Transport robot, control method and warehousing system

Abstract

The application provides a carrying robot, a control method and a storage system. The carrying robot comprises a first vehicle body and a second vehicle body. The first vehicle body comprises a fork assembly, a first connecting part and a first climbing assembly. The first climbing assembly is used for climbing on the second climbing assembly on a shelf in a vertical direction. The second vehicle body comprises a second connecting part, a walking wheel set and a platform used for receiving goods. The second vehicle body walks on the ground through the walking wheel set. The second vehicle body is connected or separated from the first vehicle body through the cooperation of the second connecting part and the first connecting part. Through the cooperation of the first vehicle body and the second vehicle body which are separated from each other, the operation of taking and placing goods on the shelf and the operation of moving the goods on the ground can be respectively realized through the first vehicle body and the second vehicle body, so that the energy consumption of the first vehicle body and the second vehicle body in each automatic operation process can be greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics transportation, and in particular to a carrying robot, a control method and a warehouse system. BACKGROUND

[0002] The carrying robot is one of the important components of an automated and intelligent warehouse system. The carrying robot can climb on a shelf to take or place goods. However, the existing carrying robot is of an integrated structure, and when different functions are implemented, the whole machine needs to act as a whole, which is high in energy consumption. SUMMARY

[0003] The present application aims to provide a carrying robot, a control method and a warehouse system, so that the parts capable of implementing different functions on the carrying robot can be separated from the whole machine and independently act, thereby reducing energy consumption.

[0004] The first aspect of the present application provides a carrying robot, which comprises:

[0005] A first vehicle body, which comprises a fork assembly, a first connection part and a first climbing assembly, the first climbing assembly being used for climbing on a second climbing assembly on a shelf in a vertical direction; the first vehicle body can transfer goods between the first vehicle body and a second vehicle body through the fork assembly;

[0006] A second vehicle body, which comprises a second connection part, a walking wheel set and a platform for receiving goods, the second vehicle body walking on the ground through the walking wheel set, and the second vehicle body realizing connection or separation with the first vehicle body through cooperation of the second connection part and the first connection part.

[0007] The second aspect of the present application further provides a carrying robot control method, the carrying robot being the carrying robot provided in the first aspect of the present application, and the method comprising the following steps:

[0008] Controlling the second vehicle body to walk on the ground to a first connection position corresponding to below the first vehicle body to be connected;

[0009] Controlling the first vehicle body to walk on the shelf to a second connection position, so that the first connection part of the first vehicle body cooperates with the second connection part of the second vehicle body, and controlling the first climbing assembly of the first vehicle body to separate from the second climbing assembly of the shelf;

[0010] Controlling the second vehicle body to carry the first vehicle body to move on the ground to a corresponding second climbing assembly at a next goods taking or placing task execution position, so that the first vehicle body cooperates with the corresponding second climbing assembly.

[0011] The third aspect of the present application also provides a carrying robot control method, the carrying robot being the carrying robot provided by the first aspect of the present application, and the method comprises the following steps:

[0012] controlling the second vehicle body to walk on the ground to a first transfer position corresponding to below a rack column where the first vehicle body is located;

[0013] controlling the first vehicle body to walk on the rack to a second transfer position, wherein the projections of the first transfer position and the second transfer position on the ground do not coincide, and in the second transfer position, the surface of the fork assembly of the first vehicle body supporting the goods matches the surface of the platform of the second vehicle body supporting the goods in height;

[0014] controlling the fork assembly to transfer the goods from the first vehicle body to the second vehicle body, or controlling the fork assembly to transfer the goods from the second vehicle body to the first vehicle body.

[0015] The fourth aspect of the present application also provides a warehouse system, which comprises a rack and the carrying robot of the first aspect of the present application. The rack is provided with a second climbing assembly, which is used to cooperate with the first climbing assembly in the carrying robot to make the first vehicle body climb in the vertical direction on the rack.

[0016] The technical solution provided by the present application can achieve the following beneficial effects:

[0017] The carrying robot, the control method and the warehouse system provided by the present application can realize the operation of taking and placing goods on the rack and the operation of moving goods on the ground by the first vehicle body and the second vehicle body respectively through the cooperation of the first vehicle body and the second vehicle body separated from each other, that is, the first vehicle body does not need to carry the second vehicle body to move synchronously on the rack when the first vehicle body takes and places goods on the rack, and the second vehicle body does not need to carry the first vehicle body to move synchronously on the ground when the second vehicle body moves goods on the ground, thereby greatly reducing the energy consumption of the first vehicle body and the second vehicle body in each operation process.

[0018] It should be understood that the above general description and the following detailed description are only exemplary and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The working scene schematic diagram of the warehouse system provided by the embodiment of the present application;

[0020] Figure 2 The structure schematic diagram of the first vehicle body provided by the embodiment of the present application;

[0021] Figure 3 The structure schematic diagram of the second vehicle body provided by the embodiment of the present application;

[0022] Figure 4 Fig. 5 is a schematic view of the second vehicle moving to a position to interface with the cargo of the first vehicle;

[0023] Figure 5 Fig. 6 is a schematic view of the second vehicle moving to a position to interface with the cargo of the first vehicle;

[0024] Figure 6 Fig. 7 is a schematic view of the first vehicle transferring cargo to the second vehicle;

[0025] Figure 7 Fig. 8 is a schematic view of the second vehicle carrying the cargo moving;

[0026] Figure 8 Fig. 9 is a schematic view of the second vehicle moving to a position to interface with the first vehicle;

[0027] Figure 9 Fig. 10 is a schematic view of the first vehicle interfacing with the second vehicle;

[0028] Figure 10 Fig. 11 is a schematic view of the second vehicle separating the first vehicle from the rack;

[0029] Figure 11 Fig. 12 is a schematic view of the second vehicle carrying the first vehicle moving;

[0030] Figure 12 Fig. 13 is a partial enlarged view of the first climbing assembly and the second climbing assembly cooperating;

[0031] Figure 13 Fig. 14 is a schematic view of the second vehicle carrying the object moving in the passage.

[0032] Reference Signs:

[0033] 1 - first vehicle;

[0034] 11 - first climbing assembly;

[0035] 111 - sprocket;

[0036] 112 - first transmission wheel;

[0037] 113 - second transmission wheel;

[0038] 114 - transmission belt;

[0039] 115 - support arm;

[0040] 12 - base;

[0041] 13 - fork assembly;

[0042] 2 - second vehicle;

[0043] 21 - wheel set;

[0044] 22 - chassis assembly;

[0045] 23 - platform;

[0046] 231 - movable part;

[0047] 232 - support part;

[0048] 232a - bottom plate;

[0049] 232b - side plate;

[0050] 3 - shelf;

[0051] 31 - second climbing assembly;

[0052] 311 - chain;

[0053] 32 - passage;

[0054] 33 - support column;

[0055] 4 - magazine.

[0056] The drawings incorporated herein and forming a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application. DETAILED DESCRIPTION

[0057] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0058] In the description of the present application, unless explicitly defined and limited, the terms "first", "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance; unless otherwise specified or explained, the term "multiple" means two or more; the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0059] In the description of the specification, it needs to be understood that the "upper", "lower" and other orientation words described in the embodiments of the application are described in the angle shown in the drawings, and should not be understood as a limitation on the embodiments of the application. In addition, in the context, it also needs to be understood that when referring to one element connected to another element "on" or "under", it can not only be directly connected to another element "on" or "under", but also indirectly connected to another element "on" or "under" through an intermediate element.

[0060] The embodiments of the application provide a carrying robot, Figure 1 The structure schematic diagram of the warehouse system provided by the embodiments of the application is referred to Figure 1 The carrying robot can be applied to the warehouse system. Specifically, the carrying robot includes two parts, that is, a first vehicle body 1 and a second vehicle body 2, the first vehicle body 1 can be connected to form a whole, or can be separated and independently moved. Among them, the second vehicle body 2 can be used for temporarily storing the box 4, or can move on the ground to transfer the box 4, the first vehicle body 1 can climb on the shelf 3 to take or put the box 4, at the same time, the first vehicle body 1 can also take the box 4 from the second vehicle body 2, or put the box 4 to the second vehicle body 2.

[0061] Specifically, referring to Figure 2 The first vehicle body 1 includes a first connecting part (not shown in the figure) and a first climbing assembly 11, and the first climbing assembly 11 is used for climbing on the second climbing assembly 31 on the shelf 3 in the vertical direction. Referring to Figure 3 The second vehicle body 2 includes a second connecting part (not shown in the figure) and a walking wheel set 21, and the second vehicle body 2 walks on the ground through the walking wheel set 21, and the second vehicle body 2 realizes the connection or separation with the first vehicle body 1 through the cooperation of the second connecting part and the first connecting part.

[0062] Among them, the first connecting part and the second connecting part can have various forms, for example, the first connecting part and the second connecting part are in the form of pin column and pin hole cooperation, or can be in the form of mutual clamping cooperation, of course, other forms capable of realizing the connection and separation of the first connecting part and the second connecting part are also possible, which are not limited by the embodiments.

[0063] Exemplarily, the operation of taking goods from the shelf 3 can be carried out in the following steps:

[0064] Step one, referring to Figure 4 The first vehicle body 1 moves to the corresponding position of the shelf 3 through the cooperation of the first climbing assembly 11 and the second climbing assembly 31, and picks up the goods to the first vehicle body 1. At the same time, the second vehicle body 2 can move on the ground to the position capable of connecting with the first vehicle body 1.

[0065] Step two, referring to Figure 5, the first vehicle body 1 carries the goods to move down along the goods shelf 3 to a goods handover position, and the second vehicle body 2 moves to the goods handover position on the ground, specifically, the first vehicle body 1 is located at a first handover position, and the second vehicle body 2 is located at a second handover position, and the projections of the first handover position and the second handover position on the ground do not coincide. The goods handover position can be a position at which the first vehicle body 1 can transfer the goods to the second vehicle body 2, or a position at which the goods can be picked up from the second vehicle body 2, and at the goods handover position, the surface of the fork assembly 13 of the first vehicle body 1 carrying the goods and the surface of the platform 23 of the second vehicle body 2 carrying the goods match in height, specifically, the matching does not mean that they are exactly on the same horizontal plane, as long as the goods can be transferred between the two vehicle bodies.

[0066] Step three, refer to Figure 6 After the first vehicle body 1 and the second vehicle body 2 both reach the goods handover position, the first vehicle body 1 can transfer the goods to the second vehicle body 2.

[0067] Step four, refer to Figure 7 The second vehicle body 2 can move while carrying the goods. At the same time, the first vehicle body 1 can ascend along the goods shelf 3, and exemplarily, the first vehicle body 1 can ascend to the goods location of the goods to be picked up, or ascend to the top of the goods shelf 3 for charging or standby.

[0068] In addition, the operation of placing goods on the goods shelf 3 is opposite to the above-mentioned operation of picking up goods, and will not be described here.

[0069] The carrying robot provided by the embodiment of the present application can realize the operation of picking up and placing goods on the goods shelf 3 and the operation of moving goods on the ground by the first vehicle body 1 and the second vehicle body 2 respectively through the cooperation of the first vehicle body 1 and the second vehicle body 2 separated from each other, that is, when the first vehicle body 1 picks up and places goods on the goods shelf 3, the second vehicle body 2 does not need to be carried to move synchronously on the goods shelf 3, and when the second vehicle body 2 moves goods on the ground, the first vehicle body 1 does not need to be carried to move synchronously on the ground, thereby greatly reducing the energy consumption of the first vehicle body 1 and the second vehicle body 2 in each operation process.

[0070] In addition, the second climbing assembly 31 on the goods shelf 3 can be multiple, and the first climbing assembly 11 of the first vehicle body 1 can cooperate with any one of the second climbing assemblies 31, and specifically, the second vehicle body 2 can switch between the second climbing assemblies 31. Exemplarily, the switching can be performed according to the following steps:

[0071] Step one, refer to Figure 8 The second vehicle body 2 walks to a first docking position below the corresponding first vehicle body 1 on the ground, and specifically, the first docking position is a position on the ground directly below the first vehicle body 1.

[0072] Step two, refer to Figure 9 The first vehicle body 1 moves on the shelf to the second connection position, and the first connection part of the first vehicle body 1 is connected with the second connection part of the second vehicle body 2.

[0073] Step three, refer to Figure 10 The second vehicle body 2 drives the first vehicle body 1 to move away from the shelf 3, so that the first climbing assembly 11 is separated from the second climbing assembly 31.

[0074] Step four, refer to Figure 11 The second vehicle body 2 carries the first vehicle body 1 to move on the ground, so as to drive the first vehicle body 1 to connect with the second climbing assembly 31 corresponding to the next picking and placing task, and realize the switching of the second climbing assembly 31.

[0075] Therefore, the second vehicle body 2 can carry goods and the first vehicle body 1, realize the switching of the first vehicle body 1 between the second climbing assemblies 31, and expand the range of picking and placing goods of the first vehicle body 1 on the shelf 3. In addition, the first vehicle body 1 can be connected with the shelf 3 in the air through the action of the second vehicle body 2, so as to release the space at the bottom of the shelf 3, facilitate the walking of the second vehicle body 2 at the bottom of the shelf 3, shorten the walking distance of the second vehicle body 2 between the two sides of the shelf 3, and improve the carrying efficiency.

[0076] It should be noted that the first vehicle body 1 and the second vehicle body 2 can be uniformly dispatched by a management system, or the first vehicle body 1 and the second vehicle body 2 can be connected, separated and moved through near field wireless communication, the second vehicle body 2 can control the movement of the first vehicle body 1 on the shelf 3 through near field wireless communication, and the first vehicle body 1 and the second vehicle body 2 can be dispatched by different controllers respectively.

[0077] As a specific implementation, refer to Figure 3 The second vehicle body 2 includes a platform 23, a chassis assembly 22, a first driver and a second driver. The first driver is connected with the platform 23, and is used to control the rotation or lifting of the platform 23 relative to the chassis assembly 22; the second connection part is connected to the platform 23, and the first vehicle body 1 can be supported on the platform 23 through the connection of the first connection part and the second connection part. The walking wheel set 21 is arranged on the chassis assembly 22, and the second driver is connected with the walking wheel set 21, and is used to control the straight movement or turning of the walking wheel set 21, and drive the rotation of the chassis assembly 22.

[0078] The platform 23 is located above the chassis assembly 22. A plurality of devices can be integrated in the chassis assembly 22, and the platform 23, goods, the first vehicle body 1 and the like above the chassis assembly 22 can also be supported. The bottom of the chassis assembly 22 is provided with the walking wheel set 21, and the second vehicle body 2 can move straight or turn on the ground through the walking wheel set 21.

[0079] When the first driver is activated, the first driver can control the platform 23 to rotate or lift independently relative to the chassis assembly 22. When the second driver is activated, the second driver can control the walking wheel set 21 to move straight or turn, thereby driving the chassis assembly 22 to move straight or rotate relative to the ground. Of course, when both the first driver and the second driver are activated, the platform 23 and the chassis assembly 22 can move independently, that is, the chassis assembly 22 can move relative to the ground, and the platform 23 can move with the chassis assembly 22 or rotate or lift relative to the chassis assembly 22.

[0080] When the size of the bin 4 above the platform 23 is large, for example, the bin 4 is a cuboid, which has a long side and a wide side, and the size of the long side is greater than the maximum profile size of the chassis assembly 22, the edge of the bin 4 will protrude from the edge of the chassis assembly 22. When the second vehicle body 2 needs to turn, the walking wheel set 21 can be controlled by the second driver to turn, thereby driving the chassis assembly 22 to rotate relative to the ground to adjust the moving direction. At this time, if the platform 23 does not rotate relative to the chassis assembly 22, the chassis assembly 22 will drive the platform 23 to rotate synchronously, thereby driving the bin 4 to rotate synchronously. Since the bin 4 is generally rectangular, the bin 4 will occupy a large turning space during the rotation with the chassis assembly 22, which is easy to cause interference and collision with the surrounding objects.

[0081] Therefore, in the embodiment, during the rotation of the chassis assembly 22 controlled by the second driver, the platform 23 can be controlled by the first driver to rotate in the opposite direction at the same angle relative to the chassis assembly 22, that is, the rotation direction of the platform 23 is opposite to the rotation direction of the chassis assembly 22, so that the chassis assembly 22 can adjust the moving direction relative to the ground, and the platform 23 can remain relatively stationary relative to the ground, thereby avoiding the rotation of the bin 4 when the second vehicle body 2 adjusts the moving direction, and avoiding the problem of large space occupation during the rotation of the bin 4. In order to facilitate assembly and control, the first driver and the second driver can be motors.

[0082] Alternatively, the platform 23 can also lift relative to the chassis assembly 22, which can facilitate the docking of the platform 23 with other mechanisms to receive or transfer goods, and facilitate personnel or mechanical hands to pick goods when carrying goods.

[0083] As a specific implementation manner, referring to Figure 3 The platform 23 includes a movable part 231 and a support part 232. The movable part 231 is connected with the first driver, and rotates or lifts relative to the chassis assembly 22 under the control of the first driver. The support part 232 is connected with the movable part 231, and is used to support the first vehicle body 1.

[0084] The support part 232 is arranged above the movable part 231 and can move synchronously with the movable part 231, that is, when the movable part 231 rotates or lifts, the support part 232 can rotate or lift synchronously with the movable part 231. The support part 232 can provide a larger support area for supporting the goods or the first vehicle body 1 and ensure the stability of supporting the goods or the first vehicle body 1. The specific shape and structure of the support part 232 are not limited as long as the support part 232 can support the goods.

[0085] As a specific implementation, referring to Figure 3 The support part 232 includes a bottom plate 232a and a side plate 232b. The side plate 232b is arranged at the side edge of the bottom plate 232a and protrudes from the surface of the bottom plate 232a in the thickness direction of the bottom plate 232a.

[0086] The side plate 232b can be provided with two, three or more. The side plate 232b can protrude from the surface of the bottom plate 232a to form a space between the side plate 232b and the bottom plate 232a. The goods or the first vehicle body 1 can be placed in the space. The side plate 232b can limit the goods to ensure the stability of the goods or the first vehicle body 1 on the support part 232.

[0087] As a specific implementation, the first climbing assembly 11 includes a third driver, a transmission mechanism and a first engaging mechanism. The two ends of the transmission mechanism are respectively in transmission connection with the third driver and the first engaging mechanism. The third driver controls the movement of the first engaging mechanism through the transmission mechanism. The first engaging mechanism is used to engage with the second climbing assembly 31 to make the first vehicle body 1 climb on the shelf 3.

[0088] The transmission mechanism has a certain height in the vertical direction, thereby improving the stability of the first vehicle body 1 when climbing on the shelf 3. As an example, referring to Figure 2 The first engaging mechanism includes a sprocket 111. The sprocket 111 can cooperate with the second climbing assembly 31 on the shelf 3 and can drive the first vehicle body 1 to climb on the shelf 3 as a whole. The sprocket 111 has a plurality of teeth. In order to enable the second climbing assembly to cooperate with the sprocket 111, as an example, referring to Figure 12 The second climbing assembly 31 can be a rack or a chain 311, thereby being able to engage with the teeth of the sprocket 111. When the sprocket 111 is driven to rotate, the sprocket 111 can move up or down along the rack or the chain 311. In addition, in order to facilitate driving, the third driver can be a motor.

[0089] As a specific implementation, the first engaging mechanism comprises a synchronous belt, a plurality of protrusions are arranged on the synchronous belt, and the synchronous belt is engaged with the second climbing assembly 31 through the plurality of protrusions, so that the first vehicle body 1 climbs on the rack 3 in the vertical direction. Wherein, the second climbing assembly 31 comprises a track, the track can be installed on the longitudinal beam of the rack 3 and can extend in the vertical direction. Wherein, a plurality of grooves are arranged on the track in the vertical direction, and the grooves can cooperate with the protrusions on the synchronous belt in the handling robot, so that the first vehicle body 1 climbs on the rack 3 in the vertical direction.

[0090] As a specific implementation, referring to Figure 2 , the transmission mechanism comprises a first transmission wheel 112, a second transmission wheel 113 and a transmission belt 114, the first transmission wheel 112 is coaxially connected with the driving shaft of the third driver, the second transmission wheel 113 is coaxially connected with the sprocket 111, and the first transmission wheel 112 and the second transmission wheel 113 are drivingly connected through the transmission belt 114.

[0091] Wherein, the first transmission wheel 112 and the second transmission wheel 113 can be respectively located at both ends of the transmission mechanism in the vertical direction, the two ends of the transmission belt 114 can be wound around the first transmission wheel 112 and the second transmission wheel 113, and the teeth inside the transmission belt 114 can be engaged with the first transmission wheel 112 and the second transmission wheel 113 respectively. When the first drive controls the rotation of the first transmission wheel 112, the rotation of the first transmission wheel 112 can be transmitted to the second transmission wheel 113 through the transmission belt 114, so that the second transmission wheel 113 rotates synchronously, and since the second transmission wheel 113 is coaxially connected with the sprocket 111, the second transmission wheel 113 can drive the sprocket 111 to rotate synchronously, so as to realize the climbing of the first vehicle body 1 on the rack 3 through the cooperation of the sprocket 111 and the second climbing assembly 31.

[0092] As a specific implementation, referring to Figure 2 , the first climbing assembly 11 further comprises a support arm 115, and the sprocket 111 is rotatably arranged on the support arm 115 away from the vehicle body. The support arm 115 can improve the structural reliability of the first climbing assembly 11 and ensure the reliable movement of the first vehicle body 1 on the rack 3.

[0093] As a specific implementation, referring to Figure 2 , the first vehicle body 1 further comprises a base 12 and a fork assembly 13, and the fork assembly 13 and the first climbing assembly 11 are arranged on the base 12. Wherein, the base 12 is used to support the first climbing assembly 11 and the fork assembly 13, which can ensure the reliability of the overall structure of the first vehicle body 1, and the first vehicle body 1 can take and place materials through the fork assembly 13.

[0094] The application also provides a rack 3, referring to Figure 1The shelf 3 is provided with a second climbing assembly 31, which is used in cooperation with the first climbing assembly 11 in the first vehicle body 1 to make the first vehicle body 1 climb on the shelf 3 in the vertical direction.

[0095] The shelf 3 provided by the embodiment can realize the air docking of the first vehicle body 1 and the shelf 3, so as to release the bottom space of the shelf 3, facilitate the walking of the second vehicle body 2 at the bottom of the shelf 3, shorten the walking distance of the second vehicle body 2 between the two sides of the shelf 3, and improve the carrying efficiency.

[0096] As a specific implementation manner, the second climbing assembly 31 comprises a second engaging mechanism, which is used to engage with the first engaging mechanism in the first vehicle body 1, so as to make the first vehicle body 1 climb on the shelf 3 in the vertical direction.

[0097] The second engaging mechanism can have various structural forms, and exemplarily, with reference to Figure 12 The second engaging mechanism is a chain 311, which can be directly or indirectly connected to the shelf 3, and the chain 311 is used to cooperate with the sprocket 111 in the first climbing assembly 11 to make the first vehicle body 1 climb on the chain 311.

[0098] The cooperation of the chain 311 and the sprocket 111 can ensure the stability of the climbing of the first vehicle body 1 on the shelf 3, facilitate the assembly and maintenance of the chain 311 and the sprocket 111, and also be beneficial to cost saving.

[0099] Of course, in other embodiments, the second engaging mechanism can also not adopt the chain 311, for example, the cooperation of a rack and the sprocket 111 can also realize the climbing of the first vehicle body 1.

[0100] As a specific implementation manner, with reference to Figure 1 The bottom of the shelf 3 is provided with a passage 32 for the walking of the second vehicle body 2, and the second climbing assembly 31 is located above the passage 32.

[0101] The second climbing assembly 31 is located above the passage 32, which can realize the air docking of the first vehicle body 1 and the shelf 3, so as to release the bottom space of the shelf 3, and the passage 32 can be arranged at the bottom of the shelf 3, so that the second vehicle body 2 can walk in the passage 32, thereby shortening the walking distance of the second vehicle body 2 between the two sides of the shelf 3 and improving the carrying efficiency.

[0102] As a specific implementation manner, with reference to Figure 1 The bottom of the shelf 3 is further provided with a plurality of support columns 33, the passage 32 is formed between the support columns 33, and the distance between the adjacent two support columns 33 is greater than the maximum length dimension of the second vehicle body 2 in the horizontal direction.

[0103] The support column 33 can support the whole shelf 3. Since the first body 1 and the shelf 3 can be connected in the air to realize climbing, the distance between the support columns 33 at the bottom of the shelf 3 can be widened, that is, the distance between the two adjacent support columns 33 can be greater than the length of the second body, so that the bottom space of the shelf 3 can form a channel 32 for the second body 2 to pass through, thereby shortening the walking distance of the second body 2 on the shelf 3 and improving the efficiency of goods circulation.

[0104] Specifically, referring to Figure 13 When the second body carries an object, the height H of the channel 32 is greater than the sum A of the height of the second body and the object, which can be a tank 4 or the first body 1, so that the second body 2 carrying the object can pass through the channel 32, avoiding the interference between the carried object and the shelf 3 above the channel 32.

[0105] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A transport robot, characterized in that, The application relates to a first vehicle body (1) comprising a fork assembly (13), a first docking part and a first climbing assembly (11) for climbing along a vertical direction on a second climbing assembly (31) on a shelf (3); the first vehicle body (1) can transfer goods between the first vehicle body (1) and a second vehicle body (2) through the fork assembly (13); the second vehicle body (2) comprises a second docking part, a walking wheel set (21) and a platform (23) for receiving goods; the second vehicle body (2) walks on the ground through the walking wheel set (21); the bottom of the shelf (3) is provided with a channel (32) for the walking of the second vehicle body (2); the second climbing assembly (31) is located above the channel (32); the first vehicle body (1) is docked with the shelf (3) in the air through the cooperation of the first climbing assembly (11) and the second climbing assembly (31); and the second vehicle body (2) can be docked with or separated from the first vehicle body (1) through the cooperation of the second docking part and the first docking part. The second vehicle body (2) further comprises a chassis assembly (22), a first driver and a second driver; The first driver is connected with the platform (23) and is used for controlling the rotation or lifting of the platform (23) relative to the chassis assembly (22); the second docking part is connected with the platform (23), and the first vehicle body (1) can be supported on the platform (23) through the cooperation of the first docking part and the second docking part; 2. The transport robot of claim 1, wherein, The walking wheel set (21) is arranged on the chassis assembly (22), and the second driver is connected with the walking wheel set (21) and is used for controlling the straight movement or turning of the walking wheel set (21) and driving the rotation of the chassis assembly (22). The platform (23) comprises a movable part (231) and a supporting part (232); the movable part (231) is connected with the first driver and rotates or lifts relative to the chassis assembly (22) through the control of the first driver; The supporting part (232) is connected with the movable part (231) and is used for supporting the first vehicle body (1) or goods.

3. The transport robot of claim 2, wherein, The supporting part (232) comprises a bottom plate (232a) and a side plate (232b); the side plate (232b) is arranged on the side edge of the bottom plate (232a) and protrudes from the surface of the bottom plate (232a) in the thickness direction of the bottom plate (232a). The first climbing assembly (11) comprises a third driver, a transmission mechanism and a first meshing mechanism; the two ends of the transmission mechanism are respectively in transmission connection with the third driver and the first meshing mechanism; the third driver controls the movement of the first meshing mechanism through the transmission mechanism; and the first meshing mechanism is used for meshing with the second climbing assembly (31).

4. The transport robot according to claim 3, characterized in that, The first meshing mechanism comprises a chain wheel (111) used for meshing with the second climbing assembly (31).

5. The transport robot of claim 1, wherein, ​ 6. The transport robot of claim 5, wherein, ​ 7. The transport robot of claim 6, wherein, The transmission mechanism comprises a first transmission wheel (112), a second transmission wheel (113) and a transmission belt (114), the first transmission wheel (112) is coaxially connected with the driving shaft of the third driver, the second transmission wheel (113) is coaxially connected with the sprocket (111), and the first transmission wheel (112) and the second transmission wheel (113) are drivingly connected through the transmission belt (114).

8. A transport robot control method characterized by, The method comprises the following steps: controlling the second vehicle body (2) to walk on the ground to a first connection position corresponding to below the first vehicle body (1) to be connected; controlling the first vehicle body (1) to walk on the rack (3) to a second connection position, so that the first connection part of the first vehicle body (1) matches the second connection part of the second vehicle body (2), and controlling the first climbing assembly of the first vehicle body (1) to separate from the second climbing assembly of the rack; controlling the second vehicle body (2) to carry the first vehicle body (1) to move on the ground to a corresponding second climbing assembly at a next goods taking or placing task execution position, so that the first vehicle body (1) matches the corresponding second climbing assembly.

9. A transport robot control method characterized by, The method comprises the following steps: controlling the second vehicle body (2) to walk on the ground to a first connection position corresponding to below the rack column where the first vehicle body (1) is located; controlling the first vehicle body (1) to walk on the rack (3) to a second connection position, wherein the projections of the first connection position and the second connection position on the ground do not coincide, and in the second connection position, the surface of the fork assembly (13) of the first vehicle body (1) supporting the goods matches the surface of the platform (23) of the second vehicle body (2) supporting the goods in height; controlling the fork assembly (13) to transfer the goods from the first vehicle body (1) to the second vehicle body (2), or controlling the fork assembly (13) to transfer the goods from the second vehicle body (2) to the first vehicle body (1).

10. A warehousing system characterized by, The method comprises the following steps: The rack (3) is provided with a second climbing assembly (31), and the second climbing assembly (31) is used for matching the first climbing assembly (11) in the carrying robot, so that the first vehicle body (1) climbs along the vertical direction on the rack (3).

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