Mobile chassis, robots, and warehousing systems

Abstract

The application provides a mobile chassis, a robot and a storage system. The robot comprises a mobile chassis, a column structure and a fork device. The column structure comprises two column assemblies, and the two column assemblies are oppositely arranged along the moving direction of the mobile chassis. One of the two column assemblies is provided with a plurality of storage locations on one side facing the other column assembly. The storage locations are sequentially and spacedly arranged along the vertical direction. The fork device is arranged on one side of the other column assembly facing the one column assembly, and the fork device and the storage locations are located between the two column assemblies. The fork device is vertically lifted to take or place a material box on each storage location, and to take or place the material box between the fork device and the side of the mobile chassis along the moving direction. The robot takes or places the material box on the shelf, and the width of the aisle is reduced, thereby improving the storage density.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing and logistics, and in particular to a mobile chassis, robot and warehousing system. Background Technology

[0002] Smart warehousing is a crucial part of the logistics process. Its application ensures the speed and accuracy of data input at every stage of warehouse management, enabling businesses to promptly and accurately grasp real-time inventory data and rationally maintain and control their inventory levels.

[0003] The warehousing system may include a handling robot and shelves. The handling robot may include a column assembly and a fork assembly located on the column assembly. The fork assembly rotates or the handling robot rotates. The fork assembly can extend outside the column assembly to pick up and place material boxes on the shelves.

[0004] However, the transport robots require wider aisles, resulting in lower storage density. Summary of the Invention

[0005] This application provides a mobile chassis, a robot, and a warehousing system, which solves the problem that the large aisle width required for handling robots to pick up and place material boxes on shelves, resulting in low storage density.

[0006] In a first aspect, embodiments of this application provide a robot, including a mobile chassis, a column structure, and a fork device. The column structure is mounted on the mobile chassis and includes two column assemblies, which are arranged opposite to each other along the moving direction of the mobile chassis.

[0007] One of the two column assemblies has multiple storage locations on the side facing the other, and the storage locations are arranged sequentially and spaced apart in the vertical direction. The forklift device is located on the side of the other column assembly facing the first one, and the forklift device and each storage location are located between the two column assemblies.

[0008] The fork assembly moves vertically to pick up and place material boxes at each storage location, as well as to pick up and place material boxes between the fork assembly and the side of the mobile chassis in the direction of movement.

[0009] In one possible implementation, the robot provided in this application embodiment has a forklift device including a telescopic mechanism and a picking mechanism. The telescopic mechanism is connected to the column assembly, and the picking mechanism is disposed on the telescopic mechanism and moves along the length direction of the telescopic mechanism. The picking mechanism includes a first drive assembly and a picking unit. The picking unit has two connecting parts. The first drive assembly is connected to the picking unit and drives the picking unit to move, so that the connecting parts are detachably connected to the material box. The two connecting parts are located on opposite sides of the first drive assembly, so that the picking unit can pick up and place the material box on opposite sides of the moving chassis in the direction of movement.

[0010] In one possible implementation, the robot provided in this application embodiment further includes a sliding plate and a connecting plate for the picking mechanism. The sliding plate is movably connected to the telescopic mechanism, and the connecting plate is connected to the sliding plate. A first drive component is disposed on the connecting plate, and the picking unit is connected to the output end of the first drive component.

[0011] In one possible implementation, the robot provided in this application embodiment has a telescopic mechanism including a base, a telescopic member and a drive unit. The base has a lifting slider, which is slidably connected to the column assembly. The telescopic member is movably connected to the base, and the picking mechanism is movably connected to the telescopic member.

[0012] The drive unit includes a second drive assembly, a third drive assembly, and a fourth drive assembly. The second drive assembly is used to drive the telescopic component to move relative to the base, the third drive assembly drives the picking mechanism to move relative to the telescopic component, and the fourth drive assembly is used to receive material boxes from each storage location or place material boxes on each storage location.

[0013] In one possible implementation, the robot provided in this application embodiment further includes a first detection unit and a second detection unit in its telescopic mechanism. The first detection unit is disposed on the base and is used to detect the position of the telescopic member relative to the base.

[0014] The second detection unit is installed on the picking mechanism and is used to detect the position of the picking mechanism relative to the telescopic component.

[0015] In one possible implementation, the robot provided in this application embodiment has a storage location including a support and a fifth drive component mounted on the support. The support is connected to a column structure, and the fifth drive component is used to receive a material box on a fork device or to place a material box on the fork device.

[0016] In one possible implementation, the robot provided in this application embodiment has a support frame including a first support member and two second support members. The first support member is fixedly connected to the column structure, and the two second support members are disposed on the side of the first support member away from the column structure. The fifth drive component is disposed between the two second support members.

[0017] In one possible implementation, the robot provided in this application embodiment further includes a controller, and the storage location further includes a third detection unit. The third detection unit and the fifth drive component are both electrically connected to the controller. The third detection unit is located on a support and is used to detect whether the material box is in a safe position. When the material box is in an unsafe position, the controller controls the fifth drive component to rotate to move the material box to a safe position.

[0018] In one possible implementation, the robot provided in this application embodiment has a third detection unit located on a first support member, and the third detection unit and each of the second support members are located on the same side of the first support member.

[0019] In one possible implementation, the robot provided in this application embodiment has a second support member facing the fifth drive component, which includes a mounting section and an inclined section. The fifth drive component is disposed on the mounting section, and the inclined section is located above the fifth drive component. The vertical height of the inclined section facing the mounting section is greater than the vertical height of the inclined section away from the mounting section.

[0020] Secondly, embodiments of this application provide a warehousing system, including shelves and a robot provided in any of the first aspects above. The number of shelves is at least two, and the shelves are arranged at intervals, forming aisles between adjacent shelves. The robot moves in the aisles, and the robot's fork device can pick up and place material boxes on the shelves on both sides of the aisles.

[0021] Thirdly, this application provides a mobile chassis for use with a robot. The mobile chassis includes a chassis body and at least one pressure wheel assembly. The pressure wheel assembly includes at least one pressure wheel and is located on the chassis body. When the pressure wheel assembly is subjected to pressure, it increases the ground pressure of the chassis body, thereby enabling the robot to move smoothly.

[0022] In one possible implementation, the mobile chassis provided in this application embodiment includes at least one fixed pressure wheel among the pressure wheels.

[0023] It also includes at least one chassis drive unit, which is mounted on the chassis body to drive the chassis body to move, and a fixed pressure wheel is mounted on the chassis body.

[0024] In one possible implementation, the mobile chassis provided in this application embodiment includes at least one floating pressure wheel among at least one pressure wheel;

[0025] The chassis drive unit includes at least one drive wheel and at least one drive wheel hinge frame. The drive wheel and the drive wheel hinge frame are connected in a one-to-one correspondence. The drive wheel rotates relative to the chassis body, and the drive wheel hinge frame is hinged to the chassis body.

[0026] The floating pressure wheel is connected to the drive wheel hinge frame, and the floating pressure wheel can float relative to the drive wheel hinge frame.

[0027] In one possible implementation, the mobile chassis provided in this application embodiment further includes a first shock absorption unit. The first shock absorption unit includes a first telescopic member and a first elastic member sleeved on the first telescopic member. One end of the first telescopic member is hinged to the chassis body, and the other end of the first telescopic member is hinged to the drive wheel hinge frame.

[0028] The drive wheel hinge frame has a first hinge part, which is hinged to the chassis body.

[0029] In one possible implementation, the mobile chassis provided in this application embodiment further includes a floating structure, and the floating pressure wheel is connected to the drive wheel hinge frame through the floating structure;

[0030] The floating structure is located at least partially above the drive wheel. When the pressure wheel assembly is subjected to downforce, the floating pressure wheel applies pressure to the drive wheel through the floating structure and the drive wheel hinge frame.

[0031] In one possible implementation, the mobile chassis provided in this application embodiment has a floating structure of a leaf spring, with the first end of the leaf spring fixedly connected to the drive wheel hinge frame and the second end of the leaf spring fixedly connected to the floating pressure wheel.

[0032] The leaf spring is located above the drive wheel.

[0033] In one possible implementation, the mobile chassis provided in this application embodiment has a floating structure including a second damping unit and a connecting rod. The connecting rod is located between the second damping unit and the first damping unit. The drive wheel hinge frame has a second hinge portion and a third hinge portion. The first end of the connecting rod is hinged to the second hinge portion, and the second end of the connecting rod is fixedly connected to the floating pressure wheel.

[0034] The second damping unit includes a second telescopic member and a second elastic member sleeved on the second telescopic member. The first end of the second telescopic member is hinged to the third hinge part, and the second end of the second telescopic member is hinged to the second end of the connecting rod.

[0035] In one possible implementation, the mobile chassis provided in this application embodiment includes a pressure wheel assembly with a support base, the pressure wheel being connected to the support base, and the pressure wheel rotating relative to the support base.

[0036] In one possible implementation, the mobile chassis provided in this application embodiment has two or more pressure wheels on the same support base, and the pressure wheels are arranged in an array.

[0037] In one possible implementation, the mobile chassis provided in this application embodiment further includes an auxiliary wheel set, which includes at least four auxiliary wheels, and at least one auxiliary wheel is located at each of the four corners of the chassis body;

[0038] The chassis body has at least one fixed pressure wheel at each of its four corners.

[0039] In one possible implementation, the mobile chassis provided in this application embodiment is a robot provided by any of the first aspects described above.

[0040] Fourthly, embodiments of this application provide a warehousing system, including a track and a robot, wherein the robot includes a mobile chassis, and the mobile chassis is any of the mobile chassis provided in the third aspect above;

[0041] When the robot moves to the track, the pressure wheel set of the mobile chassis comes into contact with the track, so that the track applies pressure to the mobile chassis through the pressure wheel set.

[0042] In one possible implementation, the storage system provided in this application embodiment has a guide section on the track, the length direction of the guide section is consistent with the length direction of the track, and the pressure wheel set is in contact with the guide section.

[0043] In one possible implementation, the storage system provided in this application embodiment has a guide portion consisting of a plurality of teeth spaced apart sequentially along the length direction of the track; or, the guide portion is a rack.

[0044] The pressure wheel of the pressure wheel assembly is a gear that meshes with the rack or the teeth of the rack.

[0045] In one possible implementation, the warehousing system provided in this application embodiment further includes shelves, the number of which is at least two, the shelves are arranged at intervals, and aisles are formed between adjacent shelves;

[0046] The robot moves through the aisle. The robot includes a forklift device that can pick up and place material boxes on shelves on both sides of the aisle.

[0047] The track is located inside the tunnel, and the length direction of the track is consistent with the length direction of the tunnel.

[0048] In one possible implementation, the storage system provided in this application embodiment has two tracks in the same lane, and the number of pressure wheel sets is at least two, with each track corresponding to at least one pressure wheel set.

[0049] In one possible implementation, the warehousing system provided in this application embodiment has tracks and shelves adjacent to the tracks fixedly connected.

[0050] Alternatively, the track is used to fix it to the ground.

[0051] The mobile chassis, robot, and warehousing system provided in this application involve a robot with two upright assemblies positioned opposite each other along the moving direction of the mobile chassis. A forklift and each storage location are located between the two upright assemblies. The forklift picks up and places material boxes between the forklift and a shelf on the side of the mobile chassis along the moving direction. This eliminates the need for the robot or forklift to rotate when picking up and placing material boxes, improving robot efficiency and reducing aisle width, thereby increasing storage density. Furthermore, positioning the forklift and each storage location between the two upright assemblies also reduces the robot's overall size. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram of the robot provided in an embodiment of this application;

[0054] Figure 2 This is a diagram illustrating the usage state of the forklift device in a robot provided in an embodiment of this application.

[0055] Figure 3 This is a simplified structural diagram of a handling robot in related technologies;

[0056] Figure 4 A simplified structural diagram of the robot provided in the embodiments of this application;

[0057] Figure 5 This is a schematic diagram of the forklift device in a robot provided in an embodiment of this application;

[0058] Figure 6 This is a schematic diagram of the structure of the picking mechanism in the robot provided in the embodiments of this application;

[0059] Figure 7 A schematic diagram illustrating another state of the picking mechanism in the robot provided in this application embodiment;

[0060] Figure 8 A side view of the picking mechanism in a robot provided in an embodiment of this application;

[0061] Figure 9 This is another structural schematic diagram of the picking mechanism in a robot provided in the embodiments of this application;

[0062] Figure 10 A schematic diagram of a first type of drive component for the fork device in a robot provided in an embodiment of this application;

[0063] Figure 11 A side view of a first type of drive assembly for a forklift device in a robot provided in an embodiment of this application;

[0064] Figure 12 A schematic diagram of a second type of drive component for the fork device in a robot provided in an embodiment of this application;

[0065] Figure 13 A side view of a second type of drive component for the fork device in a robot provided in an embodiment of this application;

[0066] Figure 14 A schematic diagram showing the extended fork device in a robot according to an embodiment of this application;

[0067] Figure 15 This is a schematic diagram showing the fork extension state in the robot provided in the embodiments of this application;

[0068] Figure 16 A schematic diagram illustrating the configuration of the second detection unit in the robot provided in this application embodiment;

[0069] Figure 17 This is a schematic diagram of the structure of the storage location in the robot provided in the embodiments of this application;

[0070] Figure 18 for Figure 17 Partial side view;

[0071] Figure 19 This is a schematic diagram of the structure of the warehousing system provided in the embodiments of this application;

[0072] Figure 20 This is a schematic diagram of the structure of another warehousing system provided in an embodiment of this application;

[0073] Figure 21 for Figure 20 Top view;

[0074] Figure 22 for Figure 20 Side view;

[0075] Figure 23 for Figure 20 A schematic diagram of the structure of the robot and its track;

[0076] Figure 24 for Figure 21 Enlarged view of point A in the middle;

[0077] Figure 25 for Figure 20 Schematic diagram of the China Mobile chassis;

[0078] Figure 26 for Figure 20 A schematic diagram of the structure of another mobile chassis.

[0079] Explanation of reference numerals in the attached figures:

[0080] 1-Robot;

[0081] 100-Mobile chassis; 110-Pressure wheel assembly; 111-Pressure wheel; 112-Fixed pressure wheel; 113-Floating pressure wheel; 114-Support base; 120-Chassis body; 130-Chassis drive unit; 131-Drive wheel; 132-Drive wheel hinge frame; 1321-First hinge part; 1322-Second hinge part; 1323-Third hinge part; 140-First shock absorption unit; 141-First telescopic component; 142-First elastic component; 150-Floating structure; 151-Second shock absorption unit; 1511-Second telescopic component; 1512-Second elastic component; 152-Connecting rod; 160-Auxiliary wheel assembly;

[0082] 200 - Column structure; 210 - Column assembly; 211 - Storage location; 2111 - Support; 2111a - First support component; 2111b - Second support component; 2111c - Installation section; 2111d - Inclined section; 2112 - Fifth drive assembly; 2113 - Third detection unit; 220 - Crossbeam;

[0083] 300 - Forklift assembly; 310 - Telescopic mechanism; 311 - Base; 3111 - Lifting slider; 3112 - Limiting baffle; 312 - Telescopic component; 3121 - First engaging part; 3122 - Stop block; 313 - Drive unit; 3131 - Second drive assembly; 3131a - Second engaging part; 3132 - Third drive assembly; 3133 - Fourth drive assembly; 3133a - Drive belt; 3134 - First flexible transmission component; 3135 - First transmission wheel 3136 - Second flexible transmission component; 3137 - Second transmission wheel; 3137a - Outer transmission wheel; 3137b - Inner transmission wheel; 314 - First detection unit; 315 - Second detection unit; 320 - Picking mechanism; 321 - First drive assembly; 322 - Picking unit; 3221 - Connecting part; 3222 - Mounting part; 3223 - Guide hole; 323 - Sliding plate; 324 - Connecting plate; 325 - Guide shaft; 326 - Mounting block; 330 - Camera;

[0084] 2-Material box;

[0085] 3-Shelf; 31-Aisle;

[0086] 4-Rail; 41-Guide section; 42-Rail fixing seat;

[0087] 10-Back basket;

[0088] 20-Pickup Structure;

[0089] 30-Column;

[0090] 40 - Mobile base. Detailed Implementation

[0091] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0092] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a primary connection, an indirect connection via an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0093] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0094] The terms "first," "second," and "third" (if any) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein.

[0095] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or display that includes a series of steps or modules is not necessarily limited to those steps or modules that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such processes, methods, products, or displays.

[0096] A warehousing system may include racks and handling robots. Racks are spaced apart within the warehouse, with aisles formed between adjacent rows. Handling robots move within these aisles to reach the target rack and retrieve or place boxes of materials from it.

[0097] The handling robot may include a column assembly and a fork assembly mounted on the column assembly. The fork assembly rises or falls relative to the column assembly to align with the height of a target material box on the shelf. The fork assembly may also rotate relative to the column assembly and extend beyond it to pick up and place material boxes on the shelf. Alternatively, the handling robot may rotate so that the fork assembly is aligned with a material box on the shelf, and the fork assembly extends beyond the column assembly to pick up and place material boxes on the shelf.

[0098] When picking up and placing material boxes on the shelf, the forks need to be raised and lowered to match the height of the target material box, and the forks or the handling robot needs to rotate to align the forks with the target material box. This results in low efficiency for the handling robot in picking up and placing material boxes. Furthermore, the robot requires wider aisles, leading to lower warehouse density.

[0099] Based on this, embodiments of this application provide a mobile chassis, a robot, and a warehousing system. By arranging two column assemblies opposite each other along the moving direction of the mobile chassis, and with the forklift device and each storage location situated between the two column assemblies, the forklift device picks up and places material boxes between the racks on the side of the mobile chassis's moving direction and the forklift device. Thus, when the robot picks up and places material boxes, there is no need for the robot or forklift device to rotate, improving the robot's working efficiency and reducing aisle width, thereby increasing storage density. Furthermore, positioning the forklift device and each storage location between the two column assemblies also reduces the robot's size.

[0100] It should be noted that this application uses the term "material bin" to refer to the object being handled in the handling robot. The material bin can be goods, or a material bin used to hold goods.

[0101] The present application will now be described in conjunction with the accompanying drawings and specific embodiments.

[0102] Figure 1 This is a schematic diagram of the robot provided in an embodiment of this application; Figure 2 A diagram illustrating the usage state of the forklift device in a robot provided in this application embodiment. See also... Figure 1 and Figure 2 As shown, the robot 1 in this embodiment includes a mobile chassis 100, a column structure 200, and a fork device 300. The column structure 200 is disposed on the mobile chassis 100 and includes two column assemblies 210, which are arranged opposite to each other along the moving direction of the mobile chassis 100.

[0103] One of the two column assemblies 210 has multiple storage locations 211 on the side facing the other, each storage location 211 being vertically aligned ( Figure 1 The fork device 300 is arranged in the +Z or -Z direction (in the middle) at intervals. The fork device 300 is arranged on the side of the other column assembly 210 facing the other. The fork device 300 and each storage location 211 are located between the two column assemblies 210.

[0104] The fork assembly 300 moves vertically to pick up and place the material box 2 at each storage location 211, and to pick up and place the material box 2 between the fork assembly 300 and the side of the moving chassis 100 in the direction of movement.

[0105] In this application, a mobile chassis 100 moves a column structure 200 mounted on the mobile chassis 100 within the warehouse, thereby moving it to the target shelf. The column structure 200 provides installation space for the forklift assembly 300 and each storage location 211. The column structure 200 has multiple storage locations 211, each capable of accommodating one material box 2, thus increasing the number of material boxes 2 that the robot 1 can carry and improving the efficiency of the robot 1 in handling material boxes 2.

[0106] The column structure 200 may further include a crossbeam 220, through which the two column assemblies 210 are connected. This improves the stability of the two column assemblies 210.

[0107] It should be noted that, Figure 1 The +X or -X direction in the code represents the robot's movement direction. Figure 1 The +Z or -Z direction is the vertical direction, and the shelf is located in... Figure 1 The +Y or -Y direction refers to the location of the shelf to the side of the robot's direction of movement.

[0108] The two column components 210 can be along Figure 1 The +X or -X direction is set relative to each other, such as... Figure 1 As shown, the fork assembly 300 is located in Figure 1 On the column assembly 210 on the middle + X side, each storage location 211 is located Figure 1 On the column assembly 210 on the middle-X side. It is understood that the positions of the fork assembly 300 and each storage location 211 can also be interchanged.

[0109] Fork assembly 300 Figure 1 The fork device 300 is raised or lowered in the +Z or -Z direction to align with different storage locations 211, thereby allowing the material box 2 to be picked up or placed on the storage location 211.

[0110] The forklift assembly 300 can also be moved to Figure 1 The robot can move between the rack and the forklift 300 in either the +Y or -Y direction to pick up and place the material box 2. This eliminates the need for the robot or forklift 300 to rotate when picking up or placing the material box 2, saving time and improving the robot's efficiency. Furthermore, the aisle does not require space for the robot or forklift 300 to rotate, thus reducing the aisle width and increasing storage density.

[0111] Figure 3 This is a simplified structural diagram of a handling robot in related technologies. See also... Figure 3 As shown, in related technologies, a column 30 is mounted on a movable base 40, and a basket 10 for placing goods and a picking structure 20 are located on opposite sides of the column 30. The movable base 40 has a length D1 in a first direction and a length D2 in a second direction. When the picking structure 20 rotates to pick up or place goods (e.g., ...), ... Figure 3 (From the solid line position to the dashed line position), to avoid collision with other components, the length D2 of the movable base 40 in the second direction needs to reserve rotation space for the picking structure 20. This results in a longer length D2 of the movable base 40 in the second direction.

[0112] Figure 4 A simplified structural diagram of the robot provided in an embodiment of this application. See also... Figure 4 As shown, two column assemblies 210 are arranged opposite each other along the moving direction of the mobile chassis 100, and the fork device 300 and each storage location 211 are located between the two column assemblies 210. A gap may exist between the fork device 300 and the storage location 211 to prevent the storage location 211 from affecting the lifting and lowering of the fork device 300.

[0113] The mobile chassis 100 has a length D3 in the first direction and a length D4 in the second direction. Since the fork assembly 300 does not need to rotate, the length D4 of the mobile chassis 100 in the second direction can be less than the length D2 of the mobile base 40 in the second direction. Because the length D4 of the mobile chassis 100 in the second direction is reduced, when the length D3 of the mobile chassis 100 in the first direction is equal to the length D1 of the mobile base 40 in the first direction in related technologies, the rotation radius required for the overall rotation of the robot also decreases, thereby reducing the width of the aisle.

[0114] The robot 1 provided in this embodiment of the application arranges two column assemblies 210 opposite to each other along the moving direction of the mobile chassis 100. The fork device 300 and each storage location 211 are located between the two column assemblies 210. The fork device 300 picks up and places material boxes 2 from the side of the mobile chassis 100 in the moving direction. Therefore, when picking up and placing material boxes 2, the robot does not need to rotate, improving its working efficiency and reducing the width of the aisles, thereby increasing storage density. Furthermore, the location of the fork device 300 and each storage location 211 between the two column assemblies 210 also reduces the size of the robot.

[0115] The structure of the fork unit 300 will be described below.

[0116] Figure 5 This is a schematic diagram of the forklift device in a robot provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of the picking mechanism in the robot provided in the embodiments of this application; Figure 7 A schematic diagram illustrating another state of the picking mechanism in the robot provided in this application embodiment; Figure 8 A side view of the picking mechanism in a robot provided in an embodiment of this application.

[0117] See Figures 5 to 8 As shown in this application, the forklift device 300 includes a telescopic mechanism 310 and a picking mechanism 320. The telescopic mechanism 310 is connected to the column assembly 210. The picking mechanism 320 is disposed on the telescopic mechanism 310 and moves along the length direction of the telescopic mechanism 310. The picking mechanism 320 includes a first drive assembly 321 and a picking unit 322. The picking unit 322 has two connecting parts 3221. The first drive assembly 321 is connected to the picking unit 322 and drives the picking unit 322 to move, so that the connecting parts 3221 can be inserted into or separated from the material box 2. The two connecting parts 3221 are located on opposite sides of the first drive assembly 321, so that the picking unit 322 can pick up and place the material box 2 on opposite sides in the moving direction of the mobile chassis 100.

[0118] The first drive assembly 321 drives the picking unit 322 to move, so that the picking unit 322 can be inserted into the material box 2. At this time, as the picking mechanism 320 moves, the material box 2 will move synchronously with the picking mechanism 320, thereby dragging the material box 2 onto the fork assembly 300 or pushing the material box 2 onto the shelf. When the picking unit 322 separates from the material box 2, the picking mechanism 320 can return to its initial position to pick up other material boxes 2.

[0119] The connecting part 3221 can be a plug-in part, which can be plugged into or detached from the material box 2. This embodiment and accompanying drawings describe the connecting part 3221 as a plug-in part. It is understood that the connecting part 3221 can also be a suction cup, which can be used to adhere to or detach from the material box 2.

[0120] In this application, the picking mechanism 320 also includes a sliding plate 323 and a connecting plate 324. The sliding plate 323 is movably connected to the telescopic mechanism 310, and the connecting plate 324 is connected to the sliding plate 323. The first drive component 321 is disposed on the connecting plate 324, and the picking unit 322 is connected to the output end of the first drive component 321.

[0121] The length direction of the fork assembly 300 is Figure 5 In the Y-direction, the direction of movement of the picking mechanism 320 relative to the telescopic mechanism 310 is also... Figure 5 In the Y direction, the width direction of the fork assembly 300 is... Figure 5 The direction perpendicular to the XY plane is the Z direction, and the height direction of the fork assembly 300 is... Figure 5 In the Z-direction.

[0122] The sliding plate 323 is used to support the first drive assembly 321 and the picking unit 322. The first drive assembly 321 can be a telescopic motor, and its output end can move along a straight line (e.g., along...). Figure 6 (in the Z direction), thereby driving the picking unit 322 to move in a straight line.

[0123] It should be noted that the switching between the insertion and separation states of the connecting part 3221 and the material box 2 corresponds to the movement process of the picking unit 322. That is, the movement of the output end of the first drive component 321 is a reciprocating motion along a straight line; correspondingly, the movement of the picking unit 322 is also a reciprocating motion along a straight line. The specific value of the travel distance of the picking unit 322 can be designed according to the cooperation method between the picking unit 322 and the material box 2. For example, the side wall of the material box 2 is provided with a slot, and the connecting part 3221 can be inserted into the slot. The travel distance of the picking unit 322 can be matched with the insertion depth of the connecting part 3221 in the slot.

[0124] In some embodiments, the picking mechanism 320 may further include a guide shaft 325, which is connected to a sliding plate 323. The picking unit 322 has a guide hole 3223, and the guide shaft 325 passes through the guide hole 3223. The first driving component 321 drives the picking unit 322 to move along the guide shaft 325.

[0125] Understandably, the guide shaft 325 guides the movement of the picking unit 322, ensuring smooth movement and preventing deviations in the insertion and engagement of the connecting part 3221 and the material box 2. Furthermore, the guide shaft 325 ensures the reliability of the movement of the output end of the first drive assembly 321.

[0126] For example, the guide shaft 325 is a column, and the guide shaft 325 can be detachably connected to the sliding plate 323, or the guide shaft 325 can be welded to the sliding plate 323 or integrally formed. This application embodiment does not specifically limit this.

[0127] Furthermore, there can be two guide shafts 325, which are arranged parallel to each other. The corresponding picking unit 322 is provided with two guide holes 3223, each corresponding to a guide shaft 325, thereby further improving the stability of the picking unit 322 during movement. Of course, there can also be three or more guide shafts 325; this embodiment does not specifically limit the number.

[0128] In one possible implementation, the picking unit 322 has a mounting portion 3222, and two connecting portions 3221 can be connected to opposite sides of the mounting portion 3222 respectively. The picking mechanism 320 may also include a mounting block 326, which is connected to the output end of the first drive component 321, and the mounting portion 3222 is connected to the mounting block 326.

[0129] It is understood that the mounting block 326 can be connected to the output end of the first drive assembly 321 by means of pins or threaded fasteners, while the mounting part 3222 of the picking unit 322 can be connected to the mounting block 326 by means of fasteners or welding.

[0130] For example, the two connecting parts 3221 are bent relative to the mounting part 3222 along the moving direction of the picking unit 322, and the two connecting parts 3221 face the same direction. In this way, the two connecting parts 3221 can respectively complete the insertion and engagement with the material box 2 when the picking mechanism 320 moves to different ends of the fork device 300.

[0131] Figure 9 This is another structural schematic diagram of the picking mechanism in a robot provided in the embodiments of this application.

[0132] See Figure 6 and Figure 9 As shown, Figure 9 The middle connecting part 3221 extends upwards. Figure 9 and Figure 6 The remaining structure of the picking mechanism 320 in the embodiment can be the same, and can be referred to the above. Figure 6 The description of the pickup facility 320 is omitted here.

[0133] It should be noted that, in this application, the connecting plate 324 and the first driving assembly 321 can be located on the side of the picking unit 322 along the length of the sliding plate 323. The first driving assembly 321 drives the picking unit 322 to move vertically. The picking unit 322 can have a U-shaped structure, and the connecting portion 3221 of the picking unit 322 can extend upwards (e.g., Figure 9 (as shown), or, the connecting portion 3221 of the pickup unit 322 can extend downwards (e.g., as shown). Figure 6 (as shown), to accommodate the loading and unloading needs of material boxes 2 with different structures.

[0134] The specific structure of the telescopic mechanism 310 will be described in detail below.

[0135] Figure 10 This is a schematic diagram of a first type of drive component for the fork device in a robot provided in an embodiment of this application. Figure 11 A side view of a first type of drive component for the fork device in a robot provided in an embodiment of this application.

[0136] See Figure 5 , Figure 10 and Figure 11 As shown, and in combination Figures 2 to 6 In this application, the telescopic mechanism 310 may include a base 311, a telescopic member 312 and a drive unit 313. The base 311 has a lifting slider 3111, which is slidably connected to the column assembly 210. The telescopic member 312 is movably connected to the base 311, and the picking mechanism 320 is movably connected to the telescopic member 312.

[0137] The drive unit 313 may include a second drive assembly 3131, a third drive assembly 3132 and a fourth drive assembly 3133. The second drive assembly 3131 is used to drive the telescopic member 312 to move relative to the base 311. The third drive assembly 3132 drives the picking mechanism 320 to move relative to the telescopic member 312. The fourth drive assembly 3133 is used to receive the material box 2 on each storage location 211 or to place the material box 2 on each storage location 211.

[0138] Understandably, the movement of the telescopic component 312 relative to the base 311 allows the fork assembly 300 to dock with the rack. This docking refers to the fork assembly 300 being positioned opposite the rack, allowing the material box 2 to be transferred between the fork assembly 300 and the rack 3 via the fourth drive assembly 3133. In practice, the fork assembly 300 can either abut against the rack or have a gap between it and the rack.

[0139] In a practical implementation, a slide rail is provided on one of the telescopic member 312 and the base 311, and the telescopic member 312 and the base 311 are movably connected through the slide rail. A guide rail can be provided on the telescopic member 312, and a slider is provided on the sliding plate 323. The sliding plate 323 and the telescopic member 312 are movably connected through the guide rail and the slider.

[0140] Among them, the front and rear ends of the guide rail on the telescopic member 312 are provided with stop blocks 3122, thereby restricting the sliding position of the sliding plate 323 and preventing the sliding plate 323 from disengaging from the telescopic member 312.

[0141] In this application, two cameras 330 may also be installed on the base 311. The two cameras 330 are arranged opposite each other along the moving direction of the telescopic member 312, so as to photograph the material boxes 2 on both sides of the base 311, so as to facilitate the docking of the fork device 300 with the cargo rack.

[0142] The fourth drive component 3133 can be a roller assembly, which can carry the material box 2 and receive the material box 2 from each storage location 211, or place the material box 2 onto each storage location 211. A limit baffle 3112 is also provided on the base 311. The limit baffle 3112 is used to protect the material box 2, prevent the material box 2 from leaving the base 311 when it moves, and correct the posture of the material box 2.

[0143] In a specific implementation, the fourth drive assembly 3133 may include a connector, a drive roller, and multiple driven rollers, all of which can rotate around their own axes. The axes of the drive roller and each driven roller are located in the same plane. The drive roller has a drive element to drive it to rotate around its own axis. For example, the drive roller may be an electric roller. The driven rollers adjacent to the drive roller can be connected to the drive roller via a drive belt 3133a or a chain, and each adjacent driven roller is sequentially connected via a drive belt 3133a or a chain, thereby transmitting power from the drive roller to each driven roller. A belt guide pulley 3133b is also provided between the driven rollers located on the central axis of the base 311. The belt guide pulley 3133b is used to keep the drive belt 3133a away from the camera 330.

[0144] The movement of the picking mechanism 320 relative to the telescopic member 312 can drag the material box 2 onto the fork assembly 300, or push the material box 2 on the fork assembly 300 onto the shelf. The telescopic member 312 can extend and retract bidirectionally relative to the base 311 along the length of the base 311 under the drive of the second drive assembly 3131, so that the fork assembly 300 can dock with the shelf on different sides of the base 311 according to the task requirements.

[0145] It should be noted that the telescopic component 312 can extend from both ends of the base 311 relative to the base 311, meaning that the material box 2 can be picked up and placed from both sides of the fork assembly 300. The travel distance of the telescopic component 312 relative to the base 311 depends on the distance between the fork assembly 300 and the edge of the shelf. In different application scenarios, the telescopic component 312 has sufficient travel distance in both directions. The unidirectional travel distance of the telescopic component 312 can be approximated as half the length of the telescopic component 312, and thus the sum of the bidirectional travel distances is approximately equal to the length of the telescopic component 312.

[0146] Furthermore, the travel distance of the picking mechanism 320 relative to the telescopic member 312 can be approximated as the length of the telescopic member 312, meaning that the picking mechanism 320 can move between the two ends of the telescopic member 312.

[0147] As can be seen, the fork assembly 300 is divided into three levels of components: the base 311 is the first level component, the telescopic member 312 is the second level component, and the picking mechanism 320 is the third level component. The movement of the telescopic member 312 relative to the base 311 and the movement of the picking mechanism 320 relative to the telescopic member 312 can be controlled independently and can be coordinated by the controller. The relative movement between different levels will be described in detail below.

[0148] Please continue reading Figure 10 and Figure 11 As shown, in one possible implementation, the second drive assembly 3131 can be disposed on the base 311, the telescopic member 312 has a plurality of first engagement portions 3121, the plurality of first engagement portions 3121 are arranged along the length direction of the base 311, the output end of the second drive assembly 3131 has a second engagement portion 3131a, the second engagement portion 3131a engages with the first engagement portion 3121, so that when the output end of the second drive assembly 3131 rotates, it drives the telescopic member 312 to move.

[0149] It is understood that the second drive component 3131 can be a motor, and the output end of the second drive component 3131 can be connected to a coaxially arranged gear, which forms a second meshing part 3131a. The first meshing part 3121 on the telescopic member 312 can be a rack structure, with the gear meshing with the rack. When the output end of the second drive component 3131 rotates, it drives the rack to move, thereby driving the telescopic member 312 to move.

[0150] It should be noted that the second drive assembly 3131 can be located at the middle position of the base 311 along the length direction, so that when the telescopic member 312 extends and retracts in both directions relative to the base 311, the output end of the drive unit can engage with the first meshing part 3121 at different positions along the length direction of the telescopic member 312, so that the telescopic member 312 has sufficient travel when extending and retracting to both ends.

[0151] In this embodiment, the third drive component 3132 is used to drive the picking mechanism 320 to move relative to the telescopic member 312. The third drive component 3132 can be disposed on the base 311 or on the telescopic member 312. The two cases will be described below.

[0152] Please continue reading Figure 10 and Figure 11 As shown, in one possible implementation, the third drive assembly 3132 can be disposed on the telescopic member 312, and the drive unit 313 can further include a first flexible transmission member 3134 and at least two first transmission wheels 3135. The at least two first transmission wheels 3135 are respectively disposed at both ends of the telescopic member 312. The first flexible transmission member 3134 is arranged around the outside of the at least two first transmission wheels 3135 and moves with the rotation of the first transmission wheels 3135. The output end of the third drive assembly 3132 is connected to any one of the at least two first transmission wheels 3135, and the picking mechanism 320 can be connected to the first flexible transmission member 3134.

[0153] It is understandable that when there are two first transmission wheels 3135, the two first transmission wheels 3135 can be respectively set at both ends of the telescopic member 312. The third drive component 3132 is installed on the telescopic member 312, and the output end of the third drive component 3132 drives the first transmission wheel 3135 to rotate, thereby driving the first flexible transmission member 3134 to move. When the first flexible transmission member 3134 moves, the picking mechanism 320 will move synchronously.

[0154] For example, the first flexible transmission member 3134 can be a flexible member such as a belt or chain, and the first transmission wheel 3135 can be a pulley, sprocket, etc. The embodiments of this application do not specifically limit this. Taking a belt and pulley as an example, the sliding plate 323 of the picking mechanism 320 can be connected to the belt through a toothed plate. The sliding plate 323 abuts against the outer side of the belt, and the toothed plate meshes with the inner side of the belt, clamping the belt between the toothed plate and the sliding plate 323. The toothed plate and the sliding plate 323 can be connected and fixed by fasteners such as screws, so that the toothed plate and the sliding plate 323 press the belt, ensuring the reliability of the connection between the sliding plate 323 and the first flexible transmission member 3134.

[0155] Figure 12 This is a schematic diagram of a second type of drive component for the fork device in a robot provided in an embodiment of this application. Figure 13 This is a side view of the second type of drive component for the fork device in the robot provided in the embodiments of this application. Figure 14 This is a schematic diagram of the extended fork device in the robot provided in an embodiment of this application. Figure 15 This is a schematic diagram of the fork extension device in the robot provided in the embodiments of this application, in another direction.

[0156] See Figure 5 , Figures 12 to 15 As shown, in another possible implementation, the third drive assembly 3132 can be disposed on the base 311, and the drive unit 313 can also include a second flexible transmission member 3136 and a plurality of second transmission wheels 3137. The plurality of second transmission wheels 3137 are respectively disposed on the base 311 and the telescopic member 312. The second flexible transmission member 3136 is arranged around the outside of the plurality of second transmission wheels 3137 and moves with the rotation of the second transmission wheels 3137. The output end of the third drive assembly 3132 is connected to any one of the second transmission wheels 3137 on the base 311, and the picking mechanism 320 is connected to the second flexible transmission member 3136.

[0157] It is understandable that when the telescopic member 312 moves relative to the base 311, the second transmission wheel 3137 on the telescopic member 312 has a variable relative position with respect to the second transmission wheel 3137 on the base 311, and the second flexible transmission member 3136 remains in a tensioned state.

[0158] In some embodiments, the plurality of second transmission wheels 3137 include two symmetrically arranged transmission wheel sets. Each transmission wheel set includes an outer transmission wheel 3137a and two inner transmission wheels 3137b. The outer transmission wheel 3137a is disposed on the telescopic member 312, one of the two inner transmission wheels 3137b is disposed on the telescopic member 312, and the other of the two inner transmission wheels 3137b is disposed on the base 311. The inner transmission wheels 3137b and the outer transmission wheels 3137a have different positions in the moving direction of the telescopic member 312. A flexible transmission belt is wrapped around the inner transmission wheels 3137b of the two transmission wheel sets to form a closed loop, and the outer transmission wheels 3137a of the two transmission wheel sets are both located outside the closed loop.

[0159] It is understandable that the two transmission wheel sets are symmetrically distributed along the moving direction of the telescopic member 312, and the distance between the two inner transmission wheels 3137b in the two transmission wheel sets is smaller than the distance between the two outer transmission wheels 3137a on the telescopic member 312, thereby ensuring that the telescopic member 312 has sufficient telescopic stroke relative to the base 311, and the bidirectional telescopic stroke of the telescopic member 312 relative to the base 311 is symmetrical.

[0160] For example, the outer drive wheel 3137a can be located at the middle or near the middle of the telescopic member 312, and the two outer drive wheels 3137a on the telescopic member 312 are respectively located at both ends of the telescopic member 312. The two outer drive wheels 3137a on the base 311 can be respectively located at both ends of the base 311. When the telescopic member 312 moves relative to the base 311, the annular contour of the second flexible transmission member 3136 formed can provide travel space for the relative position change of the telescopic member 312 and the second drive wheel 3137 on the base 311.

[0161] It should be noted that the inner drive wheel 3137b and the outer drive wheel 3137a have a gap. When the telescopic member 312 extends from the front end relative to the base 311, the gap between the inner drive wheel 3137b at the front end of the base 311 and the outer drive wheel 3137a on the telescopic member 312 decreases, while the gap between the inner drive wheel 3137b at the rear end of the base 311 and the outer drive wheel 3137a on the telescopic member 312 increases. When the telescopic member 312 extends from the rear end relative to the base 311, the gap between the inner drive wheel 3137b at the front end of the base 311 and the outer drive wheel 3137a on the telescopic member 312 increases, while the gap between the inner drive wheel 3137b at the rear end of the base 311 and the outer drive wheel 3137a on the telescopic member 312 decreases.

[0162] Furthermore, one of the second transmission wheels 3137 on the base 311 can be a driving wheel, and the other second transmission wheels 3137 can be driven wheels. The third drive assembly 3132 is connected to the driving wheel and drives the driving wheel to rotate. The driving wheel drives the second flexible transmission member 3136 to rotate, which in turn drives the driven wheels to rotate. The second flexible transmission member 3136 can be a belt, chain, etc. Correspondingly, the second transmission wheels 3137 can be pulleys, sprockets, etc., and the cooperation method is similar to that of the first flexible transmission member 3134 and the first transmission wheel 3135, which will not be described in detail here.

[0163] For example, Figure 13 The drive wheel 3137b on the left side of the base 311 is the driving wheel. One side of the driving wheel is the front end, and one side of the drive wheel 3137b on the right side of the base 311 is the rear end. When the driving wheel rotates clockwise, it drives the second flexible transmission member 3136 to move clockwise. The second flexible transmission member 3136 drives the slider on the sliding plate 323 to move towards the rear end along the guide rail on the telescopic member 312. At the same time, the gear coaxially connected to the output end of the second drive assembly 3131 rotates clockwise, driving the telescopic member 312 to move towards the rear end. The third drive assembly 3132 and the second drive assembly 3131 cooperate with each other to make the telescopic mechanism 310 extend backward. When the drive wheel rotates counterclockwise, it drives the second flexible transmission component 3136 to move counterclockwise. The second flexible transmission component 3136 drives the slider on the sliding plate 323 to move towards the front end along the guide rail on the telescopic component 312. At the same time, the gear coaxially connected to the output end of the second drive assembly 3131 rotates counterclockwise, driving the telescopic component 312 to move towards the front end. The third drive assembly 3132 and the second drive assembly 3131 cooperate with each other to extend the telescopic mechanism 310 forward. Please continue reading. Figures 10 to 12 As shown in this application, the telescopic mechanism 310 further includes a first detection unit 314, which is disposed on the base 311 and is used to detect the position of the telescopic member 312 relative to the base 311.

[0164] It is understood that there can be two first detection units 314. The two first detection units 314 can be respectively set at both ends of the base 311 along the length direction. So when the telescopic member 312 extends and retracts relative to the base 311 from different ends to perform the loading and unloading operation, the first detection units 314 at both ends can perform the detection respectively to determine whether the telescopic member 312 extends and whether the telescopic member 312 retracts.

[0165] The first detection unit 314 is used to sense the telescopic component 312. When the telescopic component 312 is in the middle position, both first detection units 314 are triggered simultaneously. When the first detection unit 314 at the front end is triggered but the first detection unit 314 at the rear end is not triggered, the telescopic component 312 is at the front end; otherwise, the telescopic component 312 is at the rear end. If neither of the two first detection units 314 is triggered, it indicates an abnormality or malfunction.

[0166] For example, the first detection unit 314 can be a non-contact detection unit such as a photoelectric sensor, or a contact detection unit such as a contact switch. The specific type and working principle of the first detection unit 314 in this application embodiment are not specifically limited.

[0167] Figure 16 This is a schematic diagram illustrating the setup of the second detection unit in the robot provided in this embodiment of the application.

[0168] See Figure 16 and combined Figure 10 The telescopic mechanism 310 may also include a second detection unit 315, which is disposed on the picking mechanism 320 and is used to detect the position of the picking mechanism 320 relative to the telescopic member 312.

[0169] It is understood that there can be two second detection units 315, and a sensor 316 can be provided on the telescopic member 312. The two second detection units 315 can work together so that when the picking mechanism 320 moves to different ends of the telescopic member 312 to pick up or put down goods, the two second detection units 315 and the sensor 316 are in different positions relative to each other, generating different sensing signals, thereby accurately determining the position of the picking mechanism 320 relative to the telescopic member 312.

[0170] When the pickup unit 320 is located at the rear ( Figure 16 When the second detection unit 315 facing the rear end (Y side) is not able to sense the sensor 316, the second detection unit 315 facing the front end can sense the sensor 316; otherwise, it indicates that the picking mechanism 320 is located at the front end (Y side). Figure 16(on the +Y side). When both second detection units 315 simultaneously sense the sensor 316, it indicates that the picking mechanism 320 is in the middle position. When neither of the two second detection units 315 senses the sensor 316, it indicates that the second detection unit 315 is faulty, the sensor 316 is missing, or the equipment is malfunctioning.

[0171] In one possible implementation, the base 311 may include a mounting plate and two parallel base plates, with the mounting plate connected between the two base plates. The second drive assembly 3131 is disposed on the mounting plate. The telescopic member 312 may include two parallel telescopic plates, which are slidably connected to the two base plates respectively. The two ends of the picking mechanism 320 are slidably connected to the two telescopic plates respectively.

[0172] It should be noted that the third drive assembly 3132 can be a motor. When the third drive assembly 3132 is mounted on the base 311, a drive shaft can be connected between the two base plates. The drive shaft is connected to the second drive wheel 3137. The output shaft of the third drive assembly 3132 can be connected to the drive shaft through a transmission component such as a gear or a reducer, so that the third drive assembly 3132 drives the drive shaft to rotate when it is working.

[0173] When the third drive assembly 3132 is mounted on the telescopic member 312, a drive shaft can be connected between the two telescopic plates. The drive shaft is connected to the first drive wheel 3135. The output shaft of the third drive assembly 3132 can be connected to the drive shaft through a transmission component such as a gear or a reducer, so that the third drive assembly 3132 drives the drive shaft to rotate when it is working.

[0174] In addition, the third drive assembly 3132 can be arranged on the side of the drive shaft to improve space utilization. In this embodiment, the model, output power and transmission ratio between the third drive assembly 3132 and the drive shaft are not specifically limited.

[0175] The structure of storage location 211 will be described below.

[0176] Figure 17 This is a schematic diagram of the structure of the storage location in the robot provided in the embodiments of this application; Figure 18 for Figure 17 A partial side view. See also... Figure 1 , Figure 17 and Figure 18 As shown, in some embodiments, the storage location 211 includes a support 2111 and a fifth drive assembly 2112 disposed on the support 2111. The support 2111 is connected to the column structure 200. The fifth drive assembly 2112 is used to receive the material box 2 on the fork device 300 or to place the material box 2 on the fork device 300.

[0177] The fifth drive assembly 2112 can be a belt drive assembly or a roller drive assembly. The fifth drive assembly 2112 rotates relative to the fork assembly 300 to receive the material box 2 on the fork assembly 300, or to place the material box 2 on the fork assembly 300, without requiring the fork assembly 300 to perform a rotation operation.

[0178] In some embodiments, the fifth driving component 2112 may have a structure similar to that of the fourth driving component 3133 described above. Please refer to the description of the fourth driving component 3133 described above, which will not be repeated here.

[0179] In this application, the bracket 2111 includes a first support member 2111a and two second support members 2111b. The first support member 2111a is fixedly connected to the column structure 200. The two second support members 2111b are disposed on the side of the first support member 2111a away from the column structure 200. The fifth drive assembly 2112 is disposed between the two second support members 2111b. That is, the two second support members 2111b are respectively supported at both ends of the fifth drive assembly 2112.

[0180] In practical implementation, the middle part of the first support member 2111a can be fixedly connected to the column structure 200 by welding or screw connection. Two second support members 2111b are respectively connected to the two end faces of the first support member 2111a, or to the side of the first support member 2111a away from the column structure 200, and are flush with the end face of the first support member 2111a. Thus, when the material box 2 is placed on the upper support 2111, the support 2111 experiences relatively even force and can stably support the material box 2.

[0181] The first support member 2111a and the two second support members 2111b form three guard edges. The material box 2 enters the area enclosed by the first support member 2111a and the two second support members 2111b through the side opposite to the first support member 2111a. The first support member 2111a and the two second support members 2111b restrict the material box 2 to prevent the material box 2 from sliding off the support 2111 when the robot 1 moves.

[0182] In some embodiments, the storage location 211 also includes a controller, and the storage location 211 further includes a third detection unit 2113. The third detection unit 2113 and the fifth drive assembly 2112 are both electrically connected to the controller. The third detection unit 2113 is located on the support 2111. The third detection unit 2113 is used to detect whether the material box 2 is in a safe position. When the material box 2 is in an unsafe position, the controller controls the fifth drive assembly 2112 to rotate so as to move the material box 2 to a safe position.

[0183] It should be noted that a non-safe position is a location where the material box 2 is at risk of slipping. For example, the position of the material box 2 relative to the support 2111 when one-third of the material box 2 is outside the support 2111. A safe position is a position where the material box 2 is securely placed on the support 2111.

[0184] The controller can be located on the storage location 211, the mobile chassis 100, or the forklift device 300. When the material box 2 is partially outside the support 2111 due to abnormal reasons such as vibration and there is a risk of slipping, the fifth drive component 2112 is controlled to rotate to move the material box 2 into the area enclosed by the support 2111.

[0185] In a specific implementation, the third detection unit 2113 is located on the first support member 2111a, and the third detection unit 2113 and each of the second support members 2111b are located on the same side of the first support member 2111a.

[0186] The third detection unit 2113 can be a limit switch or a proximity sensor. The material box 2 enters and exits the bracket 2111 via the side opposite to the first support member 2111a. If there is a risk that the material box 2 will slip off the bracket 2111, the distance between the material box 2 and the first support member 2111a will gradually increase, causing the material box 2 to move out of the detection range of the limit switch or proximity sensor. The limit switch or proximity sensor will then be unable to detect the material box 2, allowing the controller to determine whether the material box 2 is in a safe position. This facilitates the detection of the distance between the material box 2 and the third detection unit 2113.

[0187] In some embodiments, the side of the second support member 2111b facing the fifth drive assembly 2112 includes a mounting section 2111c and an inclined section 2111d. The fifth drive assembly 2112 is disposed on the mounting section 2111c, and the inclined section 2111d is located above the fifth drive assembly 2112. The vertical height of the side of the inclined section 2111d facing the mounting section 2111c is greater than the vertical height of the side of the inclined section 2111d away from the mounting section 2111c. In this way, the inclined section 2111d forms an inclined guard to prevent the material box 2 from slipping off the support 2111 when the robot 1 moves, and to correct the posture of the material box 2.

[0188] Figure 19 A schematic diagram of the structure of a warehousing system provided in an embodiment of this application. See also... Figures 1 to 19 As shown, this application embodiment also provides a warehousing system, including a shelf 3 and a robot 1 provided in any of the above embodiments. The number of shelves 3 is at least two, and each shelf 3 is arranged at intervals. An aisle 31 is formed between adjacent shelves 3. The robot 1 moves in the aisle 31, and the fork device 300 of the robot 1 can pick up and place material boxes 2 on the shelves 3 on both sides of the aisle 31.

[0189] The structure and working principle of robot 1 have been described in detail in the above embodiments, and will not be repeated here.

[0190] The warehousing system provided in this application embodiment uses a robot 1. The robot 1 has two upright assemblies 210 positioned opposite each other along the moving direction of a mobile chassis 100. A forklift device 300 and each storage location 211 are located between the two upright assemblies 210. The forklift device 300 picks up and places material boxes 2 between itself and the shelves 3 on the side of the moving chassis 100 along its moving direction. Therefore, the robot does not need to rotate when picking up or placing material boxes 2, improving its working efficiency. Furthermore, it reduces the robot's size, decreasing the rotation radius required for overall robot rotation, thereby reducing aisle width and increasing storage density.

[0191] In this application, shelf 3 along Figure 19 In each layer along the Z-axis, multiple rows of storage locations can be arranged side-by-side, and one material box 2 can be placed on each storage location. Each row of storage locations can be arranged along... Figure 19 The Y-direction spacing is set in the middle, and each row has a spacing along the middle. Figure 19 The transmission mechanism (such as roller assembly or belt drive mechanism) in the Y direction of the fork device 300 is used to transfer the next material box 2 or an empty storage position to the side of the fork device 300 after the fork device 300 picks up or puts in the material box 2.

[0192] Figure 20 This is a schematic diagram of the structure of another warehousing system provided in an embodiment of this application; Figure 21 for Figure 20 Top view; Figure 22 for Figure 20 Side view; Figure 23 for Figure 20 A schematic diagram of the structure of the robot and its track; Figure 25 for Figure 20 Schematic diagram of the China Mobile chassis; Figure 26 for Figure 20 See the structural diagram of the other mobile chassis. Figures 20 to 23 , Figure 25 and Figure 26 As shown, this application also provides a mobile chassis 100, which can be applied to the robot 1 provided in any of the above embodiments. The mobile chassis 100 can also be applied to... Figures 20 to 23 The warehousing system shown.

[0193] In this application, the mobile chassis 100 includes a chassis body 120 and at least one pressure wheel assembly 110. The pressure wheel assembly 110 includes at least one pressure wheel 111 and is located on the chassis body 120. When the pressure wheel assembly 110 is subjected to pressure, it increases the ground pressure of the chassis body 120, thereby enabling the robot 1 to move smoothly. The pressure applied to the pressure wheel assembly 110 can be provided by a warehousing system. This application embodiment and accompanying drawings illustrate that the pressure applied to the pressure wheel assembly 110 can be provided by a warehousing system. It is understood that the pressure applied to the pressure wheel assembly 110 can also be provided by a guide plate disposed on the ground.

[0194] The structure of the warehousing system and the mobile chassis 100 will be described below.

[0195] Please continue reading Figures 20 to 23 As shown, this application embodiment also provides another warehousing system, including a track 4, a shelf 3 and a robot 1. The number of shelves 3 is at least two, and each shelf 3 is arranged at intervals. An aisle 31 is formed between adjacent shelves 3. The robot 1 moves in the aisle 31. The robot 1 includes a mobile chassis 100 and a fork device 300. The fork device 300 can pick up and place material boxes 2 on the shelves 3 on both sides of the aisle 31.

[0196] Track 4 is located within tunnel 31, and the length direction of track 4 (e.g.) Figure 21 The X direction in the tunnel is consistent with the length direction of tunnel 31.

[0197] When robot 1 moves to track 4, the pressure wheel assembly 110 contacts track 4, so that track 4 applies pressure to the mobile chassis 100 through the pressure wheel assembly 110.

[0198] In practice, the number of tracks 4 can be at least one. When the robot 1 moves into the tunnel 31, the pressure wheel set 110 on the mobile chassis 100 contacts the track 4. While the track 4 provides guidance for the robot 1, it can also apply pressure to the mobile chassis 100 through the pressure wheel set 110 to make the mobile chassis 100 move smoothly within the track 4 and prevent the robot 1 from shaking.

[0199] It should be noted that the robot 1 in this embodiment can be a handling robot used in related technologies for picking up and placing material boxes 2 in the alleyway 31. The handling robot can rotate within the alleyway 31 to pick up and place material boxes 2. The robot 1 in this embodiment can also be the one described above. Figure 1 , Figure 2 , Figures 4 to 18 The robot 1 provided in any of the embodiments is not limited herein.

[0200] In this application, the track 4 has a guide portion 41, the length direction of which is consistent with the length direction of the track 4, and the pressure roller assembly 110 contacts the guide portion 41. By providing the guide portion 41, the pressure roller assembly 110 is guided, preventing it from moving out of the track 4.

[0201] Figure 24 for Figure 21 A magnified view of point A in the middle. See also... Figure 21 and Figure 24 As shown, in some embodiments, the guide portion 41 is a plurality of teeth arranged at intervals along the length direction of the track 4; or, the guide portion 41 is a rack.

[0202] The pressure roller 111 is a gear that meshes with the rack or its teeth. By meshing the gear with the rack, it provides linear guidance for the robot 1 to prevent the pressure roller assembly 110 from moving off the track 4. The structure is simple, the cost is low, and the installation is convenient.

[0203] In some embodiments, the same tunnel 31 has two tracks 4, and the number of pressure roller sets 110 is at least two, with each track 4 corresponding to at least one pressure roller set 110. The two tracks 4 are parallel to each other. By setting two tracks 4, the force on the mobile chassis 100 is more evenly distributed, effectively preventing the robot 1 from shaking.

[0204] Please continue reading Figure 25 and Figure 26 As shown in this application, at least one pressure roller 111 includes at least one fixed pressure roller 112, and the mobile chassis 100 includes a chassis body 120 and at least one chassis drive unit 130. The chassis drive unit 130 is disposed on the chassis body 120 to drive the chassis body 120 to move, and the fixed pressure roller 112 is disposed on the chassis body 120.

[0205] Please continue reading Figure 25 and Figure 26 As shown, and in combination Figure 23 As shown, in some embodiments, at least one pressure wheel 111 includes at least one floating pressure wheel 113;

[0206] The chassis drive unit 130 includes at least one drive wheel 131 and at least one drive wheel hinge frame 132. The drive wheel hinge frame 132 is connected to the drive wheel 131 in a one-to-one correspondence. The drive wheel 131 rotates relative to the chassis body 120, and the drive wheel hinge frame 132 is hinged to the chassis body 120.

[0207] The floating pressure wheel 113 is connected to the drive wheel hinge frame 132, and the floating pressure wheel 113 is buoyant relative to the drive wheel hinge frame 132.

[0208] The two drive wheels 131 can be located in the central area of ​​the chassis body 120, and the two drive wheels 131 are symmetrically arranged. Each drive wheel 131 is connected to one chassis drive unit 130.

[0209] When the floating pressure wheel 113 of robot 1 is not in contact with the track 4, the floating pressure wheel 113 is in a state of no force. When robot 1 enters the area formed by the track 4, the track 4 presses against the floating pressure wheel 113, causing the floating pressure wheel 113 to move downward. The downward pressure of the track 4 on the floating pressure wheel 113 is transmitted to the drive wheel hinge frame 132, and then to the drive wheel 131 through the drive wheel hinge frame 132, which increases the pressure of the drive wheel 131 on the ground, thereby increasing the friction between the drive wheel 131 and the ground. In this way, the driving force of the chassis drive unit 130 can be increased, allowing the mobile chassis 100 to obtain greater acceleration or deceleration.

[0210] In some embodiments, the mobile chassis 100 further includes a first shock absorption unit 140, which includes a first telescopic member 141 and a first elastic member 142 sleeved on the first telescopic member 141. One end of the first telescopic member 141 is hinged to the chassis body 120, and the other end of the first telescopic member 141 is hinged to the drive wheel hinge frame 132. The drive wheel hinge frame 132 has a first hinge portion 1321, which is hinged to the chassis body 120.

[0211] Ground protrusions or foreign objects can cause vibrations in the drive wheel 131, which in turn causes vibrations in the mobile chassis 100. This application connects the drive wheel hinge frame 132 to the first damping unit 140, which buffers the vibrations of the drive wheel 131, thereby enabling the mobile chassis 100 to move smoothly.

[0212] The first elastic element 142 can be a spring or an elastic sleeve.

[0213] In addition, the mobile chassis 100 also includes a floating structure 150, and the floating pressure wheel 113 is connected to the drive wheel hinge frame 132 through the floating structure 150;

[0214] The floating structure 150 is at least partially located above the drive wheel 131. When the pressure wheel assembly 110 contacts the surface of the track 4 facing the pressure wheel assembly 110, the floating pressure wheel 113 applies pressure to the drive wheel 131 through the floating structure 150 and the drive wheel hinge frame 132.

[0215] In one possible implementation, the floating structure 150 is a leaf spring, with the first end of the leaf spring fixedly connected to the drive wheel hinge frame 132 and the second end of the leaf spring fixedly connected to the floating pressure wheel 113.

[0216] The leaf spring is located above the drive wheel 131.

[0217] When the floating pressure wheel 113 of robot 1 is not in contact with the track 4, the floating pressure wheel 113 is in a state of no force, and the leaf spring is also in a state of no force (e.g., Figure 25 (As shown). When robot 1 enters the area formed by track 4, the downward pressure of track 4 on the floating pressure wheel 113 is transmitted to the drive wheel hinge frame 132 through the leaf spring. The leaf spring bends and deforms, storing elastic force (as shown). Figure 24 (As shown). This application uses the bending deformation and reset of the leaf spring to make the floating pressure wheel 113 float up and down, applying pressure to the drive wheel 131 or releasing the pressure applied to the drive wheel 131. The structure is simple and the cost is low.

[0218] like Figure 26 As shown, in another possible implementation, the floating structure 150 includes a second damping unit 151 and a connecting rod 152. The connecting rod 152 is located between the second damping unit 151 and the first damping unit 140. The drive wheel hinge frame 132 has a second hinge portion 1322 and a third hinge portion 1323. The first end of the connecting rod 152 is hinged to the second hinge portion 1322, and the second end of the connecting rod 152 is fixedly connected to the floating pressure wheel 113.

[0219] The second shock absorption unit 151 includes a second telescopic member 1511 and a second elastic member 1512 sleeved on the second telescopic member 1511. The first end of the second telescopic member 1511 is hinged to the third hinge portion 1323, and the second end of the second telescopic member 1511 is hinged to the second end of the connecting rod 152.

[0220] The second elastic element 1512 can be a spring or an elastic sleeve.

[0221] When the track 4 presses down on the floating pressure wheel 113, causing the floating pressure wheel 113 to move downward, the connecting rod 152 swings, compressing the second elastic element 1512, and then transmitting the elastic force to the third hinge part 1323. This causes the drive wheel hinge frame 132 to tend to swing counterclockwise around the hinge point between the first hinge part 1321 and the chassis body 120. This increases the pressure of the drive wheel 131 on the ground, thereby increasing the friction of the drive wheel 131 on the ground. In this way, the driving force of the chassis drive unit 130 can be increased, allowing the moving chassis 100 to obtain greater acceleration or deceleration.

[0222] To facilitate the installation of the pressure roller 111, in some embodiments, the pressure roller assembly 110 includes a support base 114, with the pressure roller 111 connected to the support base 114 and rotating relative to the support base 114. The fixed pressure roller 112 can be correspondingly provided with a support base 114, which is fixedly connected to the chassis body 120, thereby fixing the fixed pressure roller 112 to the chassis body 120. The floating pressure roller 113 can also be correspondingly provided with a support base 114, which is fixedly connected to a leaf spring or connecting rod 152, thereby fixing the floating pressure roller 113 to the floating structure 150.

[0223] In practice, the number of pressure rollers 111 on the same support 114 is two or more, and the pressure rollers 111 are arranged in an array. This increases the contact area between the pressure roller group 110 and the track 4, reducing the amplitude of the robot 1's swaying in the forward and backward and left and right directions.

[0224] The mobile chassis 100 also includes an auxiliary wheel set 160, which includes at least four auxiliary wheels. The chassis body 120 has at least one auxiliary wheel at each of its four corners. The chassis body 120 also has at least one fixed pressure wheel 112 at each of its four corners.

[0225] The auxiliary wheel set 160 and the fixed pressure wheel 112 are located on the bottom and surface of the chassis body 120, respectively. At least one auxiliary wheel set 160 and at least one fixed pressure wheel 112 are located at each of the four corners of the chassis body 120. The fixed pressure wheels 112 are positioned at the four corners of the chassis body 120 to resist swaying of the robot 1 in directions other than its travel direction, as well as swaying in the travel direction caused by rapid acceleration or deceleration.

[0226] Please continue reading Figure 20 and Figure 21 As shown, in the warehousing system provided in this application embodiment, the track 4 and the shelf 3 adjacent to the track 4 are fixedly connected; or, the track 4 is used to be fixedly connected to the ground.

[0227] The track 4 and the adjacent shelf 3 can be fixed by detachable connection methods such as screws or snap-fits, or by welding. When the track 4 is fixed to the ground, multiple track fixing seats 42 can be installed on the track 4. The track fixing seats 42 are connected to the pre-set anchor bolts (or other methods) on the ground, and the track is fixed on the track fixing seats.

[0228] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A mobile chassis, characterized in that, Applied to robots, the mobile chassis includes a chassis body, at least one chassis drive unit, and at least one pressure wheel assembly. The pressure wheel assembly includes at least one pressure wheel, which is located on the chassis body. When the pressure wheel assembly is subjected to downward pressure, it increases the ground pressure of the chassis body, thereby enabling the robot to move smoothly. The chassis drive unit is disposed on the chassis body to drive the chassis body to move; the chassis drive unit includes at least one drive wheel and at least one drive wheel hinge frame, the drive wheel and the drive wheel hinge frame are connected in a one-to-one correspondence, the drive wheel rotates relative to the chassis body, and the drive wheel hinge frame is hinged to the chassis body; The at least one pressure wheel includes at least one fixed pressure wheel and at least one floating pressure wheel. The fixed pressure wheel is disposed on the chassis body, and the floating pressure wheel is connected to the drive wheel hinge frame and is buoyant relative to the drive wheel hinge frame. When the pressure wheel assembly is subjected to downward pressure, the floating pressure wheel moves downward and transmits the downward pressure to the drive wheel through the drive wheel hinge frame, thereby increasing the ground pressure of the drive wheel.

2. The mobile chassis according to claim 1, characterized in that, It also includes a first shock absorption unit, which includes a first telescopic member and a first elastic member sleeved on the first telescopic member. One end of the first telescopic member is hinged to the chassis body, and the other end of the first telescopic member is hinged to the drive wheel hinge frame. The drive wheel hinge frame has a first hinge portion, which is hinged to the chassis body.

3. The mobile chassis according to claim 2, characterized in that, It also includes a floating structure, through which the floating pressure wheel is connected to the drive wheel hinge frame; The floating structure is at least partially located above the drive wheel. When the pressure wheel assembly is subjected to downward pressure, the floating pressure wheel applies pressure to the drive wheel through the floating structure and the drive wheel hinge frame.

4. The mobile chassis according to claim 3, characterized in that, The floating structure is a leaf spring, with the first end of the leaf spring fixedly connected to the drive wheel hinge frame and the second end of the leaf spring fixedly connected to the floating pressure wheel; The leaf spring is located above the drive wheel.

5. The mobile chassis according to claim 3, characterized in that, The floating structure includes a second damping unit and a connecting rod. The connecting rod is located between the second damping unit and the first damping unit. The drive wheel hinge frame has a second hinge portion and a third hinge portion. The first end of the connecting rod is hinged to the second hinge portion, and the second end of the connecting rod is fixedly connected to the floating pressure wheel. The second shock absorption unit includes a second telescopic member and a second elastic member sleeved on the second telescopic member. The first end of the second telescopic member is hinged to the third hinge portion, and the second end of the second telescopic member is hinged to the second end of the connecting rod.

6. The mobile chassis according to claim 1, characterized in that, The pressure roller assembly includes a support base, the pressure roller is connected to the support base, and the pressure roller rotates relative to the support base.

7. The mobile chassis according to claim 6, characterized in that, The number of pressure rollers on the same support base is two or more, and the pressure rollers are arranged in an array.

8. The mobile chassis according to claim 1, characterized in that, It also includes an auxiliary wheel set, which includes at least four auxiliary wheels, and at least one of the auxiliary wheels is located at each of the four corners of the chassis body; The chassis body has at least one fixed pressure wheel at each of its four corners.

9. A robot, characterized in that, The invention includes a column structure, a fork assembly, and a mobile chassis as described in any one of claims 1 to 8, wherein the column structure is disposed on the mobile chassis, and the column structure includes two column assemblies, which are disposed opposite to each other along the moving direction of the mobile chassis. One of the two column assemblies has multiple storage locations on the side facing the other, and the storage locations are arranged sequentially at intervals along the vertical direction. The forklift device is arranged on the side of the other column assembly facing the first one, and the forklift device and each of the storage locations are located between the two column assemblies. The fork assembly moves vertically to pick up and place material boxes at each of the storage locations, and to pick up and place the material boxes between the fork assembly and the side of the moving chassis in the direction of movement.

10. The robot according to claim 9, characterized in that, The forklift device includes a telescopic mechanism and a picking mechanism. The telescopic mechanism is connected to the column assembly. The picking mechanism is mounted on the telescopic mechanism and moves along the length of the telescopic mechanism. The picking mechanism includes a first drive assembly and a picking unit. The picking unit has two connecting parts. The first drive assembly is connected to the picking unit and drives the picking unit to move, so that the connecting parts are detachably connected to the material box. The two connecting parts are located on opposite sides of the first drive assembly, so that the picking unit can pick up and place the material box on opposite sides of the moving chassis in the direction of movement.

11. The robot according to claim 10, characterized in that, The picking mechanism further includes a sliding plate and a connecting plate. The sliding plate is movably connected to the telescopic mechanism, and the connecting plate is connected to the sliding plate. The first driving component is disposed on the connecting plate, and the picking unit is connected to the output end of the first driving component.

12. The robot according to claim 10, characterized in that, The telescopic mechanism includes a base, a telescopic component, and a drive unit. The base has a lifting slider, which is slidably connected to the column assembly. The telescopic component is movably connected to the base, and the picking mechanism is movably connected to the telescopic component. The drive unit includes a second drive component, a third drive component, and a fourth drive component. The second drive component is used to drive the telescopic member to move relative to the base. The third drive component drives the picking mechanism to move relative to the telescopic member. The fourth drive component is used to receive the material box on each of the storage locations or to place the material box on each of the storage locations.

13. The robot according to claim 12, characterized in that, The telescopic mechanism further includes a first detection unit and a second detection unit. The first detection unit is disposed on the base and is used to detect the position of the telescopic member relative to the base. The second detection unit is disposed on the picking mechanism, and the second detection unit is used to detect the position of the picking mechanism relative to the telescopic member.

14. The robot according to any one of claims 9 to 13, characterized in that, The storage location includes a support and a fifth drive assembly mounted on the support. The support is connected to the column structure. The fifth drive assembly is used to receive the material box on the fork assembly or to place the material box on the fork assembly.

15. The robot according to claim 14, characterized in that, The bracket includes a first support member and two second support members. The first support member is fixedly connected to the column structure, and the two second support members are disposed on the side of the first support member away from the column structure. The fifth drive assembly is disposed between the two second support members.

16. The robot according to claim 15, characterized in that, It also includes a controller, and the storage location also includes a third detection unit. The third detection unit and the fifth drive assembly are both electrically connected to the controller. The third detection unit is located on the bracket and is used to detect whether the material box is in a safe position. When the material box is in an unsafe position, the controller controls the fifth drive assembly to rotate so as to move the material box to the safe position.

17. The robot according to claim 16, characterized in that, The third detection unit is located on the first support member, and the third detection unit and each of the second support members are located on the same side of the first support member.

18. The robot according to claim 15, characterized in that, The second support member has a mounting section and an inclined section on the side facing the fifth drive assembly. The fifth drive assembly is disposed on the mounting section, and the inclined section is located above the fifth drive assembly. The height of the inclined section facing the mounting section along the vertical direction is greater than the height of the inclined section away from the mounting section along the vertical direction.

19. A warehousing system, characterized in that, The device includes a shelf and a robot as described in any one of claims 9 to 18, wherein the number of shelves is at least two, the shelves are arranged at intervals, and an aisle is formed between adjacent shelves, the robot moves in the aisle, and the robot's fork mechanism can pick up and place material boxes on the shelves on both sides of the aisle.

20. A warehousing system, characterized in that, Includes a track and a robot, the robot including a mobile chassis, the mobile chassis being the mobile chassis according to any one of claims 1 to 8; When the robot moves to the track, the pressure wheel assembly of the mobile chassis comes into contact with the track, so that the track applies pressure to the mobile chassis through the pressure wheel assembly.

21. The warehousing system according to claim 20, characterized in that, The track has a guide section, the length direction of which is consistent with the length direction of the track, and the pressure wheel assembly is in contact with the guide section.

22. The warehousing system according to claim 21, characterized in that, The guide portion is a plurality of teeth arranged at intervals along the length direction of the track; or, the guide portion is a rack. The pressure wheel of the pressure wheel assembly is a gear that meshes with the rack or each of the teeth.

23. The warehousing system according to claim 20, characterized in that, It also includes shelves, the number of which is at least two, the shelves are arranged at intervals, and aisles are formed between adjacent shelves; The robot moves in the aisle, and the robot includes a forklift device that can pick up and place material boxes on the shelves on both sides of the aisle. The track is located within the tunnel, and the length direction of the track is consistent with the length direction of the tunnel.

24. The warehousing system according to claim 23, characterized in that, The same tunnel has two tracks, and the number of pressure wheel sets is at least two, with each track corresponding to at least one pressure wheel set.

25. The warehousing system according to claim 24, characterized in that, The track and the shelf adjacent to the track are fixedly connected; Alternatively, the track may be used to fix itself to the ground.

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