Handling robots, shelving, warehousing systems and docking methods

Abstract

This application provides a handling robot, a shelf, a warehousing system, and a docking method. The handling robot includes a main body, a lifting component, and a first climbing component. The lifting component is disposed on the main body, and the first climbing component is disposed on the lifting component and located on one side of the main body in the horizontal direction. The first climbing component rises or falls under the drive of the lifting component, thereby docking vertically with a second climbing component on the shelf and enabling it to climb vertically on the shelf. This application enables aerial docking between the handling robot and the shelf, thereby freeing up space at the bottom of the shelf and allowing a passageway to be set at the bottom of the shelf, enabling the handling robot to move within the passageway. This shortens the walking distance of the handling robot between the two sides of the shelf and improves handling efficiency.

Description

Carrier Robot, Shelf, Warehousing System and Docking Method This application relates to the technical field of logistics transportation, and particularly relates to a carrier robot, a shelf, a warehousing system and a docking method. The carrier robot is one of the important components of an automated and intelligent warehousing system. The carrier robot can crawl on the shelf to pick up and place goods. However, the existing carrier robot needs to contact and dock with the shelf from the bottom close to the ground of the shelf and crawl upwards, resulting in no space for the carrier robot to walk at the bottom of the shelf, which is inconvenient for the robot to pass under the shelf and reduces the moving efficiency. The purpose of this application is to provide a carrier robot, a shelf, a warehousing system and a docking method, so that the carrier robot can achieve aerial docking with the shelf to release the space at the bottom of the shelf for the carrier robot to pass through. The first aspect of this application provides a carrier robot, which includes: a body; a lifting assembly disposed on the body; a first climbing assembly disposed on the lifting assembly and located on one side of the body in the horizontal direction. The first climbing assembly rises or falls through the drive of the lifting assembly, so as to be vertically docked with a second climbing assembly on the shelf, and can crawl on the shelf in the vertical direction. In a possible implementation manner, the first climbing assembly includes a first driver, a transmission mechanism and a first meshing mechanism. The two ends of the transmission mechanism are respectively传动连接 with the first driver and the first meshing mechanism. The first driver controls the rotation of the first meshing mechanism through the transmission mechanism. The first meshing mechanism sprocket is used to mesh with the second climbing assembly. In a possible implementation manner, the first meshing mechanism includes a sprocket, and the sprocket is used to mesh with the second climbing assembly. In a possible implementation manner, the first meshing mechanism includes a synchronous belt, and a plurality of protrusions are arranged on the synchronous belt. The synchronous belt meshes with the second climbing assembly through the plurality of protrusions. In a possible implementation manner, the transmission mechanism includes a first transmission wheel, a second transmission wheel and a transmission belt. The first transmission wheel is coaxially connected with the drive shaft of the first driver, the second transmission wheel is coaxially connected with the sprocket, and the first transmission wheel and the second transmission wheel are传动连接 through the transmission belt. In a possible implementation manner, the first climbing assembly further includes a support arm, and the sprocket is rotatably arranged at one end of the support arm away from the body. In a possible implementation, a first roller is provided on the support arm, and a first surface is provided on one side of the second climbing component facing the first climbing component for mating, and the first roller is in rolling contact with the first surface; and / or, a second roller (138) is provided on the support arm (136), and a second surface is provided on one side of the second climbing component facing away from the first climbing component for mating, and the second roller is in rolling contact with the second surface. In a possible implementation, the body includes a turntable, a chassis assembly, a second driver, and a third driver; the turntable is rotatably connected to the chassis assembly, and the lifting assembly is disposed on the turntable; the second driver is connected to the turntable for controlling the rotation of the turntable relative to the chassis assembly; the chassis assembly is provided with a set of traveling wheels, and the third driver is connected to the set of traveling wheels for controlling the straight travel or turning of the set of traveling wheels and driving the rotation of the chassis assembly. In a possible implementation, the shape of the projection of the chassis assembly in the horizontal direction is circular. In a possible implementation, the handling robot further includes a fork assembly for picking up and placing materials. The fork assembly includes a base that can be used for temporarily storing materials, and the base is disposed on the lifting assembly. In a possible implementation, the lifting assembly includes a scissor link structure and a fourth driver. The fourth driver is connected to the scissor link structure for driving the lifting of the scissor link structure. In a possible implementation, the scissor link structure includes a driving link, a first link, and a second link. The middle of the first link is rotatably connected to the middle of the second link; one end of the first link is rotatably connected to the base, and the other end is slidably connected to the body; one end of the second link is slidably connected to the base, and the other end is rotatably connected to the body; one end of the driving link is slidably connected to the body, and the other end of the driving link is rotatably connected to the middle of the first link and the second link; the fourth driver is connected to the driving link for controlling the sliding of one end of the driving link connected to the body along a direction perpendicular to the lifting direction of the lifting assembly. The second aspect of the present application further provides a shelf, wherein the shelf is provided with a second climbing component for mating with the first climbing component in the handling robot provided in the first aspect of the present application, so that the handling robot can climb vertically on the shelf. In a possible implementation, the second climbing component includes a second meshing mechanism for meshing with the first meshing mechanism in the handling robot, so that the handling robot can climb vertically on the shelf. In a possible implementation, the shelf includes longitudinal beams, and the second climbing assembly further includes a mounting seat. The mounting seat is connected to the longitudinal beam, and the second meshing mechanism is connected to the mounting seat. A groove is provided on the mounting seat, and the second meshing mechanism is disposed in the groove. In the horizontal direction, the end face of the side wall of the groove is used to contact the first roller in the first climbing assembly; and / or, guiding ribs are provided on the outer side wall of the mounting seat, the guiding ribs extend in the vertical direction, and the surface of the guiding ribs facing away from the side of the handling robot is used to contact the second roller in the first climbing assembly. In a possible implementation, a passage for the handling robot to walk is provided at the bottom of the shelf, and the second climbing assembly is located above the passage. In a possible implementation, a plurality of support columns are further provided at the bottom of the shelf. A passage is formed between the support columns, and the distance between adjacent two support columns is greater than the maximum length dimension of the handling robot in the horizontal direction. In a possible implementation, the height of the passage is greater than the height of the handling robot before the lifting assembly lifts, and the height of the passage is less than the maximum height of the handling robot after the lifting assembly lifts. A third party aspect of the present application further provides a warehousing system, which includes the handling robot provided in the first aspect of the present application and the shelf provided in the second aspect of the present application. The handling robot crawls vertically on the shelf through the cooperation of the first climbing assembly and the second climbing assembly on the shelf. A fourth aspect of the present application further provides a docking method, which is applied to the warehousing system provided by a third party of the present application. The method includes the following steps: controlling the handling robot to move to the docking position; controlling the lifting assembly in the handling robot to rise to the target height so that the first climbing assembly in the handling robot is docked with the second climbing assembly on the shelf; controlling the first climbing assembly to crawl vertically on the second climbing assembly to reach the target position for picking and placing the material box. The technical solutions provided by the present application can achieve the following beneficial effects: The handling robot, shelf, warehousing system and docking method provided by the present application can realize the aerial docking of the handling robot and the shelf, thereby releasing the bottom space of the shelf, and a passage can be provided at the bottom of the shelf, enabling the handling robot to walk in the passage, thus shortening the walking distance of the handling robot between the two sides of the shelf and improving the handling efficiency. It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present application. In order to make the purpose, technical solutions and advantages of this application clearer, the following further details this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application. In the description of this application, unless otherwise clearly specified and defined, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance; unless otherwise specified or stated, the term "a plurality of" means two or more; the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. In the description of this specification, it should be understood that the orientation terms such as "upper" and "lower" described in the embodiments of this application are described from the angles shown in the accompanying drawings and should not be understood as limiting the embodiments of this application. In addition, in the context, it should also be understood that when it is mentioned that an element is connected "above" or "below" another element, it can not only be directly connected "above" or "below" another element, but also be indirectly connected "above" or "below" another element through an intermediate element. The embodiments of this application provide a handling robot. FIG. 1 is a schematic structural diagram of a warehousing system provided by the embodiments of this application. Referring to FIG. 1, the handling robot 1 can be applied to a warehousing system. Specifically, the handling robot 1 can be used to temporarily store the bin 3, or can move on the ground to transfer the bin 3, and can also crawl on the shelf 2 to pick up and place the bin 3. Among them, referring to FIG. 1, the warehousing system includes a shelf 2. The shelf 2 includes a cross beam 24 and a longitudinal beam 23. The cross beam 24 and the longitudinal beam 23 can be cross-connected to form a plurality of storage locations for storing bins on the shelf 2. Such storage locations can have a plurality in the direction parallel to the ground and in the direction perpendicular to the ground. The shelf 2 has a certain height, and the handling robot 1 can crawl up and down on the shelf 2 to reach the target position and realize the picking up and placing of the bin 3. For traditional shelves, in order to facilitate the lifting robot to climb upward from the bottom of the shelf, the climbing structure on the shelf for cooperating with the lifting robot generally extends to a position close to the ground. In the direction parallel to the ground, when the lifting robot walks on the ground to a position aligned with the above-mentioned climbing structure, it can be docked with the climbing structure. Since the climbing structure extends to the bottom of the shelf, it will block the lifting robot from passing through the bottom of the shelf. That is to say, if the lifting robot needs to walk to the opposite side of the shelf, the lifting robot needs to detour a certain distance along the peripheral area of the shelf and cannot directly pass through the bottom of the shelf, which greatly increases the walking time of the lifting robot and reduces the efficiency of bin handling. In addition, since the climbing structure extends to the bottom of the shelf, the climbing structure is closer to the ground. The walking of personnel on the ground and the walking of the lifting robot carrying bins will inevitably bump into the bottom climbing structure of the shelf, which is likely to cause damage to the climbing structure, and further increase the maintenance and replacement costs of the climbing structure. Therefore, the lifting robot provided in this embodiment can achieve an aerial docking with the shelf, so that the second climbing component on the shelf does not need to extend to the bottom of the shelf, thereby releasing the space at the bottom of the shelf for the lifting robot to pass through, and thus shortening the walking distance of the lifting robot between the two sides of the shelf and improving the handling efficiency. Specifically, FIG. 2 is a schematic structural diagram (hiding the outer shell) of the lifting robot provided in the embodiment of the present application. Referring to FIG. 2, the lifting robot 1 includes a body 11, a lifting component 12, and a first climbing component 13. Among them, a large number of devices and structures can be integrated on the body 11. For example, a wheel set can be provided at the bottom of the body 11 to facilitate the movement of the lifting robot 1 on the ground. For another example, both the lifting component 12 and the first climbing component 13 can be provided on the body 11, so that the lifting component 12 and the first climbing component 13 move synchronously with the body 11 to be able to respectively realize the functions of the lifting component 12 and the first climbing component 13 at the target position. Specifically, some parts of the lifting component 12 can be connected above the body 11, or can be connected to the side or other parts of the body 11, so that the part of the lifting component 12 for carrying the first climbing component 13 and the bin 3 can be located above the body 11 to realize the lifting movement above the body 11. Specifically, the first climbing component 13 is located on one side of the body 11 in the horizontal direction. The first climbing component 13 is connected to the lifting component 12, so that the first climbing component 13 can be controlled by the lifting component 12 to rise or fall, so as to be vertically docked with the second climbing component 21 on the shelf 2 and can crawl on the shelf 2 in the vertical direction. Among them, the above-mentioned horizontal direction is the direction parallel to the ground, and the vertical direction is the direction perpendicular to the ground, which is consistent with the height direction of the shelf 2. When the handling robot 1 needs to pick and place the bin 3 at a certain height position on the shelf 2, it can be realized according to the following process: Figure 3 is a schematic diagram when the handling robot 1 walks to below the target cargo position. Referring to Figure 3, the handling robot 1 can walk on the ground to below the target cargo position. Figure 4 is a schematic diagram when the first climbing component 13 and the second climbing component 21 are aligned. Referring to Figure 4, control the handling robot 1 to adjust its position so that the second climbing component 21 on the shelf 2 is aligned with the first climbing component 13 of the handling robot 1 in the vertical direction. Figure 5 is a schematic diagram when the lifting component 12 lifts to connect the first climbing component 13 and the second climbing component 21. Referring to Figure 5, the lifting component 12 can be controlled to drive the first climbing component 13 to rise so that the first climbing component 13 is docked with the second climbing component 21. Figure 6 is a schematic diagram when the handling robot 1 climbs to the target cargo position, and Figure 7 is a schematic diagram after the handling robot 1 places the bin 3. Referring to Figures 6 and 7, after the first climbing component 13 and the second climbing component 21 are docked, the first climbing component 13 can be controlled to move so that the first climbing component 13 can move upward along the second climbing component 21 and move to the target cargo position to pick and place the bin 3. Figure 6 exemplarily shows the process of placing the bin 3 at the target cargo position, and Figure 7 exemplarily shows the state after the bin 3 is placed. Figure 8 is a schematic diagram when the handling robot 1 falls back to the ground. Referring to Figure 8, after the bin 3 is picked and placed, the first climbing component 13 can be controlled to move downward along the second climbing component 21 until the handling robot 1 falls steadily to the ground. Then, the lifting component 12 can be controlled to drive the first climbing component 13 to descend so that the first climbing component 13 is separated from the second climbing component 21. Figure 9 is a schematic diagram when the handling robot 1 walks on the ground after the lifting component 12 returns to its original position. Referring to Figure 9, at this time, the handling robot 1 can walk on the ground to prepare for the next picking and placing of the bin 3. Thus, the handling robot 1 provided in this embodiment can realize the aerial docking with the shelf 2 through the lifting adjustment of the first climbing component 13, thereby releasing the space at the bottom of the shelf 2 for the handling robot 1 to pass through. Therefore, the walking distance of the handling robot 1 between both sides of the shelf 2 can be shortened, and the handling efficiency can be improved. In addition, in this embodiment, the first climbing component 13 is disposed on one side of the body 11 in the horizontal direction. Thus, after the handling robot 1 is docked with the shelf 2 on only one side, the handling robot 1 can crawl on the shelf 2, without the need for the handling robot 1 to be supported between two shelves 2. Thereby, the application scenario of the handling robot 1 is broadened, and it is possible to pick up and place the bin 3 by the crawling of the handling robot 1 when there is only one shelf 2 or the width between two shelves 2 is greater than the width of the robot 1, without the need to arrange at least two shelves 2, thereby saving storage space and also improving the flexibility of the layout of the shelves 2. As a specific implementation manner, referring to FIG. 2, the first climbing component 13 includes a first driver 131, a transmission mechanism, and a first meshing mechanism. The two ends of the transmission mechanism are respectively in transmission connection with the first driver 131 and the first meshing mechanism. The first driver 131 controls the movement of the first meshing mechanism through the transmission mechanism. The first meshing mechanism is used to mesh with the second climbing component 21, so that the handling robot 1 crawls on the shelf 2 in the vertical direction. Wherein, the transmission mechanism has a certain height in the vertical direction, so as to improve the stability of the handling robot 1 when climbing on the shelf 2. Exemplarily, the first meshing mechanism includes a sprocket 132, and the sprocket 132 can cooperate with the second climbing component 21 on the shelf 2 and can drive the entire handling robot 1 to crawl on the shelf 2. Wherein, the sprocket 132 has a plurality of teeth. In order to enable the second climbing component to cooperate with the sprocket 132, exemplarily, the second climbing component 21 can be a rack or a chain 212, so as to be able to mesh with the teeth of the sprocket 132. When the sprocket 132 is driven to rotate, the sprocket 132 can move up or down along the rack or the chain 212. In addition, for the convenience of driving, the first driver 131 can be an electric motor. Exemplarily, the first meshing mechanism includes a synchronous belt, and a plurality of protrusions are arranged on the synchronous belt. The synchronous belt meshes with the second climbing component 21 through the protrusions, so that the handling robot crawls on the shelf 2 in the vertical direction. Wherein, the second climbing component 21 includes a track, and the track can be installed on the longitudinal beam of the shelf 2 and can extend in the vertical direction. Wherein, in the vertical direction, a plurality of grooves are arranged on the track, and the grooves can cooperate with the protrusions on the synchronous belt in the handling robot 1, so that the handling robot 1 crawls on the shelf 2 in the vertical direction. As a specific implementation manner, referring to FIG. 2, the transmission mechanism includes a first transmission wheel 133, a second transmission wheel 134, and a transmission belt 135. The first transmission wheel 133 is coaxially connected to the driving shaft of the first driver 131, the second transmission wheel 134 is coaxially connected to the sprocket 132, and the first transmission wheel 133 and the second transmission wheel 134 are in transmission connection through the transmission belt 135. Among them, the first driving wheel 133 and the second driving wheel 134 can be respectively located at both ends of the transmission mechanism in the vertical direction. Both ends of the transmission belt 135 can be wound around the first driving wheel 133 and the second driving wheel 134. The teeth on the inner side of the transmission belt 135 can be respectively engaged with the first driving wheel 133 and the second driving wheel 134. When the first driver 131 controls the rotation of the first driving wheel 133, the rotational movement of the first driving wheel 133 can be transmitted to the second driving wheel 134 through the transmission belt 135, causing the second driving wheel 134 to rotate synchronously. And since the second driving wheel 134 is coaxially connected to the sprocket 132, the second driving wheel 134 can drive the sprocket 132 to rotate synchronously, thereby realizing the crawling of the handling robot 1 on the shelf 2 through the cooperation of the sprocket 132 and the second climbing component 21. As a specific implementation manner, referring to FIG. 2, the first climbing component 13 further includes a support arm 136. The sprocket 132 is rotatably arranged at one end of the support arm 136 away from the main body 11. The support arm 136 is provided with a first roller 137 and / or a second roller 138; FIG. 10 is a state diagram when the first climbing component 13 and the second climbing component 21 cooperate, and FIG. 11 is an enlarged view at A in FIG. 10. Referring to FIGS. 10 and 11, a first surface 2111a is provided on one side of the second climbing component 21 facing the cooperation with the first climbing component 13, and the first roller 137 is in rolling contact with the first surface 2111a; a second surface (not shown in the figure) is provided on the side of the second climbing component 21 facing away from the cooperation with the first climbing component 13, and the second roller 138 is in rolling contact with the second surface. When the handling robot 1 as a whole crawls along the shelf 2 through the cooperation of the sprocket 132 and the second climbing component 21, the first roller 137 and / or the second roller 138 on the support arm 136 can contact the second climbing component 21 and can roll due to the action of the friction force between them and the second climbing component 21. Thus, on the one hand, the stability of the up-and-down crawling of the handling robot 1 can be ensured through the first roller 137 and / or the second roller 138, and on the other hand, through the rolling of each roller, the friction force between each roller and the second climbing component 21 can be reduced, thereby reducing the crawling resistance of the handling robot 1. Among them, only one of the first roller 137 and the second roller 138 can be provided, or both can be provided at the same time. In order to improve the stability of the handling robot 1 crawling on the shelf 2, both the first roller 137 and the second roller 138 can be provided on the support arm 136 at the same time. Among them, the direction of the force of the first roller 137 on the first surface 2111a is opposite to the direction of the force of the second roller 138 on the second surface, so that a part of the second climbing component can be clamped between the first roller 137 and the second roller 138, thereby being able to prevent the handling robot 1 from shaking during crawling. As a specific implementation manner, FIG. 12 is a schematic structural diagram of the handling robot 1 provided by the embodiment of the present application (showing a part of the chassis housing 112b). Referring to FIG. 2 and FIG. 12 simultaneously, the body 11 includes a turntable 111, a chassis assembly 112, a second driver 15, and a third driver 16; the turntable 111 is rotationally connected to the chassis assembly 112, and the lifting assembly 12 is disposed on the turntable 111; the second driver 15 is connected to the turntable 111 and is used to control the rotation of the turntable 111 relative to the chassis assembly 112. The chassis assembly 112 is provided with a traveling wheel set 112a, and the third driver 16 is connected to the traveling wheel set 112a and is used to control the straight movement or turning of the traveling wheel set 112a and drive the chassis assembly 112 to rotate. Wherein, the turntable 111 is located above the chassis assembly 112. The turntable 111 can support the lifting assembly 12 and can drive the lifting assembly 12 to rotate synchronously. A plurality of devices can be integrated in the chassis assembly 112, and it can also support a plurality of structures located above the chassis assembly 112, such as the turntable 111, the lifting assembly 12, the first climbing assembly 13, etc. The bottom of the chassis assembly 112 is provided with a traveling wheel set 112a, and through this traveling wheel set 112a, the entire handling robot 1 can move straight or turn on the ground. Wherein, when the second driver 15 is started, the second driver 15 can control the independent rotation of the turntable 111 relative to the chassis assembly 112. When the third driver 16 is started, the third driver 16 can control the straight movement or turning of the traveling wheel set 112a, and further drive the chassis assembly 112 to move straight or rotate relative to the ground. When the chassis assembly 112 moves, the chassis assembly 112 can drive the devices and structures above it to move synchronously. Of course, when both the second driver 15 and the third driver 16 are started, both the turntable 111 and the chassis assembly 112 can move independently, that is, the chassis assembly 112 can move relative to the ground, and the turntable 111 assembly can both follow the movement of the chassis assembly 112 and rotate relative to the chassis assembly 112. Wherein, when the size of the material box 3 above the turntable 111 is relatively large, for example, when the material box 3 is a cuboid, it has a long side and a wide side. When the size of the long side is greater than the maximum contour size of the chassis assembly 112, the edge part of the material box 3 will protrude from the edge of the chassis assembly 112. When the handling robot 1 needs to turn, the third driver 16 can be used to control the turning of the traveling wheel set 112a, and further drive the chassis assembly 112 to rotate relative to the ground to adjust the traveling direction. At this time, if the turntable 111 does not rotate relative to the chassis assembly 112, then the chassis assembly 112 will drive the turntable 111 to rotate synchronously, and further drive the material box 3 to rotate synchronously. Since the material box 3 is generally rectangular, the material box 3 will occupy a relatively large turning space during the rotation with the chassis assembly 112, and it is easy to cause interference and collision with the objects in the surrounding environment. Therefore, in this embodiment, during the process of the third driver 16 controlling the rotation of the chassis assembly 112, the second driver 15 can simultaneously control the turntable 111 to rotate in the opposite direction by the same angle relative to the chassis assembly 112, that is, the rotation direction of the turntable 111 is opposite to that of the chassis assembly 112. Thus, it can not only realize the adjustment of the traveling direction of the chassis assembly 112 relative to the ground, but also keep the turntable 111 relatively stationary with respect to the ground. Therefore, when adjusting the traveling direction of the handling robot 1, the material box 3 will not rotate accordingly, avoiding the problem of interference caused by the large space occupied when the material box 3 rotates. Among them, for the convenience of assembly and control, both the second driver 15 and the third driver 16 can be motors. Specifically, referring to FIGS. 2 and 12, the shape of the projection of the chassis assembly 112 in the horizontal direction can be circular or approximately circular, that is, the outer contour shape of the chassis assembly 112 is circular or approximately circular. Thus, during the rotation process of the chassis assembly 112, it will not increase the occupation of the surrounding space and avoid interference during rotation. In this embodiment, the chassis assembly 112 includes a chassis outer shell 112b, which is the outermost structural member of the chassis assembly 112. Each device in the chassis assembly 112 can be arranged inside the chassis outer shell 112b, and the contour shape of the chassis outer shell 112b is circular, which can not only avoid increasing the occupation of the external space during the rotation process of the chassis assembly 112, but also improve the aesthetics. As a specific implementation manner, referring to FIG. 13, the handling robot 1 further includes a forklift assembly 14. The forklift assembly 14 is used for picking and placing materials. The forklift assembly 14 includes a base 141, and the base 141 can be used for temporarily storing materials. The base 141 is arranged on the lifting assembly 12. During the working process, the lifting assembly 12 can drive the forklift assembly 14 to lift and lower, so as to facilitate the adjustment of the height of picking and placing goods. As a specific implementation manner, FIG. 13 is a side view (removing the outer shell trim) of the handling robot 1 provided in the embodiment of the present application. Referring to FIG. 13, the lifting assembly 12 includes a scissor link structure and a fourth driver 124. The fourth driver 124 is connected to the scissor link structure and is used to drive the scissor link structure to lift and lower. Exemplarily, the scissors lift structure includes a driving link 123, a first link 121, and a second link 122. The middle of the first link 121 is rotatably connected to the middle of the second link 122. One end of the first link 121 is rotatably connected to the base 141 of the fork assembly 14, and the other end is slidably connected to the body 11. One end of the second link 122 is slidably connected to the base 141, and the other end is rotatably connected to the body 11. One end of the driving link 123 is slidably connected to the body 11, and the other end of the driving link 123 is rotatably connected to the middle of the first link 121 and the second link 122. The fourth driver 124 is connected to the driving link 123 and is used to control one end of the driving link 123 connected to the body 11 to slide in a direction perpendicular to the lifting and lowering direction of the lifting assembly 12. In this embodiment, the direction perpendicular to the lifting and lowering direction of the lifting assembly 12 is the horizontal direction. Wherein, the middle of the first link 121, the middle of the second link 122, and the driving link 123 can be rotatably connected through a pin shaft. When the fourth driver 124 controls one end of the driving link 123 connected to the body 11 to move in the horizontal direction, one end of the driving link 123 connected to the first link 121 and the second link 122 can drive the middle of the first link 121 and the second link 122 to move upward or downward, so that one end of the first link 121 can slide relative to the body 11, and the other end can rotate relative to the base 141, and one end of the second link 122 can slide relative to the base 141, and the other end can rotate relative to the body 11, thereby realizing the lifting function of the lifting assembly 12, and further driving the fork assembly 14 and the first climbing assembly 13 to lift and lower. Wherein, for the convenience of assembly and control, the fourth driver 124 can be a motor. The embodiment of the present application also provides a shelf 2. Referring to FIG. 1, the shelf 2 is provided with a second climbing assembly 21, and the second climbing assembly 21 is used to cooperate with the first climbing assembly 13 in the handling robot 1 so that the handling robot 1 can climb vertically on the shelf 2. As described above, when the handling robot 1 needs to pick up and place the bin 3 at a certain height position of the shelf 2, the handling robot 1 can walk on the ground to the lower part of the target bin position, and the second climbing assembly 21 on the shelf 2 is located above the handling robot 1 and can be aligned with the first climbing assembly 13 in the vertical direction. Then, the lifting assembly 12 can be controlled to drive the first climbing assembly 13 to rise so that the first climbing assembly 13 is docked with the second climbing assembly 21. After the first climbing assembly 13 and the second climbing assembly 21 are docked, the first climbing assembly 13 can be controlled to move so that the first climbing assembly 13 can move upward along the second climbing assembly 21 and move to the target bin position to pick up and place the bin 3. Thus, the shelf 2 provided in this embodiment can achieve the aerial docking of the handling robot 1 and the shelf 2, thereby releasing the bottom space of the shelf 2, facilitating the handling robot 1 to walk at the bottom of the shelf 2, shortening the walking distance of the handling robot 1 between both sides of the shelf 2, and improving the handling efficiency. As a specific implementation manner, the second climbing component 21 includes a second meshing mechanism, and the second meshing mechanism is used to mesh with the first meshing mechanism in the handling robot 1, so that the handling robot crawls vertically on the shelf 2. Wherein, the second meshing mechanism can have various structural forms. Exemplarily, referring to FIG. 11, the shelf 2 includes a longitudinal beam 23, the second meshing mechanism is a chain 212, and the chain 212 can be directly or indirectly connected to the longitudinal beam. The chain 212 is used to cooperate with the sprocket 132 in the first climbing component 13, so that the handling robot 1 crawls on the chain 212. Wherein, through the cooperation of the chain 212 and the sprocket 132, the stability of the handling robot 1 crawling on the shelf 2 can be ensured, and at the same time, it is also convenient for the assembly and maintenance of the chain 212 and the sprocket 132, and is also beneficial to cost saving. Of course, in some other embodiments, the second meshing mechanism may not adopt the chain 212. For example, the cooperation of a rack and the sprocket 132 can also achieve the crawling of the handling robot 1. As a specific implementation manner, referring to FIG. 11, the second climbing component 21 further includes a mounting seat 211. The mounting seat 211 is connected to the longitudinal beam 23, and the second meshing mechanism is connected to the mounting seat 211. Wherein, the mounting seat 211 and the second meshing mechanism have a certain length and can extend along the longitudinal beam 23, and can cover each cargo position in the height direction of the shelf 2, so that the handling robot 1 can crawl to each cargo position in the height direction of the shelf 2 to pick up and place goods. As a specific implementation manner, referring to FIG. 11, a groove 2111 can be provided on the mounting seat 211, and the second meshing mechanism can be arranged in the groove 2111, so that the second meshing mechanism can be protected through the groove 2111. In one embodiment, referring to FIG. 11, exemplarily, the second engagement mechanism is a chain 212. Horizontally, the side where the groove 2111 opens faces the outside of the shelf 2 to facilitate the cooperation between the chain 212 and the sprocket 132 in the handling robot 1. The groove 2111 has side walls, and the end face of the side wall of the groove 2111 is used to contact the first roller 137 in the first climbing assembly 13. Wherein, the end face of the side wall of the groove 2111 is the first surface 2111a mentioned above. After the sprocket 132 in the first climbing assembly 13 is engaged with the chain 212, the first roller 137 can abut against the end face of the side wall of the groove 2111. During the climbing process of the handling robot 1, the first roller 137 can roll on the end face of the groove 2111, thereby ensuring the stability of the climbing of the handling robot 1. In another embodiment, referring to FIG. 11, guide ribs 2112 can be provided on the outer side wall of the mounting base 211. The guide ribs 2112 extend in the vertical direction and protrude from the outer surface of the outer side wall, so that the surface of the guide ribs 2112 facing away from the handling robot 1 forms the second surface mentioned above, and this second surface is used to contact the second roller 138 in the first climbing assembly 13. During the climbing process of the handling robot 1, the second roller 138 can roll on the second surface of the guide ribs 2112, thereby ensuring the stability of the climbing of the handling robot 1. Wherein, only one of the first roller 137 and the second roller 138 can be provided, or both can be provided at the same time. In a preferred embodiment, both the first roller 137 and the second roller 138 can be used. Among them, the direction of the force of the first roller 137 on the first surface 2111a is opposite to the direction of the force of the second roller 138 on the second surface, so that some parts on the second climbing assembly can be clamped between the first roller 137 and the second roller 138, thereby avoiding the shaking of the handling robot 1 during climbing and improving the climbing reliability and stability. As a specific implementation manner, referring to FIG. 1, a passage 22 for the handling robot 1 to walk is provided at the bottom of the shelf 2, and the second climbing assembly 21 is located above the passage 22. Among them, by arranging the second climbing assembly 21 above the passage 22, the aerial docking between the handling robot 1 and the shelf 2 can be realized, thereby releasing the bottom space of the shelf 2 and enabling a passage 22 to be provided at the bottom of the shelf 2, so that the handling robot 1 can walk in the passage 22, thereby shortening the walking distance of the handling robot 1 between the two sides of the shelf 2 and improving the handling efficiency. As a specific implementation manner, referring to FIG. 1, a plurality of support columns 25 are further provided at the bottom of the shelf 2. A passage 22 is formed between the support columns 25, and the distance between two adjacent support columns 25 is greater than the maximum length dimension of the handling robot 1 in the horizontal direction. Among them, the support column 25 can support the entire shelf 2. The support column 25 can be a structure independently welded to the cross beam 24 or the longitudinal beam 23, or it can be a part of the longitudinal beam 23. Since the lifting can be realized by the aerial docking between the handling robot 1 and the shelf 2, the distance between the support columns 25 at the bottom of the shelf 2 can be widened, that is, the distance between two adjacent support columns 25 can be greater than the length of the handling robot 1. The specific design can be that the support columns 25 are arranged at intervals in the direction perpendicular to the extension direction of the longitudinal beam 23, so that a passage 22 can be formed in the bottom space of the shelf 2 for the handling robot 1 to pass through, thereby shortening the walking distance of the robot on both sides of the shelf 2 and improving the goods turnover efficiency. Among them, FIG. 14 is a side view of the warehousing system provided by the embodiment of the present application, and FIG. 15 is a schematic diagram of the handling robot 1 walking in the passage 22 at the bottom of the shelf 2. Referring to FIG. 14, the height H1 of the passage 22 is greater than the height H2 of the handling robot 1 before the lifting assembly 12 is lifted. Referring to FIG. 15, it can be ensured that when the handling robot 1 walks in the passage 22, there will be no interference between the top of the handling robot 1 and the shelf 2 at the top of the passage 22. In addition, referring to FIG. 14, the height H1 of the passage 22 is less than the maximum height H3 of the handling robot 1 after the lifting assembly 12 is lifted. Therefore, when the handling robot 1 has a climbing requirement, the first climbing assembly 13 can be lifted to the maximum height by the lifting assembly 12. At this time, the height of the top end of the first climbing assembly 13 from the ground is the maximum height H3 of the handling robot 1. When the maximum height H3 is greater than the height H1 of the passage 22, an effective aerial docking between the first climbing assembly 13 and the second climbing assembly 21 can be realized, so as to facilitate the handling robot 1 to crawl along the shelf 2. In addition, when the lifting assembly 12 is lifted to the maximum height H3 position, human-machine direct picking can also be realized at this position, which can improve the sorting efficiency. The embodiment of the present application also provides a warehousing system. Referring to FIG. 1, it includes the handling robot 1 and the shelf 2 provided by any embodiment of the present application. The handling robot 1 crawls vertically along the shelf 2 through the cooperation of the first climbing assembly 13 on the handling robot 1 and the second climbing assembly 21 on the shelf 2. The docking and crawling methods between the handling robot 1 and the shelf 2 are the same as those described above and will not be repeated here. FIG. 16 is a flowchart of the docking method provided by the embodiment of the present application. Referring to FIG. 16, the embodiment of the present application also provides a docking method between the handling robot 1 and the shelf 2. The docking method can be applied to the warehousing system provided by any embodiment of the present application. The docking method includes the following steps: Step S1, control the handling robot 1 to move to the docking position. Among them, in the warehousing system, the handling robot 1 may pick up the bin 3, load, package, etc. at different ground positions. The movement of the handling robot 1 between different positions can be controlled by instructions sent by the terminal control system, and it can also be assisted by sensors, barcodes, two-dimensional codes, etc. at each position to accurately locate. Exemplarily, when the handling robot 1 needs to place the bin 3 at the target storage location on the shelf 2, the handling robot 1 can first walk to the docking position, and further use sensors, barcodes, two-dimensional codes, etc. to assist the handling robot 1 to walk below the target storage location, and then make fine adjustments so that the first climbing component 13 of the handling robot 1 and the corresponding second climbing component 21 on the shelf 2 are aligned in the vertical direction. Step S2: Control the lifting component 12 in the handling robot 1 to rise to the target height so that the first climbing component 13 in the handling robot 1 is docked with the second climbing component 21 on the shelf 2. Among them, after the first climbing component 13 and the second climbing component 21 are aligned, the first climbing component 13 can be lifted to the target height by the lifting component 12 so that the first climbing component 13 can be docked with the corresponding second climbing component 21 above. Step S3: Control the first climbing component 13 to climb on the second climbing component 21 to pick up and place the bin 3. Among them, after the first climbing component 13 and the second climbing component 21 are docked, the first climbing component 13 can be controlled to climb vertically on the second climbing component 21 to reach the target position to lift the handling robot 1 to the target storage location for picking up and placing goods. Thus, the docking method provided by the embodiment of the present application can realize the aerial docking of the handling robot 1 and the shelf 2, thereby releasing the bottom space of the shelf 2 and forming a passage 22 at the bottom of the shelf 2, enabling the handling robot 1 to walk in the passage 22, thereby shortening the walking distance of the handling robot 1 between both sides of the shelf 2 and improving the handling efficiency. Among them, the above docking method can be controlled and realized by a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the docking method described above in the present application are realized. Among them, the memory can include various media that can store program codes such as USB flash drives, external hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs. The above are only the preferred embodiments of this application and are not used to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application shall be included within the protection scope of this application. 1: Transfer robot 2: Shelf 3: Bin 11: Body 12: Lifting assembly 13: First climbing assembly 14: Fork assembly 15: Second driver 16: Third driver 21: Second climbing assembly 22: Channel 23: Longitudinal beam 24: Cross beam 25: Support column 111: Turntable 112: Chassis assembly 112a: Travel wheel set 112b: Chassis housing 121: First connecting rod 122: Second connecting rod 123: Driving connecting rod 124: Fourth driver 131: First driver 132: Sprocket 133: First transmission wheel 134: Second transmission wheel 135: Transmission belt 136: Support arm 137: First roller 138: Second roller 141: Base 211: Mounting seat 2111: Groove 2111a: First surface 2112: Guide rib 212: Chain The accompanying drawings here are incorporated into the specification and form a part of this specification, showing the embodiments in line with this application, and are used together with the specification to explain the principle of this application. FIG. 1 is a schematic structural diagram of a warehousing system provided by an embodiment of this application; FIG. 2 is a schematic structural diagram of a transfer robot provided by an embodiment of this application (hiding the housing); FIG. 3 is a schematic diagram when the transfer robot walks below the target goods location; FIG. 4 is a schematic diagram when the first climbing assembly and the second climbing assembly are aligned; FIG. 5 is a schematic diagram when the first climbing assembly and the second climbing assembly are connected after the lifting assembly lifts; FIG. 6 is a schematic diagram when the transfer robot climbs to the target goods location; FIG. 7 is a schematic diagram after the transfer robot places the bin; FIG. 8 is a schematic diagram when the transfer robot falls back to the ground; FIG. 9 is a schematic diagram of the transfer robot walking on the ground after the lifting assembly returns. FIG. 10 is a state diagram when the first climbing assembly and the second climbing assembly cooperate; FIG. 11 is an enlarged view at A in FIG. 10; FIG. 12 is a schematic structural diagram of a transfer robot provided by an embodiment of this application (showing part of the chassis housing); FIG. 13 is a side view of a transfer robot provided by an embodiment of this application (removing the outer decorative parts of the housing); FIG. 14 is a side view of a warehousing system provided by an embodiment of this application; FIG. 15 is a schematic diagram of the transfer robot walking in the channel at the bottom of the shelf; FIG. 16 is a flowchart of the docking method provided by an embodiment of this application. 11: Body 12: Lifting assembly 13: First climbing assembly 14: Fork assembly 15: Second driver 16: Third driver 111: Turntable 112: Chassis assembly 112a: Travel wheel set 131: First driver 132: Sprocket 133: First transmission wheel 134: Second transmission wheel 135: Transmission belt 136: Support arm 137: First roller 138: Second roller

Claims

1. A handling robot, characterized in that it comprises: Body (11); Lifting assembly (12), disposed on the body (11); First climbing assembly (13), disposed on the lifting assembly (12), and located only on one side of the body (11) in the horizontal direction, the first climbing assembly (13) rises or falls by the drive of the lifting assembly (12), thereby docking with the second climbing assembly (21) on one side shelf (2) in the vertical direction, and being able to climb on the shelf (2) in the vertical direction.

2. The handling robot according to claim 1, wherein, The first climbing component (13) includes a first driver (131), a transmission mechanism and a first engagement mechanism. The two ends of the transmission mechanism are respectively connected to the first driver (131) and the first engagement mechanism. The first driver (131) controls the movement of the first engagement mechanism through the transmission mechanism. The first engagement mechanism is used to engage with the second climbing component (21).

3. The handling robot according to claim 2, wherein, The first engagement mechanism includes a sprocket (132) for engaging with the second climbing assembly (21).

4. The handling robot according to claim 2, wherein, The first engagement mechanism includes a timing belt with multiple protrusions, which engage with the second climbing component (21) through the multiple protrusions.

5. The handling robot according to claim 3, wherein, The transmission mechanism includes a first transmission wheel (133), a second transmission wheel (134), and a transmission belt (135). The first transmission wheel (133) is coaxially connected to the drive shaft of the first driver (131), and the second transmission wheel (134) is coaxially connected to the sprocket (132). The first transmission wheel (133) and the second transmission wheel (134) are connected by the transmission belt (135).

6. The handling robot according to claim 3, wherein, The first climbing assembly (13) also includes a support arm (136), and the sprocket (132) is rotatably disposed on the support arm (136) at one end away from the body (11).

7. The handling robot according to claim 6, wherein, The support arm (136) is provided with a first roller (137), and the second climbing component (21) is provided with a first surface facing the side that cooperates with the first climbing component (13), and the first roller (137) rolls in contact with the first surface; and / or, the support arm (136) is provided with a second roller (138), and the second climbing component (21) is provided with a second surface away from the side that cooperates with the first climbing component (13), and the second roller (138) rolls in contact with the second surface.

8. The handling robot according to any one of claims 1-7, wherein, The main body (11) includes a turntable (111), a chassis assembly (112), a second driver (15), and a third driver (16); the turntable (111) is rotatably connected to the chassis assembly (112), and the lifting assembly (12) is disposed on the turntable (111); the second driver (15) is connected to the turntable (111) and is used to control the turntable (111) to rotate relative to the chassis assembly (112); the chassis assembly (112) is provided with a set of walking wheels (112a), and the third driver (16) is connected to the set of walking wheels (112a) and is used to control the walking wheels (112a) to go straight or turn, and drive the chassis assembly (112) to rotate.

9. The handling robot according to claim 8, wherein, The shape of the horizontal projection of the chassis assembly (112) is circular.

10. The handling robot according to any one of claims 1-7, wherein, The handling robot also includes a fork assembly (14), which is used to pick up and put down materials. The fork assembly (14) includes a base (141), which can be used to temporarily store materials. The base (141) is disposed on the lifting assembly (12).

11. The handling robot according to claim 10, wherein, The lifting assembly (12) includes a scissor fork linkage structure and a fourth driver (124). The fourth driver (124) is connected to the scissor fork linkage structure and is used to drive the scissor fork linkage structure to lift.

12. The handling robot according to claim 11, wherein, The scissor fork linkage structure includes a drive link (123), a first link (121), and a second link (122). The middle parts of the first link (121) and the second link (122) are rotatably connected. One end of the first link (121) is rotatably connected to the base (141), and the other end is slidably connected to the body (11). One end of the second link (122) is slidably connected to the base (141), and the other end is rotatably connected to the body (11). One end of the drive link (123) is slidably connected to the body (11), and the other end of the drive link (123) is rotatably connected to the middle parts of the first link (121) and the second link (122). The fourth driver (124) is connected to the drive link (123) and is used to control the end of the drive link (123) connected to the body (11) to slide in a direction perpendicular to the lifting assembly (12).

13. A shelf, characterized in that the shelf (2) is provided with a second climbing component (21), the second climbing component (21) being used to cooperate with a first climbing component (13) in a handling robot (1) according to any one of claims 1-11, so that the handling robot (1) can crawl vertically on the shelf (2).

14. The shelving as described in claim 13, wherein, The second climbing assembly (21) includes a second engagement mechanism for engaging with a first engagement mechanism in the transport robot (1), thereby enabling the transport robot to climb vertically on the shelf (2).

15. The shelf according to claim 14, wherein, The shelf (2) includes a longitudinal beam (23), and the second climbing assembly (21) also includes a mounting base (211). The mounting base (211) is connected to the longitudinal beam (23), and the second engagement mechanism is connected to the mounting base (211). The mounting base (211) is provided with a groove (2111), and the second engagement mechanism is disposed in the groove (2111). In the horizontal direction, the end face of the side wall of the groove (2111) is used to contact the first roller (137) in the first climbing assembly (13). And / or, the outer side wall of the mounting base (211) is provided with a guide rib (2112). The guide rib (2112) extends in the vertical direction, and the surface of the guide rib (2112) facing away from the handling robot (1) is used to contact the second roller (138) in the first climbing assembly (13).

16. The shelf according to claim 13, wherein, The bottom of the shelf (2) is provided with a channel (22) for the transport robot (1) to walk, and the second climbing component (21) is located above the channel (22).

17. The shelf according to claim 13, wherein, The bottom of the shelf (2) is also provided with a plurality of support columns (25), and the channel (22) is formed between each of the support columns (25), and the distance between two adjacent support columns (25) is greater than the maximum length dimension of the handling robot (1) in the horizontal direction.

18. The shelf as described in claim 16 or 17, wherein, The height of the channel (22) is greater than the height of the transport robot (1) before it is lifted by the lifting assembly (12), and the height of the channel (22) is less than the maximum height of the transport robot (1) after it is lifted by the lifting assembly (12).

19. A storage system, characterized in that it includes a handling robot (1) as described in any one of claims 1-12 and a shelf (2) as described in any one of claims 13-18, wherein the handling robot (1) crawls vertically on the shelf (2) by means of a first climbing component (13) cooperating with a second climbing component (21) on the shelf (2).

20. A docking method, characterized in that it is applied to the warehousing system described in claim 19, the method comprising the following steps: controlling a handling robot (1) to move to a docking position; controlling a lifting component (12) in the handling robot (1) to rise to a target height so that a first climbing component (13) in the handling robot (1) docks with a second climbing component (21) on a shelf (2); controlling the first climbing component (13) to crawl vertically on the second climbing component (21) to reach the target position for picking up and placing a material box.

Images