US 11,655,099 B2
Handling robot
Jui-chun Cheng, Guangdong (CN); Shengdong Xu, Guangdong (CN); and Yuqi Chen, Guangdong (CN)
Assigned to HAI ROBOTICS CO., LTD., Guangdong (CN)
Filed by HAI ROBOTICS CO., LTD., Guangdong (CN)
Filed on Sep. 14, 2022, as Appl. No. 17/944,671.
Application 17/944,671 is a continuation of application No. 17/882,119, filed on Aug. 5, 2022.
Application 17/882,119 is a continuation in part of application No. 17/862,579, filed on Jul. 12, 2022.
Application 17/862,579 is a continuation in part of application No. 17/651,328, filed on Feb. 16, 2022, granted, now 11,465,840.
Application 17/651,328 is a continuation in part of application No. 17/385,811, filed on Jul. 26, 2021.
Application 17/385,811 is a continuation of application No. 15/931,496, filed on May 13, 2020, granted, now 11,104,514.
Application 15/931,496 is a continuation of application No. PCT/CN2018/104654, filed on Sep. 7, 2018.
Claims priority of application No. 201711135812.7 (CN), filed on Nov. 14, 2017; and application No. 201711141498.3 (CN), filed on Nov. 14, 2017.
Prior Publication US 2023/0013220 A1, Jan. 19, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B65G 1/137 (2006.01); B65G 1/04 (2006.01); B66F 9/06 (2006.01); G06Q 10/08 (2023.01); B25J 9/00 (2006.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); G06T 7/70 (2017.01); B25J 5/00 (2006.01)
CPC B65G 1/0435 (2013.01) [B25J 9/0009 (2013.01); B25J 9/104 (2013.01); B25J 9/1638 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B25J 13/08 (2013.01); B25J 15/0014 (2013.01); B65G 1/0492 (2013.01); B65G 1/137 (2013.01); B65G 1/1373 (2013.01); B66F 9/063 (2013.01); G06Q 10/08 (2013.01); G06T 7/70 (2017.01); B25J 5/007 (2013.01); B65G 2203/0216 (2013.01); B65G 2203/041 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A handling robot, comprising:
a movable chassis;
a storage frame supported by the movable chassis, the storage frame being provided with a plurality of storage units;
a material handling device supported by the movable chassis and configured to move in a vertical direction, the material handling device being configured to transport an inventory item between a shelf and one of the plurality of storage units; and
a lifting assembly configured to drive the material handling device to move in the vertical direction;
wherein the material handling device comprises:
a support bracket configured to move in the vertical direction; and
a fork supported by the support bracket and configured to rotate around the vertical direction relative to the support bracket;
wherein the fork comprises:
a temporary storage unit configured to temporarily store the inventory item on an upper side of the temporary storage unit, the temporary storage unit being configured to support a weight of the inventory item;
a telescopic arm configured to extend or retract relative to the temporary storage unit, wherein the telescopic arm comprises a first arm section and a second arm section directly or indirectly connected to the first arm section, the first arm section being directly or indirectly coupled to the temporary storage unit, the second arm section being movable relative to the first arm section; and
a pusher assembly, wherein the pusher assembly comprises;
a push rod fixedly installed to the second arm section, the push rod being immovable relative to the second arm section, the push rod being configured to move together with the second arm section relative to the temporary storage unit, the push rod being configured to push the inventory item away from the temporary storage unit when the telescopic arm is in a state where the telescopic arm is in a process of extending relative to the temporary storage unit; and
a manipulator installed to the second arm section, the manipulator being configured to fold or unfold relative to the second arm section, the manipulator being configured to pull the inventory item to the temporary storage unit when the manipulator is in a state where the manipulator is unfolded relative to the second arm section and the telescopic arm is in a state where the telescopic arm is in a process of retracting relative to the temporary storage unit.