Walking and climbing AGV, climbing AGV and warehousing system

Abstract

The invention relates to the technical field of intelligent storage, in particular to a walking and climbing AGV which is composed of a walking and climbing AGV body and a climbing AGV body which can be separated, the walking AGV body moves on the ground through a navigation system and a first battery system, and the climbing AGV body is coupled with a linear rack of a storage shelf stand column through a climbing coupler of a climbing device. And the second climbing driver is used for driving the gear to rotate, so that vertical climbing and material transferring are completed. The first control module and the second control module which are in wireless communication connection ensure cooperative work of the two parts. The split type design improves the flexibility and adaptability of the system and optimizes the energy utilization. The invention further relates to the climbing AGV and a warehousing system.

Description

[0001] This application claims priority to the Chinese patent application number "2024102383882" entitled "Walking and Climbing AGV, Climbing AGV and Warehousing System" filed on March 3, 2024 and the Chinese patent application number "2025101984985" entitled "Walking and Climbing AGV, Climbing AGV and Warehousing System" filed on February 22, 2025, the public records of which are considered to be part of the disclosure of this application. Technical Field

[0002] The present invention relates to the field of intelligent warehousing technology, and in particular to a walking and climbing AGV, a climbing AGV and a warehousing system. Background Art

[0003] This section provides background information related to the present application and is not necessarily prior art.

[0004] As an important module of industrial automation, the existing three-dimensional storage system uses AGVs with three-dimensional motion capabilities to perform storage and retrieval operations. Its key technical features include combined three-dimensional storage shelves and climbing AGV equipment. The load-bearing columns of the storage shelves are integrated with a chain transmission mechanism distributed vertically along the columns, and the corresponding climbing AGV body is equipped with retractable power sprocket assemblies on both sides. When the climbing AGV enters the storage shelf operation lane along the predetermined path, based on the storage and retrieval instructions issued by the central dispatching system, it is guided to the target workstation by the laser positioning system. Its sprocket mechanism forms a mechanical coupling with the column transmission chain, and the meshing transmission of the sprocket and chain achieves precise vertical positioning to complete the carrier storage and retrieval operation.

[0005] The existing technical bottlenecks mainly stem from the AGV system architecture. Due to the large size and weight of AGV, it cannot move fast enough on the storage shelves, has low efficiency and short battery life. Summary of the Invention

[0006] One purpose of the present invention is to solve the problems of existing climbing AGVs being large in size and weight, slow in movement on storage shelves, low in efficiency, and short in battery life. This problem is solved by designing a walking AGV and a climbing AGV that can be separated and coupled. The walking AGV is responsible for ground transfer, and the climbing AGV is responsible for transferring materials on the storage shelves.

[0007] This patent adopts the following technical solutions: A walking and climbing AGV, comprising: a walking AGV and one or more climbing AGVs; the walking AGV comprises a body, a first battery system and a first control module; the climbing AGV comprises a climbing device and a material transfer device; the climbing device comprises a climbing mechanism, a second battery system and a second control module; the climbing mechanism comprises one or more climbing couplers, and a first climbing drive for driving the climbing coupler to extend or retract relative to the side of the climbing device; the climbing coupler comprises a climbing gear, and a second climbing drive for driving the climbing gear to rotate; the second battery system is used to power the climbing device and the material transfer device The device provides power; the first control module and the second control module are wirelessly connected; the material transfer device includes a material picking and placing mechanism and a picking and placing drive that drives the material picking and placing mechanism to move; the climbing device can be detachably loaded onto the walking AGV, and in response to the first climbing drive driving the climbing gear to couple with the linear coupling rail of the storage shelf, in response to the driving of the second climbing drive, the climbing gear rotates to cause the climbing AGV to separate from the walking AGV and reach a preset height for picking and placing materials, and in response to the reverse driving of the second climbing drive, the climbing gear rotates in the reverse direction to cause the climbing AGV to descend and engage with the walking AGV.

[0008] The walking and climbing AGVs of this application are separable, achieving functional separation and collaboration. The walking AGV is responsible for ground transfers, while the climbing AGV is used to transfer materials on storage shelves. Due to the reduced weight and volume of the ground AGV, the climbing AGV is lighter, moves faster, and has a longer battery life. The first and second control modules, connected by wireless communication, ensure efficient collaboration between the two parts, optimize the overall performance of the system, and reduce energy consumption.

[0009] Furthermore, the first climbing actuator includes a first servo motor. This first servo motor precisely controls the extension and retraction of the climbing coupler, ensuring precise engagement between the climbing coupler and the linear coupling rail of the storage rack column. The extension distance of the climbing gear can be adjusted based on the operating state of the first servo motor. This design improves the positioning accuracy and operating efficiency of the climbing mechanism.

[0010] Furthermore, the first climbing actuator includes one or more lead screw mechanisms and a first servo motor, which drives a corresponding climbing coupler via the lead screw mechanism. The first climbing actuator combines the lead screw mechanism and the servo motor to achieve precise displacement control through the lead screw mechanism. This design offers high control accuracy and reliability, meeting the requirements of high loads and frequent operations.

[0011] Furthermore, the climbing device, through a rotating mechanism and a material transfer device, rotates and adjusts the material loading and unloading direction in response to the rotation mechanism's drive. By adjusting the material transfer device's direction through the rotating mechanism, the climbing device enables the material loading and unloading mechanism to adapt to different loading and unloading requirements, increasing the flexibility of loading and unloading.

[0012] Furthermore, the upper surface of the walking AGV is constructed with a joint mechanism for positioning the climbing AGV. This design ensures fast and precise docking between the two parts, avoiding collisions or connection failures caused by position deviations, and improving system reliability and operational efficiency.

[0013] Furthermore, the engagement mechanism includes multiple limiting members that engage with the side walls of the climbing AGV. The inner spaces of these limiting members are configured to engage the climbing AGV. This design ensures the climbing AGV's accurate positioning on the walking AGV through physical restraint and guidance, reduces mechanical interference, and improves the stability and safety of the system.

[0014] Furthermore, the upper portion of the limiting wall is constructed with an outwardly inclined joint guide portion. The upper portion of the limiting wall is constructed with an outwardly inclined joint guide portion to help the climbing AGV align quickly and accurately, ensuring the reliability of the automated joint.

[0015] On the other hand, the present application provides a climbing AGV, including a climbing device and a material transfer device; the climbing device includes a climbing mechanism, a second battery system and a second control module, the climbing mechanism includes one or more climbing couplers, and a first climbing drive that drives the climbing coupler to extend or retract relative to the side of the climbing device; the climbing coupler includes a climbing gear and a second climbing drive that drives the climbing gear to rotate; the second battery system is used to provide power for the climbing device and the material transfer device; the first control module and the second control module are wirelessly connected; the material transfer device includes a material picking and placing mechanism and a picking and placing drive that drives the material picking and placing mechanism to move; the climbing device is configured to be detachably loaded onto a walking AGV, in response to the first climbing drive driving the climbing gear to couple with the linear coupling rail of the storage shelf, in response to the drive of the second climbing drive, the climbing gear rotates to cause the climbing device to rise and disengage from the walking AGV and reach a preset height for picking and placing materials, and in response to the reverse drive of the second climbing drive, the climbing gear rotates in the reverse direction to cause the climbing AGV to descend and engage with the walking AGV.

[0016] On the other hand, the present application provides a walking AGV, including a body, a first battery system and a first control module; one or more climbing AGVs, including a climbing device and a material transfer device; the climbing device includes two groups of climbing mechanisms, a second battery system and a second control module; each group of climbing mechanisms includes two groups of climbing couplers arranged oppositely, and two first climbing drives, each first climbing drive drives the climbing couplers on the same side of the two groups of climbing mechanisms to extend or retract relative to the side of the climbing device; the climbing coupler includes a climbing gear and a second climbing drive that drives the climbing gear to rotate, and the second battery system is used to provide power for the climbing device and the material transfer device; the material transfer device includes a material picking and placing mechanism and a picking and placing drive that drives the material picking and placing mechanism to move; the first control module and the second control module are wirelessly connected; the climbing device can be detachably loaded onto the walking AGV and move with the walking AGV, in response to the first climbing drive driving the climbing gear to couple with the linear coupling rail of the storage shelf, in response to the driving of the second climbing drive, the climbing gear rotates to cause the climbing AGV to rise and separate from the walking AGV and reach a preset height for picking and placing materials, In response to the reverse driving of the second climbing drive, the climbing gear rotates in the reverse direction to cause the climbing AGV to descend and engage with the walking AGV.

[0017] Another aspect of the present application provides a storage system comprising: storage shelves and a walking and climbing AGV. The technical effects of the present application are further reflected in the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of a walking and climbing AGV Figure 2 Exploded view of a walking and climbing AGV Figure 3 A three-dimensional diagram of a climbing AGV Figure 1 Figure 4 A three-dimensional diagram of a climbing AGV Figure 2 Figure 5 A three-dimensional cross-sectional view of the climbing AGV along the first lateral middle plane Figure 6 A three-dimensional cross-sectional view of the climbing AGV along the second lateral middle plane Figure 7 Schematic diagram of the material pick-up and placement mechanism of the climbing AGV's material transfer device in the extended state Figure 8 Schematic diagram of the material handling mechanism of the climbing AGV's material transfer device with the material frame loaded in the extended state Figure 9 Schematic diagram of the material handling mechanism of the climbing AGV's material transfer device with a material frame loaded in the storage state Figure 10Schematic diagram of the material handling mechanism of the walking climbing AGV's material transfer device with a material frame loaded in the storage state Figure 11 A three-dimensional diagram of the climbing device Figure 12 Schematic diagram of the climbing device with the top plate removed (climbing mechanism extended) Figure 13 Exploded view of the climbing device Figure 14 A partial exploded view of the climbing mechanism Figure 15 Schematic diagram of the climbing device with the top plate removed (climbing mechanism stowed) Figure 16 A three-dimensional diagram of the material transfer device Figure 1 Figure 17 A three-dimensional diagram of the material transfer device Figure 2 Figure 18 A three-dimensional schematic diagram of the material transfer device with the material pick-up and placement mechanism extended Figure 19 A three-dimensional diagram of the material transfer device's material pick-up and placement mechanism extending out to pick up materials Figure 20 A three-dimensional schematic diagram of a material transfer device loaded with material Figure 21 A bottom perspective view of the material transfer device Figure 22 A three-dimensional diagram of a walking AGV Figure 23 Exploded view of a walking AGV Figure 24 A three-dimensional schematic diagram of a three-dimensional storage shelf and a walking and climbing AGV Figure 25 A three-dimensional cross-sectional view of a three-dimensional storage shelf Figure 26 for Figure 25 Top view Figure 27 for Figure 26 Magnified view of Z Figure 28 Schematic diagram of the storage state of the climbing coupler 2 in one embodiment of a walking climbing AGV Figure 29 A three-dimensional schematic diagram of an embodiment of a linear coupling rail Specific embodiments

[0019] The present application generally relates to walking and climbing AGVs, climbing AGVs, and warehousing systems.

[0020] See also Figure 22 to Figure 23The operating principle of the walking AGV 1' involved in this application is not an improvement of this application and can be implemented by referring to the technical principles of existing warehouse AGVs. It generally includes a mechanical system, a power system, and a control system. The mechanical system includes the vehicle body, wheels, and steering device; the power system includes a walking motor, a battery system, and a charging device; and the control system includes an information transmission and processing device (such as a laser radar 100 and control module, a wireless transmission module, etc.), a drive control device, a steering control device, and a safety control device. The walking AGV 1' responds to commands from the host computer to walk, stop, move, and transport materials within the work area, accurately transporting materials to a designated location.

[0021] The working principle of the climbing AGV2' of the present application is through the climbing coupler 2.1 and the linear coupling rail of the storage shelf. For example, the climbing coupler 2.1 includes a climbing gear 2.11, and the linear coupling rail is a chain. The climbing gear 2.11 is driven to extend and retract by the first climbing drive 2.2 to cooperate with or disengage from the linear coupling rail. The climbing gear 2.11 is driven by the second climbing drive 2.3 to make the climbing AGV2' rise or fall along the linear coupling rail. The innovation of the present application is that the climbing AGV2' and the walking AGV1' are separable. Due to this separable structure, the climbing gear 2.11 is separated from the walking AGV1' when rising along the linear coupling rail, reducing the weight and volume of the walking AGV1', and can move more flexibly and quickly on the linear coupling rail. Moreover, due to the reduced weight, navigation is increased, and due to the reduced volume, the utilization rate of the storage shelf can be increased.

[0022] See also Figures 1 to 4 The walking and climbing AGV includes: a walking AGV1' and one or more climbing AGVs2'; the walking AGV1' includes a body 1, a first battery system e1 and a first control module E1.

[0023] An embodiment of the climbing AGV 2' of the present application includes a climbing device 2 and a material transfer device 3; the climbing device 2 includes a climbing mechanism 4, a second battery system e2, and a second control module E2; the climbing mechanism 4 includes one or more climbing couplers 2.1 arranged on opposite sides of the climbing device 2 body and controlled to extend or retract linearly, and a first climbing drive 2.2 that drives the climbing coupler 2.1 to extend or retract; the climbing coupler 2.1 includes a climbing gear 2.11, and a second climbing drive 2.3 that drives the climbing gear 2.11 to rotate; the material transfer device 3 includes a material picking and placing mechanism 3.1 that moves relative to the climbing device 2, and a picking and placing drive 3.4 that drives the material picking and placing mechanism 3.1 to move; the second battery System e1 is used to provide power for the driving mechanism of the climbing device 2 and the material transfer device 3; the first control module E1 and the second control module E2 are wirelessly connected; the climbing device 2 can be detachably loaded onto the walking AGV 1' and move with the walking AGV 1', and the climbing coupler 2.1 of the climbing AGV 2' is driven by the first climbing drive 2.2, so that the climbing gear 2.11 is coupled with the linear coupling rail of the column of the storage shelf, and the second climbing drive 2.3 drives the climbing gear 2.11 to rotate to make the climbing AGV 2' rise and disengage from the walking AGV 1' and reach a preset height for picking up and placing materials, and the second climbing drive 2.3 reversely drives the climbing gear 2.11 to rotate to make the climbing AGV 2' descend and engage with the walking AGV 1'.

[0024] According to the instructions of the host computer system, after the walking climbing AGV arrives at the designated working position, the first climbing drive 2.2 drives the climbing coupler 2.1 to extend and couple with the linear coupling rail of the storage shelf. Then the second climbing drive 2.3 drives the climbing gear 2.11 to rotate so that the climbing AGV2' rises along the linear coupling rail and disengages from the walking AGV1' and moves to the position of the corresponding shelf to pick up and place materials. After the materials are picked up and placed, the second climbing drive 2.3 drives the climbing gear 2.11 to rotate in the opposite direction so that the climbing AGV2' descends along the linear coupling rail and engages with the walking AGV1', and then is transferred together with the walking AGV1'.

[0025] The second climbing drive 2.3 drives the climbing gear 2.11 to rotate, so that the climbing AGV 2' can be raised or lowered along the linear coupling track. This can be precisely controlled by the second climbing drive 2.3. For example, the second climbing drive 2.3 adopts a servo motor and performs corresponding control through feedback from servo system sensors such as encoders. This technical means is already available.

[0026] The means by which the first climbing drive 2.2 drives the climbing coupler 2.1 to extend or retract can be implemented, for example, by a screw mechanism, an electric push rod, or other existing mechanisms. As mentioned in the technical background of this application, the climbing and walking parts of the integrated walking climbing AGV are integrated. It is understood that existing integrated walking climbing AGVs also have a climbing coupler 2.1 and related extension or retraction drive and rotation drive mechanisms. The climbing AGV 2' of this application is also suitable for being driven by existing extension or retraction drive and rotation drive mechanisms.

[0027] Since the climbing AGV 2' only rises and falls along the linear coupling rail relative to the walking AGV 1', the separation and engagement of the two can be easily controlled, that is, by controlling the first climbing drive 2.2 and the second climbing drive 2.3.

[0028] The walking and climbing AGVs of this application are separable, achieving functional separation and collaboration. The walking AGV is responsible for ground transfers, while the climbing AGV is used to transfer materials on storage shelves. Due to the reduced weight and volume of the ground AGV, the climbing AGV is lighter, moves faster, and has a longer battery life. The first and second control modules, connected by wireless communication, ensure efficient collaboration between the two parts, optimize the overall performance of the system, and reduce energy consumption.

[0029] Regarding the wireless communication connection between the first control module E1 and the second control module E2, they can be connected by their respective walking AGV wireless communication modules E3.1 and climbing AGV wireless communication modules E3.1. Specifically, the two can be connected using existing communication protocols such as 2.4G, 5G and 5.8G.

[0030] It should be noted that the first control module E1 and the second control module E2 are already available and may specifically include a single-chip microcomputer. Those skilled in the art can develop their own control systems based on control needs, and such development methods are well known. The innovation of this application lies in designing the walking and climbing AGV into a walking AGV portion and a climbing AGV that can be separated and joined. To enable communication between the two, the climbing AGV is configured with a second control module E2. The first control module E1 and the second control module E2 are connected via wireless communication, and the connection technology between the two is already available.

[0031] See also Figure 13 The second battery system e2 includes a second battery e22 and a second battery controller e22. The second battery system e2 also includes a second battery charging device (not shown) electrically connected to the second battery e22. The second battery charging device can be configured with a second battery charging terminal (not shown) on the surface of the climbing device 2.

[0032] In some embodiments, a charging terminal that is in contact with a second battery charging terminal (not shown) is configured on the walking AGV. With this solution, the climbing AGV can be charged together with the walking AGV.

[0033] Of course, in other embodiments, the second battery charging terminal can be charged separately.

[0034] See also Figure 5 、 Figure 6 , Figures 11 to 15 In some embodiments, the first climbing actuator 2.2 includes one or more first servo motors m1. The first servo motors m1 can control the extension and retraction of the climbing coupler 2.1, ensuring precise meshing between the climbing coupler 2.1 and the linear coupling rails of the storage rack columns. The extension distance of the climbing gear 2.11 can be adjusted based on the operating state of the first servo motor m1. This design improves the positioning accuracy and operating efficiency of the climbing mechanism. Specifically, the second control module E2 can control the drive module 2.2' of the first servo motor m1 based on the current of the first servo motor m1, thereby controlling the extension and retraction of the climbing coupler 2.1. This control technology is already available. Using this scheme to control the climbing coupler 2.1 allows the climbing coupler 2.1 to adapt to different operating conditions of the linear coupling rails. For example, if the distance between the two linear coupling rails deviates, the drive module 2.2' of the first servo motor m1 can control the climbing coupler 2.1 to extend further, and vice versa.

[0035] In some embodiments, the climbing gear 2.11 is a sprocket and the linear coupling rail is a chain. The above mechanism has strong load capacity, good adjustability, and good durability and wear resistance.

[0036] See also Figure 5 、 Figure 6 , Figures 11 to 15 In some embodiments, the first climbing actuator 2.2 includes one or more screw mechanisms 2.21 and a first servo motor m1. The first servo motor m1 drives the corresponding climbing coupler 2.1 through the screw mechanism 2.21. The first climbing actuator combines the screw mechanism 2.21 and the servo motor m1 to achieve precise displacement control through the screw mechanism. This design improves the rigidity and reliability of the mechanical system while ensuring high precision, meeting the requirements of high loads and frequent operations. Specifically, the climbing coupler 2.1 is connected to the nut member of the corresponding screw mechanism 2.21, and the first servo motor m1 is connected to the screw of the screw mechanism 2.21.

[0037] Ginseng Figures 1 to 21In a specific embodiment of a walking and climbing AGV, the climbing device 2 includes two climbing mechanisms 4 and two screw mechanisms 2.21. Each climbing mechanism 4 includes two opposing climbing couplers 2.1 and two first climbing actuators 2.2. Each first climbing actuator 2.2 drives the climbing couplers 2.1 on the same side of the two climbing mechanisms 4 via the screw mechanisms 2.21 to extend or retract relative to the side of the climbing device 2. This solution ensures good coupling stability between the climbing AGV 2' and the linear coupling rail, and high mobility.

[0038] In some embodiments, the two screw mechanisms 2.21 are arranged opposite to each other, and the nut member of each screw mechanism 2.21 is connected to the climbing coupler 2.1 on the same side of the two sets of climbing mechanisms 4.

[0039] In some embodiments, the climbing couplers 2.1 on the same side of the two groups of climbing mechanisms 4 are respectively connected to the nut components of the corresponding screw mechanisms 2.21 through connecting rod components 2.22. The middle part of each connecting rod component 2.22 is provided with a flange portion 2.221 connected to the nut component, and a connecting end portion 2.222 directly or indirectly fixedly connected to the corresponding climbing coupler 2.1.

[0040] See also Figures 11 to 15 The two climbing couplers 2.1 of each climbing mechanism 4 are connected via a guide rail mechanism 2.5. Specifically, the guide rail mechanism 2.5 may include a linear rail 5.51 and a slider mechanism 2.52 connecting the two climbing couplers 2.1. The two climbing couplers 2.1 are slidably connected to the linear rail 5.51 via the slider mechanism 2.52.

[0041] The connecting end 2.222 of the aforementioned link member 2.22 may be connected to a corresponding slider mechanism 2.52.

[0042] In some embodiments, the climbing coupler 2.1 includes a coupling base member 2.14, on which a climbing gear 2.11 is rotatably mounted, for example, via a bearing. A second climbing actuator 2.3 is fixedly mounted on the coupling base member 2.14 and is in transmission connection with the climbing gear 2.11 (for example, via a gear mechanism). The second climbing actuator 2.3 utilizes a servo motor and is controlled by a driver 2.3'. The climbing coupler 2.1 is connected to a corresponding slider mechanism 2.52 via the coupling base member 2.14.

[0043] See also Figure 3 and Figure 13In some embodiments, the climbing device 2 includes a bottom plate member 2.61, a top plate member 2.62, two first side plates 2.63, and two second side plates 2.64. The second battery system e2 and the second control module E2 are installed on the bottom plate member 2.61, the first climbing drive 2.2, the climbing device 2 and the linear rail 5.51 are installed on the top plate member 2.62, and the top plate member 2.62 is supported and connected to the upper side of the bottom plate member 2.61 through a plurality of columns 2.65. The two first side plates 2.63 and the two second side plates 2.64 are enclosed in the corresponding side parts of the bottom plate member 2.61 and the top plate member 2.62 and are connected by connecting members (such as screws). A movable channel of the climbing coupler 2.1 is designed between the two second side plates 2.64 and the end sides of the two first side plates 2.63.

[0044] See also Figures 11 to 13 The climbing device 2 also includes two guide wheels 2.12 rotatably mounted on the base member 2.61, and a safety pin 2.13. The two guide wheels 2.12 are used to cooperate with the side guides of the guide rails of the storage shelf to play a role in lateral guidance and positioning. The safety pin 2.13 is used to cooperate with the inner side of the guide rail 7 to prevent the non-disengagement position from disengaging from the guide rail.

[0045] In some embodiments, a limiting post 2.122 is disposed on the outer side of the guide wheel 2.12. The limiting post 2.122 is located on the outer side of the guide rail and serves as a radial limiting function.

[0046] See also Figure 5 、 Figure 6 、 Figure 11 、 Figure 13 In some embodiments, the climbing device 2 uses a rotating mechanism 6 to coordinate with the material transfer device 3 to adjust the material placement direction of the material transfer device 3. This adjustment of the material placement direction by the climbing device 2 through the rotating mechanism 6 increases system flexibility. Typically, shelves are arranged relative to each other, and the rotating mechanism 6 allows the material placement mechanism 3.1 to adjust material placement from both sides.

[0047] Some embodiments of the rotating mechanism 6 include a drive mechanism 6.12 and a ring gear flange 6.2. The ring gear flange 6.2 can be mounted on the top plate member 2.62 via a bearing mechanism. The material transfer device 3 is mounted on the upper side of the ring gear flange 5.2. The ring gear flange 6.2 is configured with a ring gear 6.21. The drive mechanism 6.12 includes a motor 6.1 and an output pinion 6.12. The output pinion 6.12 is meshed with the ring gear 6.21.

[0048] See also Figures 1 to 10The material handling mechanism 3.1 includes supports 3.11' arranged in parallel, movable arms 3.11 movably mounted on the inner sides of the supports 3.11', and a bent material stopper 3.2 mounted at the front end of each movable arm 3.11. The material stopper 3.2 is driven by a material stopper driver 3.2' to flip between the two movable arms 3.11 or parallel to the two movable arms 3.11 to achieve material blocking and resetting. A plurality of rollers 3.3 are mounted at the bottom of the supports 3.11'. The handling driver 3.4 includes linear teeth 3.41 constructed at the bottom of the two movable arms 3.11, a gear 3.42 meshing with the linear teeth 3.41, and a handling motor m2 that drives the gear 3.42 to rotate, thereby driving the material handling mechanism 3.1 to move. The handling motor m2 can specifically be a stepper motor, although a servo motor can also be used, but the cost is higher.

[0049] See also Figure 21 The bottoms of the two supports 3.11' can be connected through a bottom wall 3.12', and the material transfer device 3 is connected to the ring gear flange 6.2 through the bottom wall 3.12'.

[0050] In some embodiments, the two supports 3.11' and the bottom wall 3.12' are integrally formed by bending.

[0051] In some embodiments, the two gears 3.42 are connected via a synchronizing shaft 3.43. In this embodiment, the discharge motor m2 is simply connected to one of the gears 3.42 (via the gear). The discharge motor m2 can be fixedly mounted relative to the support 3.11'. A rear stop 3.44 is installed at the rear end of the two movable arms 3.11 to prevent material from sliding off the rear side.

[0052] In some embodiments, the rear stopper 3.44 may be equipped with a micro switch k. When the rear stopper 3.44 is reset, the micro switch k is triggered by a trigger mechanism on the support 3.11 '.

[0053] One solution of the material stop drive 3.2' may be a steering gear drive.

[0054] See also Figure 19 and Figure 20 , which shows the process of the material transfer device 3 taking and placing materials.

[0055] In the example of taking material, see Figure 19 , the material frame w is placed on the shelf w.1', and the climbing AGV2' climbs to the corresponding shelf w.1'. At this time, the pick-and-place driver 3.4 drives the movable arm 3.11 to move toward the material frame w into position, and the two blocking parts 3.2 of the blocking driver 3.2' flip over to block the back side of the material frame w. Then the pick-and-place driver 3.4 drives the movable arm 3.11 in the reverse direction to push the material frame w onto the roller 3.3 through the two blocking parts 3.2 and continue to push it into position.

[0056] When unloading, the material frame w is pushed to the shelf w.1' by the rear stopper 3.44, and then the stopper 3.2 is reset, and then the movable arm 3.11 is reset.

[0057] See also Figure 1 、 Figure 2 and Figure 23 In some embodiments, the upper surface of the walking AGV 1' is configured with a coupling mechanism 5 for positioning the climbing AGV 2'. This design ensures fast and precise docking between the two components, avoiding collisions or connection failures caused by positional deviations, and improving system reliability and operational efficiency.

[0058] In some embodiments, the engagement mechanism 5 includes multiple limiting members 5.1, each formed of a limiting wall 5.10, that engage the sides of the climbing AGV 2'. The spaces within these limiting members 5.1 are configured to engage the climbing AGV 2'. This design ensures accurate positioning of the climbing AGV on the walking AGV through physical restraint and guidance, reduces mechanical interference, and improves system stability and safety.

[0059] In some embodiments, the upper portion of the limiting wall 5.10 is configured with an outward-angled engagement guide 5.11. This outward-angled engagement guide 5.11 helps the climbing AGV quickly and accurately align itself. This design simplifies operation steps and improves the system's automation level and operational efficiency.

[0060] In some embodiments, the joining mechanism 5 is formed by bending one or more metal substrates 5'. Specifically, the two ends of the metal substrate 5' are bent relative to each other to form the limiting wall 5.10. The limiting wall 5.10 can be formed into the joining guide portion 5.11 through a bending process. This solution has a simple structure and good economic efficiency. The metal substrate 5' can be made of, but not limited to, aluminum and its alloys, stainless steel, or other suitable metal materials.

[0061] See also Figure 2 、 Figure 22 and Figure 23 The joint mechanism 5 can be formed by bending two metal substrates 5', cross-stacked, and mounted on the upper surface of the walking AGV through connecting parts such as screws.

[0062] In some embodiments, one or more extensions may be extended from both ends of the metal base plate 5' and bent to form the limiting wall 5.10. By adopting the above solution, the contact surface between the climbing AGV and the limiting wall 5.10 can be reduced while ensuring accurate positioning.

[0063] In some embodiments, the bottom surface of the coupling mechanism 5 is mounted with a plurality of support bars 5.2. These bars 5.2 serve to reduce the contact area between the lower surface of the climbing AGV and the upper surface of the walking AGV, thereby minimizing the impact of the angle between the lower surface of the climbing AGV and the upper surface of the walking AGV, which may be caused by non-parallelism (e.g., due to stress). The support bars 5.2 ensure smooth assembly of the climbing AGV onto the walking AGV.

[0064] The support bar 5.2 is preferably made of a resin material such as POM, which is less hard than the lower surface of the climbing AGV to prevent damage to the climbing AGV. Of course, it can also be made of other known suitable materials.

[0065] In some embodiments, two support bars 5.2 are provided and are arranged in parallel and spaced apart.

[0066] In some embodiments, the lower surface of the climbing AGV is constructed with a groove 5.2' that is adapted to the supporting bar 5.2. When the climbing AGV is assembled to the walking AGV, the supporting bar 5.2 is embedded in the corresponding groove 5.2', thereby reducing the distance between the lower surface of the climbing AGV and the bottom surface of the coupling mechanism 5, making the coupling between the two stable and reliable. At the same time, the cooperation between the supporting bar 5.2 and the groove 5.2' also plays a positioning role for the climbing AGV.

[0067] On the other hand, the present application provides a warehousing system including: a three-dimensional shelf 8 and the walking and climbing AGV, wherein a plurality of shelves w.1' are constructed on the three-dimensional shelf 8.

[0068] The walking climbing AGV of this application can be configured with 2 or more climbing agv2' to perform multi-line operations at the same time.

[0069] According to the disclosure and teachings of the above description, technicians in the field to which the present invention belongs can also change and modify the above implementation methods. The present invention is not limited to the specific implementation methods disclosed and described above. Some modifications and changes to the present invention should also fall within the scope of protection of the claims of the present invention.

Claims

1. Walking and climbing AGV, characterized by: include: A walking AGV (1') comprising a body (1), a first battery system (e1) and a first control module (E1); One or more climbing AGVs (2') include a climbing device (2) and a material transfer device (3); the climbing device (2) includes: a climbing mechanism (4), a second battery system (e2) and a second control module (E2); the climbing mechanism (4) includes one or more climbing couplers (2.1), and a first climbing drive (2.2) for driving the climbing coupler (2.1) to extend or retract relative to the side of the climbing device (2), the climbing coupler (2.1) includes a climbing gear (2.11), and a second climbing drive (2.3) for driving the climbing gear (2.11) to rotate; the second battery system (e2) is used to provide power to the climbing device (2) and the material transfer device (3); the first control module (E1) and the second control module (E2) are wirelessly connected; the material transfer device (3) includes a material pick-up and placement mechanism (3.1) and a pick-up and placement drive (3.4) for driving the material pick-up and placement mechanism (3.1) to move; The climbing device (2) can be detachably loaded onto the walking AGV (1'), and in response to the first climbing drive (2.2) driving the climbing gear (2.11) to couple with the linear coupling rail of the storage shelf, in response to the driving of the second climbing drive (2.3), the climbing gear (2.11) rotates to make the climbing AGV (2') rise and separate from the walking AGV (1') and reach a preset height for picking up and placing materials, and In response to the reverse driving of the second climbing drive (2.3), the climbing gear (2.11) rotates in the reverse direction to make the climbing AGV (2') descend and engage with the walking AGV (1').

2. The walking and climbing AGV according to claim 1, characterized in that: The first climbing drive (2.2) comprises a first servo motor (m1).

3. The walking and climbing AGV according to claim 1, characterized in that: The first climbing drive (2.2) comprises a screw mechanism (2.21) and a first servo motor (m1), and the first servo motor (m1) drives the corresponding climbing coupler (2.1) via the screw mechanism (2.21').

4. The walking and climbing AGV according to claim 1, characterized in that: The climbing device (2) is connected to the material transfer device (3) via a rotating mechanism (6) powered by a second battery system (e2), and the material transfer device (3) rotates to adjust the material loading and unloading direction in response to the driving of the rotating mechanism (6).

5. The walking and climbing AGV according to claim 1, characterized in that: The upper surface of the walking AGV (1') is constructed with a coupling mechanism (5) for positioning the climbing AGV (2').

6. The walking and climbing AGV according to claim 5, characterized in that: The engaging mechanism (5) comprises a plurality of limiting components (5.1) of limiting walls (5.10) that cooperate with the sides of the climbing AGV (2'), and the inner spaces of the plurality of limiting components (5.1) are configured to engage the space of the climbing AGV (2').

7. The walking and climbing AGV according to claim 6, characterized in that: The upper portion of the limiting wall (5.10) is provided with an outwardly inclined joining guide portion (5.11).

8. Climbing AGV (2'), characterized in that, The invention comprises a climbing device (2) and a material transfer device (3); the climbing device (2) comprises: a climbing mechanism (4), a second battery system (e2) and a second control module (E2); the climbing mechanism (4) comprises one or more climbing couplers (2.1), and a first climbing drive (2.2) for driving the climbing coupler (2.1) to extend or retract relative to the side of the climbing device (2), the climbing coupler (2.1) comprises a climbing gear (2.11), and a second climbing drive (2.3) for driving the climbing gear (2.11) to rotate, and the second battery system (e2) is used to provide power for the climbing device (2) and the material transfer device (3); the material transfer device (3) comprises a material pick-up and placement mechanism (3.1) and a pick-up and placement drive (3.4) for driving the material pick-up and placement mechanism (3.1) to move; the first control module (E1) is used to wirelessly connect to the second control module (E2) of the walking AGV (1'); The climbing device (2) is configured to be detachably loaded onto a walking AGV (1') and to move with the walking AGV (1'). In response to a first climbing drive (2.2), the climbing gear (2.11) is driven to couple with a linear coupling rail of a storage rack. In response to a second climbing drive (2.3), the climbing gear (2.11) is driven to rotate, causing the climbing AGV (2') to rise and separate from the walking AGV (1') to reach a preset height for picking up and placing materials. In response to the reverse driving of the second climbing drive (2.3), the climbing gear (2.11) rotates in the reverse direction to make the climbing AGV (2') descend and engage with the walking AGV (1').

9. Walking and climbing AGV, characterized by: include: A walking AGV (1') comprising a body (1), a first battery system (e1) and a first control module (E1); One or more climbing AGVs (2') include a climbing device (2) and a material transfer device (3); the climbing device (2) includes two groups of climbing mechanisms (4), a second battery system (e2) and a second control module (E2); each group of climbing mechanisms (4) includes two groups of climbing couplers (2.1) arranged opposite to each other, and two first climbing drives (2.2), each first climbing drive (2.2) driving the climbing couplers (2.1) on the same side of the two groups of climbing mechanisms (4) relative to the side of the climbing device (2). Extend or retract; the climbing coupler (2.1) includes a climbing gear (2.11) and a second climbing drive (2.3) for driving the climbing gear (2.11) to rotate; the second battery system (e2) is used to provide power to the climbing device (2) and the material transfer device (3); the material transfer device (3) includes a material pick-up and placement mechanism (3.1) and a pick-up and placement drive (3.4) for driving the material pick-up and placement mechanism (3.1) to move; the first control module (E1) and the second control module (E2) are wirelessly connected; The climbing device (2) can be detachably loaded onto the walking AGV (1') and moves with the walking AGV (1'). In response to the first climbing drive (2.2), the climbing gear (2.11) is driven to couple with the linear coupling rail of the storage shelf. In response to the driving of the second climbing drive (2.3), the climbing gear (2.11) rotates to make the climbing AGV (2') rise and separate from the walking AGV (1') and reach a preset height for picking up and placing materials. In response to the reverse driving of the second climbing drive (2.3), the climbing gear (2.11) rotates in the reverse direction to make the climbing AGV (2') descend and engage with the walking AGV (1').

10. Warehousing system, characterized in that, include: Warehouse rack and the walking and climbing AGV according to claim 1.

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