Storage robot

Abstract

The invention provides a storage robot. The storage robot comprises a climbing assembly and a bottom frame. The climbing assembly is used for being in butt joint with a rail on a goods shelf and driving the storage robot to climb along the goods shelf after butt joint is completed. The climbing assembly is in sliding connection with the bottom frame so that the climbing assembly can slide in the preset direction in the horizontal plane relative to the bottom frame in the butt joint process of the climbing assembly and the rail. Compared with fixed connection of the climbing assembly and the bottom frame, when the distances between the two rails of the storage robot are different, the positions of the driving wheels on the climbing assembly can be adjusted, the driving wheels are in butt joint with the rails, the climbing assembly can slide on the bottom frame, the bottom frame cannot be dragged to move on the ground, the walking mechanism is prevented from being damaged, and the service life is prolonged.

Description

[0001] This application is a divisional application of “Warehouse Robot”. The application date of the original application is April 30, 2019, the application number of the original application is 201910360794.5, and the name of the invention of the original application is: Warehouse Robot. Technical Field

[0002] The present invention relates to the technical field of storage equipment, and in particular to a storage robot. Background Art

[0003] With the gradual development of warehousing technology, warehouse robots are often used to take goods off shelves or place goods on shelves to reduce the workload of workers. At the same time, in order to improve the utilization of factory space, the height of the shelves is generally set larger, so how to make warehouse robots climb shelves has become a hot topic of research.

[0004] In the prior art, two climbing tracks are arranged at intervals on the shelf, and the center line of the climbing track is perpendicular to the horizontal plane. The storage robot includes a climbing mechanism that can be extended and connected to the track. When in use, the storage robot is driven to move between the two equal tracks by the walking mechanism, and the driving wheel at one end of the frame is matched with one climbing track by the telescopic mechanism, and the driving wheel at the other end of the frame is matched with the other climbing track. The driving device drives the two driving wheels to rotate, and the entire storage robot can be driven to move along the height direction of the shelf.

[0005] However, when the walking mechanism drives the storage robot to move between the two climbing tracks, it is difficult to ensure that the center of the vehicle body is consistent with the center of the shelves on both sides, and the consistency of the shelf spacing and the parallelism of the shelves on both sides is also difficult to ensure, resulting in the inability of the vehicle body to adapt, affecting its docking and climbing with the track, affecting the service life of the vehicle body, and even causing the vehicle body to be unable to climb to achieve storage operations. Summary of the invention

[0006] In view of this, an embodiment of the present invention provides a warehouse robot to solve the technical problem that when the walking mechanism drives the warehouse robot to move between two climbing tracks, it is difficult to ensure that the center of the vehicle body is consistent with the center of the shelves on both sides, and the consistency of the shelf spacing and the parallelism of the shelves on both sides is also difficult to ensure, resulting in the inability of the vehicle body to adapt, affecting its docking and climbing with the tracks, affecting the service life of the vehicle body, and even causing the vehicle body to be unable to climb to realize storage and outbound operations.

[0007] The embodiment of the present invention provides a storage robot, comprising: a climbing component and a base frame; the climbing component is used to dock with a track on a shelf, and after docking, drives the storage robot to climb along the shelf;

[0008] The climbing assembly is slidably connected to the base frame, so that the climbing assembly can slide relative to the base frame in a preset direction in a horizontal plane during the docking process between the climbing assembly and the track.

[0009] As for the storage robot as described above, preferably, the climbing assembly includes a main body and a climbing unit, the climbing unit is arranged on the main body, and the main body is slidably connected to the base frame.

[0010] As described above, the storage robot preferably has a telescopic mechanism and a first driving wheel and a second driving wheel arranged along a preset direction on the climbing unit, and the first driving wheel and the second driving wheel are arranged at both ends of the telescopic mechanism to dock with the track under the driving action of the telescopic mechanism.

[0011] As described above, the climbing unit of the warehouse robot preferably includes: a first sliding part and a second sliding part, the first driving wheel is arranged on the first sliding part, and the second driving wheel is arranged on the second sliding part; the first sliding part and the second sliding part of the telescopic mechanism are connected to drive the first sliding part and the second sliding part to move along a preset direction.

[0012] As described above, the storage robot, preferably, the telescopic mechanism comprises a first lead screw, a second lead screw and a driving device arranged on the body, the axis of the first lead screw is parallel to the preset direction, the first sliding part is provided with a first threaded hole matched with the first lead screw; the first lead screw is rotatably connected to the body;

[0013] The axis of the second lead screw is parallel to the preset direction, and the second sliding part is provided with a second threaded hole matched with the second lead screw; the second lead screw is rotatably connected to the body;

[0014] The driving device is drivingly connected to the first lead screw and the second lead screw.

[0015] As for the storage robot as described above, preferably, the driving device includes: a rotating device and a driving shaft, the axis of the driving shaft, the axis of the first screw and the axis of the second screw are arranged collinearly, one end of the driving shaft is transmission connected to the first screw, and the other end of the driving shaft is transmission connected to the second screw; the rotating device is arranged on the main body, and the rotating device is transmission connected to the driving shaft.

[0016] As for the storage robot as described above, preferably, the climbing assembly includes two climbing units spaced apart in a vertical direction along a preset direction.

[0017] As described above, in the storage robot, preferably, the first driving wheels of the two climbing units are connected via a universal coupling, and the second driving wheels of the two climbing units are connected via a universal coupling.

[0018] The storage robot as described above, preferably, further comprises a sensor for detecting the pressure of the first driving wheel and the second driving wheel on the track, so as to control the extension and retraction of the retractable mechanism;

[0019] Alternatively, the storage robot further comprises a torque detection device, and the torque detection device is used to detect the torque of the rotating device to control the extension and retraction of the telescopic mechanism.

[0020] As for the storage robot as described above, preferably, the telescopic mechanism is a non-self-locking mechanism, and limiting members are provided at both ends of the telescopic mechanism for cooperating with the guide members on the shelf to limit the positions of the first driving wheel and the second driving wheel along a preset direction.

[0021] As for the storage robot as described above, preferably, the limiting member includes a first guide wheel and a second guide wheel spaced apart along a preset direction, and the guide member is sandwiched between the first guide wheel and the second guide wheel.

[0022] As described above, the storage robot preferably further comprises an elastic member, wherein the elastic member is connected to the body and the base frame, and the elastic member is elastically deformed when the body slides relative to the base frame along a preset direction.

[0023] As described above, in the warehouse robot, preferably, the elastic member comprises a spring, and the number of the springs is two; two spring connectors are arranged on the body at intervals along a preset direction, one end of each of the springs is connected to one of the spring connectors, and the other end of each of the springs is connected to the base frame.

[0024] The warehouse robot provided by the embodiment of the present invention has a sliding connection between a climbing component and a base frame, and the climbing component is used to dock with the track on the shelf and drive the warehouse robot to climb along the shelf after the docking is completed; compared with the fixed connection between the climbing component and the base frame, when the distance between the warehouse robot and the first climbing track and the second climbing track is not equal, the position of the driving wheel on the climbing component can be adjusted to make the driving wheel dock with the track, and the climbing component will slide on the base frame and will not drag the base frame to move on the ground, thereby avoiding damage to the walking mechanism and improving the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the structure of a storage robot provided by an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of the structure of a first climbing unit in a storage robot provided in an embodiment of the present invention;

[0028] Figure 3 for Figure 2 A partial enlarged view of point B in the middle;

[0029] Figure 4 for Figure 1 A partial enlarged view of the middle A;

[0030] Figure 5 A schematic diagram of the connection between the first climbing unit and the second climbing unit of the storage robot provided in an embodiment of the present invention;

[0031] Figure 6 A schematic diagram of the connection between the climbing assembly and the base frame of the storage robot provided in an embodiment of the present invention;

[0032] Figure 7 An exploded diagram of a storage robot provided by an embodiment of the present invention;

[0033] Figure 8 A schematic diagram of the coordination between a warehouse robot and a track provided in an embodiment of the present invention.

[0034] Description of reference numerals:

[0035] 1: First climbing track;

[0036] 2: Second climbing track;

[0037] 3: The third climbing track;

[0038] 4: Fourth climbing track;

[0039] 10: First climbing unit;

[0040] 20: bottom frame;

[0041] 30: Universal coupling;

[0042] 40: first driving motor;

[0043] 50: second driving motor;

[0044] 60: Second climbing unit;

[0045] 70: guide wheel;

[0046] 80: second guide wheel;

[0047] 101: first driving wheel;

[0048] 102: second driving wheel;

[0049] 103: Ontology;

[0050] 104: first sliding portion;

[0051] 105: second sliding portion;

[0052] 106: first lead screw;

[0053] 107: second lead screw;

[0054] 108: driving shaft;

[0055] 109: Spring;

[0056] 201: slide rail;

[0057] 601: third driving wheel;

[0058] 602: fourth driving wheel;

[0059] 1031: bearing hole;

[0060] 1032: first rolling bearing;

[0061] 1033: second rolling bearing;

[0062] 1034: stop ring;

[0063] 1035: Column;

[0064] 1036: Casing. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] In the present invention, unless otherwise clearly defined, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral molding, it can be a mechanical connection, it can be an electrical connection, or it can communicate with each other; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] Figure 1 A schematic diagram of the structure of a storage robot provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a first climbing unit in a storage robot provided in an embodiment of the present invention; Figure 3 for Figure 2 A partial enlarged view of point B in the middle; Figure 4 for Figure 1 A partial enlarged view of the middle A; Figure 5 A schematic diagram of the connection between the first climbing unit and the second climbing unit of the storage robot provided in an embodiment of the present invention; Figure 6 A schematic diagram of the connection between the climbing assembly and the base frame of the storage robot provided in an embodiment of the present invention; Figure 7 An exploded diagram of a storage robot provided by an embodiment of the present invention; Figure 8 A schematic diagram of the coordination between a warehouse robot and a track provided in an embodiment of the present invention.

[0068] Please refer to Figure 1-Figure 7 The present embodiment provides a storage robot, a climbing assembly and a base frame 20; the climbing assembly is used to dock with the track on the shelf, and drive the storage robot to climb along the shelf after docking; the climbing assembly is slidably connected to the base frame 20, so that the climbing assembly can slide relative to the base frame 20 in a preset direction in a horizontal plane during the docking process between the climbing assembly and the track.

[0069] Continue to refer to Figure 8 In this embodiment, the climbing component is provided with a first driving wheel 101, a second driving wheel 102, a third driving wheel 601 and a fourth driving wheel 602. The climbing component is docked with the track so that each driving wheel cooperates with a different track on the shelf; illustratively, the shelf is provided with a first climbing track 1, a second climbing track 2, a third climbing track 3 and a fourth climbing track 4. When the storage robot climbs the shelf, the first driving wheel 101 cooperates with the first climbing track 1, the second driving wheel 102 cooperates with the second climbing track 2, the third driving wheel 601 cooperates with the third climbing track 3, and the fourth driving wheel 602 cooperates with the fourth climbing track 4.

[0070] Furthermore, the warehouse robot also includes a power device, which is transmission-connected to the first drive wheel 101, the second drive wheel 102, the third drive wheel 601 and the fourth drive wheel 602. When the warehouse robot climbs the shelf, the power device drives the first drive wheel 101, the second drive wheel 102, the third drive wheel 601 and the fourth drive wheel 602 to rotate, so as to drive the entire warehouse robot to move in a direction perpendicular to the vertical direction.

[0071] In this embodiment, a walking mechanism is provided on the base frame 20, and the walking mechanism is used to drive the storage robot to move on the ground.

[0072] In this embodiment, the climbing component and the base frame 20 are slidingly connected. Specifically, a slide rail 201 whose center line is parallel to a preset direction can be provided on the base frame 20, and the climbing component is slidingly connected to the slide rail 201. Of course, a slide column whose center line is parallel to the preset direction can also be provided on the base frame 20, and a sliding hole is correspondingly provided on the climbing component. The slide column is inserted into the sliding hole, and a sliding connection between the base frame 20 and the climbing component can also be achieved.

[0073] In this embodiment, the climbing assembly includes a body 103 and a climbing unit, the climbing unit is arranged on the body 103, and the body 103 is slidably connected to the base frame 20. The climbing unit has a telescopic mechanism and a first driving wheel 101 and a second driving wheel 102 arranged along a preset direction, and the first driving wheel 101 and the second driving wheel 102 are arranged at both ends of the telescopic mechanism to dock with the track under the driving action of the telescopic mechanism.

[0074] Specifically, the climbing assembly includes a first climbing unit 10, which has a telescopic mechanism, and a first driving wheel 101 and a second driving wheel 102 arranged along a preset direction. The first driving wheel 101 and the second driving wheel 102 are used to dock with the track; the first driving wheel 101 and the second driving wheel 102 are arranged at both ends of the telescopic mechanism to dock with the track under the driving action of the telescopic mechanism. The telescopic mechanism is used to adjust the distance between the first driving wheel 101 and the second driving wheel 102 along the preset direction so that the first driving wheel 101 and the second driving wheel 102 dock with the corresponding track. Specifically, the climbing assembly in this embodiment also includes a second climbing unit 60, and the second climbing unit 60 and the first climbing unit 10 are arranged in a vertical direction spaced apart from each other along the preset direction. The first climbing unit 10 and the second climbing unit 60 are located in the same horizontal plane, and the second climbing unit 60 includes a third driving wheel 601 and a fourth driving wheel 602. The first climbing unit 10 and the second climbing unit 60 jointly drive the storage robot to climb the shelf. Furthermore, the second climbing unit 60 also includes a telescopic device, which is used to adjust the distance between the third driving wheel 601 and the fourth driving wheel 602. The distance between the first driving wheel 101 and the second driving wheel 102 and the angular force between the third driving wheel 601 and the fourth driving wheel 602 can be adjusted by the telescopic mechanism, so that the first climbing unit 10 is suitable for shelves with different distances between the first climbing track 1 and the second climbing track 2, and the second climbing unit 60 is suitable for shelves with different distances between the third climbing track 3 and the fourth climbing track 4, thereby improving the versatility of the warehouse robot.

[0075] Continue to refer to Figure 8 In this embodiment, the preset direction is a direction within the plane where the center lines of the first climbing track 1 and the second climbing track 2 are located and perpendicular to the center line of the first climbing track 1.

[0076] The climbing unit includes: a first sliding part 104 and a second sliding part 105, a first driving wheel 101 is arranged on the first sliding part 104, and a second driving wheel 102 is arranged on the second sliding part 105; a telescopic mechanism is connected to the first sliding part 104 and the second sliding part 105 to drive the first sliding part 104 and the second sliding part 105 to move along a preset direction.

[0077] Specifically, the first climbing unit 10 includes: a main body 103, a first sliding part 104 and a second sliding part 105, the main body 103 is slidably connected to the base frame 20, the first driving wheel 101 is arranged on the first sliding part 104, and the second driving wheel 102 is arranged on the second sliding part 105; the telescopic mechanism is connected to the main body 103, the first sliding part 104 and the second sliding part 105 to drive the first sliding part 104 and the second sliding part 105 to move along a preset direction.

[0078] The telescopic mechanism can drive the first sliding part 104 and the second sliding part 105 to move in opposite directions, and can quickly adjust the distance between the first driving wheel 101 and the second driving wheel 102 compared to the telescopic mechanism only driving the first sliding part 104 to move. In addition, based on the movement of the first sliding part 104, the second sliding part 105 also moves, which can increase the adjustment range of the distance between the first driving wheel 101 and the second driving wheel 102.

[0079] Specifically, in order to ensure that the storage robot can be driven to move when the first driving wheel 101 rotates, the first driving wheel 101 can be a sprocket, and a chain is correspondingly provided on the first climbing track 1, and the sprocket cooperates with the chain to drive the storage robot to move when the sprocket rotates; or the first driving wheel 101 is a gear, in which case a rack can be provided on the first climbing track 1, and the gear cooperates with the rack to drive the storage robot to move when the gear rotates. Similarly, the second driving wheel 102 can have the same structure as the first driving wheel 101, and the description of the first driving wheel 101 is referred to, and will not be repeated here.

[0080] The working process of the storage robot provided in this embodiment is as follows: the storage robot is driven to move to the first climbing unit 10 through the walking mechanism on the chassis 20, and the second climbing unit 60 is located between the third climbing track 3 and the fourth climbing track 4; then the first sliding part 104 and the second sliding part 105 are driven to move along the preset direction through the telescopic mechanism to adjust the distance between the first driving wheel 101 and the second driving wheel 102, so that the first driving wheel 101 cooperates with the first climbing track 1, and the second driving wheel 102 cooperates with the second climbing track 2; in the above process, the distance between the third driving wheel 601 and the fourth driving wheel 602 is adjusted through the telescopic mechanism on the second climbing unit 60, so that the third driving wheel 601 cooperates with the third climbing track 3, and the fourth driving wheel 602 cooperates with the fourth climbing track 4; then the first driving wheel 101, the second driving wheel 102, the third driving wheel 601 and the fourth driving wheel 602 are driven to rotate through the power device, thereby driving the storage robot to move in a direction perpendicular to the horizontal plane. If the distance between the warehouse robot and the first climbing rail 1 is smaller than the distance between the warehouse robot and the second climbing rail 2, after the first driving wheel 101 contacts the first climbing rail 1, the main body 103 will move toward the second climbing rail 2 until the second driving wheel 102 contacts the second climbing rail 2; on the contrary, if the distance between the warehouse robot and the first climbing rail 1 is greater than the distance between the warehouse robot and the second climbing rail 2, after the second driving wheel contacts the second climbing rail 2, the main body 103 will move toward the first climbing rail 1 until the first driving wheel 101 contacts the first climbing rail 1.

[0081] The warehouse robot provided in this embodiment has a sliding connection between the climbing component and the base frame 20. The climbing component is used to dock with the track on the shelf and drive the warehouse robot to climb along the shelf after the docking is completed. Compared with the fixed connection between the climbing component and the base frame 20, when the distance between the warehouse robot and the first climbing track 1 and the second climbing track 2 is not equal, the position of the driving wheel on the climbing component can be adjusted to dock with the track, and the climbing component will slide on the base frame 20 and will not drag the base frame 20 to move on the ground, thereby avoiding damage to the walking mechanism and improving the service life.

[0082] Continue to refer to Figure 1-Figure 4 In this embodiment, the first sliding part 104 and the second sliding part 105 are also slidably connected to the slide rail 201. The first sliding part 104 and the second sliding part 105 may be further fixed to improve the stability of the movement of the first sliding part 104 and the second sliding part 105.

[0083] In this embodiment, the telescopic mechanism may include a telescopic cylinder and / or a lead screw. When the telescopic mechanism includes a telescopic cylinder, the telescopic mechanism may include a first telescopic cylinder, the piston rod of the first telescopic cylinder is connected to the first sliding part 104, the cylinder body of the first telescopic cylinder is connected to the main body 103, and the center line of the first telescopic cylinder is parallel to the preset direction; when the piston rod extends in the cylinder body or the piston rod retracts into the cylinder body, the first sliding part 104 can be driven to move along the preset direction; the telescopic mechanism may also include a second telescopic cylinder, the cylinder body of the second telescopic cylinder is connected to the main body 103, the piston rod of the second telescopic cylinder is connected to the second sliding part 105, and the center line of the second telescopic cylinder is parallel to the preset direction; when the piston rod extends or retracts from the cylinder body, the second sliding part 105 can be driven to move; so as to adjust the distance between the first driving wheel 101 and the second driving wheel 102. The first telescopic cylinder and the second telescopic cylinder may be hydraulic cylinders or pneumatic cylinders.

[0084] In this embodiment, when the telescopic mechanism includes a lead screw, the telescopic mechanism may include a first lead screw 106 and a driving device arranged on the main body 103, the axis of the first lead screw 106 is parallel to a preset direction, and a first threaded hole matching the first lead screw 106 is arranged on the first sliding portion 104; the first lead screw 106 is rotatably connected to the main body 103, and the driving device is transmission-connected to the first lead screw 106 to drive the first lead screw 106 to rotate.

[0085] Continue to refer to Figure 2 and Figure 3A bearing hole 1031 is provided on the body 103. The bearing hole 1031 includes a first hole section facing the first sliding part 104 and a second hole section facing the second sliding part 105. The aperture of the second hole section is smaller than that of the first hole section. A first rolling bearing 1032 is provided in the first hole section, and a second rolling bearing 1033 is provided in the second hole section. The end of the first lead screw 106 facing the body 103 has a journal, which is passed through the inner rings of the first rolling bearing 1032 and the second rolling bearing 1033 to realize the rotatable connection between the first lead screw 106 and the body 103. Figure 2 Taking the position shown in the figure as an example, since the aperture of the second hole section is smaller than that of the first hole section, the left end of the second hole section can prevent the first rolling bearing 1032 from moving to the right, thereby preventing the first lead screw 106 from moving to the right; in order to prevent the first lead screw 106 from moving to the left, a stop ring 1034 is provided on the inner wall of the first hole section, and the stop ring 1034 is located on the left side of the first rolling bearing 1032. The stop ring 1034 can prevent the first rolling bearing 1032 from moving to the left; a stop ring 1034 is provided on the right end of the shaft neck. The blocking portion, the stop portion abuts against the inner ring of the second rolling bearing 1033. At the same time, a sleeve 1036 is arranged between the first rolling bearing 1032 and the second rolling bearing 1033. The sleeve 1036 abuts against the inner ring of the first rolling bearing 1032 and the inner ring of the second rolling bearing 1033. The stop portion can abut against the stop ring 1034 through the second rolling bearing 1033, the sleeve 1036 and the first rolling bearing 1032 to prevent the first screw 106 from moving to the left.

[0086] Continue to refer to Figure 2 When the telescopic mechanism includes a lead screw, the telescopic mechanism also includes a second lead screw 107, the axis of the second lead screw 107 is parallel to the preset direction, and a second threaded hole matching the second lead screw 107 is provided on the second sliding portion 105; the second lead screw 107 is rotatably connected to the main body 103, and the driving device is transmission-connected to the second lead screw 107 to drive the second lead screw 107 to rotate.

[0087] In this embodiment, the connection method between the second screw 107 and the body 103 is substantially the same as the connection method between the first screw 106 and the body 103 , and reference is made to the description of the connection method between the first screw 106 and the body 103 , which will not be repeated here.

[0088] Of course, in this embodiment, the first sliding part 104 can be connected to the main body 103 through a telescopic cylinder, and at the same time the second sliding part 105 is connected to the main body 103 through a screw; of course, the first sliding part 104 is connected to the main body 103 through a screw, and at the same time the second sliding part 105 is connected to the main body 103 through a telescopic cylinder.

[0089] In this embodiment, preferably, in order to improve the connection strength between the first sliding part 104 and the body 103, a first sliding hole whose center line is parallel to the preset direction can be provided on the first sliding part 104, and a first slider can be provided on the body 103 accordingly, and the first slider is slidably disposed in the first sliding hole. Similarly, a second sliding hole whose center line is parallel to the preset direction can be provided on the second sliding part 105, and a second slider can be provided on the body 103, and the second slider is slidably disposed in the second sliding hole.

[0090] In one feasible manner, the driving device can be separately connected to the first lead screw 106 and the second lead screw 107 in transmission to achieve separate control of the first lead screw 106 and the second lead screw 107; for example: the driving device includes a first motor connected to the first lead screw 106 in transmission, and a second motor connected to the second lead screw 107 in transmission. When working, the rotation direction and rotation speed of the first lead screw 106 and the second lead screw 107 can be the same or different, that is, the moving direction and moving speed of the first sliding part 104 and the second sliding part 105 can be the same or different.

[0091] In other implementations, the driving device includes: a rotating device and a driving shaft 108, the axis of the driving shaft 108, the axis of the first lead screw 106 and the axis of the second lead screw 107 are arranged in a colinear manner, one end of the driving shaft 108 is connected to the first lead screw 106, and the other end of the driving shaft 108 is connected to the second lead screw 107; the rotating device is arranged on the body 103, and the rotating device is connected to the driving shaft 108 to drive the shaft 108 to rotate. The driving shaft 108 can drive the first lead screw 106 and the second lead screw 107 to rotate synchronously, that is, the first sliding part 104 and the second sliding part 105 are driven to move toward the body 103 at the same time, or to move away from the body 103 at the same time, and the moving speed is the same; such an arrangement can ensure that the distance between the first sliding part 104 and the body 103 is equal to the distance between the second sliding part 105 and the body 13, and when the distance between the first driving wheel 101 and the second driving wheel 102 is adjusted, the center of gravity of the storage robot is kept stable.

[0092] Specifically, the driving shaft 108 may be connected to the first lead screw 106 and the second lead screw 107 via a coupling.

[0093] Continue to refer to Figure 8In this embodiment, the telescopic mechanism is a non-self-locking mechanism, and limiting members are provided at both ends of the telescopic mechanism, which are used to cooperate with the guide members on the shelf to limit the position of the first drive wheel 101 and the second drive wheel 102 along the preset direction. The limiting member cooperates with the guide member. In the process of the storage robot climbing the shelf, if the distance between the first climbing track 1 and the second climbing track 2 is shortened, the limiting member is squeezed, and the distance between the first drive wheel 101 and the second drive wheel 102 is appropriately reduced; if the distance between the first climbing track 1 and the second climbing track 2 is increased, the limiting member is pulled, and the distance between the first drive wheel 101 and the second drive wheel 102 is appropriately increased, which can prevent the first drive wheel 101 and the second drive wheel 102 from being separated from the track or the first drive wheel 101 and the second drive wheel 102 from being subjected to excessive squeezing force.

[0094] Specifically, the limiting member includes a first guide wheel 70 and a second guide wheel 80 arranged at intervals along a preset direction, and the guide member is sandwiched between the first guide wheel 70 and the second guide wheel 80. The first guide wheel 70 and the second guide wheel 80 can rotate, so that the friction between the first guide wheel 70 and the second guide wheel 80 and the guide member is small, thereby reducing the resistance during climbing.

[0095] Preferably, the first guide wheel 70 and the second guide wheel 80 are arranged on the first sliding part 104 at intervals, and the first guide wheel 70 and the second guide wheel 80 are also arranged on the second sliding part 105 accordingly; the guide member is a stop plate arranged on the track, and the first guide wheel 70 and the second guide wheel 80 are clamped on both sides of the stop plate.

[0096] Specifically, the first lead screw 106 and the second lead screw 107 can be non-self-locking lead screws; when the first sliding part 104 is subjected to a force along a preset direction, the first lead screw 106 will rotate and the first sliding part 104 will move along the direction of the force; similarly, when the second sliding part 105 is subjected to a force along a preset direction, the second lead screw 107 will rotate and the second sliding part 105 will move along the direction of the force. In this way, when the storage robot climbs the shelf, if the distance between the first climbing track 1 and the second climbing track 2 is shortened, the stoppers on the first sliding part 104 and the second sliding part 105 are squeezed, and the distance between the first sliding part 104 and the second sliding part 105 can be appropriately shortened by rotating the first lead screw 106 and the second lead screw 107 to avoid excessive squeezing force; when the storage robot climbs the shelf, if the distance between the first climbing track 1 and the second climbing track 2 is increased, the stoppers on the first sliding part 104 and the second sliding part 105 are pulled, and the distance between the first sliding part 104 and the second sliding part 105 can be appropriately increased by rotating the first lead screw 106 and the second lead screw 107 to avoid the first driving wheel 101 and the second driving wheel 102 from being separated from the corresponding climbing track. Exemplarily, the first lead screw 106 and the second lead screw 107 can be ball screws, or other lead screws with a friction angle smaller than the helix angle. It is worth noting that after the first driving wheel 101 and the second driving wheel 102 are docked with the track, the rotating device connected to the first screw 106 and the second screw 107 is also a non-self-locking device, that is, the first screw 106 and the second screw 107 are allowed to rotate freely.

[0097] The present embodiment does not limit the rotating device, as long as the rotating device can drive the driving shaft 108 to rotate, for example, the rotating device may include a rotating motor, and the main shaft of the rotating motor is in transmission connection with the driving shaft 108. Specifically, a first pulley is provided on the driving shaft 108, and a second pulley is provided on the main shaft of the rotating motor. The transmission belt cooperates with the first pulley and the second pulley to realize the transmission connection between the rotating motor and the driving shaft 108; in order to avoid slipping between the transmission belt and the first pulley and the second pulley, the transmission belt may be a synchronous belt, and the corresponding first pulley and the second pulley are toothed pulleys.

[0098] In an achievable manner, the storage robot further includes a sensor for detecting the pressure of the first drive wheel 101 and the second drive wheel 102 on the track to control the extension and retraction of the telescopic mechanism. When the pressure of the first drive wheel 101 and the second drive wheel 102 on the track reaches a preset value, the telescopic mechanism is controlled to stop working. When the first drive wheel 101 is docked with the first climbing track 1, and the second drive wheel 102 is docked with the second climbing track 2, the telescopic mechanism is controlled to stop working to prevent the first climbing track 1 from exerting too much resistance on the first drive wheel 101, and the second climbing track 2 from exerting too much resistance on the second drive wheel 102.

[0099] It is worth noting that the preset value is to ensure that the first driving wheel 101 is docked with the first climbing track 1 and the second driving wheel 102 is docked with the second climbing track 2 , and the first driving wheel 101 is subjected to the minimum pressure.

[0100] Specifically, the sensor may be a pressure sensor disposed on the first driving wheel 101 and / or the second driving wheel 102 .

[0101] In other embodiments, the storage robot further includes a torque detection device, which is used to detect the torque of the rotating device to control the extension and retraction of the telescopic mechanism. Exemplarily, when the pressure on the first drive wheel 101 reaches a preset value, the torque corresponding to the rotating device is the preset torque; therefore, when it is detected that the torque of the rotating device reaches the preset torque, the rotating motor is controlled to stop rotating. In the process of climbing the shelf, if it is detected that the torque of the rotating device is less than the preset torque, the distance between the first drive wheel 101 and the second drive wheel 102 is appropriately increased through the telescopic mechanism to prevent the first drive wheel 101 and the second drive wheel 102 from detaching from the corresponding climbing track.

[0102] The storage robot provided in this embodiment may include a controller, and the controller is connected to the sensor or the torque detection device to control the operation of the telescopic device according to data provided by the sensor or the torque detection device.

[0103] In this embodiment, the rotating device may be a rotating motor, and the corresponding torque detection device is used to detect the torque of the rotating motor.

[0104] The process of docking the storage robot with the climbing track provided in this embodiment is as follows: the storage robot moves to the first climbing unit 10 between the first climbing track 1 and the second climbing track 2, and the second climbing unit 60 between the third climbing track 3 and the fourth climbing track 4, and then drives the first lead screw 106 and the second lead screw 107 to rotate by the rotating motor, thereby driving the first sliding part 104 and the second sliding part 105 to move in the direction away from the body 103, so that the first driving wheel 101 contacts the first climbing track 1, and the second driving wheel 102 contacts the second climbing track 2; when it is detected that the torque of the rotating motor reaches a preset value, the rotating motor is controlled to stop working; at this time, the first driving wheel 101 docks with the first climbing track 1, and the second driving wheel 102 docks with the second climbing track 2. In the above process, the distance between the third driving wheel 601 and the fourth driving wheel 602 is adjusted by the telescopic mechanism on the second climbing unit 60, so that the third driving wheel 601 docks with the third climbing track 3, and the fourth driving wheel 602 docks with the fourth climbing track 4.

[0105] In this embodiment, the storage robot further includes an elastic member, which is connected to the body 103 and the base frame 20, and the elastic member undergoes elastic deformation when the body 103 slides along a preset direction. When relative movement occurs between the body 103 and the base frame 20, the elastic member undergoes elastic deformation, and when the storage robot climbs the shelf and the base frame 20 is separated from the ground, the body 103 and the base frame 20 are restored to their initial positions under the action of the elastic force of the elastic member. The initial position is the relative position between the base frame 20 and the body 103 when the elastic member does not undergo elastic deformation.

[0106] Specifically, there may be multiple types of elastic members, for example, the elastic member may include a rubber block connected to the body 103 and the base frame 20, or the elastic member may include an elastic sheet connected to the body 103 and the base frame 20. In this embodiment, preferably, the elastic member includes a spring 109, the center line of the spring 109 is parallel to the preset direction, one end of the spring 109 is connected to the body 103, and the other end of the spring 109 is connected to the base frame 20; compared with the rubber block, the service life of the spring 109 is longer.

[0107] Furthermore, there are two springs 109; two spring connectors are arranged on the body 103 at intervals along a preset direction, one end of each spring 109 is connected to a spring connector, and the other end of each spring 109 is connected to the base frame 20. When the body 103 moves relative to the base frame 20, both springs 109 are elastically deformed, which increases the elastic force and shortens the time for the body 103 and the base frame 20 to return to the initial position compared to only one spring 109.

[0108] Continue to refer to Figure 4 In this embodiment, the spring connector includes a column 1035 whose center line is parallel to the preset direction, and part of the spring 109 is sleeved on the column 1035. When the spring 109 is compressed, the column 1035 can play a guiding role to prevent the spring 109 from tilting after being stressed.

[0109] Continue to refer to Figure 5-Figure 8 In this embodiment, the climbing assembly includes two climbing units spaced apart in a vertical direction along a preset direction. The first driving wheels 101 of the two climbing units are connected via a universal coupling 30 , and the second driving wheels 102 of the two climbing units are connected via a universal coupling 30 .

[0110] Specifically, the climbing assembly includes a first climbing unit 10 and a second climbing unit 60 arranged in a vertical direction along a preset direction at intervals, the first climbing unit 10 is provided with a first driving wheel 101 and a second driving wheel 102, and the second climbing unit 60 is provided with a third driving wheel 601 and a fourth driving wheel 602; the first driving wheel 101 is connected to the third driving wheel 601 through a universal coupling 30, and the second driving wheel 102 is connected to the fourth driving wheel 602 through a universal coupling 30. Such an arrangement can avoid the first climbing unit 10 from affecting the third driving wheel 601 and the fourth driving wheel 602 on the second climbing unit 60 when adjusting the distance between the first driving wheel 101 and the second driving wheel 102; that is, the distance between the two driving wheels on different climbing units can be adjusted independently.

[0111] Continue to refer to Figure 5 and Figure 8 Four climbing tracks are arranged on the shelf, and each driving wheel on the first climbing unit 10 and the second climbing unit 60 is docked with a climbing track. The power device may include a first driving motor 40 drivingly connected to the first driving wheel 101 on the first climbing unit 10, and a second driving motor 50 drivingly connected to the second driving wheel 102 on the first climbing unit 10.

[0112] In this embodiment, the structures of the first climbing unit 10 and the second climbing unit 60 are substantially the same, and reference is made to the description of the first climbing unit 10 , which will not be repeated here.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A storage robot, characterized in that: include: A climbing assembly and a chassis; the climbing assembly is used to dock with the track on the shelf, and after docking, drives the storage robot to climb along the shelf; The climbing assembly is slidably connected to the base frame, so that the climbing assembly can slide relative to the base frame in a horizontal plane along a preset direction during the docking process between the climbing assembly and the track; The climbing assembly comprises a main body and a climbing unit, wherein the climbing unit is arranged on the main body, and the main body is slidably connected to the base frame; The storage robot further includes an elastic member connected to the body and the base frame, and the elastic member is elastically deformed when the body slides relative to the base frame along a preset direction.

2. The storage robot according to claim 1, characterized in that: The climbing unit is provided with a telescopic mechanism and a first driving wheel and a second driving wheel arranged along a preset direction. The first driving wheel and the second driving wheel are arranged at two ends of the telescopic mechanism to dock with the track under the driving action of the telescopic mechanism.

3. The storage robot according to claim 2, characterized in that: The climbing unit includes: a first sliding part and a second sliding part, the first driving wheel is arranged on the first sliding part, and the second driving wheel is arranged on the second sliding part; the telescopic mechanism is connected to the first sliding part and the second sliding part to drive the first sliding part and the second sliding part to move along a preset direction.

4. The storage robot according to claim 3, characterized in that: The telescopic mechanism comprises a first lead screw, a second lead screw and a driving device arranged on the body, the axis of the first lead screw is parallel to the preset direction, the first sliding part is provided with a first threaded hole matched with the first lead screw; the first lead screw is rotatably connected to the body; The axis of the second lead screw is parallel to the preset direction, and the second sliding part is provided with a second threaded hole matched with the second lead screw; the second lead screw is rotatably connected to the body; The driving device is drivingly connected to the first lead screw and the second lead screw.

5. The storage robot according to claim 4, characterized in that: The driving device includes: a rotating device and a driving shaft, the axis of the driving shaft, the axis of the first screw and the axis of the second screw are arranged in a colinear manner, one end of the driving shaft is connected to the first screw, and the other end of the driving shaft is connected to the second screw; the rotating device is arranged on the main body, and the rotating device is connected to the driving shaft.

6. The storage robot according to any one of claims 2 to 5, characterized in that: The climbing assembly comprises two climbing units which are arranged at intervals in a vertical direction along a preset direction.

7. The storage robot according to claim 6, characterized in that: The first driving wheels of the two climbing units are connected via a universal coupling, and the second driving wheels of the two climbing units are connected via a universal coupling.

8. The storage robot according to claim 4, characterized in that: The storage robot further includes a sensor for detecting the pressure of the first driving wheel and the second driving wheel on the track to control the extension and retraction of the retractable mechanism; Alternatively, the storage robot further comprises a torque detection device, and the torque detection device is used to detect the torque of the rotating device to control the extension and retraction of the telescopic mechanism.

9. The storage robot according to any one of claims 2 to 5, characterized in that: The telescopic mechanism is a non-self-locking mechanism, and limiting members are arranged at both ends of the telescopic mechanism for cooperating with the guide members on the shelf to limit the positions of the first driving wheel and the second driving wheel along a preset direction.

10. The storage robot according to claim 9, characterized in that: The limiting member comprises a first guide wheel and a second guide wheel which are arranged at intervals along a preset direction, and the guide member is sandwiched between the first guide wheel and the second guide wheel.

11. The storage robot according to claim 1, characterized in that: The elastic member includes two springs; two spring connectors are arranged on the body at intervals along a preset direction, one end of each spring is connected to one of the spring connectors, and the other end of each spring is connected to the base frame.

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