RU2772360C2 - Loading and unloading robot - Google Patents

Abstract

FIELD: robotics.

SUBSTANCE: claimed invention relates to a method for picking up a storage unit using a loading and unloading robot, in which the loading and unloading robot contains: a frame and a device for loading and unloading materials, which is installed on the frame, and contains a retractable arm and a manipulator mounted on the retractable arm ; and a method for picking up a storage unit includes: driving a manipulator with a retractable rod to extend it to a predetermined storage rack location along a predetermined horizontal reference line; loading, by means of a manipulator that remains on the reference line, a stock keeping unit located at a predetermined location; driving, by means of a retractable rod, a manipulator loaded with a stock keeping unit to move it to the frame along a reference line; and unloading, using a manipulator that remains on the reference line, the inventory control unit on the frame.

EFFECT: invention provides increased reliability during operation.

13 cl, 11 dwg

Description

The field of technology to which the invention relates

The present application relates to the field of intelligent warehouse technology and, in particular, to a material handling robot and a method for picking up a storage unit using a material handling robot.

State of the art

An intelligent warehouse is a link in the logistics process. The use of an intelligent warehouse ensures the speed and accuracy of data entry for all aspects of inventory control held in the warehouse, thereby ensuring that the enterprise can obtain real inventory data in a timely and accurate manner and properly maintain and control the enterprise inventory. It is also convenient for batch management, storage time, etc. SKUs using coding. Using the location management feature of SNHGES, you can determine the current location of all inventory units over time, which helps to improve the efficiency of warehouse management.

The material handling robot plays an important role in the operation of an intelligent warehouse. The material handling robot replaces the manual loading and unloading of warehouse units. However, during implementation, the inventor has found that the number of SKUs that can be loaded with the existing shelf handling robot is too small and its efficiency is low.

The essence of the invention

In order to solve these technical problems, embodiments of the present application provide a material handling robot and a method for picking up an SKU with a material handling robot that can load a large number of SKUs.

To solve these technical problems, the embodiments of the present application offer the following technical solutions.

According to the first aspect, a method is proposed for taking a warehouse accounting unit using a loading and unloading robot, which contains: a frame; a device for loading and unloading materials mounted on the frame and containing a retractable shoulder and a manipulator mounted on the retractable shoulder; the method of picking up a storage unit includes: driving a manipulator with the help of a retractable arm to extend it to a predetermined location of the warehouse rack along a predetermined horizontal reference line; loading, by means of a manipulator that remains on a horizontal plane where the reference line is located, the warehousing unit to a predetermined location; using the retractable arm to move the manipulator loaded with the warehouse accounting unit in order to move it to the frame along the reference line, unloading with the help of the manipulator, which remains on the horizontal plane where the reference line is located, the warehouse accounting unit on the frame.

In some embodiments, the loading and unloading robot includes: a lifting unit installed between the frame and the device for loading and unloading materials; the method for picking up a storage unit also comprises: before the retractable arm actuates the manipulator to extend it to a predetermined location of the warehouse rack along the reference line, actuating the device for loading and unloading materials with the help of a lifting unit in order to move it in a vertical direction , so that the manipulator is facing horizontally toward the specified location.

In some embodiments, the frame comprises: a plurality of pallets distributed in the vertical direction; the method for picking up the storage unit also includes: before the retractable arm drives the manipulator loaded with the storage unit to move it to the frame along the reference line, actuating the material handling device with the lifting unit to its movement in the vertical direction so that the device for loading and unloading materials is facing in the horizontal direction towards the corresponding pallet.

In some embodiments, the loading and unloading robot also contains: a movable chassis equipped with a frame; the method for picking up the storage unit also includes: before the lifting device drives the material handling device to move it in a vertical direction, so that the material loading and unloading device faces in a horizontal direction towards a predetermined location, providing moving the movable chassis to a predetermined position in front of the storage rack.

In some embodiments, the material handling robot also includes: a recognition device mounted on the device for loading and unloading materials; the method for picking up the storage unit also includes: before the pull-out arm drives the manipulator to pull it out to a predetermined storage rack location along the reference line, and after the lifting unit drives the pull-out arm to move it in the vertical direction so that the material handling device is facing in a horizontal direction to a predetermined location, recognizing, using the recognition device, information about the location of the material loading and unloading device relative to the storage unit, and adjusting, using the horizontal plane, the position of taking the storage unit according to the information about the location of the device for loading and unloading materials relative to the warehouse unit.

In some embodiments, the movable chassis can move in the direction of its movement; information about the location of the device for loading and unloading materials relative to the storage unit includes the offset of the first position between the storage unit and the reference line in the direction of movement; adjusting, by means of the material handling robot, the pick-up position of the SKU according to the location information of the material handling device relative to the SKU, including: ensuring that the movable chassis moves along the running direction according to the first position offset, so that the first position offset is less than the value first mistake.

In some embodiments, the information about the location of the device for loading and unloading materials relative to the storage unit includes a shift of the second position between the storage unit and the reference line in the vertical direction; adjusting, by means of a material handling robot, the position of picking up the storage unit according to information about the location of the device for loading and unloading materials relative to the storage unit, which includes: driving the device for loading and unloading materials with the help of a lifting unit in order to move it in a vertical direction according to the second position offset so that the second position offset is less than the second error value.

In some embodiments, the information about the location of the device for loading and unloading materials relative to the storage unit includes the distance between the storage unit and the manipulator along the reference line; adjusting, by means of the material handling robot, the pick-up position of the SKU according to the position information of the material handling device relative to the SKU, including: adjusting the extension amount of the retractable arm along the reference line according to the specified distance, so that the extension amount is greater than the specified distance .

In some embodiments, the recognition device comprises: an image acquisition device; when the image acquiring device acquires information in the form of images about the storage unit, the recognition device recognizes information about the location of the device for loading and unloading materials relative to the storage unit.

In some embodiments, a label with a two-dimensional code is attached to the surface of the storage unit facing the material handling robot; when the image pickup device obtains image information about the storage unit, the information provided by the two-dimensional code label is collected to obtain information about the location of the material handling unit relative to the storage unit.

In some embodiments, the material handling device also comprises: a temporary storage tray, the temporary storage tray being equipped with a retractable arm and a recognition device; the method for picking up the storage unit also includes: before the retractable arm drives the arm loaded with the storage unit to move it to the frame along the reference line, actuating with the retractable arm the manipulator loaded with the storage unit, with the purpose of leading it back to the temporary storage tray along the reference line; unloading by means of a manipulator, which remains on a horizontal plane where the reference line is located, the warehousing unit onto a pallet for temporary storage; and loading, by means of a manipulator that remains on a horizontal plane where a reference line is located, a storage unit located on a temporary storage pallet.

In some embodiments, the device for loading and unloading materials also includes: a fork containing a retractable arm, a pallet for temporary storage, a recognition device and a manipulator; support bracket mounted on the frame; a swivel assembly installed between the fork and the support bracket; the method for picking up the storage unit also includes: after the manipulator, which remains on a horizontal plane where the reference line is located, loads the storage unit located on the temporary storage pallet, and before the retractable arm drives the manipulator, loaded with a storage unit, in order to move it to the frame along the reference line, actuating the retractable rod with the help of a rotary assembly to rotate it relative to the vertical direction at a given angle, so that the device for loading and unloading materials is oriented towards the frame.

In some embodiments, the information about the location of the device for loading and unloading materials relative to the storage unit includes: the amount of deviation between the storage unit and the reference line in the horizontal direction; adjusting, by means of a loading and unloading robot, the position of picking up the storage unit according to information about the location of the device for loading and unloading materials relative to the storage unit, which includes: driving the fork with the help of a rotary assembly to rotate it relative to the vertical direction according to the shift of the second position, so that the deviation value is less than the third error value.

In some embodiments, the material handling robot also includes: a deflection detection device attached between the fork and the support bracket; driving the yoke to rotate about the vertical direction with the rotator includes: when the deflection detection device detects that the yoke has not yet rotated through a predetermined angle, driving the yoke to continue rotating with the rotator; when the deflection detection device detects that the fork has rotated more than a predetermined angle, driving the fork with the pivot assembly to rotate it in the opposite direction; and when the deflection detection device detects that the yoke has rotated through a predetermined angle, stopping rotation of the pivot assembly.

In some embodiments, the deviation detection device comprises a first sensor operating in a first detection range; a second sensor operating in a second detection range; when the first sensor detects the fork in the first detection range and the second sensor does not detect the fork in the second detection range, the deflection detection device detects that the fork has not yet rotated through a predetermined angle; when the first sensor does not detect the fork in the first detection range and the second sensor detects the fork in the second detection range, the deflection detection device detects that the fork has rotated more than a predetermined angle; and when the first sensor detects the fork in the first detection range and the second sensor detects the fork in the second detection range, the deflection detection device detects that the fork has rotated through a predetermined angle.

In some embodiments, the SKU includes a first SKU and a second SKU; the predetermined location includes a first predetermined location and a second predetermined location, and the first SKU is located at the first predetermined location, and the second SKU is located at the second predetermined location; the frame contains the first pallet and the second pallet; when the second storage unit is behind the first storage unit, the method for picking up the storage unit also includes: actuating with the retractable arm of the manipulator to extend it to the first predetermined location of the storage rack along the reference line; loading, by means of a manipulator that remains on a horizontal plane where the reference line is located, the first inventory control unit to the first predetermined location; actuating, by means of a retractable arm, a manipulator loaded with the first inventory control unit to move it onto the first pallet; unloading with a manipulator, which remains on a horizontal plane where the reference line is located, the first inventory control unit onto the first pallet; actuating with the retractable arm of the manipulator to move it to the second predetermined location of the storage rack along the reference line; loading with a manipulator that remains on the horizontal plane where the reference line is located, the second inventory control located at the second predetermined location; actuating with the help of the retractable arm of the manipulator loaded with the second inventory control unit, in order to move it to the second pallet along the reference line; and unloading, by means of a manipulator that remains on the horizontal plane where the reference line is located, the second SKU onto the second pallet.

In some embodiments, the method for picking up an SKU also includes: actuating a retractable arm to move a manipulator to a first pallet along a horizontal plane where a reference line is located; actuating with the retractable arm of the manipulator, which must remain on a horizontal plane where the reference line is located, and to load the first inventory unit located on the first pallet; actuating, by means of a retractable arm, a manipulator loaded with the first inventory control unit to move it to the first predetermined location of the warehouse rack along the reference line; and unloading, with a manipulator that remains along the reference line, the first inventory control unit to the first predetermined storage rack location.

In an embodiment, the method for picking up the SKU also includes: actuating, with the retractable arm, a manipulator to move it to the first pallet along the reference line; actuating, by means of a retractable arm, a manipulator, which must remain on a horizontal plane where a reference line is located, to load the first inventory unit located on the first pallet; actuating, by means of a retractable arm, a manipulator loaded with the first inventory control unit to move it to a second predetermined location of the warehouse rack along the reference line; and unloading, with a manipulator that remains on the horizontal plane where the reference line is located, the first inventory control unit to the second predetermined location of the storage rack.

In some embodiments, the method for taking the SKU also includes: uploading information about the current location of the first SKU.

Compared with the existing state of the art, the present application proposes a method for picking up a storage unit using a handling robot, which contains: a frame; a device for loading and unloading materials mounted on the frame and containing a retractable shoulder and a manipulator mounted on the retractable shoulder; the method of picking up a storage unit includes: driving a manipulator with the help of a retractable arm to extend it to a predetermined location of the warehouse rack along a predetermined horizontal reference line; loading, by means of a manipulator that remains on the reference line, an inventory control unit located at a predetermined location; driving, by means of the retractable arm, the manipulator loaded with the storage unit to move it to the frame along the reference line, and unloading, by means of the manipulator, which remains on the reference line, the storage unit onto the frame. With the above method, the SKU can be moved to the frame along a predetermined horizontal reference line, whereby the space occupied by the frame in the vertical direction is reduced, and more SKUs can be loaded.

According to the second aspect, a loading and unloading robot is proposed, containing: a movable chassis; a frame mounted on a movable chassis and equipped with a plurality of pallets distributed in a vertical direction, each pallet being configured to accommodate a storage unit; a material handling device for transporting the SKU between the storage rack and any of the pallets, the material handling device having a predetermined horizontal reference line and comprising a pusher assembly that can move relative to the frame along the reference line; and a lifting unit for actuating the material handling device to move it in a vertical direction so that any one of the pallets is located on a reference line; when one of the pallets is located on the reference line, the pusher assembly pushes the SKU onto the corresponding pallet along the reference line, or the pusher assembly pulls the SKU from the corresponding pallet.

In some embodiments, the material handling device also includes a temporary storage tray; the temporary storage pallet is configured to temporarily store the inventory item to be transported between the storage rack and any of the pallets, and the temporary storage pallet has a reference line; when one of the pallets is located on the reference line, the pusher assembly may push the inventory item located on the temporary storage pallet to the corresponding pallet along the reference line, or the pusher assembly may push the inventory item from the corresponding pallet to the temporary storage pallet.

In some embodiments, the material handling device also includes an extendable arm.

The retractable arm comprises an outer arm section and an inner arm section, wherein the outer arm section is rigidly assembled with a temporary storage tray and the inner arm section is assembled with the outer arm section; the pusher assembly is assembled with the inner arm section; the inner arm section is movable relative to the outer arm section along the reference line so that the pusher assembly is movable relative to the frame along the reference line.

In some embodiments, the pusher assembly includes a manipulator; the manipulator is installed at the end of the inner arm section, so that the manipulator can move relative to the frame along the reference line, and the manipulator can be folded or unfolded relative to the inner arm section; when the manipulator is folded relative to the inner arm section, the end of the inner arm section assembled with the manipulator moves to the other side from one side of the stock keeping unit on the pallet or storage rack, which are located on the reference line, so that the manipulator folded out relative to the inner arm section pulls out appropriate SKU into a temporary storage pallet.

In some embodiments, the pusher assembly includes a fixed pusher rod; the fixed push rod is mounted at the end of the inner arm section away from the manipulator so that the fixed push rod can move towards the frame along the reference line.

The fixed push bar is configured to push the SKU located on the temporary storage pallet onto the pallet located on the reference line, or pull the SKU located on the temporary storage pallet to an unoccupied storage rack location.

In some embodiments, the pusher assembly also includes a pusher rod drive; the push rod drive device is connected to the manipulator and configured to actuate the manipulator to rotate it relative to the inner arm section so that the manipulator can be folded or unfolded relative to the inner arm section.

In some embodiments, the retractable arm also includes a middle arm section, a flat belt pulley, and an open flat belt; the middle arm section is installed between the inner leg section and the outer leg section, and the middle arm section can move relative to the outer leg section along the reference line, and the inner leg section can move relative to the middle arm section along the reference line; a pulley for a flat belt is installed on the section of the middle shoulder; the middle part of the open flat belt is bent and mounted on a pulley under the flat belt so that both ends of the open flat belt are opposite each other, with one end fixedly connected to the outer shoulder section and the other end fixedly connected to the inner shoulder section; when the middle arm section moves at a first speed relative to the outer arm section along the reference line, the inner arm section moves at a second speed relative to the outer arm section along the reference line, the second speed being twice the first speed.

In some embodiments, the device for loading and unloading materials includes a support bracket, a fork and a swivel assembly; the support bracket is mounted on the movable chassis, and the lifting unit is configured to actuate the support bracket to move it in the vertical direction; the fork contains a temporary storage tray, a retractable arm and a pusher assembly; the rotary assembly contains the first rotary element and the second rotary element; the first rotary element is assembled with a support bracket; the second pivot member is assembled with the temporary storage tray and is rotatable about a vertical axis relative to the first pivot member so that the yoke is rotatable about the pivot axis relative to the support bracket.

In some embodiments, the device for loading and unloading materials also includes a recognition device; the recognition device is configured to recognize whether the corresponding storage rack or pallet is located on the reference line.

In some embodiments, the recognition device comprises an image acquisition device; the image acquiring device is configured to obtain information in the form of images about the storage unit in order to recognize whether the corresponding storage rack or pallet is located on the reference line.

Compared with the current state of the art, in the loading and unloading robot of the embodiment of the present application, the loading and unloading robot comprises: a movable chassis; a frame mounted on a movable chassis and equipped with a plurality of pallets distributed in a vertical direction, each pallet being configured to accommodate a storage unit; a material handling device configured to transport the SKU between the storage rack and any of the pallets having a predetermined horizontal reference line, and comprising a pusher assembly that is movable relative to the frame along the reference line; a lifting unit for actuating the material handling device to move it in a vertical direction so that any one of the pallets is located on a reference line; when one of the pallets is positioned on the reference line, the pusher assembly may push the SKU onto the corresponding pallet along the reference line, or pull out the SKU located on the corresponding pallet. The stock keeping unit can be pushed onto the pallet or pulled out of the pallet in the above way, so that the distance between two adjacent pallets is small, and with the same vertical height, more pallets can be placed in the material handling robot, increasing the maximum load capacity.

Brief description of the drawings

One or more embodiments are given as examples with reference to the drawings corresponding to the embodiments. These explanatory descriptions do not limit the embodiments. Elements indicated in the drawings by the same reference numbers refer to similar elements. The drawings are not to scale unless otherwise indicated.

Fig. 1 is a schematic view of the design of a loading and unloading robot according to an embodiment of this application;

fig. 2 is a schematic exploded view of the material handling robot of FIG. one;

fig. 3 is a schematic exploded view of the movable chassis of the material handling robot of FIG. 2;

fig. 4 is a schematic view of the frame structure and lifting unit of the material handling robot of FIG. 2;

fig. 5 is a schematic view of the drive wheel assembly of the rolling chassis of FIG. 3;

fig. 6 is a schematic view of the structure of the material handling device of the material handling robot of FIG. 2;

fig. 7 is a schematic exploded view of the material handling device of FIG. 6;

fig. 8 is a schematic view of the construction of a fork portion of the material handling device of FIG. 7;

fig. 9 is a schematic view of the construction of the middle arm section and the drive unit of the inner leg section of the fork of FIG. eight;

fig. 10 is a schematic view of the construction of the material handling device of FIG. 6 from a different angle, where part of the structure for loading and unloading materials is not shown; and

fig. 11 is a diagram of a method for taking a warehouse accounting unit according to another embodiment of this application.

Detailed description of embodiments

To facilitate understanding of the present application, the following is a detailed description of the present application with reference to the drawings and specific embodiments. It should be appreciated that when an element is indicated as "attached" to another element, it may be located directly on the other element, or one or more intermediate elements may be located between them. When an element is listed as "connected" to another element, it may be directly connected to the other element, or there may be one or more intermediate elements between them. The terms "vertical", "horizontal", "left", "right", "inner", "outer" and similar terms used in the description of this application are for explanatory purposes only.

Unless otherwise defined, all technical and scientific terms used in the description of this application have the same meaning as the technical and scientific terms generally understood by a person skilled in the field to which this application pertains. The terms used in the description of this application are only intended to describe specific embodiments and are not intended to limit the present application. The term "and/or" as used in the description of the present application includes any and all combinations of one or more of the relevant terms listed here.

With reference to FIG. 1 and 2, the embodiment of the present invention provides a material handling robot 100 that can be applied to an intelligent storage system, an intelligent logistics system, an intelligent sorting system, and so on. In this embodiment, the material handling robot 100 applied to the intelligent storage system will be taken as an example of a detailed description.

The intelligent storage system includes a storage rack, and the storage rack has a predefined location for placing a stock keeping unit.

It should be noted that a stock keeping unit can be a single item or multiple items.

The material handling robot 100 includes a movable chassis 10, a frame 20, a material handling device 30, and a lifting unit 124. The frame 20, the material handling device 30, and the lifting unit 40 are mounted on the movable chassis 10.

The movable chassis 10 is configured to implement the movement function of the loading and unloading robot 100.

Together with reference to FIG. 3, the movable chassis 10 includes a bracket assembly 11, a driven wheel 12, a drive wheel assembly 13, and a guide 14. The driven wheel 12, the drive wheel assembly 13, and the guide 14 are mounted on the bracket assembly 11.

The bracket assembly 11 is assembled by welding a steel beam, a steel sheet and a skin, and the bracket assembly 11 includes a base 110 and a vertical frame 111. The vertical frame 111 is mounted on the base 110.

The base 110 includes a base body 112, a shaft support 113, and a shock absorber bracket 114. The shaft support 113 is mounted on the base body 112, and the shock absorber bracket 114 is also mounted on the base body 112.

The base body 112 is a horizontally arranged rectangular sheet having an axis of symmetry S1, and the base body 112 has a first surface 1120 and a second surface 1121 opposite each other.

The base body 112 has a driven wheel mounting recess 1122, a drive wheel mounting hole 1123, and a guide mounting hole 1124.

Recess 1122 for installing the driven wheel is located on the first surface 1120 of the base body 112 and is configured to install the driven wheel 12.

The drive wheel mounting hole 1123 is positioned to pass through the first surface 1120 and the second surface 1121 of the base body 112, and the drive wheel mounting hole 1123 is configured to receive the drive wheel 13 assembly.

Guide device mounting hole 1124 is located such that it passes through first surface 1120 and second surface 1121 of base body 112, and guide device mounting hole 1124 is configured to receive guide device 14.

The shaft support 113 and the shock absorber bracket 114 are mounted on the second surface 1121 of the base body 112, and the shaft support 113 and the shock absorber bracket 114 are co-mountable with the drive wheel 13 assembly.

It should be noted that due to the presence of a recess 1122 for installing the driven wheel 12 and a hole 1123 for installing the drive wheel 13 assembly, the ground clearance and the height of the center of gravity of the movable chassis 10 can be adjusted, which improves the adhesion of the movable chassis 10 to the floor and the stability of the movement of the movable chassis 10.

Together with reference to FIG. 4, a vertical frame 111 is mounted on the second surface 1121 of the base body 112, and the vertical frame 111 includes vertical posts 115 and horizontal rods 116 mounted on the vertical posts 115.

The uprights 115 are arranged vertically and mounted on the second surface 1121 of the base body 112, and the two uprights are symmetrically distributed about the symmetry axis S1.

The surface of each upright 115 facing the other upright 115 has a guide in the vertical direction, and a material handling device 30 in the rails of the two uprights, so that the material handling device 30 can move relative to the uprights 115 in a vertical direction. direction.

It should be taken into account that according to the actual situation, the number of guides is not limited to two. For example, there may be one, three, more than three guides, as long as there is at least one guide.

Horizontal bars 116 are arranged in the horizontal direction and connected between two vertical posts 115, and a plurality of horizontal bars 116 are distributed in the vertical direction.

Four driven wheels 12 are distributed in the first rectangle, and one of the symmetry axes of the first rectangle coincides with the symmetry axis S1. Four driven wheels 12 support the bracket 11 as an assembly.

It should be taken into account that according to the actual situation, the number of driven wheels 12 is not limited to four, for example, driven wheels 12 can also be three, four or more, provided that there are at least three driven wheels.

In this embodiment, the driven wheel 12 is a universal wheel.

It should be appreciated that, according to the actual situation, the driven wheel 12 is not limited to a universal wheel. For example, the driven wheel 12 may be a wheel body with a pivot arm (referring to the rear wheelset of an automobile), provided that the driven wheel 12 has a steering function.

The drive wheel assembly 13 is configured to drive the movable chassis 10 with the drive wheel assembly 13 mounted on the base 110. driven wheels 12.

Together with reference to FIG. 5, each drive wheel assembly 13 includes a drive wheel bracket 130, a drive wheel body 131, a wheel drive device 132, and a wheel reduction device 133. The drive wheel body 131 is mounted on the drive wheel bracket 130, and the drive wheel body 131 can rotate about the rotation axis S2 with respect to the drive wheel bracket 130, the rotation axis S2 being horizontal and perpendicular to the symmetry axis S1, so that the movable chassis can move. The output end of the wheel drive device 132 is connected to the input end of the wheel reduction device 133, and the output end of the wheel reduction device 133 is connected to the drive wheel body 131 by a flange, and the wheel drive device 132 is configured to generate a first driving force to rotate the drive wheel body 131 around the rotation axis S2, and the wheel reduction device 133 is configured to transmit the first driving force.

It should be appreciated that according to the actual situation, the wheel reduction device 133 may be omitted. In some embodiments, the output end of the wheel drive device 132 is directly connected to the drive wheel body 131 by a flange so that the drive wheel body 131 can rotate about the rotation axis S2.

It should be taken into account that the output end of the wheel reduction device 133 or the output end of the wheel drive device 132 is connected to the drive wheel body 131 and securely installs the drive wheel body 131, which cannot be easily detached.

The driving devices 132 of the two driving wheel assemblies are used to perform independent driving control actions, and the two driving wheel bodies 131 may have different rotational speeds, so that the movable chassis 10 turns towards one driving wheel body 131 with a lower rotational speed to realize swivel functions of the movable chassis 10.

In addition, the drive wheel bracket 130 includes a wheel bracket 134, an axle body 135, and a shock absorber 136. One end of the drive wheel bracket 130 is adjacent to the first axle S1, and the other end is located away from the first axle S1. The drive wheel body 131 is mounted on the end of the wheel bracket 134 away from the axis of symmetry S1. The axle body 135 is connected to the wheel bracket 134, and the axle body 135 is arranged parallel to the symmetry axis S1. The axle body 135 is mounted in the shaft support 113 so that the drive wheel assembly 13 can rotate around the axle body 135 relative to the base body 112 . One end of the shock absorber 136 is pivotally connected to the end of the shock absorber bracket 114 at a distance from the base body 112, so that the shock absorber 36 can rotate about the first axis S3, parallel to the axis body 135, relative to the base body 112; and the other end of the shock absorber 136 is pivotally connected to the end of the wheel bracket 134 away from the axle body 135 so that the shock absorber 136 can rotate about a second axis parallel to the axle body 135 relative to the wheel bracket 134, and the shock absorber bracket 114, the wheel bracket 134 and the shock absorber 136 form a triangular structure. As the movable chassis 10 rotates, the shock absorber 136 can absorb some of the eccentrically applied force to further improve the running stability of the movable chassis 10.

In this embodiment, the wheel drive 132 is the first motor.

It should be taken into account that according to the actual situation, the wheel drive device 132 is not limited to the first motor. For example, the wheel drive device 132 may also be an air motor, a hydraulic drive system, and so on.

The guide 14 is mounted on the second surface 1121 of the base body 112 with a guide bracket. In this embodiment, the guide 14 is a camera, and the camera lens is oriented towards the guide mounting hole 1124 for identifying a two-dimensional code attached to the floor, so that the movable chassis 1 moves along a predetermined path.

It should be taken into account that, according to the actual situation, the guide device 14 is not limited to the camera. For example, guide 14 may be a laser guide that moves along the laser beam. As another example, the guiding device 14 may be a shortwave receiver that realizes the guiding function by receiving a specific shortwave signal, and so on.

Referring again to FIG. 2, the frame 20 comprises a vertical post 21, a horizontal rod 22, and a pallet 23. The vertical post 21 is positioned vertically and mounted on the second surface 1121 of the base body 112, and the two vertical posts 21 are arranged symmetrically about the axis of symmetry S1. A horizontal rod 22 is positioned horizontally and is connected between two vertical posts 21. The number of horizontal rods 22 and the number of pallets 23 correspond to the number of horizontal rods 116. One horizontal rod 22 and one corresponding horizontal rod 116 support one corresponding pallet 23, and each corresponding pallet 23 is designed to location of the warehouse accounting unit.

The vertical height at which one of the horizontal rods 22 is located is less than the vertical height at which the corresponding horizontal rod 116 is located, so that the corresponding pallet 23 is inclined from the side on which the corresponding horizontal rod 116 is located to the side on which the corresponding horizontal rod is located. 122 so that the inventory unit placed on the pallet cannot easily slide off the side on which the horizontal bar 116 is located.

In addition, each pallet 23 has a pallet body 24 and a surrounding wall 25. Where the pallet body 24 is jointly supported by the horizontal bar 22 and the horizontal bar 116, the surrounding wall 25 is located around the edge of the pallet body 24 and leaves an opening on the side next to a horizontal bar 116, wherein the surrounding wall 25 can prevent the inventory item from sliding off the pallet body 24, and the inventory item can be pushed or pulled off the pallet body 24 through the opening. The device 30 for loading and unloading materials is configured to transport the inventory unit between the storage rack and any of the pallets of the frame 20.

The material handling device 30 is movable in a vertical direction so that the material handling device 30 can be positioned horizontally against either of the pallets. The loading and unloading device 30 is configured to transport the SKU between the predetermined position of the storage rack and any of the pallets.

With simultaneous reference to FIG. 6 and 7, the material handling device 30 includes a support bracket 31, a fork 32, a swivel assembly 33, and a recognition device 34. The swivel assembly 33 is installed between the support bracket 31 and the fork 32 so that the fork 32 can rotate about a vertical axis of rotation S5 relative to the support bracket 31, wherein the recognition device 34 is configured to recognize information about the location of the device 30 for loading and unloading materials relative to the storage unit. .

The support bracket 31 is assembled by welding a steel beam and a steel sheet, and is a horizontally arranged sheet structure, the end of the support bracket 31 near the vertical frame 111 is equipped with a guide 310. rail and moves along the guide rail, and the fork 32 mounted on the support bracket 31 moves in the vertical direction relative to the frame 20.

Fork 32 is configured to transport the SKU between a predetermined position of the storage rack and any of the pallets, and fork 32 includes a temporary storage pallet 35, a retractable arm 36, and a pusher assembly 37. Where the temporary storage tray 35 has a reference line S6, a retractable arm 36 is installed on the temporary storage tray 35, which is separated from the reference line S6 by a predetermined distance, the pusher assembly 37 is mounted on the retractable arm 36, and the retractable arm 36 drives the pusher assembly 37 to move it in a direction parallel to the reference line S6.

When the fork 32 moves in the vertical direction, any of the pallets can be positioned on the reference line S6.

When one of the pallets is located on the reference line S6, the pusher assembly 37 may push the SKU located on the temporary storage pallet onto the corresponding pallet along the reference line S6, or the pusher assembly 37 may pull the SKU located on the corresponding pallet onto the pallet 35 for temporary storage.

In this embodiment, the pusher assembly 37 is also configured to pull an SKU located on a rack onto a temporary storage pallet or push an SKU located on a temporary storage pallet to a predetermined location on the rack.

It should be taken into account that according to the actual situation, in the process of transporting an inventory item from a rack to a temporary storage pallet, the fork 32 is not limited to using the pusher assembly 37 to pull the inventory item from the rack to the temporary storage pallet 35 or push the inventory item from pallet 35 for temporary storage to a predetermined location on the rack. In some embodiments, the fork 32 also includes a gripping component for transporting the inventory item from the rack to the pallet for temporary storage. For example, a gripping component transports an inventory item from a warehouse rack to a temporary storage pallet by clamping. As another example, the gripping component lifts the inventory item from the rack to the temporary storage pallet by lifting, etc.

The temporary storage pallet 35 is a horizontally arranged rectangular sheet structure, has a reference line S6, and is configured to temporarily store an inventory item to be transported between the rack and any of the pallets 23.

For example, in the process of transporting the inventory item from the storage rack to the pallet 20, the fork 32 first transports the inventory item from the rack to the temporary storage pallet 35, and then the fork 32 transports the inventory item from the temporary storage pallet 35 to any of the frame pallets 23 20 and vice versa, so that the description is omitted in order to reduce the scope of the application.

In relation to the pallet 35 for temporary storage, it should be noted that according to the first aspect, it is possible to transport the inventory item from one pallet 23 to another pallet 23 in a wide range of applications; according to the second aspect, it can be realized that any pallet does not have to be located on the reference line S6 with the warehouse rack at the same time, and there is no need for adaptive adjustment between the warehouse rack and the frame 20, which ensures high compatibility of the handling robot 100 and the possibility of its use in various environmental conditions, and also provides an increase in economic performance, since there is no need to modify the storage rack and frame 20; and in a third aspect, the temporary storage pallet 35 can also store the SKU for a long time, so that the maximum carrying capacity of the material handling robot is increased.

The two retractable arms 36 are arranged symmetrically with respect to the reference line S6.

It should be taken into account that according to the actual situation, the number of retractable arms 36 is not limited to two, for example, the number of retractable arms 36 may be one.

Each retractable arm 36 includes an outer arm section 360, a middle arm section 361, an inner arm section 362, a middle arm section drive unit 363, and an inner arm section drive unit 364. Where the outer arm section 360 is assembled with the temporary storage tray 35, the middle arm section 361 is assembled with the outer arm section 360, and the middle arm section 361 can move relative to the outer arm section 360 along the reference line S6, with the inner arm section 362 assembled with section 361 of the middle shoulder, and section 362 of the inner shoulder can move relative to the section 361 of the middle shoulder along the reference line S6, and the drive unit 363 section of the middle shoulder is configured to actuate the section 361 of the middle shoulder for the purpose of moving it relative to the section 360 of the outer shoulder along reference line S6, and the drive unit 364 of the inner arm section is configured to actuate the inner arm section 362 to move it relative to the middle arm section 361 along the reference line S6.

When the retractable arm 36 is retracted, the inner arm section 362 overlaps with the outer arm section 360.

When the retractable arm 36 is extended, the inner arm section 362 separates from the outer arm section 360 in the direction along the reference line S6.

It should be appreciated that according to the actual situation, the middle arm section 361 and the inner arm section driving unit 364 can be omitted. In some embodiments, inner arm section 362 is assembled with outer arm section 360, and inner arm section 362 is movable relative to outer arm section 360 along reference line S6, and middle arm section drive assembly 363 is configured to drive inner arm section 362 with the purpose of moving relative to the section 360 of the outer shoulder along the reference line S6.

The drive unit 363 of the middle arm section includes a star gear 3630 and a drive device 3631 of the middle arm section. Where the output end of the middle arm section drive device 3631 is connected to the drive sprocket of the sprocket 3630, the middle arm section drive 3631 is configured to drive the drive sprocket, and the middle arm section 361 is rigidly connected to the roller chain of the sprocket 3630, and the sprocket the mechanism 3630 may actuate the middle arm section 361 to move it relative to the outer arm section 260 along the reference line S6.

It should be appreciated that, according to the actual situation, the star gear 3630 may be replaced by a pulley gear or the like.

The drive device 3631 of the middle arm section is the second motor.

It should be taken into account that according to the actual situation, the driving device 3631 of the middle arm section is not limited to the engine. For example, the drive device 3631 of the middle arm section may also be an air motor, a hydraulic drive system, or the like.

Together with reference to FIG. 9, the drive assembly 364 of the inner arm section includes a movable pulley 3640 and a sling 3641. The movable pulley 3640 is assembled with the middle arm section 361, and the middle portion of the lanyard 3641 is positioned and curved such that the two ends of the lanyard 3641 are opposite each other, i.e. sling 3641 is U-shaped, and the middle part of the sling 3641 is slung over the movable pulley 3640, with one end of the sling 3641 fixedly connected to the outer shoulder section 360, the other end of the sling 3641 is fixedly connected to the inner shoulder section 362, and the movable pulley 3640 and the sling 3641 form a movable pulley structure, and when the middle arm section 361 moves at a first speed relative to the outer arm section 360 along the reference line S6, the inner arm section 362 moves at a second speed relative to the outer arm section 360 along the reference line S6, the second speed being twice as high first speed.

In this embodiment, the movable pulley 3640 is a flat belt pulley and the sling 3641 is an open flat belt.

It should be appreciated that, according to the actual situation, the movable pulley 3640 and sling 3641 are not limited to the flat belt pulley and open flat belt. In some embodiments, the movable pulley 3640 is a sprocket and the sling 3641 is a roller chain.

The pusher assembly 37 includes a fixed pusher bar 370, a manipulator 371, and a pusher bar driver 372. The two ends of the fixed push bar 370 are respectively mounted on opposite ends of the two inner arm sections 362, the two manipulators 371 are respectively mounted at the ends of the inner arm sections 362 away from the fixed push bar 370, and the manipulators 371 can be folded or unfolded relative to the inner arm sections 362, and the driving device 372 of the push rod is configured to actuate the manipulators 371 to fold or unfold them relative to the sections 362 of the inner arm.

When the retractable arm 36 is retracted, the temporary storage tray is located between the two ends of the inner arm section 362 in the direction along the reference line S6.

When the retractable arm 36 is in the extended state, the end of the inner arm section 362 assembled with the stationary push rod 370 is located adjacent to the temporary storage tray, and the end of the inner arm section 362 assembled with the manipulator 371 is located away from the temporary storage tray .

In this embodiment, the driving device 372 of the push rod includes a third motor, and the end of the arm 371 is installed at the output end of the third motor, and the third motor is configured to drive the arm 371 to rotate relative to the section 362 of the inner arm about the third axis S7, which is parallel reference axis S6, so that the manipulator 371 expands or folds relative to the inner arm section 362.

When the manipulator 371 is folded toward the inner arm section 362 and the SKU is located on the reference line S6, the end of the inner arm section 362 assembled with the manipulator 371 can move from the side of the corresponding SKU facing the temporary storage pallet to the side of the corresponding SKUs away from the temporary storage pallet along the reference line S6, so that the manipulator 371 with respect to the inner arm section 362 can pull the corresponding SKU to the temporary storage pallet along the reference line S6.

It should be noted that the SKU is located on the reference line S6, where the so-called SKU can be the SKU on the warehouse rack or the SKU on the pallet, provided that the SKU is located on the reference line S6.

When the storage rack is positioned on the reference line S6, the stationary push bar 370 can push the SKU onto the temporary storage pallet 35 to a predetermined location of the storage rack.

Similarly, when one pallet 23 is positioned on the reference line S6, the stationary push bar can push the inventory item that is temporarily stored on the temporary storage pallet 35 onto the corresponding pallet 23 along the reference line S6.

It should be appreciated that when the fixed push bar 370 pushes the stock keeping unit, the manipulator 371 can fold relative to the inner arm section 362 or unfold relative to the inner arm section 362, and when the stationary push bar 370 completes the push and returns to its original position, the manipulator folds about sections of the inner arm.

It should be appreciated that according to the actual situation, the temporary storage tray 35 may be omitted. The temporary storage tray 35 is substantially the same structure as the pallet 23 or storage rack shelf, and the space of the temporary storage tray 35 can be directly occupied by a frame. In some embodiments, each pallet is located on the same horizontal plane as the storage rack shelf. When the pallet 23 and the predetermined positions of the storage rack are on the reference line S6, the stationary push bar 370 can push the UU located on the corresponding pallet 23 to the predetermined position of the corresponding rack, or the manipulator 371 folded out relative to the inner arm section 362 pulls out the UU , located on the corresponding rack, on the corresponding pallet 23.

In some embodiments, the fixed push rod 370 may be omitted. Specifically, the manipulator has a push surface and a pull surface that are opposite each other, with the push surface oriented toward one end of the reference line and the pull surface oriented toward the other end of the guide line. The inner arm section 362, assembled with the manipulator 371, can be moved to either side of the storage unit (located on a temporary storage pallet, pallet or storage rack) with the manipulator 371 folded relative to the inner arm section 362 and the manipulator 371 unfolded relative to the section 362 of the inner arm, can push the inventory unit onto a temporary storage pallet 35, pallet 23, or to a specified storage rack location using the push surface, or pull the inventory item onto a temporary storage pallet 35, pallet 23, or to a specified storage rack location using pull-out surface.

The swivel assembly 33 is configured to rotate the fork 32 vertically relative to the frame 20 so that any two or three pallets 23, storage racks, and reference line S6 may not be located in the same vertical plane.

Together with reference to FIG. 10, the pivot assembly 33 includes a pivot mechanism 330, a pivot drive mechanism 331, a deflection detection device, and a pivot limiter. Where a rotary mechanism 330 is installed between the fork 32 and the support bracket 31, this rotary mechanism 330 can rotate about the rotation axis S5, and the rotary drive mechanism is configured to drive the rotary mechanism 330 to rotate about the rotation axis S5, and the device deflection detection is configured to control the rotation of the rotary drive mechanism 331.

The swivel mechanism 330 includes a first swivel element 3300 and a second swivel element 3301, wherein the first swivel element 3300 is mounted on the surface of the support bracket 31 facing the fork 32, and the second swivel element 3301 is mounted on the first swivel element 3300, and the second swivel element 3301 can rotate about the axis of rotation S5 relative to the first rotary element 3300, and the fork 32 is mounted on the second rotary element 3301.

In this embodiment, the first rotary member 3300 is the inner ring of the slewing bearing, the center line of the inner ring of the slewing bearing coincides with the rotation axis S5, the second rotary member 3301 is the outer ring of the slewing bearing, and the outer ring of the slewing bearing is put on the slewing bearing inner race so that the slewing bearing outer race can rotate about the rotation axis S5 with respect to the slewing bearing inner race, and the slewing bearing outer race and the slewing bearing inner race jointly support the yoke 32.

It should be appreciated that according to the actual situation, the first rotary member 3300 and the second rotary member 3301 are not limited to a combination of the slewing bearing inner ring and the slewing bearing outer ring.

The rotary drive mechanism 331 includes an outer ring gear 3310, a rotary drive gear 3311, and a rotary drive device. The outer ring gear 3310 is rigidly connected to the second rotary member 3301, and the outer ring gear 3310 is coaxial with the rotation axis S5. The output end of the rotary drive device is connected to the rotary drive gear 3311, and the rotary drive device is configured to drive the rotary drive gear 3311 to rotate, so that the outer ring gear 3310, which engages with the rotary drive gear 3311, rotates around the rotation axis S5 and drives the second rotation member 3301 rigidly connected to the outer ring gear 3310 to rotate about the rotation axis S5.

In this embodiment, the outer ring gear 3310 is integrally formed with the outer ring of the slewing bearing.

It should be appreciated that, according to the actual situation, the rotary drive mechanism 331 is not limited to the outer ring gear 3310 and the rotary drive gear 3311. For example, the rotary drive mechanism may be a worm gear, a reduction gear, or a planetary gear.

In this embodiment, the rotary drive device is the fourth motor. It should be taken into account that, according to the actual situation, the rotary drive device may also be a linear motor, a pneumatic motor, a hydraulic drive system, and so on.

The pivoting restrictive device includes a first restrictive post 3320, a second restrictive post 3321, and a restrictive element 3322. The first restrictive post 3320 and the second restrictive post 3321 are mounted on the surface of the support bracket 31 facing the fork 32, and the first restrictive post 3320 and the second restrictive post 3321 are distributed in the circumferential direction about the axis of rotation S5, and the limit member 3322 is mounted on the surface of the fork 32 facing the support bracket 31, and the limit member 3322 can abut the first limit post 3320 and the second limit post 3321, respectively, allowing the rotary mechanism 330 to rotate about the axis. S5 within a predetermined angular range to drive the fork 32 to rotate through a predetermined angle within a predetermined angular range.

The deflection detection device is configured to detect whether the fork 32 has rotated through a predetermined angle.

When the deflection detection device detects that the yoke has not yet rotated through the predetermined angle, the deflection detection device adjusts the pivot assembly to actuate the yoke to continue rotation.

When the deflection detection device detects that the fork has rotated more than the predetermined position, the deflection detection device adjusts the pivot assembly to actuate the fork to rotate in the reverse direction.

When the deflection detection device detects that the yoke has not yet rotated through the predetermined angle, the deflection detection device adjusts the pivot assembly to stop rotation.

The deflection detection device includes a first sensor 3330, a second sensor 3331, and a rotation controller, the first sensor 3330 and the second sensor 3331 being connected to the rotation controller.

The first sensor 3330 has a first detection range. The first sensor 3330 is configured to detect plug 32 in a first detection range.

The second sensor 3331 has a second detection range. The second sensor 3331 is configured to detect plug 32 in a second detection range.

The rotation controller is connected to the rotary drive device and is configured to control the fork 32 to rotate around the rotation axis S5 by means of the rotary drive device.

When the first sensor 3330 detects the fork 32 in the first detection range and the second sensor 3331 does not detect the fork 32 in the second detection range, it means that the fork 32 has not yet rotated through the predetermined angle.

When the first sensor 3330 does not detect the fork 32 in the first detection range and the second sensor 3331 detects the fork 32 in the second detection range, it means that the fork 32 has rotated more than the predetermined angle.

When the first sensor 3330 detects the fork 32 in the first detection range and the second sensor 3331 detects the fork 32 in the second detection range, it means that the fork 32 has rotated through a predetermined angle.

In this embodiment, the first sensor 3330 is the first proximity switch, the first proximity switch being mounted on the surface of the fork 32 facing the support bracket 31. The second sensor 3331 is the second proximity switch, the second proximity sensor and the first proximity sensor being mounted on the surface of the support bracket 31 , and the first proximity sensor and the second proximity sensor are distributed circumferentially around the rotation axis S5. The deflection detection device also includes a detection panel 3333, wherein the detection panel 3333 is mounted on the surface of the support bracket 31 facing the yoke 32, and the detection panel 3333 is positioned so as to be curved about the rotation axis S5.

When the fork 132 rotates in the first predetermined angular range and does not rotate in the second predetermined angular range, the first proximity sensor faces the detection panel 3333 and the second proximity sensor does not face the detection panel 3333.

When the fork 132 does not rotate in the first predetermined angular range but rotates in the second predetermined angular range, the first proximity sensor does not face the detection panel 3333, but the second proximity sensor faces the detection panel 3333.

As the fork 132 rotates to reach the first comparison angle, the first proximity sensor faces one end of the detection panel 3333 and the second proximity sensor faces the other end of the detection panel 3333.

In some embodiments, the swivel assembly 33 may be omitted, and the horizontal orientation of the fork 32 can be adjusted by the material handling robot by means of the movable chassis 10 to replace the swivel assembly function, provided that the pallet 23 and the corresponding storage rack are simultaneously located on the orientation line S6. For example, when the movable chassis 10 and the lifting unit 40 are operated such that the pallet 23 and the corresponding storage rack are located on the reference line S6, one end of the inner arm section 362, assembled with the manipulator 371, first passes the corresponding pallet 23, and then the manipulator 371, unfolded relative to the inner arm section 362, pulls the inventory item onto the appropriate pallet, and then continues to pull it onto the temporary storage pallet 35, and the stationary push bar 370 pushes the inventory item located on the temporary storage pallet 35 onto the appropriate pallet 23 and then proceeds to push the SKU located on the respective pallet 23 to the predetermined location of the respective storage rack. Since the SKU first passes through the corresponding pallet 23 or the corresponding storage rack and then reaches the temporary storage pallet 35, the temporary storage pallet 35 can be omitted in this embodiment.

Returning to FIG. 6, the recognition device 34 is configured to recognize information about the location of the material handling device relative to the stock keeping unit, i.e. determining whether the pallet 23, the predetermined location of the storage rack, and the SKU are located on the reference line S6.

Specifically, the location information of the material handling unit relative to the SKU includes a first location offset between the SKU and the reference line in the direction of travel, and a second location offset between the SKU and the reference line in the vertical direction, the distance between the inventory control unit and the manipulator along the reference line, and the amount of deviation between the inventory control unit and the reference line in the horizontal direction.

The location information of the material handling unit with respect to the storage unit includes a first location offset between the storage unit and the reference line in the direction of travel.

The recognition device includes a camera device 340, a main lighting equipment 341, and an auxiliary lighting equipment 342. The camera device 340 is mounted on the surface of the temporary storage tray 35 facing the support bracket 31, and the lens of the camera device 340 is located in the same direction as the extension direction of the retractable arm 36. The camera device 340 is configured to collect information in the form of images, such as capturing a 2D code on a warehouse rack or a 2D code attached to a warehouse unit, to determine whether a pallet, a specified location of a warehouse rack, and a warehouse unit are on a landmark. line S6. Alternatively, the second display device 34 is configured to determine the location of the SKU relative to the warehouse rack and the location of the SKU relative to the frame 20 using an image differentiation algorithm, and so on.

It should be taken into account that, according to the actual situation, the camera device 340 can be replaced by a laser guide, an infrared sensor, and so on.

The main lighting equipment 341 is installed on the temporary storage tray 35 and is located on the side of the main lighting equipment 341 away from the second camera device 340. The main lighting equipment 341 and the lens of the second camera device 340 have the same orientation. The main lighting equipment 341 is configured to compensate for light so that the second camera device 340 can clearly capture the 2D code on the storage rack or storage unit.

Ancillary lighting equipment 342 is mounted on a support bracket 31, two auxiliary lighting equipment 342 are distributed about an axis of symmetry S1, and the orientation of each auxiliary lighting equipment 342 is tilted upward and reversed relative to the other auxiliary lighting equipment 342. The fork rotates about axis S5 rotation until the second camera device 340 is located above the auxiliary lighting equipment 342, and then the auxiliary lighting equipment 342 can also perform light compensation on the second camera device 340, so that the material handling robot 100 can be adapted to various lighting conditions, such like day and night. The auxiliary lighting equipment 342 is inclined so that the light emitted from the auxiliary lighting equipment cannot be easily reflected into the lens of the second camera device, causing excessive light compensation.

The lifting unit 40 is configured to actuate the device 30 for loading and unloading materials in order to move it relative to the frame 20 in the vertical direction. The hoist 40 includes a hoist transmission and a hoist drive 42, where the hoist drive 42 is configured to generate a second driving force to move the material handling device 30 relative to the frame 20 in a vertical direction, and the hoist gear is configured to transmit the second driving force device 30 for loading and unloading materials.

The lifting transmission mechanism contains two sets of synchronized pulley mechanisms 43. Two sets of synchronized pulley mechanisms 43 on opposite surfaces of the two surfaces 115, respectively. Each of the sets of synchronized pulley mechanisms 43 comprises a driving timing pulley 430, an idler pulley 431 and a timing belt 432, where the driving timing pulley 430 is mounted at one end of the upright 115 near the base body 112, the idler pulley 431 is mounted at the end of the upright 115 at a distance from the base body 112, a timing belt 432 is mounted on the idler pulley 431 and the driving timing pulley 430, and the hoist driving mechanism 42 is connected to the driving timing pulley 430 and configured to drive the driving timing pulley 430 to rotate it. The driving timing pulley 430 drives the timing belt 432 to move in the vertical direction, so that the support bracket 31 rigidly connected to the timing belt 432 moves in the vertical direction in synchronism.

The synchronized belt 432 of each synchronized pulley mechanism 43 is connected to a counterweight 433. Each counterweight 433 has a certain mass, is mounted in the counterweight guide of the corresponding upright 115, and can move relative to the corresponding upright 115 in the vertical direction. When the material handling device 30 moves in the vertical direction, the counterweight 433 can act as a shock absorber and reduce the load on the lift drive mechanism 42.

It should be taken into account that, on the one hand, according to the actual situation, the number of synchronized pulley mechanisms 43 is not limited to two, for example, the number of synchronized pulley mechanisms 43 can be one, two or more, provided that there is at least one synchronous mechanism pulleys. On the other hand, according to the actual situation, the lifting transmission mechanism is not limited to the synchronous pulley mechanism 43, for example, the lifting transmission mechanism may also be a star gear or rack and pinion mechanism, a worm turbine mechanism, a lifting jack, etc.

Because the support bracket 31 supports the yoke, the lifting drive mechanism has a large load during the transport of the storage unit. To ensure smooth lifting of the material handling device, the two synchronized pulley mechanisms have a high synchronization speed.

The hoist drive mechanism 42 includes a hoist drive device 420, a drive shaft 421, a pinion gear and a driven gear (the pinion gear and the driven gear are installed in the gearbox 422 shown in the figure), where the two ends of the drive shaft 421 are connected to two drive synchronized pulleys 430 of two synchronized of the pulley mechanisms 43 by the keys on the flat, and the drive shaft 421 transmits the torque to the driving synchronized pulley 430 through the keys on the flat, so that the driving synchronized pulleys 430 of the two synchronized pulley mechanisms 43 can rotate synchronously, which allows the material handling device 30 to move smoothly in the vertical direction. The driven gear is mounted between two shafts of the driving shaft 421, and the driving gear is engaged with the driven gear to transmit the driving force of the lifting driving device 420.

It should be appreciated that, according to the actual situation, the synchronized pulley mechanism 43 may be replaced by a star mechanism or a rack and pinion mechanism or the like.

In some embodiments, the short shafts at both ends of the drive shaft 421 are coaxially connected by a clutch, with one end of one short shaft facing away from the clutch connected to the drive timing pulley 430 of one timing pulley mechanism 43, and one end of one short shaft facing the away from the clutch, is connected to the drive timing pulley 430 of one timing pulley mechanism 43, which can further improve the timing speed of the two driving timing pulleys 430.

In this embodiment, the lift driving device 420 is the fifth motor. It should be taken into account that according to the actual situation, the lifting driving device is not limited to the fifth motor. For example, the lifting driving device may also be an air motor, a hydraulic drive system, and so on.

During operation, the material handling robot 100 specifically performs several processes as described below.

The material handling robot 100 transports the inventory item from the warehouse rack to a pallet for temporary storage. In step 1, the mobile chassis 10 drives the material handling robot 100 to move it to the warehouse rack where the inventory unit is located, the mobile chassis 10 is guided by the guide device 14 so that the mobile chassis 10 moves along a specific path, and upon reaching the warehouse rack, where the warehouse accounting unit is located, the movable chassis becomes fixed relative to the warehouse rack; in step 2, the lifting device 40 drives the fork 32 to move it relative to the storage rack in the vertical direction so that the reference line S6 of the fork 32 is on the same horizontal plane as the stock keeping unit; in step 3, the fork 32 is rotated about the vertical rotation axis S5 so that the SKU is on the reference line S6; in step 4, the retractable arm 36 extends along the reference line, with the manipulator 371 mounted at one end of the inner arm section 362 being folded relative to the inner arm section 362, and one end of the inner arm section 362 assembled with the manipulator 371 moving from the side of the storage unit , facing the temporary storage pallet, towards the storage unit, facing away from the temporary storage pallet; in step 5, the arm 371 unfolds relative to the inner arm section 362, and then the retractable arm 36 is retracted so that the arm 371 pulls the inventory item into the temporary storage tray.

The material handling robot 100 transports the inventory item from the temporary storage pallet to the pallet. In step 1, the fork 32 is rotated relative to the frame 20 about the axis of rotation S5 until the reference line S6 of the fork 32 is on the same vertical plane as the pallet (in the embodiment of the present application, when the reference line S6 of the fork 32 is on the same vertical plane as the pallet, the fork 32 is located at an approximate angle relative to the support bracket 31); in step 2, the lifting device 40 drives the fork 32 to move it in the vertical direction so that one pallet is located on the reference line S6; in step 3, the retractable arm 36 extends along the reference line S6 so that the stationary push rod 370, mounted on the end of the inner arm section 362, facing away from the manipulator, pushes the storage unit located in the temporary storage pallet into the corresponding pallet.

The material handling robot 100 transports the inventory item from the pallet to the pallet for temporary storage. In step 1, the fork 32 is rotated relative to the frame 20 about the rotation axis S5 until the reference line S6 of the fork 32 is on the same vertical plane as the pallet; in step 2, the lifting unit 40 drives the fork 32 to move it in the vertical direction so that one pallet is located on the reference line S6; in step 3, the retractable arm 36 extends along the reference line, with the manipulator 371 mounted at one end of the inner arm section 362 being folded relative to the inner arm section 362, and one end of the inner arm section 362 assembled with the manipulator 371 moving from the side of the storage unit , facing the temporary storage pallet, towards the storage unit, facing away from the temporary storage pallet; in step 5, the arm 371 unfolds relative to the inner arm section 362, and then the retractable arm 36 is retracted so that the arm 371 pulls the inventory item into the temporary storage tray.

The material handling robot 100 transports the inventory item from the temporary storage pallet to the warehouse rack.

In step 1, the movable chassis 10 drives the material handling robot 100 to move it to a predetermined location of the storage rack, the movable chassis 10 is guided by the guide 14 so that the movable chassis 10 moves along a predetermined path, and upon reaching the warehouse rack, the movable chassis 10 becomes fixed relative to the storage rack; in step 2, the lifting device 40 drives the fork 32 to move it relative to the storage rack in the vertical direction so that the reference line S6 of the fork 32 is on the same horizontal plane as the predetermined location; in step 3, the fork 32 is rotated around the vertical rotation axis S5 so that the predetermined location is on the reference line S6; in step 4, the retractable arm 36 extends along the reference line S6 so that the fixed push rod 370, mounted on the end of the inner arm section 362, facing away from the manipulator 371, pushes the storage unit located in the temporary storage pallet to the predetermined storage rack location.

An embodiment of the present application offers a loading and unloading robot 100, containing: a movable chassis 10; a frame 20 mounted on a movable chassis 10 and equipped with a plurality of pallets distributed in the vertical direction, each pallet 23 being configured to accommodate a storage unit; a material handling device 30 configured to transport a storage unit between a storage rack and any of the pallets 23, wherein the material handling device 30 has a predetermined horizontal reference line S6, and the material loading and unloading device 30 comprises a pusher assembly , and the pusher assembly can move relative to the frame along the reference line; and a lifting unit configured to drive the material handling device to move it in a vertical direction so that any one of the pallets is located on the reference line. When one of the pallets is located on the reference line, the pusher assembly may push the inventory item onto the corresponding pallet along the reference line, or the pusher assembly may pull the inventory item located on the corresponding pallet from that pallet. With this method, the handling robot 100 equipped with the frame 20 can load a large number of inventory items.

In addition, it can be realized that the storage unit will be pushed into or out of a pallet, so that the distance between two adjacent pallets is small, and with the same vertical height, more pallets can be placed in the handling robot, increasing the maximum load capacity.

In addition, with this push-pull method for transporting the storage unit, there are no requirements for the shape of the storage unit, provided that the storage unit can be pushed by a push rod, which provides a wide range of applications for the material handling robot.

In addition, with respect to such a push-pull method for transporting an inventory item, the inventory item transported by the material handling device 30 may be a single item or multiple individual items each time. For example, when the material handling device 30 transports a storage unit from a storage rack, a plurality of items on the storage rack are sequentially arranged along the reference line S6. One end of the inner arm section 62, assembled with the manipulator 371, moves from the front side of the nearest item to the back side of the farthest item, and then the manipulator 371 pulls a plurality of items from the storage rack together.

Together with reference to FIG. 11, another embodiment of the present application provides an SKU pickup method based on the use of the material handling robot 100, the SKU pickup method including the following steps.

Step 201: actuating the manipulator with the retractable arm to extend it to a predetermined storage rack location along a predetermined horizontal reference line.

A manipulator at one end of the retractable arm extends to a predetermined storage rack location along a reference line.

Step 202: loading with a manipulator, which remains on the horizontal plane where the reference line is located, the stock control located at the given location.

In this embodiment, the manipulator is configured to pull out the inventory control unit. According to the real situation, the manipulator can have various forms. For example, the manipulator may be in the form of a clamp or stand, but is not limited thereto. In this embodiment, the manipulator drags the inventory control unit. According to the actual situation, the manipulator can clamp the stock keeping unit or support the stock keeping unit from below, etc., provided that the manipulator can drive the stock keeping unit to move it along the reference line.

Step 203: using the retractable arm to move the manipulator loaded with the stock keeping unit to move it to the frame along the reference line.

Step 204: unloading onto the frame of the storage unit using a manipulator that remains on the horizontal plane where the reference line is located.

It should be noted that regardless of whether the manipulator is moving, loading or unloading the stock keeping unit on a given horizontal reference line, it has a high utilization rate in the vertical plane.

Since the location of the inventory control unit on the warehouse rack, i.e. the predetermined location may not be on the same horizontal plane as the reference line, a lifting unit is used to drive the material handling device to move it in the vertical direction. During the lifting process of the material handling device, the reference line can be on the same horizontal plane with the stock control located at any height.

In some embodiments, prior to step 201, the SKU-taking method also includes the following step.

Step 2005: actuating the material handling device with the lifting unit to move it in the vertical direction so that the manipulator is positioned horizontally opposite the predetermined location.

Considering the economic factor in terms of warehouse floor space, horizontal space matters more than vertical space. Therefore, the preferred option is for the frame to have a plurality of pallets distributed in the vertical direction. As long as the lifting unit is present, the lifting unit can also be fully utilized.

In some embodiments, prior to step 203, the SKU take method also includes the following step.

Step 2025: actuating the material handling device with the lifting unit to move it in the vertical direction so that the material handling device is horizontally opposite the corresponding pallet.

The material handling device is positioned against any appropriate pallet by means of a lifting device, and the SKU can then be stored in the appropriate pallet.

The material handling robot 100 is equipped with a movable chassis and can move between different racks, so that the material handling robot can realize the function of transporting an inventory item between different racks.

In some embodiments, prior to step 2005, the method of taking an SKU also includes the following step.

Step 2004: moving the movable chassis to a predetermined location in front of the rack.

The movable chassis supports the frame, material handling device, etc. to move to a predetermined location in front of the storage rack. In the context of the present description, a storage rack may be a storage rack in which a stock control unit to be transported is to be placed.

Since the material handling device needs to be aligned with the stock keeping unit, keeping the stock keeping unit on the reference line, it is necessary to align with the lifting device in the vertical direction, and adjust with the movable chassis in the horizontal direction, so that the stock keeping unit is located on the reference line in the horizontal direction, improving the accuracy of the manipulator for loading the inventory control unit.

The material handling device is equipped with a recognition device for recognizing the location of the material loading and unloading device relative to the stock keeping unit, i.e. recognizes whether the stock control unit is on the reference line.

In some embodiments, before step 230 and after step 2025, the method of taking an SKU also includes:

Step 2026: recognizing, with the recognition device, information about the location of the material handling device relative to the storage unit, and adjusting, using the material handling robot, the pick-up position of the storage unit according to the position information of the material loading and unloading device relative to the storage unit.

In a real situation, adjusting the location of the reference line only with the help of a moving chassis is of low efficiency. This is due to the low turning efficiency of the real moving chassis on the one hand, and the high load on the loading and unloading robot and the low accuracy of movement of the loading and unloading robot on the other hand, as a result of which the adjustment of the location of the reference line only with the help of the moving chassis has a low efficiency.

Therefore, in order to improve the efficiency and accuracy of the pick-up position of the SKU by the material handling robot, it is necessary to carry out joint regulation on various aspects.

In particular, the movable chassis moves in the direction of travel, and the movable chassis is most efficient when moving in the direction of travel.

Information about the location of the device for loading and unloading materials relative to the storage unit includes an offset of the first location between the storage unit and the reference line in the direction of travel.

In step 2026, adjusting, by the material handling robot, the pick-up position of the SKU according to the position information of the material handling device relative to the SKU, includes:

Step 2026A: facilitating movement of the movable chassis in the direction of travel according to the first location offset such that the first position offset is less than the first error value.

Since it is difficult to move the mobile chassis to a position corresponding to a certain amount at the time of adjusting the movable chassis, the first error value is set. Provided that the actual error, i.e. the first position offset is smaller than the first error value, the movable chassis can be considered to move into place. A person skilled in the art can set the value of the first error in the material handling robot in advance according to the actual situation.

In addition, information about the location of the device for loading and unloading materials relative to the storage unit includes a shift of the second position between the storage unit and the reference line in the vertical direction.

In step 2026, adjusting, by the material handling robot, the pick-up position of the SKU according to the position information of the material handling device relative to the SKU, includes:

Step 2026B: driving, by means of the lifting unit, the material handling device in the vertical direction according to the offset of the second location so that the offset of the second position is smaller than the second error value.

It should be noted that in step 2025, the material handling device reaches the preliminary lift, but the SKU was not located exactly on the reference line, and by fine-tuning, the reference line can be located near the middle of the SKU to improve the accuracy of taking the SKU. accounting. A person skilled in the art can pre-set the value of the second error in the material handling robot according to the actual situation.

In addition, information about the location of the material handling unit relative to the storage unit includes the distance between the storage unit and the manipulator along the reference line.

In step 2026, adjusting, by the material handling robot, the pick-up position of the SKU according to the position information of the material handling device relative to the SKU, includes:

Step 2026C: adjusting the extension amount of the retractable arm along the reference line according to the specified distance so that the extension amount is greater than the specified distance.

It should be appreciated that by setting the extension amount of the retractable arm, the time for extending the retractable arm to a predetermined location can be minimized, and the efficiency of picking up a stock keeping unit can be improved. A person skilled in the art can preset the distance in the material handling robot according to the actual situation.

In this embodiment, the recognition device is an image acquisition device. It should be taken into account that according to the actual situation, the recognition device may also be in other forms. For example, the material handling device is equipped with a laser transmitter and a laser receiver, and the storage unit has a reflective surface, and the positioning of the material loading and unloading device relative to the storage unit can be realized with a laser transmitter emitting a laser beam on the reflective surface, and the laser beam reflected by the reflective surface and entering the laser receiver. Alternatively, the material handling device is equipped with an RF transmitter and an electronic tag is attached to the storage unit, and the relative position of the material handling device and the storage unit can be determined by RFID.

In addition, when the image acquisition device acquires information in the form of images about the storage unit, the recognition device recognizes information about the location of the device for loading and unloading materials relative to the storage unit.

In addition, a label with a two-dimensional code is attached to the surface of the storage unit facing the material handling robot; when the image acquisition device acquires image information about the storage unit, the information provided by the two-dimensional code label is collected to obtain information about the location of the material handling unit relative to the storage unit.

In a real situation, it may happen that the height of the warehouse rack and the height of the frame will not be on the same horizontal plane, and at this time the SKU cannot be transported directly from the given location of the warehouse rack to the frame. Installing a temporary storage pallet in the material handling device allows the storage unit to be transported when the height of the storage rack and the height of the frame are not on the same horizontal plane.

In some embodiments, prior to step 203, the method of taking an SKU also includes:

Step 2026: using the retractable arm to drive the manipulator loaded with the stock keeping unit to move it back to the temporary storage pallet along the reference line.

Step 2027: unloading with a manipulator that stays on a horizontal plane where the reference line is, SKUs onto a pallet for temporary storage.

Step 2028: loading with a manipulator, which remains on a horizontal plane where the reference line is, a stock keeping unit located on a temporary storage pallet.

The storage unit is first transported from the rack to the temporary storage pallet, and then the lifting unit is raised or lowered so that the temporary storage pallet and one of the pallets are at the same height, transporting the storage unit to the appropriate pallet.

Since the inventory control units are rigid and mostly cube-shaped, in a real situation, the capture of the inventory control unit requires high accuracy with the direct location of the manipulator in front of the inventory control unit. It is difficult to ensure that the reference line passes through the storage unit perpendicular to one surface of the storage unit by moving the movable chassis in only one horizontal direction. Therefore, the horizontal direction is added to increase the flexibility of adjusting the pick-up position of the inventory control, whereby it is possible to adjust the pick-up position of the inventory control faster and at the same time improve the accuracy of the pick-up of the inventory control.

In some embodiments, after step 2028 and before step 203, the method of taking an SKU also includes:

Step 2029: using the rotary assembly to drive the retractable arm to rotate it through a predetermined angle relative to the vertical direction so that the material handling device is oriented in the frame direction.

In some embodiments, the information about the location of the device for loading and unloading materials relative to the storage unit includes the amount of deviation between the storage unit and the reference line in the horizontal direction.

In step 2026, adjusting, by the material handling robot, the pick-up position of the SKU according to the position information of the material handling device relative to the SKU, includes:

Step 2026D: driving the yoke with the rotary assembly to rotate it about the vertical direction according to the second position offset so that the deflection amount is less than the third error value.

A person skilled in the art can predetermine the value of the third error in the material handling robot according to the actual situation.

Rotation requires high precision and requires high rotational speed to improve efficiency, but there is difficulty in stopping the fork at a given angle due to inertia during rotation.

In some embodiments, driving the yoke to rotate about the vertical direction with the swivel assembly includes: when the deflection detection device detects that the yoke has not yet rotated through a predetermined angle, driving the yoke with the swivel assembly to continue it. rotation; when the deflection detection device detects that the fork has rotated more than a predetermined angle, driving the fork with the pivot assembly to rotate it in the opposite direction; and when the deflection detection device detects that the yoke has rotated through a predetermined angle, stopping rotation of the pivot assembly.

The deflection detection device monitors the rotation of the yoke and ensures that the yoke rotates to a predetermined angle.

In particular, the deflection detection device comprises: a first sensor operating in the first deflection range.

The second sensor operating in the second deflection range.

When the first sensor detects a fork in the first deflection range and the second sensor does not detect a fork in the second deflection range, the deflection detection device detects that the fork has not yet rotated through a predetermined angle.

When the first sensor does not detect a fork in the first deflection range and the second sensor detects a fork in the second deflection range, the deflection detection device detects that the fork has rotated more than a predetermined angle.

When the first sensor detects the fork in the first deflection range and the second sensor detects the fork in the second deflection range, the deflection detection device detects that the fork has rotated through a predetermined angle.

In order to improve the use of the horizontal space of the warehouse, the storage units are located in the field at two different depths of the rack, which can reduce the aisle between the racks for the material handling robot and increase the utilization of the horizontal space of the warehouse.

In some embodiments, the SKU includes a first SKU and a second SKU.

The predetermined location includes a first predetermined location and a second predetermined location.

The first inventory control is located at the first specified location, and the second inventory control is located at the second specified location.

The frame contains the first pallet and the second pallet.

When the first SKU is followed by the second SKU, the method of taking the SKU also includes:

Step 301: using the retractable arm to move the manipulator to extend it to the first predetermined location of the storage rack along the reference line.

Step 302: loading with a manipulator that remains on the horizontal plane where the reference line is located, the first inventory control located at the first predetermined location.

Step 303: using the retractable arm to move the manipulator loaded with the first inventory control to move it to the first pallet along the reference line.

Step 304: unloading on the first pallet of the first inventory control with the help of the manipulator, which remains on the horizontal plane where the reference line is located.

Step 305: using the retractable arm to move the manipulator to move it to the second predetermined location of the storage rack along the reference line.

Step 306: Loading with a manipulator that remains on the horizontal plane where the reference line is located, the second inventory control located at the second predetermined location.

Step 307: using the retractable arm to move the manipulator loaded with the second inventory control to move it to the second pallet along the reference line.

Step 308: unloading the second stock control unit onto the second pallet with a manipulator that remains on the horizontal plane where the reference line is located.

The first SKU is transported to the first pallet, and the second SKU is transported to the second pallet.

In a real situation, only the second SKU may be required, and the first SKU may not be required.

In some embodiments, the method of taking a stock keeping unit also includes:

Step 309: using the retractable arm to move the manipulator to move it to the first pallet along the reference line.

Step 3010: using the retractable arm to move the manipulator so that it remains on the horizontal plane where the reference line is located to load the first inventory unit located on the first pallet.

Step 3011: using the retractable arm to move the manipulator loaded with the first inventory control unit to move it to the first predetermined location of the warehouse rack along the reference line.

Step 3012A: unloading to the first predetermined location of the warehouse rack of the first inventory control using a manipulator that remains on the horizontal plane where the reference line is located.

In a real situation, placing the unwanted first SKU in the first given location is not the best choice, because the second given location is empty and the second given location is behind the first given location, and it is necessary to pick up the SKU from the first given location when you want to place the unit inventory control to a second predetermined location, leading to low efficiency.

In some other embodiments, the method of taking a stock keeping unit also includes:

Step 309: using the retractable arm to move the manipulator to move it to the first pallet along the reference line.

Step 3010: using the retractable arm to move the manipulator so that it remains on the horizontal plane where the reference line is located to load the first inventory unit located on the first pallet.

Step 3011: using the retractable arm to move the manipulator loaded with the first inventory control unit to move it to the second predetermined storage rack location along the reference line.

Step 3012B: unloading to the second predetermined location of the storage rack of the first inventory control using a manipulator that remains on the horizontal plane where the reference line is located.

SKUs correspond to locations that follow each other.

In some other embodiments, the method of taking a stock keeping unit also includes:

Step 3013: Upload information about the current location of the first inventory control unit.

Compared with the existing state of the art, the present application proposes a method for picking up a storage unit using a handling robot, which contains: a frame; a device for loading and unloading materials mounted on the frame and containing a retractable shoulder and a manipulator mounted on the retractable shoulder; the method of picking up a storage unit includes: driving a manipulator with the help of a retractable arm to extend it to a predetermined location of the warehouse rack along a predetermined horizontal reference line; loading, by means of a manipulator that remains on the reference line, the warehousing unit to a predetermined location; driving, by means of the retractable arm, the manipulator loaded with the storage unit to move it to the frame along the reference line, and unloading, by means of the manipulator, which remains on the reference line, the storage unit onto the frame. With the above method, the SKU can be moved to the frame along a predetermined horizontal reference line, whereby the space occupied by the frame in the vertical direction is reduced, and more SKUs can be loaded.

Finally, it should be noted that the above embodiments are used only to explain the technical solutions of the present application without limiting them; based on the idea of the present application, the technical features of the above embodiments or other embodiments may also be combined, the steps may be implemented in any order, and there are many other variations of the various aspects of the present application described above. To simplify the description, these options are not presented in detail; although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that it is possible to modify the technical solutions described in the aforementioned embodiments, or equivalently replace some of the technical features; and that these modifications or replacements do not constitute a departure from the spirit of the respective technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims (18)

1. Loading and unloading robot (100), containing a movable chassis (10) containing a bracket (11) assembly and a drive wheel (13) assembly mounted on the bracket (11) assembly; the bracket (11) as an assembly comprises a base body (112) and a shock absorber bracket (14) mounted on the base body (112); drive wheel assembly (13) comprises drive wheel bracket (130), drive wheel bracket (130) comprising wheel bracket (134), axle body (135) connected to wheel bracket (134), and shock absorber (136); one end of the shock absorber (136) is pivotally connected to the end of the shock absorber bracket (114) at a distance from the base body (112), so that the shock absorber (136) can rotate about the axis (S3), parallel to the axle body (135), relative to the body (112) grounds; the other end of the shock absorber (136) is pivotally connected to the end of the wheel bracket (134) at a distance from the axle body (135), so that the shock absorber (136) can rotate around the second axis, parallel to the axle body (135), relative to the wheel bracket (134). 2. The handling robot (100) according to claim 1, wherein the shock absorber bracket (114), wheel bracket (134), and shock absorber (136) form a triangular structure. 3. The material handling robot (100) according to claim 1, wherein the base body (112) is a horizontal rectangular sheet having a first axle (S1), with one end of the drive wheel bracket (130) adjacent to the first axle (S1). ), and the other end is located at a distance from the first axis (S1). 4. The handling robot (100) according to claim 3, wherein the drive wheel assembly (13) also comprises a drive wheel body (131), the drive wheel body (131) being mounted on the drive wheel bracket (130), and the drive wheel body (131) of the drive wheel can rotate around the axis (S2) of rotation relative to the bracket (130) of the drive wheel, and the axis (S2) of rotation is horizontal and perpendicular to the first axis (S1). 5. The handling robot (100) according to claim 4, wherein the drive wheel body (131) is mounted on the end of the wheel bracket (134) at a distance from the first axle (S1). 6. The handling robot (100) according to claim 4, wherein the axle body (135) is parallel to the first axle (S1). 7. The material handling robot (100) according to claim 4, wherein the drive wheel assembly (13) also comprises a wheel drive device (132), wherein the wheel drive device (132) output end is connected to the drive wheel body (131), so that the drive wheel body (131) can rotate about the rotation axis (S2). 8. The handling robot (100) according to claim 7, wherein the drive wheel (13) assembly also comprises a wheel reduction device (133), the output end of the wheel drive device (132) is connected to the input end of the wheel reduction device (133). , and the output end of the gear device (133) of the wheel is connected to the body (131) of the drive wheel, and the drive device (132) of the wheel is configured to create a first driving force for rotating the body (131) of the drive wheel around the axis (S2) of rotation, and the gear the wheel device 133) is configured to transmit the first driving force. 9. The handling robot (100) according to claim 8, wherein the output end of the wheel reduction device 133) or the output end of the wheel drive device (132) is connected to the drive wheel body (131) by means of a flange. 10. Loading and unloading robot (100) according to claim 3, in which the loading and unloading robot (100) also contains a frame (20), a device (30) for loading and unloading materials and a lifting device (40); the frame (20) contains pallets (23) for placing storage units; the device (30) for loading and unloading materials is configured to transport the inventory unit between the warehouse rack and any of the pallets (23), and the device (30) for loading and unloading materials has a given horizontal reference line (S6) and contains a node (37 ) a pusher that can move along a reference line (S6); the lifting device (40) is configured to drive the device (30) for loading and unloading materials in order to move it in a vertical direction, so that any of the pallets (23) is located on the reference line (S6); when one pallet (23) is on the reference line (S6), the pusher assembly (37) may push the SKU to the corresponding pallet (23) along the reference line (S6), or the pusher assembly (37) may pull the SKU located on the corresponding pallet (23); the lifting device (40) drives the device (30) for loading and unloading materials in order to move it in the vertical direction according to the offset position between the storage unit on the warehouse rack and the reference line (S6) in the vertical direction; when the warehouse rack is located on the reference line (S6), the pusher assembly (37) may push the SKU to a predetermined position onto the corresponding warehouse rack along the reference line (S6) or the pusher assembly (37) may pull out the SKU located at the predetermined location appropriate storage rack. 11. Loading and unloading robot (100) according to claim 10, in which the device (30) for loading and unloading materials contains a support bracket (31), a fork (32), a rotary assembly (33) and a recognition device (34); the swivel assembly (33) is installed between the support bracket (31) and the fork (32), so that the fork 32 can rotate about the vertical axis (S5) of rotation relative to the support bracket (31); and the recognition device (34) is configured to recognize information about the location of the device (30) for loading and unloading materials relative to the storage unit. 12. Handling robot (100) according to claim 10, in which the bracket (11) assembly contains a base (110) and a vertical frame (111), the base (110) contains the body (112) of the base; the vertical frame (111) is mounted on the second surface (1121) of the base body (112), and the vertical frame (111) includes vertical posts (115) and horizontal rods mounted on vertical posts (115); the uprights (115) are arranged vertically and mounted on the second surface (1121) of the base body (112), and the two uprights are symmetrically distributed about the first axis (S1). 13. The handling robot (100) according to claim 12, in which the surface of each vertical column (115) facing the other vertical column (115) has a guide in the vertical direction, and the device (30) for loading and unloading materials is installed in the guides of the two uprights, so that the device (30) for loading and unloading materials can move relative to the uprights (115) in the vertical direction.

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