is connected with an output end of the first driving mechanism, so that the mechanical arm assembly 140 can be driven by the first driving mechanism to rotate, and the mechanical arm assembly 140 can complete the operation of taking and placing goods on the front side, the rear side, the left side and the right side of the transfer robot 100.

The accommodating space 121 is formed between the rotary platform 131 and the robot arm assembly 140, the first driving mechanism is located in the accommodating space 121, that is, the rotary platform 131 and the robot arm assembly 140 are arranged at intervals in the height direction of the robot main body 110, and the first driving mechanism is arranged between the rotary platform 131 and the robot arm assembly 140, the rotary platform 131 can play a role of bearing the first driving mechanism and the robot arm assembly 140, and since the first driving mechanism drives the robot arm assembly 140 from the bottom of the robot arm assembly 140, no redundant structure is blocked in the circumferential direction of the robot arm assembly 140, the robot arm assembly 140 can rotate to different circumferential positions relative to the robot main body 110, when other devices are in butt joint, the robot main body 110 does not need to be rotated, and the efficiency of taking and placing goods is improved.

It should be noted that when the mechanical arm assembly 140 rotates to a certain posture, the mechanical arm assembly 140 can extend and retract during the goods picking operation, and the mechanical arm assembly 140 can extend and retract in both the front and the back directions, that is, the mechanical arm assembly 140 can perform the picking operation on the front side of the mechanical arm assembly or the back side of the mechanical arm assembly, and the rotation assembly 130 is matched to achieve the goods picking operation in the front, the back, the left and the right directions. For example, the robot arm assembly 140 is disposed at the front side of the transfer robot 100, when the transfer robot 100 travels in a roadway between two shelves, a task of picking and placing goods is prepared, and when the robot arm assembly reaches a predetermined place, if the robot arm assembly faces the front side of the transfer robot 100 at this time, the robot arm assembly can be rotated by 90 ° under the driving of the first driving mechanism, and at this time, the robot arm assembly 140 can complete a task of picking and placing goods relative to the shelves at two sides by extending and retracting to the left side or the right side of the transfer robot 100; for another example, when the transfer robot 100 needs to interface with a conveyor line on the front side thereof, the arm assembly 140 may directly extend to the front side of the transfer robot 100 to complete the task of picking and placing goods.

In addition, in this embodiment, the device to which the transfer robot 100 is docked may be a shelf, that is, a goods is taken from a corresponding storage position of the shelf or a goods is put into the corresponding storage position, or the device to which the transfer robot 100 is docked may also be a conveyor line, and the transfer robot 100 may dock with devices in different links in the logistics system according to a specific delivery task, which is not specifically limited in this embodiment.

The specific structure of the first driving mechanism and the arrangement of the first driving mechanism in the accommodating space 121 will be described in detail first.

Fig. 7 is a plan view of a rotating assembly in a transfer robot according to an embodiment of the present application, fig. 8 is a sectional view taken in a direction a-a of fig. 7, and fig. 9 is an exploded view of a rotating assembly in a transfer robot according to an embodiment of the present application.

As shown in fig. 7 to 9, in some embodiments, the first driving mechanism may include a first driving unit 132, a first transmission member 133 and a second transmission member 134, an output end of the first driving unit 132 is connected to the first transmission member 133, the first driving unit 132 may drive the first transmission member 133 to rotate, the second transmission member 134 is located at a side of the first transmission member 133, the first transmission member 133 may drive the second transmission member 134 to rotate, and the robot arm assembly 140 is connected to the second transmission member 134, so that the second transmission member 134 may drive the robot arm assembly 140 to rotate.

The outer wall of the first transmission piece 133 may be provided with first engaging teeth, the outer wall of the second transmission piece 134 may be provided with second engaging teeth, the first engaging teeth and the second engaging teeth are engaged with each other, and each part of the first driving mechanism is reasonably arranged in the same space, so that when the second transmission piece 134 drives the mechanical arm assembly 140 to rotate around the circumferential direction to different positions, the picking and placing operations of the mechanical arm assembly 140 may not interfere with other parts, and the picking and placing operations may be completed under various different scenes.

Since the rotation plane of the robot arm assembly 140 is parallel to the rotating platform 131, i.e. the rotation axis of the second transmission member 134 is perpendicular to the rotating platform 131, in order to reduce the size of the accommodating space 121 and improve the space utilization, the first driving unit 132 needs to be horizontally disposed in the accommodating space 121, i.e. the axis of the output rotation of the first driving unit 132 is parallel to the rotating platform 131, and therefore the first transmission member 133 needs to perform steering.

Optionally, the first transmission member 133 may be a worm, the second transmission member 134 may be a worm wheel, the worm is horizontally disposed in the accommodating space 121, a rotation plane of the worm wheel is parallel to the rotating platform 131, and the worm wheel is engaged with the worm, so as to reduce the height of the accommodating space 121 and improve the space utilization rate.

In addition, in order to ensure the smoothness of the rotation of the robot arm assembly 140, a speed reducer 135 may be further disposed between the first driving unit 132 and the worm to reduce the output rotation speed of the motor and ensure the smoothness of the output rotation. The first driving unit 132 and the reducer 135 may be mounted on the rotating platform 131 through the fixing base 136, and a position of the rotating platform 131 corresponding to the first driving unit 132 may be provided with an avoiding hole 1312 so as to facilitate mounting of the first driving unit 132 and improve space utilization, and the size of the avoiding hole 1312 may be slightly larger than the size of the projection of the first driving unit 132 on the rotating platform 131.

It should be noted that the worm needs to be installed on the rotating platform 131 and can be driven by the first driving unit 132 to rotate, the first end of the worm may be connected to the first driving unit 132, the rotating platform 131 may be provided with a bearing block 1311, the second end of the worm may be installed on the bearing block 1311, the bearing block 1311 may be provided with a deep groove ball bearing, and an outer wall of the second end of the worm abuts against and is fixed to an inner ring of the deep groove ball bearing, so as to ensure reliability of worm transmission.

It will be appreciated by those skilled in the art that the worm drives the worm gear, and the worm gear needs to be mounted on the rotary platform 131 and rotate around a fixed axis, and the specific structure and mounting manner of the worm gear will be described below.

Fig. 10 is an exploded view of a worm wheel in a transfer robot according to an embodiment of the present disclosure, please refer to fig. 8 and 10, in some embodiments, the worm wheel may include a worm wheel main body 1341 and a supporting rotation member 1342, the worm wheel main body 1341 and the supporting rotation member 1342 are coaxially disposed, the worm wheel main body 1341 is fixedly connected to an outer ring of the supporting rotation member 1342, an inner ring of the supporting rotation member 1342 is fixedly connected to the rotating platform 131, so that the worm wheel main body 1341 can rotate around a fixed axis, the first driving mechanism further includes a fixing plate 1343, and the fixing plate 1343 is used for mounting the robot arm assembly 140.

Wherein, the second meshing tooth encircles worm wheel main part 1341's circumference setting, and worm wheel main part 1341's the outside and the worm meshing, fixed plate 1343 can set up in the worm wheel and deviate from one side of rotary platform 131 to realize the relative rotation of arm subassembly 140 and rotary platform 131, and the overall structure of worm wheel has better bearing capacity.

In addition, the supporting rotating member 1342 may be a supporting rotating bearing, in order to prevent the worm wheel main body 1341 and the outer ring of the supporting rotating member 1342 from interfering or rubbing with the rotating platform 131 during rotation, when the inner ring of the supporting rotating member 1342 is connected with the rotating platform 131, an inner plate 1344 may be disposed between the supporting rotating member 1342 and the rotating platform 131, and the size of the inner plate 1344 may be smaller than that of the outer ring of the supporting rotating member 1342, so that a certain distance is formed between the supporting rotating member 1342 and the worm wheel main body 1341 and the rotating platform 131, and the stability and smoothness of the rotation process are ensured.

It should be noted that the inner ring of the supporting rotary member 1342 and the rotary platform 131 may be fixed by a threaded fastener, specifically, may be fixed by bolts and nuts, and may be circumferentially distributed around the rotation axis at intervals in the inner ring of the supporting rotary member 1342 by a plurality of bolts and nuts, so as to ensure the strength and reliability of connection, and the worm wheel main body 1341 and the fixing plate 1343, and the fixing plate 1343 and the robot arm assembly 140 may adopt the same connection manner, which is not described herein again.

In order to ensure that the outer ring of the supporting rotary member 1342 and the worm wheel main body 1341 are relatively fixed, the outer ring of the supporting rotary member 1342 and the worm wheel main body 1341 can be assembled in an interference fit manner, the fixing plate 1343 can be simultaneously connected with the outer ring of the supporting rotary member 1342 and the worm wheel main body 1341 through threaded fasteners, and when the fixing plate 1343 is assembled with the supporting rotary member 1342 and the worm wheel main body 1341, the fixing plate can be installed from different sides of a worm wheel to avoid interference. Of course, the worm wheel main body 1341 and the outer ring of the supporting rotary member 1342 can be kept relatively fixed by a key connection, and the specific assembly manner is not limited in this embodiment.

After the rotating assembly 130 drives the robot arm assembly 140 to rotate to a specific posture, the robot arm assembly 140 completes the operation of picking and placing the goods by telescoping, and the specific structure of the robot arm assembly 140 will be described in detail below.

In some embodiments, the robot arm assembly 140 may include a support table 141 and two robot arm sets 142, the support table 141 may be connected to the output end of the first driving mechanism, the two robot arm sets 142 may be respectively disposed at two sides of the support table 141 and connected to the support table 141, and supported by the support table 141, and the two robot arm sets disposed opposite to each other may form a space above the support table 141 for taking and placing goods.

When the goods are taken and placed, the arm assembly 142 may extend and contract relative to the rotating platform 131, the arm assembly 142 may include a fixed arm 1421 and at least one telescopic arm 1422, the fixed arm 1421 and the support platform 141 are relatively fixed, and the telescopic arm 1422 may extend and contract along the length direction of the fixed arm 1421.

Optionally, the telescopic arm 1422 is a bidirectional telescopic arm, two opposite sides of the telescopic arm 1422 in the length direction can be extended and retracted towards different sides of the extending direction of the fixed arm 1421 relative to the fixed arm 1421, and the extending and retracting directions of the telescopic arms 1422 of the two arm groups 142 are the same, so that the two arm groups 142 can be mutually matched when taking and placing goods, and can be extended and retracted in different directions in the front and back, and after the posture of the rotating assembly 130 is adjusted, the bidirectional goods taking operation can be completed. For example, when the telescopic arm 1422 picks up goods to the side of the robot main body 110, it may extend to the left side of the robot main body 110 or to the right side of the robot main body 110, and similarly, the picking up and picking up operations to the front side and the rear side of the robot main body 110 may be completed.

It will be understood by those skilled in the art that the number of the telescopic arms 1422 may be one or more, and the telescopic arms 1422 with different numbers and stroke lengths may implement the picking operation at different positions, for example, when a picking or placing scenario of a shelf is required, if the storage position of the shelf is deeper, a plurality of telescopic arms 1422 may be designed, and the plurality of telescopic arms 1422 may be sequentially connected and telescopic during picking or placing, so as to have a larger picking stroke. The structure of the single telescopic arm 1422 will be described below.

Fig. 11 is a front view of a robot arm assembly in a transfer robot according to an embodiment of the present disclosure, fig. 12 is a top view of the robot arm assembly in the transfer robot according to the embodiment of the present disclosure, fig. 13 is a sectional view taken in a direction B-B in fig. 12, and fig. 14 is a schematic structural view of the robot arm assembly in the transfer robot according to the embodiment of the present disclosure.

As shown in fig. 4 to 14, in some embodiments, both ends of the telescopic arm 1422 in the telescopic direction thereof may be provided with an abutting part 1423, and the abutting part 1423 may rotate relative to the telescopic arm 1422, so as to form a finger structure at the end of the telescopic arm 1422 to block both sides of the goods picking space 122.

In the process of getting goods, when flexible arm 1422 extends forward, butt 1423 can be in the state of drawing in to avoid producing interference with the goods, and after flexible arm 1422 stretches out to predetermined position, butt 1423 can rotate to getting goods space 122, with keeping off the tip of establishing at waiting to get goods, flexible arm 1422 shrink this moment, butt 1423 can with the goods butt, and drive the goods and remove, accomplish and get the goods operation.

For example, the abutting member 1423 may be directly or indirectly driven by a driving unit such as a motor or a rotary cylinder, which is not particularly limited in this embodiment.

In some embodiments, the robot arm assembly 140 may further include a second driving mechanism, the second driving mechanism may include a second driving unit 143 and a third transmission member 144, the second driving unit 143 is mounted on the fixed arm 1421, an output end of the second driving unit 143 is connected to the third transmission member 144, the third transmission member 144 is connected to the telescopic arm 1422, and the rotation of the third transmission member 144 drives the telescopic arm 1422 to move telescopically along a length direction thereof.

The second driving unit 143 may be a motor, the third transmission member 144 may be located at an end of the fixing arm, the second driving unit 143 is spaced apart from the third transmission member 144, and an output end of the second driving unit 143 is connected to the third transmission member 144 through a first transmission belt 1431, so that the mechanical arm assembly 140 has a smaller rotation radius when rotating, so as to avoid interference. For example, the first driving belt 1431 may be a timing belt or a driving chain, that is, the output end of the second driving unit 143 may be driven by the timing belt or the chain with the third driving member 144, so as to facilitate the arrangement of the second driving unit 143, and to ensure the reasonableness of the spatial layout.

Optionally, the second driving mechanism may further include a fourth transmission member 1441, the third transmission member 144 may be a driving wheel, and the fourth transmission member 1441 may be a driven wheel, the third transmission member 144 and the fourth transmission member 1441 are respectively disposed at two opposite ends of the fixing arm 1421 along the extending direction, and the third transmission member 144 and the fourth transmission member 1441 may be connected by a second transmission belt 1442, that is, the third transmission member 144 and the fourth transmission member 1441 are respectively disposed at two ends of one fixing arm 1421, and the second driving unit 143 only needs to drive the third transmission member 144, and the telescopic arm 1422 is engaged with the second transmission belt 1442 and is driven by the second transmission belt 1442 to move telescopically, so that when the telescopic arm 1422 extends and retracts forward or backward relative to the fixing arm 1421, a large telescopic stroke may be provided, and in the telescopic process, the third transmission member 144 may complete reliable and effective transmission. The second transmission belt 1442 may be a timing belt or a transmission chain, and this embodiment is not particularly limited thereto.

Exemplarily, the second driving belt 1442 is provided with a plurality of third engaging teeth along the extending direction thereof, the telescopic arm 1422 may be provided with fourth engaging teeth arranged along the telescopic direction thereof, the third engaging teeth and the fourth engaging teeth are engaged with each other, that is, an engaged rack structure is formed between the fixed arm 1421 and the telescopic arm 1422, so that the rotation of the second driving unit 143 is converted into the movement of the telescopic arm 1422, and the stability and reliability of the telescopic arm 1422 in the telescopic goods taking and placing process can be ensured.

It should be noted that, the two arm groups 142 need to be matched to keep the same or synchronous stretching actions, so as to better complete the goods picking operation, in some embodiments, the two arm groups 142 may be respectively provided with a second driving mechanism to respectively drive the two arm groups 142 to perform stretching actions, and the two arm groups 142 are ensured to be matched or synchronous by program logic control of the control system, and the driving structures of the two arm groups 142 may all adopt the structural manner of the second driving mechanism, which is not described herein again.

In other embodiments, the second driving mechanism may be disposed on only one arm group 142, please refer to fig. 11 and 12, and the linkage unit 145 may be disposed between two arm groups 142, so that the two arm groups 142 may be synchronized or consistent in the extending and retracting actions through the linkage unit 145, and the structure of the linkage unit 145 will be described in the following.

In some embodiments, both ends of the linkage unit 145 may be respectively connected to the fixing arms 1421 of the two arm sets 142, and when the second driving unit 143 is driven, the linkage unit 145 may transmit the torque output by the second driving unit 143, so as to achieve the synchronous movement of the two arm sets 142.

For example, the linkage unit 145 may be a ball spline set, and with continued reference to fig. 13, the ball spline set includes a spline shaft 1451 and a spline nut 1452, a first end of the spline shaft 1451 is a fixed end, the fixed end is connected to one of the two arm sets 142, a second end of the spline shaft 1451 is a floating end, the spline nut 1452 is disposed at the floating end and is movable along a length direction of the spline shaft 1451, and the spline nut 1452 is connected to the other of the two arm sets 142, so that the second driving unit 143 realizes torque transmission between the two arm sets 142 when operating.

As will be understood by those skilled in the art, in the ball spline group, the spline nut 1452 can rotate the spline shaft 1451 to transmit torque, and the spline nut 1452 can move relative to the spline shaft 1451 along the length direction of the spline shaft 1451, in this embodiment, the second driving unit 143 disposed on one arm group 142 can synchronously drive the two arm groups 142 to synchronously extend and retract through the spline shaft 1451, while the spline nut 1452 can relatively move relative to the spline shaft 1451, so that the two arm groups 142 can move along the length direction of the spline shaft 1451, and thus the distance between the two arm groups 142, i.e., the size of the goods taking space 122, can be adjusted, which will be described in detail below.

With continued reference to fig. 12 and 13, in some embodiments, the robot arm assembly 140 may further include a width adjustment mechanism 146, the width adjustment mechanism 146 may be disposed between the two robot arm sets 142, two ends of the width adjustment mechanism 146 are respectively connected to the two robot arm sets 142, and the two robot arm sets 142 may be close to or away from each other along the length direction of the width adjustment mechanism 146 by driving of the width adjustment mechanism 146, so that the size of the goods taking space 122 between the two robot arm sets 142 may be adjusted according to the type, size, and other parameters of the goods to be taken and placed, so as to adapt to different applications.

The width adjustment mechanism 146 may include a first lead screw unit 1461 and a second lead screw unit 1462, the first lead screw unit 1461 may include a first lead screw body and a first lead screw nut, the second lead screw unit 1462 may include a second lead screw body and a second lead screw nut, a first end of the first lead screw body is connected to a first end of the second lead screw body, the first lead screw nut is disposed at a second end of the first lead screw body, and the first lead screw nut is connected to one of the two arm groups 142, the second lead screw nut is disposed at a second end of the second lead screw body, and the second lead screw nut is connected to the other of the two arm groups 142, that is, the first lead screw unit 1461 and the second lead screw unit 1462 respectively drive the two arm groups 142 to move.

Relative movement of the two arm groups 142 is achieved through movement of the first lead screw nut relative to the first lead screw main body and movement of the second lead screw nut relative to the second lead screw main body, and the moving direction of the two arm groups 142 is perpendicular to the stretching direction of the two arm groups.

In order to ensure that the two mechanical arm groups 142 move together to be matched, the first lead screw main body and the second lead screw main body can be coaxially arranged, and the screw threads of the first lead screw main body and the second lead screw main body are opposite in turning direction, so that the movement directions of the two mechanical arm groups 142 are opposite, and the accuracy of adjusting the distance between the two mechanical arm groups 142 is ensured. When two arm group 142 are close to relatively, get goods space 122 and diminish, can get the less goods of putting the volume, when two arm group 142 are kept away from relatively, get goods space 122 grow, can get the great goods of putting the volume.

In some embodiments, the width adjustment mechanism 146 may further include a third driving unit 1463, an output end of the third driving unit 1463 is connected to one of the first lead screw body and the second lead screw body, so as to drive the first lead screw nut and the second lead screw nut to move respectively by using the first lead screw body and the second lead screw body as driving members.

Optionally, the third driving unit 1463 may be a motor, and the third driving unit 1463 may be driven by a timing belt or a chain with the first lead screw body, and in order to ensure compactness of the spatial layout, the third driving unit 1463 may have a partial structure or be completely disposed in an inner ring of a worm gear, so that neither interference is generated, and the third driving unit 1463 is prevented from occupying the goods taking space 122.

It should be noted that, the first screw main body and the second screw main body can be fixedly connected through the coupling, so that the coaxiality is ensured, and the connection reliability is improved. In addition, the first lead screw unit 1461 and the second lead screw unit 1462 can be trapezoidal lead screws, and when the two arm sets 142 move to the preset position, the trapezoidal lead screws can ensure the locking of the relative positions of the two arm sets 142.

In order to ensure the stability of the movement during the relative movement of the two robot arm groups 142, the robot arm assembly 140 may further include a guide mechanism 147, and the guide mechanism 147 may include a plurality of guide blocks and a plurality of guide shafts, which are arranged in a one-to-one correspondence; the plurality of guide blocks are respectively disposed at opposite sides of the support platform 141, one end of the guide shaft is connected to the arm group 142, and the other end of the guide shaft can slide relative to the guide blocks, so as to provide a guide for the relative movement of the two arm groups 142.

For example, the supporting platform 141 may have a square shape, the number of the guiding mechanisms 147 may be four, and four guiding structures may be respectively disposed at four corner positions of the supporting platform 141, so as to ensure the reliability of the supporting and guiding.

It will be understood by those skilled in the art that a loading surface for loading the cargo is required above the supporting platform 141, and the width adjusting mechanism 146 is required to avoid interference with the taking and placing of the cargo, so an object stage 148 may be disposed above the supporting platform 141, the object stage 148 is used for forming the loading surface to load the cargo, and a gap is provided between the object stage 148 and the supporting platform 141 to accommodate the width adjusting mechanism 146.

In some embodiments, the transfer robot 100 may further include a lifting assembly 150, and the lifting assembly 150 is disposed on the robot main body 110 and is movable in a height direction of the robot main body 110.

The lifting assembly 150 may include a lifting mechanism 151 and a connecting frame 152, one end of the connecting frame 152 is mounted on the lifting mechanism 151, the other end of the connecting frame 152 extends to the side of the robot main body 110, and the fork device 120 may be mounted on the connecting frame 152, so that the fork device can move up and down along with the lifting mechanism 151, and the picking and placing operations can be completed at different height positions.

For example, the lifting mechanism 151 may be driven by a motor and may drive the connecting frame 152 to move up and down along the height direction of the robot main body 110 by means of a timing belt or a chain drive.

In addition, the robot main body 110 may include a base 111 and a storage shelf 112, the storage shelf 112 is mounted on the base 111, and the lifting assembly 150 is disposed on the storage shelf 112 and is movable in a height direction of the storage shelf 112.

A plurality of storage grooves 1121 may be disposed on one side of the storage rack 112 away from the fork device 120, the plurality of storage grooves 1121 are distributed at intervals along the height direction of the storage rack 112, and the fork device 120 may put goods into different storage grooves 1121.

As can be understood by those skilled in the art, when the storage groove 1121 is disposed at the rear side of the transfer robot 100, the fork device 120 may be disposed at the front side of the robot main body 110, and according to the structure of the fork device 120, it may be configured to complete the goods taking and placing operation by docking with other devices at the front side, the left side, and the right side of the robot main body 110, and meanwhile, it may also complete the goods taking and placing operation in the storage groove 1121 at the rear side of the robot main body 110, that is, a four-way goods taking and placing function is achieved.

The embodiment provides a transfer robot, this transfer robot includes robot main part and fork device, the fork device sets up in the robot main part, and the fork device can be followed the direction of height of robot main part and removed, rotating assembly includes rotary platform and installs the first actuating mechanism on rotary platform, the accommodation space has between rotary platform and the robotic arm subassembly, first actuating mechanism is located this accommodation space, the robotic arm subassembly is connected with first actuating mechanism's output, thereby first actuating mechanism can drive the robotic arm subassembly rotatory, so that realize that the fork device all can get in the equidirectional of robot main part and put the goods operation, the efficiency of getting when carrying robot carries out the task gets the goods is improved.

Example two

Fig. 15 is a schematic view of a logistics system according to an embodiment of the present invention, and as shown in fig. 15, the embodiment provides a logistics system, which includes a rack 200, a conveying line 300, and the transfer robot 100 according to the first embodiment, where the rack 200 is used for storing goods, the conveying line 300 is used for conveying goods, and the transfer robot 100 can interface with the rack 200 or the conveying line 300 and pick and place goods to complete corresponding conveying tasks.

The transfer robot 100 is provided with a fork device, the fork device can complete the goods taking and placing operation in each direction in the circumferential direction of the transfer robot 100, please refer to the arrow direction in fig. 14, the fork device can perform the goods taking and placing operation in the front, rear, left and right directions of the transfer robot 100, the specific structure of the fork device and the arrangement mode on the transfer robot 100 are the same as those in the first embodiment, and details are not repeated here.

In addition, for the application scenario of the logistics system provided in this embodiment, according to the type of specific goods, the logistics system can be applied to different fields such as warehousing and ex-warehouse of manufacturing factory production lines or inventory products, retail logistics, fast warehousing and ex-warehouse of e-commerce logistics, and the products or goods related to transportation can be industrial parts, electronic accessories or products, clothing accessories, food, and the like, but this is not specifically limited in this embodiment of the application.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (19)

1. A transfer robot comprising a robot main body and a fork device provided on the robot main body, the fork device being movable relative to the robot main body in a height direction of the robot main body;

the fork device comprises a rotating assembly and a mechanical arm assembly, wherein the rotating assembly comprises a rotating platform and a first driving mechanism arranged on the rotating platform, an accommodating space is formed between the rotating platform and the mechanical arm assembly, the first driving mechanism is positioned in the accommodating space, and the output end of the first driving mechanism is connected with the mechanical arm assembly so as to drive the mechanical arm assembly to rotate in the horizontal direction relative to the rotating platform.

2. The transfer robot of claim 1, wherein the first drive mechanism includes a first drive unit, a first transmission member, and a second transmission member, an output end of the first drive unit is connected to the first transmission member, the second transmission member is located on a side of the first transmission member, an outer wall of the first transmission member is provided with a first engaging tooth, an outer wall of the second transmission member is provided with a second engaging tooth, and the first engaging tooth and the second engaging tooth are engaged with each other; the mechanical arm assembly is connected with the second transmission piece.

3. The transfer robot of claim 2, wherein the first transmission member is a worm, the second transmission member is a worm wheel, the worm is horizontally arranged in the accommodating space, and a rotation plane of the worm wheel is parallel to the rotating platform; the first end of the worm is connected with the first driving unit, a bearing seat is arranged on the rotating platform, and the second end of the worm is installed on the bearing seat.

4. The transfer robot of claim 3, wherein the worm gear comprises a worm gear body and a supporting revolving member, the worm gear body is coaxially arranged with the supporting revolving member, the worm gear body is fixedly connected with an outer ring of the supporting revolving member, and an inner ring of the supporting revolving member is fixedly connected with the rotating platform; the first driving mechanism further comprises a fixing plate, the fixing plate is arranged on one side, deviating from the rotating platform, of the worm wheel, and the mechanical arm assembly is installed on the fixing plate.

5. The transfer robot of any one of claims 1 to 4, wherein the robot assembly includes a support table connected to the output end of the first driving mechanism and two robot arm groups respectively provided on both sides of the support table to form a pickup space above the support table.

6. The transfer robot of claim 5, wherein the robot arm group includes a fixed arm and at least one telescopic arm, and wherein the telescopic arm is telescopic relative to the fixed arm on two opposite sides in a length direction thereof in a direction different from an extending direction of the fixed arm; the telescopic arms of the two mechanical arm groups have the same telescopic direction.

7. A transfer robot as claimed in claim 6, wherein the telescopic arm is provided with abutments at both ends in the telescopic direction thereof, the abutments being rotatable relative to the telescopic arm to be positioned on both sides of the pickup space.

8. A transfer robot as claimed in claim 6, wherein the robot arm assembly further comprises a second drive mechanism comprising a second drive unit and a third transmission, the second drive unit being mounted on the fixed arm and an output of the second drive unit being connected to the third transmission, the third transmission being connected to the telescopic arm.

9. A transfer robot as claimed in claim 8, wherein the third transmission is located at the end of the fixed arm, the second drive unit is spaced from the third transmission, and the output of the second drive unit is connected to the third transmission via a first transmission belt.

10. The transfer robot of claim 9, wherein the third transmission member is a driving wheel, the second driving mechanism further comprises a fourth transmission member, the fourth transmission member is a driven wheel, the third transmission member and the fourth transmission member are respectively disposed at two opposite ends of the fixed arm in the extending direction, and the third transmission member and the fourth transmission member are connected by a second transmission belt;

the second transmission belt is provided with a plurality of third meshing teeth along the extending direction of the second transmission belt, the telescopic arm is provided with fourth meshing teeth arranged along the telescopic direction of the telescopic arm, and the third meshing teeth are meshed with the fourth meshing teeth.

11. The transfer robot of claim 8, wherein the second driving mechanism further comprises a linkage unit, and both ends of the linkage unit are connected to the fixed arms of the two arm groups, respectively, so that the moving directions of the two arm groups are kept the same.

12. The transfer robot of claim 11, wherein the linkage unit is a ball spline group, the ball spline group includes a spline shaft and a spline nut, a first end of the spline shaft is a fixed end, the fixed end is connected to one of the two arm groups, a second end of the spline shaft is a floating end, the spline nut is disposed at the floating end and can move in a length direction of the spline shaft, and the spline nut is connected to the other of the two arm groups.

13. The transfer robot of claim 5, wherein the arm assembly further comprises a width adjustment mechanism, the width adjustment mechanism is disposed between the two arm groups, two ends of the width adjustment mechanism are respectively connected to the two arm groups, and the two arm groups can move toward or away from each other along a length direction of the width adjustment mechanism.

14. The transfer robot of claim 13, wherein the width adjustment mechanism comprises a first lead screw unit and a second lead screw unit, the first lead screw unit comprises a first lead screw body and a first lead screw nut, the second lead screw unit comprises a second lead screw body and a second lead screw nut, a first end of the first lead screw body is connected with a first end of the second lead screw body, the first lead screw nut is disposed at a second end of the first lead screw body, and the first lead screw nut is connected with one of the two sets of arms, the second lead screw nut is disposed at a second end of the second lead screw body, and the second lead screw nut is connected with the other of the two sets of arms;

the first lead screw main body and the second lead screw main body are coaxially arranged, and the screw threads of the first lead screw main body and the second lead screw main body are opposite in rotating direction.

15. The transfer robot of claim 14, wherein the width adjustment mechanism further comprises a third drive unit, an output end of the third drive unit being connected to one of the first lead screw body and the second lead screw body.

16. The transfer robot of claim 13, wherein the robot arm assembly further comprises a guide mechanism comprising a plurality of guide blocks and a plurality of guide shafts, the guide blocks and the guide shafts being arranged in one-to-one correspondence; the guide blocks are respectively arranged on two opposite sides of the support table, one end of the guide shaft is connected with the mechanical arm group, and the other end of the guide shaft can slide relative to the guide blocks.

17. The transfer robot according to any one of claims 1 to 4, further comprising a lifting assembly provided on the robot main body and movable in a height direction of the robot main body;

the lifting assembly comprises a lifting mechanism and a connecting frame, one end of the connecting frame is installed on the lifting mechanism, the other end of the connecting frame extends towards the side of the robot main body, and the fork device is installed on the connecting frame.

18. The transfer robot of claim 17, wherein the robot main body comprises a base and a storage shelf mounted on the base, the lift assembly being disposed on the storage shelf and movable in a height direction of the storage shelf;

one side of the storage rack, which is far away from the fork device, is provided with a plurality of storage grooves which are distributed at intervals along the height direction of the storage rack.

19. A logistics system, characterized by comprising a rack for storing goods, a transfer line for transferring goods, and the transfer robot of any one of claims 1 to 18, wherein the transfer robot can interface with the rack or the transfer line and pick and place the goods.

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