Patent Publication Number: US-2021187760-A1

Title: Transportation apparatus and transportation robot provided with transportation apparatus

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is a continuation of International Application No. PCT/CN2019/113369, filed on Oct. 25, 2019, which claims priority to Chinese Patent Application No. 201821469104.7, filed on Sep. 7, 2018, all of which are hereby incorporated by reference in their entireties. 
    
    
     TECHNICAL FIELD 
     The present application relates to the field of intelligent warehousing technology, and in particular to a transportation apparatus and a transportation robot provided with the transportation apparatus. 
     BACKGROUND 
     Intelligent warehousing is a link in a logistics process, the application of the intelligent warehousing ensures the speed and accuracy of data input in all links of goods warehouse management, ensuring that an enterprise can accurately grasp real data of stock in time, and reasonably maintaining and controlling the stock of the enterprise. Through scientific coding, it is also convenient to manage batches and shelf lives of stocked goods. Using a warehouse location management function of an SNHGES system, it is also abled to grasp current locations of all stocked goods in time, which is conducive to improve the efficiency of warehouse management. 
     A transportation robot plays an important role in the intelligent warehousing. The transportation robot transports goods through a manipulator. However, in a process of implementing the present application, the inventor found that a current manipulator moves in one direction, so it can only move the goods in one direction. When the manipulator needs to transport goods in other direction, it is needed to adjust an angle of the transportation robot relative to a shelf. This process costs a certain amount of time, resulting in low transportation efficiency of the manipulator. 
     SUMMARY 
     A main technical problem solved by embodiments of the present application is to provide a transportation robot, which is equipped with a storage shelf and can load a large number of goods. 
     In order to solve the above technical problem, the embodiments of the present application provide the following technical solutions: 
     in one aspect, there is provided a transportation apparatus, including a bracket, a telescopic apparatus, and a manipulator, where the telescopic apparatus is mounted to the bracket, the manipulator is mounted to the telescopic apparatus, and the telescopic apparatus is used for driving the manipulator to move along a horizontal first reference line or a horizontal second reference line; and the first reference line and the second reference line are set at a preset angle. 
     In some embodiments, the telescopic apparatus includes a first telescopic arm and a second telescopic arm; one end of the first telescopic arm is mounted to the bracket, one end of the second telescopic arm is mounted to the other end of the first telescopic arm, and the manipulator is mounted to the other end of the second telescopic arm; the one end of the first telescopic arm moves along the first reference line relative to the other end of the first telescopic arm; and the one end of the second telescopic arm moves along the second reference line relative to the other end of the second telescopic arm. 
     In some embodiments, the first telescopic arm includes a first lower fork component, a first upper fork, and a first telescopic driving component; the first lower fork component is fixedly mounted to the bracket, and a surface of the first lower fork component facing away from the bracket is provided with a first guide rail for guiding along the first reference line; the first upper fork is mounted to the first guide rail; and the first telescopic driving component is connected to the first upper fork and the first lower fork component, and the first telescopic driving component is used for driving the first upper fork to move along the first reference line relative to the first lower fork component. 
     In some embodiments, the first telescopic driving component includes a lead screw, a moving block, and a first telescopic driving apparatus; the lead screw is mounted to the first upper fork, the moving block is fixedly mounted to the first lower fork component, and the moving block is threadedly connected to the lead screw, and the first telescopic driving apparatus is connected to the lead screw; a center line of the lead screw is disposed in parallel to the first reference line; and the first telescopic driving apparatus is used for driving the lead screw to rotate around the center line relative to the first upper fork, so that the moving block moves along the first reference line relative to the first upper fork. 
     In some embodiments, the first telescopic driving component includes a synchronous belt, a synchronous drive pulley, a synchronous belt tensioning pulley, and a first telescoping driving apparatus; the synchronous drive pulley and the synchronous belt tensioning pulley are both mounted to the first upper fork, the synchronous belt is simultaneously sleeved on the synchronous drive pulley and the synchronous belt tensioning pulley, and the first lower fork component is fixedly connected to the synchronous belt, and the first telescopic driving apparatus is connected to the synchronous drive pulley; and the first telescopic driving apparatus is used for driving the synchronous drive pulley to rotate, so that the synchronous belt drives the first lower fork component to move along the first reference line relative to the first upper fork. 
     In some embodiments, the first lower fork component includes a first lower fork, a first middle fork, and a second telescopic driving component; the first lower fork is fixedly mounted to the first upper fork, and a surface of the first lower fork facing away from the first upper fork is provided with a second guide rail for guiding along the first reference line; the first middle fork is mounted to the second guide rail, and a surface of the first middle fork facing away from the first lower fork is provided with the first guide rail; and the second telescopic driving component is connected to the first middle fork and the first lower fork, and is used for driving the first lower fork to move along the first reference line relative to the first middle fork. 
     In some embodiments, the second telescopic driving component includes a movable pulley and a strop; the movable pulley is mounted to the first middle fork, and a middle part of the strop is bent and sleeved on the movable pulley, so that two ends of the strop are disposed oppositely to each other; one end of the strop is fixedly mounted to the first lower fork, the other end of the strop is fixedly mounted to the first upper fork; and when the first middle fork moves along the first reference line relative to the first lower fork at a first speed, the first upper fork moves along the first reference line relative to the first lower fork at a second speed, and the second speed is twice the first speed. 
     In some embodiments, the movable pulley is a flat belt pulley, and the strop is an open-loop flat belt. 
     In some embodiments, the first reference line and the second reference line are disposed orthogonally. 
     In some embodiments, the manipulator includes a temporary storage pallet; and the temporary storage pallet is used for placing goods. 
     In another aspect, there is provided a transportation robot, including the transportation apparatus described above. 
     In some embodiments, the transportation robot further includes a mobile chassis and a storage shelf; and the storage shelf is mounted to the mobile chassis, and the storage shelf is used for placing a number of goods. 
     In some embodiments, the transportation robot further includes a lifting component; the lifting component is mounted to the storage shelf, and the lifting component is connected to the bracket of the transportation apparatus; and the lifting component is used for driving the transportation apparatus to move along a vertical direction relative to the storage shelf. 
     In some embodiments, the storage shelf includes a plurality of storage pallets distributed along the vertical direction; each storage pallet is used for placing goods; and when the lifting component drives the manipulator to move relative to the storage shelf, to a corresponding storage pallet along the vertical direction, the manipulator loads goods to or unload goods from the corresponding storage pallet. 
     In some embodiments, the manipulator includes a temporary storage pallet; the temporary storage pallet is used for placing goods; each storage pallet includes two supporting portions; the two supporting portions are together used for supporting goods, the two supporting portions are provided with a gap therebetween, and the gap is configured to allow the temporary storage pallet to pass through along the vertical direction; when the temporary storage pallet on which the goods are placed descends along the vertical direction and passes through the gap, the goods are separated from the temporary storage pallet and supported on the two supporting portions; and when the temporary storage pallet rises along the vertical direction and passes through the gap between the two supporting portions on which the goods are placed, the goods are separated from the corresponding two supporting portions and supported on the temporary storage pallet. 
     Compared with the prior art, in the transportation apparatus provided by the embodiments of the present application, by driving the manipulator to move on the orthogonal first reference line and the second reference line, the manipulator can load and unload goods at any position on the first reference line or the second reference line, so as to avoid time being wasted on adjusting an angle of a transportation robot, thereby the transportation apparatus has a high transportation efficiency. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
       One or more embodiments are exemplarily illustrated by figures in the corresponding drawings. These exemplarily illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denote similar elements. Unless otherwise stated, the figures in the drawings do not constitute a scale limitation. 
         FIG. 1  is a schematic structural diagram of a transportation robot provided by an embodiment of the present application; 
         FIG. 2  is a schematic exploded diagram of the transportation robot shown in  FIG. 1 ; 
         FIG. 3  is a schematic exploded diagram of a mobile chassis of the transportation robot shown in  FIG. 2 ; 
         FIG. 4  is a schematic structural diagram of a driving wheel component of the mobile chassis shown in  FIG. 3 ; 
         FIG. 5  is a schematic structural diagram of a storage shelf and a lifting component of the mobile chassis shown in  FIG. 3 ; 
         FIG. 6  is a schematic structural diagram of a transportation apparatus of the transportation robot shown in  FIG. 2 ; 
         FIG. 7  is a schematic exploded diagram of the transportation apparatus shown in  FIG. 6 ; 
         FIG. 8  is a schematic diagram of movement of the transportation apparatus shown in  FIG. 6 ; 
         FIG. 9  is a schematic structural diagram of a first middle fork and a second telescopic driving component of the transportation apparatus shown in  FIG. 7 ; 
         FIG. 10  is a schematic structural diagram of a first upper fork and a first telescopic driving component of the transportation apparatus shown in  FIG. 7 ; and 
         FIG. 11  is a schematic structural diagram of another implementation manner of a first telescopic transmission mechanism of the first telescopic driving component shown in  FIG. 10 . 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     In order to facilitate the understanding of the present application, the present application will be described in more detail below in conjunction with the drawings and specific implementations. It should be noted that when an element is expressed as being “fixed” to another element, it may be directly placed on the another element, or there may be one or more elements therebetween. When an element is expressed as being “connected” to another, it may be directly connected to the another element, or there may be one or more intervening elements therebetween. The terms “vertical”, “horizontal”, “left”, “right” and similar expressions used in this specification are for illustrative purposes only. 
     Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field of the present application. The terms used in the specification of the present application are only for the purpose of describing specific implementations rather than limiting the present application. The term “and/or” used in this specification includes any and all combinations of one or more related listed items. 
     Please refer to  FIG. 1  and  FIG. 2 , one of embodiments of the present application provides a transportation robot  100 , the transportation robot  100  may be applied to intelligent warehousing systems, intelligent logistics systems, intelligent sorting systems, and the like, and in this embodiment, a transportation robot  100  applied to an intelligent warehousing system will be taken as an example for detailed description. 
     The intelligent warehousing system is provided with a fixed shelf, and the fixed shelf is provided with empty positions for placing goods. 
     It should be noted that the goods may be a single object, and may also be multiple objects. 
     The transportation robot  100  includes a mobile chassis  10 , a storage shelf  20 , a transportation apparatus  30 , and a lifting component  40 . Where, the storage shelf  20 , the transportation apparatus  30 , and the lifting component  40  are all mounted to the mobile chassis  10 . 
     The mobile chassis  10  is used for implementing a mobile function of the transportation robot  100 . 
     Please also refer to  FIG. 3 , the mobile chassis  10  includes a base  110 , a driven wheel  12 , a driving pulley component  13  and a guiding apparatus  14 . Where, the driven wheel  12 , the driving pulley component  13  and the guiding apparatus  14  are all mounted to the base  110 . 
     The base  110  is assembled by welding steel beams, steel plates and skins. The base  110  includes a base body  112 , an axle seat  113 , and a shock absorber bracket  114 . The axle seat  113  is mounted to the base body  112 . The shock absorber bracket  114  is also mounted to the base body  112 . 
     The base body  112  is a horizontally disposed rectangular plate and has a symmetry axis S 1 . The base body  112  includes a first surface  1120  and a second surface  1121  that are disposed oppositely. 
     The base body  112  is provided with a driven wheel mounting groove  1122 , a driving wheel mounting port  1123 , and a guiding apparatus mounting port  1124 . 
     The driven wheel mounting groove  1122  is disposed on the first surface  1120  of the base body  112 , and the driven wheel mounting groove  1122  is used for mounting the driven wheel  12 . 
     The driving wheel mounting port  1123  is disposed to pass through the first surface  1120  and the second surface  1121  of the base body  112 , and the driving wheel mounting port  1123  is used for placing the driving wheel component  13 . 
     The guiding apparatus mounting port  1124  is disposed to pass through the first surface  1120  and the second surface  1121  of the base body  112 , and the guiding apparatus mounting port  1124  is used for mounting the guiding apparatus  14 . 
     The axle seat  113  and the shock absorber bracket  114  are both mounted to the second surface  1121  of the base body  112 , and the axle seat  113  and the shock absorber bracket  114  are together used for mounting the driving wheel component  13 . 
     It is worth noting that, by providing with the driven wheel mounting groove  1122  for mounting the driven wheel  12 , and the driving wheel mounting port  1123  for placing the driving wheel component  13 , a ground clearance and a height of center of mass of the mobile chassis  10  can be controlled, so that a ground gripping force of the mobile chassis  10  is improved, and the stability of the mobile chassis  10  is improved. 
     Four driven wheels  12  are distributed in a first rectangle, and one of symmetry axes of the first rectangle coincides with the symmetry axis S 1 , and the four driven wheels  12  support the base  110 . 
     It can be understood that, according to actual conditions, the number of the driven wheel  12  is not limited to four. For example, the number of the driven wheel  12  may also be three, or more than four, as long as there are at least three. 
     In this embodiment, the driven wheel  12  is a universal wheel. 
     It can be understood that, according to actual conditions, the driven wheel  12  is not limited to the universal wheel. For example, the driven wheel  12  may also be a wheel body with a steering bracket (refer to a rear wheel set of an automobile), as long as the driven wheel  12  has a steering function. 
     The driving wheel component  13  is used for driving the mobile chassis  10  to move, the driving wheel component  13  is mounted to the base  110 , and two driving wheel components  13  are symmetrically distributed relative to the symmetry axis S 1 , and any one of the driving wheel components  13  is located between the two driven wheels  12 . 
     Please also refer to  FIG. 4 , each driving wheel component  13  includes a driving wheel bracket  130 , a driving wheel body  131 , a hub driving apparatus  132 , and a hub speed deceleration apparatus  133 . Where, the driving wheel body  131  is mounted to the driving wheel bracket  130 , and the driving wheel body  131  may rotate around a rotation axis S 2  relative to the driving wheel bracket  130 , and the rotation axis S 2  is horizontal and perpendicular to the symmetry axis S 1 , which makes the mobile chassis  10  movable. An output end of the hub driving apparatus  132  is connected to an input end of the hub speed deceleration apparatus  133 , and an output end of the hub speed deceleration apparatus  133  is flange-connected to the driving wheel body  131 . The hub driving apparatus  132  is used for providing a first driving force for allowing the driving wheel body  131  to rotate around the rotation axis S 2 , and the hub speed deceleration apparatus  133  is used for transmitting the first driving force. 
     It can be understood that, according to actual conditions, the hub speed deceleration apparatus  133  may be omitted. In some embodiments, the output end of the hub driving apparatus  132  is directly flange-connected to the driving wheel body  131 , so that the driving wheel body  131  can rotate around the rotation axis S 2 . 
     It is worth noting that, the output end of the hub speed deceleration apparatus  133  or the output end of the hub driving apparatus  132  is flange-connected to the driving wheel body  131 , which can improve the reliability of connection of the driving wheel body  131 , thereby the driving wheel body  131  can be mounted firmly and is not easy to detach. 
     Through independent driving control of the hub driving apparatus  132  of the two driving wheel components  13 , rotation speeds of two driving wheel bodies  131  may be different, so that the mobile chassis  10  turns toward the driving wheel body  131  with a lower rotation speed, to realize a turning function of the mobile chassis  10 . 
     Further, the driving wheel bracket  130  includes a hub bracket  134 , a shaft  135 , and a shock absorber  136 . Where, one end of the driving wheel bracket  130  is disposed close to the symmetry axis S 1 , and the other end is disposed away from the symmetry axis S 1 , and the driving wheel body  131  is mounted at an end of the hub bracket  134  away from the symmetry axis S 1 . The shaft  135  is connected to the hub bracket  134 , and the shaft  135  is disposed parallel to the symmetry axis S 1 , and the shaft  135  is mounted to the axis seat  113 , so that the driving wheel component  13  can rotate around the shaft  135  relative to the base body  112 . One end of the shock absorber  136  is hinged to one end of the shock absorber bracket  114  facing away from the base body  112 , so that the shock absorber  136  can rotate relative to the base body  112  around a first axis S 3  parallel to the shaft  135 ; the other end of the shock absorber  136  is hinged to one end of the hub bracket  134  facing away from the shaft  135 , so that the shock absorber  136  can rotate relative to the hub bracket  134  around a second axis parallel to the shaft  135 . The shock absorber bracket  114 , the hub bracket  134 , and the shock absorber  136  form a triangular structure, and when the mobile chassis  10  turns, the shock absorber  136  can buffer part of an eccentric force, which further improves the movement stability of the mobile chassis  10 . 
     In this embodiment, the hub driving apparatus  132  is a first motor. 
     It can be understood that, according to actual conditions, the hub driving apparatus  132  is not limited to the first motor. For example, the hub driving apparatus  132  may also be a pneumatic motor, a hydraulic transmission system, or the like. 
     The guiding apparatus  14  is mounted to the second surface  1121  of the base body  131  through a guiding apparatus bracket. In this embodiment, the guiding apparatus  14  is a first camera, and lens of the first camera is directly facing the guiding apparatus mounting port  1124 , and is used for identifying two-dimensional codes attached to ground, so that the mobile chassis  10  goes forward along a preset path. 
     It can be understood that, according to actual conditions, the guiding apparatus  14  is not limited to be in the form of the first camera. For example, the guiding apparatus  14  may be a laser guiding apparatus that goes forward along a laser beam. For another example, the guiding apparatus  14  is a shortwave receiving apparatus, which realizes a guiding function by receiving a specific shortwave signal, or the like. 
     Please also refer to  FIG. 5 , the storage shelf  20  includes a vertical bracket  111 . 
     The vertical bracket  111  is mounted to the second surface  1121  of the base body  112 , and the vertical bracket  111  includes a vertical column  115  and a horizontal column  116  that is mounted to the vertical column  115 . 
     The vertical column  115  is vertically disposed and mounted to the second surface  1121  of the base body  112 , and two vertical columns are symmetrically distributed relative to the symmetry axis S 1 . 
     A surface of each vertical column  115  facing another vertical column  115  is provided with a guide rail for vertically guiding, and the transportation apparatus  30  is mounted to guide rails of two vertical columns  115 , so that the transportation apparatus  30  can move along a vertical direction relative to the vertical columns  115 . 
     It can be understood that, according to actual conditions, the number of the guide rail is not limited to two. For example, the number of the guide rail may be one, three or more than three, as long as there is at least one. 
     The horizontal column  116  is disposed horizontally and connected between the two vertical columns  115 , and a plurality of the horizontal columns  116  are distributed along the vertical direction. 
     The storage shelf  20  further includes a vertical rod  21 , a horizontal rod  22  and a storage pallet  23 . Where, the vertical rod  21  is disposed vertically and mounted to the second surface  1121  of the base body  112 , and two vertical rods  21  are symmetrically distributed relative to the symmetry axis S 1 . The horizontal rod  22  are disposed horizontally and connected between the two vertical rods  21 . Both the number of the horizontal rod  22  and the number of the storage pallet  23  correspond to the number of the horizontal column  116 , one horizontal rod  22  and one corresponding horizontal column  116  together support one corresponding storage pallet  23 , and each storage pallet  23  is used for placing goods. 
     Each storage pallet  23  includes two supporting portions  230 . 
     The two supporting portions  230  are symmetrically distributed relative to the symmetry axis S 1 , the two supporting portions  230  are together used for supporting one piece of goods, and a gap  231  is disposed between the two supporting portions  230 . 
     Please also refer to  FIG. 6  to  FIG. 8 , the transportation apparatus  30  is used for transporting goods between the storage shelf  20  and the fixed shelf. 
     The transportation apparatus  30  includes a bracket  31 , a telescopic apparatus  32 , a manipulator  33 , and a positioning component  34 . The telescopic apparatus  32  is mounted to the bracket  31 , the manipulator  33  is mounted to the telescopic apparatus  32 , and the positioning component  34  is mounted to the telescopic apparatus  32 . 
     The bracket  31  is assembled by welding steel beams and has a substantially horizontal plate-like structure. Two ends of one side part of the bracket  31  facing the vertical bracket  111  is respectively provided with a sliding block  310  (i.e., having two sliding blocks in total) and the two sliding blocks  310  are respectively mounted to a corresponding guide rail, so that the bracket  31  can move along the vertical direction relative to the vertical bracket  111 . 
     The telescopic apparatus  32  is mounted to a surface of the bracket  31  facing away from the base  110 , and the telescopic apparatus  32  is used for driving the manipulator  33  to move toward a horizontal first reference line S 5  or a horizontal second reference line S 6  relative to the bracket  31 , the first reference line S 5  is disposed parallel to the symmetry axis S 1 , and the first reference line S 5  and the second reference line S 6  are set at a preset angle. 
     In this embodiment, the first reference line S 5  and the second reference line S 6  are disposed orthogonally. 
     It can be understood that, according to actual conditions, the first reference line S 5  and the second reference line S 6  are not limited to an orthogonal form, as long as the first reference line S 5  and the second reference line S 6  are not parallel to each other. 
     The telescopic apparatus  32  includes a first telescopic arm  35  and a second telescopic arm  36  that is mounted to the first telescopic arm  35 . 
     One end of the first telescopic arm  35  is fixedly mounted to the surface of the bracket  31  facing away from the base, the other end of the first telescopic arm  35  is mounted with the second telescopic arm  36 , and one end of the first telescopic arm  35  can move along the first reference line S 5  relative to the other end. 
     The first telescopic arm  35  includes a first lower fork component  350 , a first upper fork  351 , and a first telescopic driving component  352 . Where, the first upper fork  351  is mounted to the first lower fork component  350 , the first telescopic driving component  352  is connected to the first upper fork  351  and the first lower fork component  350  respectively, and the telescopic driving component  352  is used for driving the first upper fork  351  to move along the first reference line S 5  relative to the first lower fork component  350 . 
     The first lower fork component  350  includes a first lower fork  353 , a first middle fork  354  and a second telescopic driving component  355 . Where, the first middle fork  354  is mounted to the first lower fork  353 , the second telescopic driving component  355  is respectively connected to the first lower fork  353  and the first middle fork  354 , and the second telescopic driving component  355  is used for driving the first middle fork  354  to move along the first reference line S 5  relative to the first lower fork  353 . 
     The first lower fork  353  is substantially a horizontal flat plate structure, the first lower fork  353  is fixedly mounted to the surface of the bracket  31  facing away from the base  110 , and a surface of the first lower fork  353  facing away from the bracket  110  is provided with a second guide rail  3530  for guiding along the first reference line S 5 . 
     Please also refer to  FIG. 9 , the first middle fork  354  is a substantially horizontal flat plate structure, and the first middle fork  354  is mounted to the second guide rail  3530 , so that the first middle fork  354  can move along the first reference line S 5  relative to the first lower fork  353 , and a surface of the first middle fork  354  facing away from the first lower fork  353  is provided with a first guide rail  3540  for guiding along the first reference line S 5 . 
     The second telescopic driving component  355  is also connected to the first upper fork  351 , and the second telescopic driving component  355  includes a movable pulley  3550  and a strop  3551 . Where, the strop  3551  is connected to the movable pulley  3550 . 
     The movable pulley  3550  is mounted to the first middle fork  354 . 
     A middle part of the strop  3551  is bent and sleeved on the movable pulley  3550 , so that two ends of the strop  3551  are disposed oppositely to each other, and the two ends of the strop  3551  are disposed parallel to the first reference line S 5 , one end of the strop  3551  is fixedly mounted to the first upper fork  351 , and the other end of the strop  3551  is fixedly mounted to the first lower fork  353 . The strop  3551  and the movable pulley  3550  form a movable pulley mechanism, and when one end of the strop  3551  moves relative to the first middle fork  354  along the first reference line S 5  at a first speed in a positive direction, the other end of the strop  3551  moves relative to the first middle fork  354  along the first reference line S 5  at the first speed in an opposite direction, that is, one end of the strop  3551  moves relative to the other end of the strop  3551  at a second speed, and the second speed is twice the first speed. 
     When the first middle fork  354  moves along the first reference line S 5  relative to the first lower fork  353  at the first speed, the first upper fork  351  moves along the first reference line S 5  relative to the first lower fork  353  at the second speed. 
     In this embodiment, the movable pulley  3550  is a flat pulley, and the strop  3551  is an open-loop flat belt. 
     It can be understood that, according to actual conditions, the movable pulley  3550  is not limited to the flat pulley, and the strop  3551  is not limited to the open-loop flat belt. For example, the movable pulley  3550  and the strop  3551  are sprocket and pitch chain, respectively. For another example, the movable pulley  3550  and the strop  3551  are respectively V belt pulley and V belt, or the like. 
     The first upper fork  351  is a substantially horizontal flat plate structure, and the first upper fork  351  is mounted to the first guide rail  3540 , so that the first upper fork  351  can move along the first reference line S 5  relative to the first middle fork  354 . 
     The first telescopic driving component  352  includes a first telescopic transmission mechanism  356  and a first telescopic driving mechanism  357 . The first telescopic transmission mechanism  356  is connected to the first telescopic driving mechanism  357 , the first telescopic transmission mechanism  356  is connected to the first upper fork  351  and the first middle fork  354 , and the first telescopic driving mechanism  356  is used for driving, by the first telescopic transmission mechanism  356 , the first upper fork  351  to move along the first reference line S 5  relative to the first middle fork  354 . 
     Please also refer to  FIG. 10 , the first telescopic transmission mechanism  356  includes a lead screw  3560  and a moving block  3561 . Where, the lead screw  3560  is threadedly connected to the moving block  3561 . 
     Two ends of the lead screw  3560  are both mounted to a surface of the first upper fork  351  facing the first middle fork  354 , a center line of the lead screw  3560  is parallel to the first reference line S 5 , and the first lead screw  3560  can rotate around the center line relative to the first upper fork  351 . The first telescopic driving mechanism  357  is connected to one end of the lead screw  3560 , and the first telescopic driving mechanism  357  is used for driving the lead screw  3560  to rotate around the center line. 
     The moving block  3561  is fixedly mounted to a surface of the first middle fork  354  facing the first upper fork  351 . When the lead screw  3560  rotates around the center line relative to the first upper fork  351 , the lead screw  3560  can drive the moving block  3561  to move along the center line, so that the first middle fork  354  connected to the moving block  3561  can move along the first reference line S 5  relative to the first upper fork  351 . 
     It can be understood that, according to actual conditions, the first telescopic transmission mechanism  356  is not limited to be in the form of the lead screw  3560  and the moving block  3561 . For example, the first telescopic transmission mechanism  356  may also be a gear set. For another example, the first telescopic transmission mechanism  356  may also be a worm gear mechanism, or the like. 
     The first telescopic driving mechanism  357  includes a first V belt  3570 , a first drive V belt pulley  3571 , a first driven V belt pulley  3572 , and a first telescopic driving apparatus  3573 . Where, the first V belt  3570  is simultaneously sleeved on the first drive V belt pulley  3571  and the first driven V belt pulley  3572 , and the first telescopic driving apparatus  3573  is connected to the first drive V belt pulley  3571 , the first driven V belt pulley  3572  is fixedly connected to one end of the lead screw  3560 , and the first telescopic driving apparatus  3572  is used for driving the first drive V belt pulley  3571  to rotate, and driving, by the first V belt  3570 , the first driven V belt pulley  3572  to rotate, so that the lead screw  3560  rotates around the center line relative to the first upper fork  351 . 
     In this embodiment, the first telescopic driving apparatus  3573  is a second motor. 
     It can be understood that, according to actual conditions, the first telescopic driving apparatus  3573  is not limited to the second motor. For example, the first telescopic driving apparatus is a pneumatic motor. For another example, the first telescopic driving apparatus is a hydraulic power system, or the like. 
     It can be understood that, according to actual conditions, the first V belt  3570 , the first drive V belt pulley  3571 , and the first driven V belt pulley  3572  may be omitted. In some embodiments, the first telescopic driving apparatus  3573  is directly connected to the one end of the lead screw  3560  so as to drive the lead screw  3560  to rotate around the center line relative to the first upper fork  351 . 
     It can be understood that, according to actual conditions, the first middle fork  354  and the second telescopic driving component  355  may be omitted, the first upper fork  351  is directly mounted to the first lower fork  353 , and the first telescopic driving component  352  is directly connected to the first upper fork  351  and the first lower fork  353 . 
     Please also refer to  FIG. 11 . In some embodiments, the first telescopic driving mechanism  356  includes a synchronous belt  3562 , a synchronous drive pulley  3563 , and a synchronous belt tensioning pulley  3564 . 
     The synchronous drive pulley  3563  and the synchronous belt tensioning pulley  3564  are both mounted to the first upper fork  351 , and the synchronous belt  3562  is simultaneously sleeved on the synchronous drive pulley  3563  and the synchronous belt tensioning pulley  3564 , and the first lower fork component  350  is fixedly connected to the synchronous belt  3562 , the first telescopic driving mechanism  357  is connected to the synchronous drive pulley  3563  to drive the synchronous drive pulley  3563  to rotate, so that the synchronous belt  3562  drives the first lower fork component  350  to move along the first reference line S 5  relative to the first upper fork  351 . 
     One end of the second telescopic arm  36  is fixedly mounted to a surface of the first upper fork  351  facing away from the first middle fork  354 , the other end of the second telescopic arm  36  is mounted with the manipulator  33 , and one end of the second telescopic arm  36  can move along the second reference line S 6  relative to the other end. 
     The second telescopic arm  36  includes a second lower fork  360 , a second middle fork  361 , and a second upper fork  362 . Where, the second lower fork  360  is fixedly mounted to the surface of the first upper fork  351  facing away from the first middle fork  354 , the second middle fork  361  is mounted to a surface of the second lower fork  360  facing away from the first upper fork  351 , the second upper fork  362  is mounted to a surface of the second middle fork  361  facing away from the second lower fork  360 , and the second middle fork  362  can move along the second reference line S 6  relative to the first lower fork  361 , the second upper fork  362  can move along the second reference line S 6  relative to the second middle fork  361 . Since the structure of the second telescopic arm  36  is basically similar to the structure of the first telescopic arm  35 , and components of the first telescopic arm  35  and components of the second telescopic arm  36  are interchangeable, and thus the description will not be repeated here. 
     The manipulator  33  is mounted to a surface of the second upper fork  362  facing away from the second middle fork  361 , the manipulator  33  is used for loading or unloading goods, and the manipulator  33  includes a temporary storage pallet  330 , where the temporary storage pallet  330  is used for placing goods, and the temporary storage pallet  330  is configured to pass through a gap  231  of any storage pallet  23  along a vertical direction. 
     A surface of the temporary storage pallet  330 , for placing goods, is provided with a first supporting portion  331  and a second supporting portion  332 . The first supporting portion  331  and the second supporting portion  332  are together used for supporting goods placed on the temporary storage pallet  330 . 
     The first supporting portion is a first pulley, the first pulley  331  can rotate around an axis parallel to the second reference line S 6 , and the second supporting portion is a second pulley, the second pulley  332  can rotate around an axis parallel to the first reference line S 5 . 
     The number of the first pulley  331  is four, and such four first pulleys  331  are distributed in a first rectangle, and two symmetry lines of the first rectangle are parallel to the first reference line S 5  and the second reference line S 6 , respectively. 
     The number of the second pulley  332  is four, and such four second pulleys  332  are distributed in a second rectangle, and two symmetry lines of the second rectangle are parallel to the first reference line S 5  and the second reference line S 6 , respectively. 
     It can be understood that, according to actual conditions, the number of the first pulley  331  is not limited to four, and the number of the second pulley  332  is not limited to four. For example, the number of the first pulley  331  is two, three or more than three, the number of the second pulley  332  is two, three or more than three, as long as the sum of the number of the first pulley  331  and the second pulley  332  is at least three. 
     In some embodiments, the manipulator  33  includes a first clamping portion and a second clamping portion, and the first clamping portion may be relatively close to or far away from the second clamping portion, so that the first clamping portion and the second holding part can clamp goods or loosen goods. 
     The positioning component  34  is used for detecting a position of the transportation apparatus  30  relative to the storage shelf  20 , and the positioning component  34  includes a first camera apparatus  340  and a second camera apparatus  341 . Where, an orientation of a lens of the first camera apparatus  340  is along a first direction of the second reference line S 6 , and an orientation of a lens of the second camera apparatus  341  is along a second direction of the second reference line S 6 , where the first direction is opposite to the second direction. 
     The first camera apparatus  340  is fixedly mounted to the first upper fork  351 , and the second camera apparatus  341  is fixedly mounted to the second lower fork  360 . 
     The lifting component  40  is mounted to the vertical bracket  111 , and the lifting component  40  is connected to the bracket  31 . The lifting component  40  is used for driving the transportation apparatus  30  to move along the vertical direction relative to the storage shelf  20 . 
     When the lifting component  40  drives the manipulator  33  to move to a corresponding storage pallet  23  along the vertical direction relative to the storage shelf  20 , the manipulator  33  can load goods to or unload goods from a corresponding storage pallet. 
     Please refer to  FIG. 5  again, the lifting component  40  includes a lifting transmission mechanism  41  and a lifting driving mechanism  42 . Where, the lifting driving mechanism  41  is connected to the lifting transmission mechanism  42 , the lifting transmission mechanism  42  is connected to the bracket  31 , and the lifting driving mechanism  42  is used for driving, by the lifting transmission mechanism  41 , the bracket  31  to move along the vertical direction relative to the storage shelf  20 . 
     The lifting transmission mechanism  41  includes a lifting driving synchronous pulley  410 , a lifting tensioning synchronous pulley  411 , and a lifting synchronous belt  412 . Where, the lifting synchronous belt  412  is simultaneously sleeved on the lifting driving synchronous pulley  410  and the lifting tensioning synchronous pulley  411 . 
     The lifting driving synchronous pulley  410  is connected to the lifting driving mechanism  42 , the lifting synchronous belt  412  is fixedly mounted with the bracket  31 , and the lifting driving mechanism  42  is used for driving the lifting driving synchronous pulley  410  to rotate, the lifting driving synchronous pulley  410  drives the lifting synchronous belt  412  to move along the vertical direction relative to the storage shelf  20 , so that the bracket  31  moves along the vertical direction relative to the storage shelf  20 . 
     It can be understood that, according to actual conditions, the lifting driving mechanism  42  is not limited to the lifting driving synchronous pulley  410 , the lifting tensioning synchronous pulley  411 , and the lifting synchronous belt  412 . For example, the lifting driving mechanism  42  may also be a worm gear mechanism, a gear set, or the like. 
     Two sets of lifting driving mechanisms  42  are respectively mounted to opposite surfaces of the two vertical columns  115 . 
     The lifting driving mechanism  43  includes a lifting driving apparatus  430 , a driving gear set  431 , and a transmission shaft  432 . The driving gear set  341  is connected between the transmission shaft  432  and the lifting driving apparatus  430 . 
     The lifting driving apparatus  430  is used for driving, by the driving gear set  431 , the transmission shaft  432  to rotate, so as to drive the two lifting driving synchronous pulleys  410  respectively mounted to two ends of the transmission shaft  432  to rotate. 
     In this embodiment, the lifting driving apparatus  430  is a third motor. 
     It can be understood that, according to actual conditions, the lifting driving apparatus  430  may also be a hydraulic power system, a pneumatic motor, or the like. 
     When the transportation robot  100  is specifically used, details are as follows: 
     the transportation robot  100  moves to the fixed shelf through the mobile chassis  10 , where the mobile chassis  10  moves along the preset path, the preset path is parallel to the first reference line S 5 , and the fixed shelf is located outside the preset path; the transportation robot  100  can reach an approximate range of the fixed shelf through the guiding apparatus  14 , and then can reach a specific position through the positioning component  34 . 
     When loading goods from the fixed shelf (the structure of the fixed shelf is similar to the structure of the storage shelf), the transportation apparatus  30  is first driven by the lifting component  40  to move along the vertical direction, so that the temporary storage pallet  330  of the transportation apparatus  30  is located at a height slightly lower the goods. Then, the telescopic apparatus  32  drives the temporary storage pallet  330  to move along the first reference line S 5  or the second reference line S 6 , so that the temporary storage pallet  330  is located directly below the goods, and the lifting component  40  drives the temporary storage pallet  330  to rise along the vertical direction to lift the goods, so that the goods are placed on the temporary storage pallet  330 . And then, the telescopic apparatus  32  drives the temporary storage pallet  330  to move along the first reference line S 5  or the second reference line S 6 , and the temporary storage pallet  330  is located directly above one storage pallet  23  through the lifting component  40 , and then, the temporary storage pallet  330  descends along the vertical direction and passes through a gap  231  of a corresponding storage pallet  23 , so that the goods are separated from the temporary storage pallet  330 , and the goods are supported on the two supporting portions  230  of a corresponding storage pallet  23 . 
     When unloading goods to the fixed shelf, first, the transportation apparatus  30  is first driven to move along the vertical direction through the lifting component  40 , so that the temporary storage pallet  330  of the transportation apparatus  30  is located at a height slightly lower the storage pallet  23  where the goods are placed, and then the telescopic apparatus  32  drives the temporary storage pallet  330  to move along the first reference line S 5  or the second reference line S 6 , so that the temporary storage pallet  330  is located directly below a corresponding storage pallet  23 , and the temporary storage pallet  330  is driven to rise along the vertical direction through the lifting component  40 , passes through a gap of a corresponding storage pallet  23  and lifts the goods, so as to enable the goods to be placed on the temporary storage pallet  330 . And then, the telescopic apparatus  32  drives the temporary storage pallet  330  to move along the first reference line S 5  or the second reference line S 6 , and the temporary storage pallet  330  is located directly above an empty position of the fixed shelf through the lifting component  40 , and then, the temporary storage pallet  330  descends along the vertical direction, so as to separate the goods from the temporary storage pallet  330 , and the goods are on the empty position of the fixed shelf. 
     Compared with the prior art, in the transportation robot  100  provided in the embodiments of the present application, the transportation robot  100  includes: the mobile chassis  10 ; the storage shelf  20  mounted to the mobile chassis  10 , and the storage shelf  20  is used for placing goods; the transportation apparatus  30  includes the bracket  31 , the telescopic apparatus  32  and the manipulator  33 , the bracket  31  is mounted to the storage shelf  20 , the telescopic apparatus  32  is mounted to the bracket  31 , the manipulator  33  is mounted to the telescopic apparatus  32 , and the telescopic apparatus  32  is used for driving the manipulator  33  to move along the horizontal first reference line S 5  or the horizontal second reference line S 6  relative to the storage shelf  20 , so that the manipulator  33  can load or unload the goods at any position on the first reference line S 5  or the second reference line S 6 ; the first reference line S 5  and the second reference line S 6  are set at the preset angle. With the above arrangement, the transportation robot  100  is equipped with the storage shelf  20  for placing a number of goods, so that the transportation robot  100  can load a large number of goods. 
     The above content are only embodiments of the present application, and do not limit the scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of the present application, or direct or indirect applications in other related technical fields, are all included in the scope of patent protection of the present application.