Warehouse robots and warehouse coordination systems

Abstract

The present application provides a warehouse robot and a warehouse coordination system. The warehouse robot includes a chassis, a first column and a second column that are relatively spaced apart, a plurality of load-bearing components and a transporting component. The first column and the second column are both arranged on the chassis, and the first column and the second column are arranged in sequence along a first direction, which is the direction of travel of the warehouse robot. A plurality of load-bearing components are spaced apart on the first column. The load-bearing component can be used to carry storage boxes. The transporting component is arranged on the second column. The transporting component can move along a second direction, which is the extension direction of the second column. The transporting component includes a pallet. The pallet can be used to carry storage boxes. The pallet can move along the first direction or the third direction to transport the storage boxes. The pallet only needs to move horizontally to pick up goods, which can eliminate the rotation action, reduce the time for picking up and placing storage boxes, and thus enable the warehouse robot to transport goods more quickly and efficiently.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a warehousing robot and a warehousing coordination system. Background Art

[0002] Smart warehousing is a part of the logistics process. The application of smart warehousing can conveniently manage the batches and shelf life of inventory goods, and can also timely grasp the current location of all inventory goods, which is conducive to improving the efficiency of warehouse management.

[0003] Warehouse robots play a crucial role in intelligent warehousing, replacing manual labor in cargo handling. However, prior art has shown that warehouse robots lack structural stability during cargo handling, making them prone to swaying and causing failures in cargo placement. Furthermore, the robots take a long time to complete the process, posing a significant technical challenge: ensuring that warehouse robots can handle cargo quickly, efficiently, and reliably. Summary of the Invention

[0004] The purpose of this application is to provide a warehouse robot and a warehouse coordination system to solve the technical problem of how to enable the warehouse robot to transport goods quickly, effectively and stably.

[0005] In a first aspect, the present application provides a warehouse robot for transporting storage boxes, comprising:

[0006] chassis;

[0007] A first column and a second column spaced apart from each other, wherein the first column and the second column are both disposed on the chassis, and the first column and the second column are sequentially disposed along a first direction, the first direction being a moving direction of the storage robot;

[0008] a plurality of bearing assemblies, spaced apart and arranged on the first column along the first column, the bearing assemblies being used to bear the storage box;

[0009] A transport assembly is arranged on the second column, and the transport assembly can move along the second direction, where the second direction is the extension direction of the second column. The transport assembly includes a pallet, which can be used to carry the storage box. The pallet can move along the first direction or the third direction to transport the storage box, and the third direction is perpendicular to the first direction and the second direction.

[0010] In the warehouse robot of the present application, a first column and a second column are provided on the chassis along the moving direction of the warehouse robot. A plurality of load-bearing components are arranged at intervals on the first column. The load-bearing components can be used to carry storage boxes. The transporting components are arranged on the second column. The transporting components can move along the extension direction of the second column. The tray of the transporting component can be used to carry storage boxes. The tray can move along the first direction or the third direction to transport the storage boxes. The third direction is perpendicular to the first direction and the second direction.

[0011] The first column and the second column are arranged along the travel direction of the warehouse robot, which can reduce the width of the warehouse robot itself, which is beneficial for the warehouse robot to operate the shelves in narrower aisles. The load-bearing components and the transport components are relatively separated, which can improve the structural stability of the warehouse robot and enable the warehouse robot to transport storage boxes more stably.

[0012] The pallet can move in a first direction or a third direction to transport storage boxes. Compared to related art warehouse robots that rotate to pick up goods, the pallet of the present application only needs to move horizontally to pick up goods, eliminating the rotation action, reducing the time required to pick up and place storage boxes, and thus enabling the warehouse robot to move goods more quickly and efficiently.

[0013] Among them, the transport assembly also includes a gripper and a first guide rail. The gripper is provided on the pallet. The gripper can be used to abut the storage box. The first guide rail extends along the first direction. The gripper is slidably connected to the first guide rail. The gripper moves along the first guide rail to drive the storage box to move.

[0014] Wherein, the transport assembly further includes a second guide rail, the second guide rail extending along the third direction, and the pallet cooperates with the second guide rail so that the pallet can move along the third direction;

[0015] And / or, the storage robot further includes a third guide rail, which is provided on the second column and extends along the second direction, and the transport component cooperates with the third guide rail so that the transport component can move along the second direction.

[0016] Among them, the supporting assembly also includes a supporting plate and a baffle, the supporting plate is used to support the storage box, the baffle is arranged at one end of the supporting plate away from the second column, and the baffle extends in a direction away from the chassis, and the baffle can be used to prevent the storage box from moving.

[0017] The bearing assembly further includes a first rolling member, which is provided at one end of the bearing plate close to the second column and extends along the third direction. The first rolling member can be used to abut against the storage box.

[0018] Wherein, the bearing assembly further includes a second rolling member, the second rolling member is provided on the bearing plate, and the extension direction of the second rolling member is perpendicular to the extension direction of the first rolling member, and the second rolling member can be used to abut against the storage box;

[0019] The bearing assembly also includes a third rolling member arranged at a relative interval to the second rolling member. The third rolling member is arranged on the bearing plate, and the extension direction of the third rolling member is parallel to the extension direction of the second rolling member. The third rolling member can be used to abut the storage box.

[0020] In which, the supporting plate has a supporting surface facing the storage box, the first rolling member has a first rolling surface, the second rolling member has a second rolling surface, and the third rolling member has a third rolling surface. The height of the first rolling surface in the direction away from the chassis is greater than the height of the supporting surface in the direction away from the chassis; the height of the second rolling surface in the direction away from the chassis is greater than the height of the supporting surface in the direction away from the chassis; the height of the third rolling surface in the direction away from the chassis is greater than the height of the supporting surface in the direction away from the chassis.

[0021] The storage robot further includes a crossbeam, which is used to connect the first column and the second column, and the crossbeam is arranged at one end of the first column and the second column away from the chassis.

[0022] The orthographic projections of the first column and the second column along the direction of the chassis fall onto the chassis.

[0023] In a second aspect, the present application provides a warehouse coordination system, comprising a storage box and the warehouse robot, wherein the storage box comprises a coordination portion, and the coordination portion coordinates with the gripper of the transport assembly to move the storage box onto the transport assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is a schematic diagram of the overall structure of a warehousing coordination system provided in an embodiment of the present application;

[0026] Figure 2 This is a structural diagram of a load-bearing assembly provided in an embodiment of the present application;

[0027] Figure 3This is a schematic diagram of the structure of a transport assembly provided in an embodiment of the present application;

[0028] Figure 4 This is a schematic diagram of a structure of a hand clamp opening provided in an embodiment of the present application;

[0029] Figure 5 This is a schematic diagram of a closed structure of a clamp provided by an embodiment of the present application;

[0030] Figure 6 This is a structural schematic diagram of a storage box provided in an embodiment of the present application.

[0031] Description of labels:

[0032] Warehouse coordination system-1000, warehouse robot-1, chassis-10, first column-20, second column-30, load-bearing assembly-40, load-bearing plate-41, baffle-42, first rolling member-43, second rolling member-44, third rolling member-45, receiving groove-46, transport assembly-50, pallet-51, gripper-52, first guide rail-53, storage box-60, beam-70, coordination part-61. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] References herein to "embodiments" or "implementations" mean that a particular feature, structure, or characteristic described in connection with the embodiments or implementations may be included in at least one embodiment of the present application. The appearance of such phrases in various places in the specification does not necessarily refer to the same embodiment, nor do they constitute independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0035] It should be noted that the terms "first," "second," and so on in the specification, claims, and drawings of this application are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions.

[0036] In this specification, for convenience, words and phrases indicating orientation or positional relationships, such as "middle," "upper," "lower," "front," "back," "vertical," "horizontal," "top," "bottom," "inside," and "outside," are used to illustrate the positional relationships of constituent elements with reference to the accompanying drawings. This is merely for the purpose of facilitating the description of this specification and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present disclosure. The positional relationships of constituent elements may be appropriately changed depending on the orientation of the constituent elements being described. Therefore, the present disclosure is not limited to the words and phrases described in the specification and may be appropriately replaced depending on the circumstances.

[0037] In this specification, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed, removable, or integral connections; mechanical or electrical connections; direct connections, indirect connections through intermediaries, or internal communication between two components. Those skilled in the art will understand the meaning of these terms in this disclosure based on the specific circumstances.

[0038] Smart warehousing is a part of the logistics process. The application of smart warehousing can conveniently manage the batches and shelf life of inventory goods, and can also timely grasp the current location of all inventory goods, which is conducive to improving the efficiency of warehouse management.

[0039] Warehouse robots play a crucial role in smart warehousing, replacing manual labor in cargo handling. However, existing technologies often struggle with the inherent structural stability of warehouse robots during cargo handling, making them prone to swaying, leading to failures in placing and retrieving goods, and even causing the robot and the shelves to topple over, posing a safety hazard. Furthermore, the handling process can take a long time, necessitating a solution that ensures efficient, effective, and stable cargo handling.

[0040] The present application provides a warehouse robot 1 to solve the technical problem of how to enable the warehouse robot 1 to move goods quickly, effectively and stably.

[0041] Optionally, the cargo includes but is not limited to a storage box 60 or other items. This application uses the storage box 60 as an example for illustration, which should not be construed as a limitation to this application.

[0042] The storage robot 1 can be used to transfer the storage box 60. For details, please refer to Figure 1 , Figure 1The warehousing robot 1 includes a chassis 10 , a first column 20 and a second column 30 spaced apart from each other, a plurality of bearing components 40 and a transport component 50 .

[0043] The first column 20 and the second column 30 are both disposed on the chassis 10 , and the first column 20 and the second column 30 are sequentially disposed along a first direction, where the first direction is the moving direction of the storage robot 1 .

[0044] A plurality of the carrying assemblies 40 are spaced apart and arranged on the first column 20 along the first column 20 . The carrying assemblies 40 can be used to carry the storage box 60 .

[0045] The transport assembly 50 is arranged on the second column 30, and the transport assembly 50 can move along the second direction, which is the extension direction of the second column 30. The transport assembly 50 includes a pallet 51, and the pallet 51 can be used to carry the storage box 60. The pallet 51 can move along the first direction or the third direction to transport the storage box 60, and the third direction is perpendicular to the first direction and the second direction.

[0046] The chassis 10 is used to carry other structural components of the warehouse robot 1 , and a wheel train assembly and running wheels are provided on the chassis 10 . The chassis 10 can be used for walking to enable the warehouse robot 1 to move.

[0047] The first column 20 and the second column 30 are arranged in sequence along a first direction, which is the travel direction of the storage robot 1. It should be noted that the travel direction of the storage robot 1 herein is a straight-line travel direction, including but not limited to forward or backward movement. The storage robot 1 can also steer, for example, by utilizing the differential speed of different running wheels on both sides of the chassis.

[0048] The plurality of bearing assemblies 40 are disposed at intervals on the first column 20, and the bearing assemblies 40 are disposed on the side of the first column 20 facing the second column 30. The transport assembly 50 is disposed on the second column 30, and the transport assembly 50 is disposed on the side of the second column 30 facing the first column 20.

[0049] The separate structure of the first column 20 and the second column 30 allows for the design of the specifications of the first column 20 and the second column 30 according to needs, making rational use of manufacturing materials. Furthermore, the mutual influence between the structures with different uses is reduced, thereby improving the reliability and stability of the entire storage robot 1.

[0050] The transport assembly 50 can move along the second direction, which is the extension direction of the second column 30. In other words, the transport assembly 50 can rise or fall along the second column 30. This allows the transport assembly 50 to be positioned to correspond to a plurality of the carrier assemblies 40 and to transport the storage boxes 60 on the plurality of carrier assemblies 40, or to place the storage boxes 60 on the plurality of carrier assemblies 40.

[0051] The tray 51 of the transport assembly 50 can be used to carry the storage box 60. The tray 51 can move along the first direction or the third direction to transport the storage box 60. Optionally, the present application does not limit how the tray 51 moves. The tray 51 can be moved using a guide rail, a telescopic rod, or other moving methods, all of which belong to the embodiments of the present application.

[0052] In the warehouse robot 1 of the present application, the chassis 10 is provided with the first column 20 and the second column 30 arranged along the moving direction of the warehouse robot 1, and a plurality of the supporting components 40 are arranged at intervals on the first column 20, and the supporting components 40 can be used to carry the storage box 60, and the conveying component 50 is arranged on the second column 30, and the conveying component 50 can be moved along the extension direction of the second column 30, and the tray 51 of the conveying component 50 can be used to carry the storage box 60, and the tray 51 can be moved along the first direction or the third direction to convey the storage box 60, and the third direction is perpendicular to the first direction and the second direction.

[0053] The first column 20 and the second column 30 are arranged along the moving direction of the warehouse robot 1, which can reduce the width of the warehouse robot 1 itself, which is beneficial for the warehouse robot 1 to operate the shelves in a narrower channel, and the supporting component 40 and the transport component 50 are relatively separated, which can improve the structural stability of the warehouse robot 1, so that the warehouse robot 1 can transport the storage box 60 more stably.

[0054] The tray 51 can move in the first direction or the third direction to carry the storage box 60. Compared to the related art storage robot 1 that rotates to pick up goods, the tray 51 of the present application only needs to move horizontally to pick up goods, eliminating the rotation action, reducing the time for picking up and placing the storage box 60, and thus enabling the storage robot 1 to carry goods more quickly and efficiently.

[0055] Please refer to Figure 1The storage robot 1 further includes a crossbeam 70 , which is used to connect the first column 20 and the second column 30 . The crossbeam 70 is provided at one end of the first column 20 and the second column 30 away from the chassis 10 .

[0056] Specifically, the first column 20 and the second column 30 are connected by the crossbeam 70 , and the chassis 10 , the first column 20 , the second column 30 , and the crossbeam 70 form a closed loop structure, making the entire storage robot 1 more stable and reliable, and increasing the speed of the transport assembly 50 .

[0057] Please refer to Figure 1 , the orthographic projections of the first column 20 and the second column 30 along the direction of the chassis 10 fall on the chassis 10 .

[0058] In other words, the positions of the first column 20 and the second column 30 are within the fan-shaped area of the rotation of the chassis 10, which can more reasonably utilize the space of the chassis 10, so that the storage robot 1 only needs a smaller space to complete the turning.

[0059] Please refer to Figure 1 and Figure 2 , Figure 2 FIG2 is a schematic diagram of the structure of a support assembly provided in an embodiment of the present application. The support assembly 40 further includes a support plate 41 and a baffle 42. The support plate 41 is used to support the storage box 60. The baffle 42 is disposed at an end of the support plate 41 facing away from the second column 30 and extends away from the chassis 10. The baffle 42 is used to prevent the storage box 60 from moving.

[0060] The carrying plate 41 is used to carry the storage box 60. When the carrying plate 41 carries the storage box 60, the storage box 60 is spaced apart from the first column 20, so that the arm of the unloading device can reach into the gap between the storage box 60 and the first column 20 to grab the storage box 60 and unload the materials.

[0061] The baffle 42 can be used to prevent the storage box 60 from moving. Specifically, when the transport assembly 50 transports the storage box 60 to the supporting plate 41, the baffle 42 can be used to block the storage box 60 to prevent the storage box 60 from abutting against the first column 20 so that the storage box 60 cannot be unloaded.

[0062] Please refer to Figure 1 and Figure 2The supporting assembly 40 further includes a first rolling member 43 , which is disposed at one end of the supporting plate 41 close to the second column 30 and extends along the third direction. The first rolling member 43 can be used to abut the storage box 60 .

[0063] Specifically, when the storage box 60 moves between the carrying plate 41 and the tray 51 , the first rolling member 43 may be used to abut against the storage box 60 to reduce the friction generated when the storage box 60 moves, thereby facilitating the transfer of the storage box 60 .

[0064] Please refer to Figure 1 and Figure 2 The supporting assembly 40 further includes a second rolling member 44 , which is disposed on the supporting plate 41 , and an extension direction of the second rolling member 44 is perpendicular to an extension direction of the first rolling member 43 , and the second rolling member 44 can be used to abut the storage box 60 .

[0065] The supporting assembly 40 also includes a third rolling member 45 arranged at a relative interval to the second rolling member 44. The third rolling member 45 is arranged on the supporting plate 41, and the extension direction of the third rolling member 45 is parallel to the extension direction of the second rolling member 44. The third rolling member 45 can be used to abut the storage box 60.

[0066] Specifically, when the storage box 60 needs to move during unloading, the second rolling member 44 or the third rolling member 45 can be used to abut the storage box 60 to reduce the friction generated when the storage box 60 moves, thereby facilitating unloading of the storage box 60.

[0067] Please refer to Figure 1 and Figure 2 The carrying plate 41 has a carrying surface facing the storage box 60, the first rolling member 43 has a first rolling surface, the second rolling member 44 has a second rolling surface, and the third rolling member 45 has a third rolling surface. The height of the first rolling surface in a direction away from the chassis 10 is greater than the height of the carrying surface in the direction away from the chassis 10. The height of the second rolling surface in a direction away from the chassis 10 is greater than the height of the carrying surface in the direction away from the chassis 10. The height of the third rolling surface in a direction away from the chassis 10 is greater than the height of the carrying surface in the direction away from the chassis 10.

[0068] The edges of the supporting plate 41 are respectively provided with the baffle 42, the first rolling member 43, the second rolling member 44 and the third rolling member 45, and the heights of the three are all higher than the supporting plate 41, which can ensure that the storage box 60 will not be moved out to the top of the supporting plate 41 due to the movement or other operations of the warehouse robot 1, thereby improving the stability of the storage box 60 when the warehouse robot 1 transports the storage box 60.

[0069] Please refer to Figure 3 、 Figure 4 and Figure 5 , Figure 3 This is a schematic diagram of a transport component structure provided by an embodiment of the present application. Figure 4 This is a schematic diagram of a structure of a clamping hand opening provided in an embodiment of the present application. Figure 5 FIG2 is a schematic diagram of a closed gripper structure provided in an embodiment of the present application. In this embodiment, the transport assembly 50 further includes a gripper 52 and a first guide rail 53. The gripper 52 is disposed on the tray 51 and is configured to abut the storage box 60. The first guide rail 53 extends along the first direction. The gripper 52 is slidably connected to the first guide rail. The gripper 52 moves along the first guide rail 53 to drive the storage box 60.

[0070] The supporting plate 41 is provided with a receiving groove 46 , and the receiving groove 46 can be used for the gripping hand 52 to pass through, so that the gripping hand 52 can abut against the storage box 60 and drive the storage box 60 to move.

[0071] Specifically, the gripping hand 52 moves when it is in a closed state, and opens when it reaches a preset position and abuts against the storage box 60 . The gripping hand 52 then moves to drive the storage box 60 to move.

[0072] It should be noted that, in other embodiments, when the mobile storage box 60 is placed on the supporting plate 41 or the storage box 60 is removed from the supporting plate 41, the transport assembly 50 can also drive the storage box 60 to move through other structures. This embodiment is only an example of one of the structures and should not be understood as a limitation to this application.

[0073] In this embodiment, the transport assembly 50 further includes a second guide rail extending along the third direction. The tray 51 cooperates with the second guide rail so that the tray 51 can move along the third direction.

[0074] It should be noted that, in other embodiments, the tray 51 may also be moved along the third direction by other structures. This embodiment is merely an example of one of the structures and should not be construed as a limitation to the present application.

[0075] In this embodiment, the storage robot 1 further includes a third guide rail, which is provided on the second column 30 and extends along the second direction. The transport assembly 50 cooperates with the third guide rail so that the transport assembly 50 can move along the second direction.

[0076] It should be noted that, in other embodiments, the transport assembly 50 may also be moved along the second direction through other structures. This embodiment is merely an example of one of the structures and should not be construed as a limitation to the present application.

[0077] Please refer to Figure 1 and Figure 6 , Figure 6 is a schematic diagram of the structure of a storage box provided in an embodiment of the present application. The present application also provides a warehouse coordination system 1000, comprising a storage box 60 and the warehouse robot 1. The storage box 60 includes a mating portion 61, which engages with the gripper 52 of the transport assembly 50 to move the storage box 60 onto the transport assembly 50.

[0078] In this embodiment, the mating portion 61 is a groove, and the gripper 52 abuts against the groove, enabling the gripper 52 to move the storage box 60. This improves the efficiency of the warehouse robot 1 in picking up and placing the storage box 60. In other embodiments, the mating portion 61 may also have other shapes, which are not limited in this application.

[0079] The above is part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A warehouse robot for transporting storage boxes, characterized in that: include: chassis; A first column and a second column are relatively spaced apart, wherein the first column and the second column are both arranged on the chassis, and the first column and the second column are arranged in sequence along a first direction, and the first direction is the travel direction of the storage robot; a plurality of bearing assemblies, spaced apart and arranged on the first column along the first column, the bearing assemblies being used to bear the storage box; The carrying assembly is provided on the second column, and the carrying assembly can move in a second direction, where the second direction is an extension direction of the second column, and the carrying assembly includes a pallet, where the pallet can be used to carry the storage box, and the pallet can be moved in a first direction or a third direction to carry the storage box, where the third direction is perpendicular to the first direction and the second direction, and the carrying assembly also includes a gripper and a first guide rail, where the gripper is provided on the pallet, where the gripper can be used to abut against the storage box, where the storage box includes a groove, where the gripper abuts against the groove and drives the storage box to move, and the first guide rail extends along the first direction, where the gripper is slidably connected to the first guide rail, and where the gripper moves along the first guide rail to drive the storage box to move; The carrying assembly also includes a carrying plate and a baffle. The carrying plate is used to carry the storage box. A receiving groove is provided on the carrying plate. The receiving groove can be used to allow the gripper to pass through, so that the gripper can abut against the storage box, thereby driving the storage box to move. The gripper moves when it is in a closed state, and opens when it reaches a preset position and abuts against the storage box. The gripper moves again, thereby driving the storage box to move.

2. The storage robot according to claim 1, characterized in that: The transport assembly further includes a second guide rail extending along the third direction, and the tray cooperates with the second guide rail so that the tray can move along the third direction; And / or, the storage robot further includes a third guide rail, which is provided on the second column and extends along the second direction, and the transport component cooperates with the third guide rail so that the transport component can move along the second direction.

3. The storage robot according to claim 1, characterized in that: The supporting assembly also includes a supporting plate and a baffle, wherein the supporting plate is used to support the storage box, the baffle is arranged at one end of the supporting plate away from the second column, and the baffle extends in a direction away from the chassis, and the baffle can be used to prevent the storage box from moving.

4. The storage robot according to claim 3, characterized in that: The bearing assembly further includes a first rolling member, which is provided at one end of the bearing plate close to the second column and extends along the third direction. The first rolling member can be used to abut against the storage box.

5. The storage robot according to claim 4, characterized in that: The bearing assembly further includes a second rolling member, which is provided on the bearing plate and has an extension direction perpendicular to that of the first rolling member. The second rolling member can be used to abut against the storage box. The bearing assembly also includes a third rolling member arranged at a relative interval to the second rolling member. The third rolling member is arranged on the bearing plate, and the extension direction of the third rolling member is parallel to the extension direction of the second rolling member. The third rolling member can be used to abut the storage box.

6. The storage robot according to claim 5, characterized in that: The supporting plate has a supporting surface facing the storage box, the first rolling member has a first rolling surface, the second rolling member has a second rolling surface, and the third rolling member has a third rolling surface. The height of the first rolling surface in the direction away from the chassis is greater than the height of the supporting surface in the direction away from the chassis; the height of the second rolling surface in the direction away from the chassis is greater than the height of the supporting surface in the direction away from the chassis; the height of the third rolling surface in the direction away from the chassis is greater than the height of the supporting surface in the direction away from the chassis.

7. The storage robot according to any one of claims 1 to 6, characterized in that: The storage robot further includes a crossbeam, which is used to connect the first column and the second column, and the crossbeam is provided at one end of the first column and the second column away from the chassis.

8. The storage robot according to any one of claims 1 to 6, characterized in that: The orthographic projections of the first column and the second column along the direction of the chassis fall on the chassis.

9. A warehousing coordination system, characterized in that: It comprises a storage box and the warehouse robot according to any one of claims 1 to 8, wherein the storage box comprises a matching portion, and the matching portion matches with the gripper of the transport component to move the storage box onto the transport component.

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