Rail robot for stereoscopic warehouse and intelligent warehousing system

Abstract

The invention relates to a rail robot for a stereoscopic warehouse and an intelligent warehousing system. The reversing device comprises a driving part, a transmission handle and two connecting rod assemblies which are arranged on the box body, the driving part is connected with the middle of the transmission handle, and the two connecting rod assemblies are arranged on the two sides of the transmission handle in the first direction and rotationally connected with the two ends of the transmission handle. The two first wheel sets are arranged on the two sides of the transmission handle at intervals in the first direction and correspond to the connecting rod assemblies in a one-to-one mode, each connecting rod assembly is connected with one first wheel set and used for driving the first wheel set to do lifting motion, and the driving piece can drive the transmission handle to rotate so as to synchronously drive the two connecting rod assemblies. The two first wheel sets synchronously do lifting motion to a first position or a second position relative to the box body; at the first position, the first wheel set is in contact with the first track, and the second wheel set is separated from the second track; at the second position, the first wheel set is separated from the first track, and the second wheel set is in contact with the second track.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing equipment, and in particular to a rail robot and an intelligent warehousing system for a stereoscopic warehouse. Background Art

[0002] With the rapid development of the logistics industry, especially the booming e-commerce, the demand for automation, intelligence and efficiency in warehousing systems is growing. As a high-density storage solution, stereoscopic warehouses can effectively utilize vertical space and improve the storage capacity and operational efficiency of warehouses. However, the track robots in traditional stereoscopic warehouses still have many technical bottlenecks in reversing, traveling and access operations, which restricts the overall performance of the warehousing system.

[0003] At present, the reversing operation of rail robots in stereoscopic warehouses mostly relies on traditional mechanisms such as lead screws, cams, cylinders, electric cylinders or hydraulic systems. Although these mechanisms can achieve the reversing function, they have problems such as low reversing efficiency, large space occupation, high cost and lack of flexibility.

[0004] BACKGROUND OF THE PRESENT APPLICATION The above information disclosed is only used to understand the background of the concept of the present application, and does not indicate or imply that it contains information of the prior art. Summary of the invention

[0005] Based on this, it is necessary to provide a rail robot and intelligent warehousing system for high-bay warehouses to address the above problems. By adopting a sophisticated switching device design, the problems of low switching efficiency, large space occupancy, high cost and lack of flexibility existing in traditional technologies can be solved, providing an efficient, economical and flexible solution for modern intelligent warehousing systems.

[0006] The present application provides a track robot for a stereoscopic warehouse, comprising:

[0007] Box;

[0008] A first wheel group, the first wheel group is arranged on the box body, and the first wheel group is used to cooperate with the first track of the stereoscopic warehouse and move along a first direction;

[0009] A second wheel set, the second wheel set is arranged on the box body, and the second wheel set is used to cooperate with the second track of the stereoscopic warehouse and move along the second direction;

[0010] A reversing device, the reversing device includes a driving member, a transmission handle and two groups of connecting rod assemblies arranged on the box body, the driving member is connected to the middle part of the transmission handle, the two groups of connecting rod assemblies are respectively arranged on both sides of the transmission handle along the first direction and are rotatably connected to the two ends of the transmission handle, the number of the first wheel groups is set to two groups, the two groups of the first wheel groups are arranged at intervals on both sides of the transmission handle along the first direction and correspond to the connecting rod assemblies one by one, each group of the connecting rod assemblies is connected to a group of the first wheel groups and is used to drive the first wheel groups to perform lifting and lowering movements, the driving member can drive the transmission handle to rotate to synchronously drive the two groups of connecting rod assemblies, so that the two groups of the first wheel groups can synchronously perform lifting and lowering movements relative to the box body to the first position or the second position; when in the first position, the first wheel group is in contact with the first track, and the second wheel group is separated from the second track; when in the second position, the first wheel group is separated from the first track, and the second wheel group is in contact with the second track.

[0011] The above-mentioned rail robot for high-bay warehouse can at least achieve the following beneficial effects:

[0012] Through the design of the driving member, transmission handle and connecting rod assembly in the reversing device, the rail robot can quickly and accurately realize the reversing operation. The driving member drives the transmission handle to rotate, driving the two sets of connecting rod assemblies to move synchronously, so that the two sets of first wheel groups are synchronously lifted and lowered relative to the box, thereby realizing the contact or separation of the first wheel group with the first track, and the contact or separation of the second wheel group with the second track. Compared with the traditional screw, cam, cylinder or hydraulic system, this mechanical reversing method has a faster switching speed and higher reliability, which significantly improves the reversing efficiency of the rail robot. In the first position, the first wheel group contacts the first track, the second wheel group separates from the second track, and the rail robot can move in the first direction; in the second position, the first wheel group separates from the first track, the second wheel group contacts the second track, and the rail robot can move in the second direction. This design enables the rail robot to flexibly switch between tracks in different directions, adapt to complex track layout requirements, and improve the adaptability and flexibility of the rail robot.

[0013] The middle part of the transmission handle is connected to the driving member, and the two ends are respectively connected to the two sets of connecting rod assemblies for rotation. When the driving member drives the transmission handle to rotate, the two ends of the transmission handle synchronously drive the two sets of connecting rod assemblies to move, thereby causing the two sets of first wheel assemblies to move synchronously relative to the box. This synchronous design ensures the movement consistency of the two sets of first wheel assemblies during the reversing process, avoids the vibration or deviation of the track robot caused by asynchrony, and significantly improves the accuracy and stability of the reversing.

[0014] By driving two sets of connecting rod assemblies simultaneously through a transmission handle, the structural design of the reversing device is simplified. Compared with the design that requires multiple independent drive devices or complex transmission systems, this single transmission handle structure not only reduces the number of parts, but also reduces manufacturing and maintenance costs. At the same time, the simplified structure is easier to install and debug, which improves the overall reliability of the rail robot.

[0015] The design of a single transmission handle makes the overall structure of the reversing device more compact, reducing the space occupied by the rail robot in the stereoscopic warehouse. This compact design not only improves the adaptability of the rail robot in complex track layouts, but also enables it to operate flexibly in narrow warehouse environments, which is particularly suitable for high-density storage scenarios.

[0016] In summary, the design of rotating two sets of moving rods connected by connecting rods by rotating a transmission handle not only achieves technical effects such as synchronous movement, simplified structure, and efficient transmission, but also improves the adaptability, reliability and ease of operation of rail robots in high-bay warehouses, providing an efficient, stable and economical solution for modern intelligent warehousing systems.

[0017] In some embodiments, each group of the connecting rod assembly includes a connecting rod and a movable rod, the first end of the movable rod is rotatably connected to the side plate of the box, each group of the first wheel group includes a first wheel rotatably connected to the second end of the movable rod, the connecting rod is arranged between the movable rod and the transmission handle, the third end of the movable rod is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to one end of the transmission handle, and each of the connecting rods can drive the third end of the movable rod to rotate around the first end under the drive of the transmission handle, so as to drive the first wheel connected to the second end to perform a lifting movement to the first position or the second position. The first end of the movable rod is rotatably connected to the side plate of the box, serving as a fixed fulcrum of the movable rod, so that the movable rod can rotate around the fulcrum. The second end of the movable rod is rotatably connected to the first wheel, and the first wheel is a component of the first wheel group and is used to cooperate with the first track of the stereoscopic warehouse. The connecting rod is located between the movable rod and the transmission handle, and plays a role in transmitting motion. One end of the connecting rod is rotatably connected to the third end of the movable rod, and the other end is rotatably connected to one end of the transmission handle. The middle part of the transmission handle is connected to the driving member, and the driving member drives the transmission handle to rotate around the middle part. The two ends of the transmission handle are respectively connected to the connecting rods in the two connecting rod assemblies to achieve synchronous drive. The driving member drives the transmission handle to rotate, and the rotation of the transmission handle is transmitted to the third end of the movable rod through the connecting rod, driving the movable rod to rotate around its first end. The rotation of the movable rod drives the first wheel at its second end to perform lifting and lowering movements. When the movable rod rotates to a specific angle, the first wheel rises from the first position (contacting the first track) to the second position (separated from the first track). The two groups of connecting rod assemblies are driven by the rotation of the transmission handle, so that the two groups of first wheels perform synchronous lifting and lowering movements to ensure stability and consistency during the reversing process. The connection method of the movable rod, the connecting rod and the transmission handle is compact, which reduces the space occupied by the reversing device and improves the adaptability of the track robot in the stereoscopic warehouse. The rotation angle of the transmission handle corresponds to the lifting and lowering position of the first wheel one by one. By controlling the rotation angle of the driving member, the position of the first wheel can be accurately controlled to achieve fast and accurate reversing operation.

[0018] In some embodiments, any two of the first end, the second end and the third end of the movable rod are spaced apart from each other. The first end, the second end and the third end of the movable rod are spaced apart from each other in space to form a certain geometric relationship. The first end is used as a fixed fulcrum of the movable rod and is rotatably connected to the side plate of the box body. The second end is rotatably connected to the first wheel for cooperating with the first track. The third end is rotatably connected to one end of the connecting rod for receiving the driving force of the transmission handle. The spacing between any two ends ensures that the movable rod can form an effective lever effect during the movement process, thereby converting the rotation of the transmission handle into the lifting movement of the first wheel. The driving member drives the transmission handle to rotate, and the transmission handle transmits the driving force to the third end of the movable rod through the connecting rod. The third end of the movable rod rotates around the first end (fixed fulcrum) driven by the connecting rod. Since the first end, the second end and the third end are spaced apart from each other, the rotation of the movable rod will drive the first wheel at the second end to perform lifting movement. The spacing between the three ends of the movable rod forms an effective lever structure, which converts the rotation of the transmission handle into the lifting movement of the first wheel, with high transmission efficiency and rapid movement response. Since the three ends of the moving rod are arranged at intervals, the rotation angle of the transmission handle has a clear corresponding relationship with the lifting position of the first wheel. By controlling the rotation angle of the driving member, the position of the first wheel can be accurately controlled to achieve fast and accurate switching operation.

[0019] In some embodiments, the rotation center of the first wheel is spaced apart from the rotation center of the moving rod.

[0020] In some embodiments, the second end is located on a side of the first end away from the transmission handle.

[0021] In some embodiments, the third end is located above the first end.

[0022] In some embodiments, the two connecting rods are respectively connected to the two ends of the transmission handle and are at the same distance from the rotation center of the transmission handle. The two connecting rods are respectively connected to the two ends of the transmission handle and are at the same distance from the rotation center of the transmission handle, forming a symmetrical structure. Since the two connecting rods are at the same distance from the rotation center of the transmission handle, the rotation of the transmission handle will drive the third ends of the two movable rods to move at the same angle and speed, so that the two movable rods rotate synchronously around their first ends, so that the driving force of the transmission handle can be evenly transmitted to the two movable rods, ensuring that the lifting and lowering movements of the two first wheels are completely synchronized, the position of the first wheel can be accurately controlled, and fast and accurate reversing operations can be achieved, avoiding vibration or jamming caused by asynchronous movement, and improving the running stability of the reversing device. The symmetrical layout of the connecting rods makes the structure of the reversing device more compact, reduces space occupancy, and improves the adaptability of the track robot in the stereoscopic warehouse, which is particularly suitable for high-density storage scenarios.

[0023] In some embodiments, when the transmission handle rotates, the third ends of the two movable rods can rotate around the first end driven by the two connecting rods and synchronously approach or move away from the transmission handle; when the third ends of the two movable rods rotate around the first end and synchronously approach the transmission handle, the two first wheels rise synchronously to achieve the separation of the two first wheel groups from the first track; when the third ends of the two movable rods rotate around the first end and synchronously move away from the transmission handle, the two first wheels rise synchronously to achieve the contact of the two first wheel groups with the first track. The driving member drives the transmission handle to rotate around its rotation center, and the transmission handle synchronously drives the third ends of the two movable rods to move through the two connecting rods. When the transmission handle rotates, the third ends of the two movable rods rotate around the first end driven by the connecting rod and synchronously approach or move away from the transmission handle. When the third ends of the two movable rods rotate around the first end and synchronously approach the transmission handle, the two first wheels rise synchronously to achieve the separation of the two first wheel groups from the first track. When the third ends of the two movable rods rotate around the first ends and move away from the transmission handle synchronously, the two first wheels descend synchronously to achieve contact between the two first wheel groups and the first track.

[0024] In some embodiments, the box includes a chassis and side panels arranged around the chassis, the side panels include a first side panel and a second side panel arranged relatively spaced apart, each group of the first wheel groups includes a first transmission shaft, a synchronous rotation block and a first synchronous wheel coaxially arranged with the first wheel, the two ends of the first transmission shaft are respectively passed through the second side panel and the first side panel, the transmission handle and the transmission assembly are both arranged on the side of the first side panel facing away from the second side panel, the driving shaft of the driving member is passed through the first side panel to be fixed to the center of the transmission handle, the synchronous rotation block is rotatably connected to the second side panel, and the synchronous rotation block and the moving rod are respectively The first wheel is connected to the two ends of the first transmission shaft, the first wheel is rotatably connected to the moving rod, the first synchronous wheel is rotatably connected to the synchronous rotating block, and the moving rod can drive the first synchronous wheel to rise or fall synchronously with the first wheel through the first transmission shaft and the synchronous rotating block; when in the first position, the first wheel and the first synchronous wheel are respectively in contact with the two first tracks located on both sides of the box, and the second wheel group is separated from the second track; when in the second position, the first wheel and the first synchronous wheel are respectively separated from the two first tracks located on both sides of the box, and the second wheel group is in contact with the second track. The box includes a chassis and a side plate arranged around the chassis, and the side plate includes a first side plate and a second side plate arranged at a relative interval to form a stable support frame. Each group of first wheel groups includes a first transmission shaft, a synchronous rotating block and a first synchronous wheel arranged coaxially with the first wheel. The two ends of the first transmission shaft are respectively passed through the second side plate and the first side plate to realize the synchronous movement of the moving rod and the synchronous rotating block. The synchronous rotating block is rotatably connected to the second side plate, and the first synchronous wheel is rotatably connected to the synchronous rotating block to ensure the synchronous movement of the first synchronous wheel and the first wheel. The driving member drives the transmission handle to rotate through the driving shaft, and the transmission handle drives the movable rod to rotate around the first end through the transmission assembly. The rotation of the movable rod is transmitted to the synchronous rotation block through the first transmission shaft, and the synchronous rotation block drives the first synchronous wheel to rise or fall synchronously with the first wheel. In the first position, the first wheel and the first synchronous wheel are respectively in contact with the two first tracks on both sides of the box, and the second wheel group is separated from the second track to achieve movement along the first track. In the second position, the first wheel and the first synchronous wheel are respectively separated from the two first tracks on both sides of the box, and the second wheel group is in contact with the second track to achieve movement along the second track. The design of the first transmission shaft and the synchronous rotation block ensures the synchronous lifting and lowering of the first wheel and the first synchronous wheel, avoids vibration or jamming caused by asynchronous movement, and improves the smooth operation of the reversing device.

[0025] In some embodiments, the rail robot for a stereoscopic warehouse includes a support shaft, a first support member and a second support member, wherein the first support member is arranged on the first side plate, the second support member is arranged on the second side plate, the two ends of the support shaft are rotatably arranged on the first support member and the second support member, respectively, the movable rod is connected to one end of the support shaft from the side where the first side plate is located, and the synchronous rotation block is connected to the other end of the support shaft from the side where the second side plate is located. The two ends of the support shaft are rotatably arranged on the first support member and the second support member, respectively, to form a stable rotating support structure. The first support member is arranged on the first side plate, and the second support member is arranged on the second side plate, to ensure the stability and symmetry of the support shaft. The movable rod is connected to one end of the support shaft from the side where the first side plate is located, and the synchronous rotation block is connected to the other end of the support shaft from the side where the second side plate is located, to achieve synchronous movement of the movable rod and the synchronous rotation block. The first wheel is rotatably connected to the movable rod, and the first synchronous wheel is rotatably connected to the synchronous rotation block, to ensure the synchronous lifting and lowering of the first wheel and the first synchronous wheel. The rotation of the moving rod is transmitted to the synchronous rotating block through the supporting shaft, and the synchronous rotating block drives the first synchronous wheel and the first wheel to rise or fall synchronously, avoiding vibration or jamming caused by asynchronous movement and improving the running stability of the reversing device.

[0026] In some embodiments, the reversing device can also drive the first wheel set to move relative to the box to a third position, in which the first wheel set contacts the first track and the second wheel set contacts the second track to limit the movement of the track robot. In the third position, the first wheel set and the second wheel set just contact the first track and the second track respectively, thereby limiting the movement of the track robot.

[0027] In some of the embodiments, the rail robot further includes a lifting device connected to the box body, and the lifting device is used to lift the material box so as to achieve the picking and placing of the material box in the storage shaft of the stereoscopic warehouse.

[0028] In some embodiments, the first direction and the second direction are perpendicular to each other.

[0029] In some embodiments, the rail robot further includes a first driving assembly, and the first driving assembly is used to drive the first wheel set to rotate.

[0030] In some embodiments, the rail robot further includes a second driving component, and the second driving component is used to drive the second wheel set to rotate.

[0031] The present application also provides an intelligent warehousing system, which includes a three-dimensional warehouse and a track robot as described in any of the above embodiments.

[0032] The intelligent warehousing system includes the track robot described in any of the above embodiments, so the intelligent warehousing system also includes at least the following beneficial effects:

[0033] Through the design of the driving member, transmission handle and connecting rod assembly in the reversing device, the rail robot can quickly and accurately realize the reversing operation. The driving member drives the transmission handle to rotate, driving the two sets of connecting rod assemblies to move synchronously, so that the two sets of first wheel groups are synchronously lifted and lowered relative to the box, thereby realizing the contact or separation of the first wheel group with the first track, and the contact or separation of the second wheel group with the second track. Compared with the traditional screw, cam, cylinder or hydraulic system, this mechanical reversing method has a faster switching speed and higher reliability, which significantly improves the reversing efficiency of the rail robot. In the first position, the first wheel group contacts the first track, the second wheel group separates from the second track, and the rail robot can move in the first direction; in the second position, the first wheel group separates from the first track, the second wheel group contacts the second track, and the rail robot can move in the second direction. This design enables the rail robot to flexibly switch between tracks in different directions, adapt to complex track layout requirements, and improve the adaptability and flexibility of the rail robot.

[0034] The middle part of the transmission handle is connected to the driving member, and the two ends are respectively connected to the two sets of connecting rod assemblies for rotation. When the driving member drives the transmission handle to rotate, the two ends of the transmission handle synchronously drive the two sets of connecting rod assemblies to move, thereby causing the two sets of first wheel assemblies to move synchronously relative to the box. This synchronous design ensures the movement consistency of the two sets of first wheel assemblies during the reversing process, avoids the vibration or deviation of the track robot caused by asynchrony, and significantly improves the accuracy and stability of the reversing.

[0035] By driving two sets of connecting rod assemblies simultaneously through a transmission handle, the structural design of the reversing device is simplified. Compared with the design that requires multiple independent drive devices or complex transmission systems, this single transmission handle structure not only reduces the number of parts, but also reduces manufacturing and maintenance costs. At the same time, the simplified structure is easier to install and debug, which improves the overall reliability of the rail robot.

[0036] The design of a single transmission handle makes the overall structure of the reversing device more compact, reducing the space occupied by the rail robot in the stereoscopic warehouse. This compact design not only improves the adaptability of the rail robot in complex track layouts, but also enables it to operate flexibly in narrow warehouse environments, which is particularly suitable for high-density storage scenarios.

[0037] In summary, the design of rotating two sets of moving rods connected by connecting rods by rotating a transmission handle not only achieves technical effects such as synchronous movement, simplified structure, and efficient transmission, but also improves the adaptability, reliability and ease of operation of rail robots in high-bay warehouses, providing an efficient, stable and economical solution for modern intelligent warehousing systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A structural stereogram of an intelligent warehousing system provided in accordance with an embodiment of the present application.

[0040] Figure 2 A structural stereoscopic diagram of a high-bay warehouse and a track robot provided in one embodiment of the present application.

[0041] Figure 3 A structural stereogram of a rail robot provided in one embodiment of the present application.

[0042] Figure 4 Another structural stereoscopic diagram of a rail robot provided according to an embodiment of the present application.

[0043] Figure 5 This is another structural stereoscopic diagram of a rail robot provided in accordance with an embodiment of the present application, in which components such as side panels are hidden.

[0044] Reference numerals:

[0045] 10. Intelligent warehousing system; 11. Track robot; 12. Stereoscopic warehouse; 100. First wheel group; 110. First wheel; 120. First transmission shaft; 130. Synchronous rotating block; 140. First synchronous wheel; 200. Second wheel group; 300. Box; 310. Chassis; 320. Side plate; 330. Support shaft; 341. First support member; 342. Second support member; 400. Reversing device; 410. Driving member; 420. Driving handle; 430. Connecting rod assembly; 431. Connecting rod; 432. Moving rod; 4321. First end; 4322. Second end; 4323. Third end; 500. Lifting device; 610. First driving assembly; 620. Second driving assembly; 710. First track; 720. Second track; D1. First direction; D2. Second direction. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0047] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 In some embodiments, the present application provides a method for Figure 1 and Figure 2 The track robot 11 of the stereoscopic warehouse 12 is shown. Figure 2 and Figure 3 As shown, the track robot 11 includes a first wheel group 100, a second wheel group 200, a box 300 and a reversing device 400. The first wheel group 100 is arranged in the box 300, and the first wheel group 100 is used to cooperate with the first track 710 of the stereoscopic warehouse 12 and move along the first direction D1; the second wheel group 200 is arranged in the box 300, and the second wheel group 200 is used to cooperate with the second track 720 of the stereoscopic warehouse 12 and move along the second direction D2; the reversing device 400 includes a driving member 410, a transmission handle 420 and two groups of connecting rod assemblies 430 arranged in the box 300, the driving member 410 is connected to the middle part of the transmission handle 420, and the two groups of connecting rod assemblies 430 are respectively arranged on both sides of the transmission handle 420 along the first direction D1 and are rotatably connected to the two ends of the transmission handle 420. The number of the first wheel group 100 is set to two groups, and the two groups of the first wheel group 1 00 are arranged at intervals on both sides of the transmission handle 420 along the first direction D1 and correspond one to one with the connecting rod assemblies 430, each group of the connecting rod assemblies 430 is connected to a group of the first wheel groups 100 and is used to drive the first wheel group 100 to perform lifting movements, and the driving member 410 can drive the transmission handle 420 to rotate to synchronously drive the two groups of the connecting rod assemblies 430, so that the two groups of the first wheel groups 100 can synchronously perform lifting movements relative to the box body 300 to the first position or the second position; when in the first position, the first wheel group 100 is in contact with the first track 710, and the second wheel group 200 is separated from the second track 720; when in the second position, the first wheel group 100 is separated from the first track 710, and the second wheel group 200 is in contact with the second track 720.

[0048] The above-mentioned rail robot 11 for the stereoscopic warehouse 12 can at least achieve the following beneficial effects:

[0049] Through the design of the driving member 410, the transmission handle 420 and the connecting rod assembly 430 in the reversing device 400, the track robot 11 can quickly and accurately realize the reversing operation. The driving member 410 drives the transmission handle 420 to rotate, driving the two sets of connecting rod assemblies 430 to move synchronously, so that the two sets of first wheel groups 100 are synchronously lifted and lowered relative to the box 300, thereby realizing the contact or separation of the first wheel group 100 and the first track 710, and the contact or separation of the second wheel group 200 and the second track 720. Compared with traditional screws, cams, cylinders or hydraulic systems, this mechanical reversing method has faster switching speed and higher reliability, which significantly improves the reversing efficiency of the track robot 11. In the first position, the first wheel group 100 is in contact with the first track 710, the second wheel group 200 is separated from the second track 720, and the track robot 11 can move along the first direction D1; in the second position, the first wheel group 100 is separated from the first track 710, the second wheel group 200 is in contact with the second track 720, and the track robot 11 can move along the second direction D2. This design enables the track robot 11 to flexibly switch between tracks in different directions, adapt to complex track layout requirements, and improve the adaptability and flexibility of the track robot 11.

[0050] The middle part of the transmission handle 420 is connected to the driving member 410, and the two ends are respectively connected to the two groups of connecting rod assemblies 430 for rotation. The driving member 410 can be a motor, and its motor output shaft can be connected to the middle part of the transmission handle 420. When the driving member 410 drives the transmission handle 420 to rotate, the two ends of the transmission handle 420 synchronously drive the two groups of connecting rod assemblies 430 to move, thereby making the two groups of first wheel assemblies 100 synchronously lift and lower relative to the box 300. This synchronous design ensures the movement consistency of the two groups of first wheel assemblies 100 during the reversing process, avoids the shaking or deviation of the track robot 11 caused by asynchronism, and significantly improves the accuracy and stability of the reversing.

[0051] By driving two sets of connecting rod assemblies 430 simultaneously through a transmission handle 420, the structural design of the reversing device 400 is simplified. Compared with the design requiring multiple independent driving devices or a complex transmission system, this structure of a single transmission handle 420 not only reduces the number of parts, but also reduces the manufacturing cost and maintenance cost. At the same time, the simplified structure is easier to install and debug, and the overall reliability of the track robot 11 is improved.

[0052] The design of the single transmission handle 420 makes the overall structure of the reversing device 400 more compact, reducing the space occupied by the track robot 11 in the stereoscopic warehouse 12. This compact design not only improves the adaptability of the track robot 11 in complex track layouts, but also enables it to operate flexibly in a narrow warehouse environment, and is particularly suitable for high-density storage scenarios.

[0053] To sum up, the design of rotating two sets of movable rods 432 connected by a connecting rod 431 by rotating a transmission handle 420 not only achieves technical effects such as synchronous movement, simplified structure, and efficient transmission, but also improves the adaptability, reliability and ease of operation of the rail robot 11 in the three-dimensional warehouse 12, and provides an efficient, stable and economical solution for the modern intelligent warehousing system 10.

[0054] like Figures 3 to 5As shown, in some embodiments, each group of the connecting rod assembly 430 includes a connecting rod 431 and a movable rod 432, the first end 4321 of the movable rod 432 is rotatably connected to the side plate 320 of the box body 300, and each group of the first wheel group 100 includes a first wheel 110 rotatably connected to the second end 4322 of the movable rod 432, the connecting rod 431 is arranged between the movable rod 432 and the transmission handle 420, the third end 4323 of the movable rod 432 is rotatably connected to one end of the connecting rod 431, and the other end of the connecting rod 431 is rotatably connected to one end of the transmission handle 420, and each of the connecting rods 431 can drive the third end 4323 of the movable rod 432 to rotate around the first end 4321 under the drive of the transmission handle 420, so as to drive the first wheel 110 connected to the second end 4322 to perform a lifting movement to the first position or the second position. The first end 4321 of the movable rod 432 is rotatably connected to the side plate 320 of the box body 300, serving as a fixed fulcrum of the movable rod 432, so that the movable rod 432 can rotate around the fulcrum. The second end 4322 of the movable rod 432 is rotatably connected to the first wheel 110, and the first wheel 110 is a component of the first wheel group 100, and is used to cooperate with the first track 710 of the stereoscopic warehouse 12. The connecting rod 431 is located between the movable rod 432 and the transmission handle 420, and plays a role in transmitting motion. One end of the connecting rod 431 is rotatably connected to the third end 4323 of the movable rod 432, and the other end is rotatably connected to one end of the transmission handle 420. The middle part of the transmission handle 420 is connected to the driving member 410, and the driving member 410 drives the transmission handle 420 to rotate around its middle. The two ends of the transmission handle 420 are respectively rotatably connected to the connecting rods 431 in the two groups of connecting rod assemblies 430, so as to achieve synchronous drive. The driving member 410 drives the transmission handle 420 to rotate, and the rotation of the transmission handle 420 is transmitted to the third end 4323 of the movable rod 432 through the connecting rod 431, driving the movable rod 432 to rotate around its first end 4321. The rotation of the movable rod 432 drives the first wheel 110 at its second end 4322 to perform lifting and lowering motion. When the movable rod 432 rotates to a specific angle, the first wheel 110 rises from the first position (contacting the first track 710) to the second position (separated from the first track 710). The rotation of the transmission handle 420 drives the two groups of connecting rod assemblies 430, so that the two groups of first wheels 110 perform lifting and lowering motion synchronously, ensuring stability and consistency during the reversing process. The connection method of the movable rod 432, the connecting rod 431 and the transmission handle 420 is compact, which reduces the space occupied by the reversing device 400 and improves the adaptability of the track robot 11 in the stereoscopic warehouse 12. The rotation angle of the transmission handle 420 corresponds to the lifting position of the first wheel 110 one by one. By controlling the rotation angle of the driving member 410, the position of the first wheel 110 can be accurately controlled to achieve fast and accurate switching operation.

[0055] like Figures 3 to 5As shown, in some embodiments, any two of the first end 4321, the second end 4322 and the third end 4323 of the movable rod 432 are spaced apart from each other. The first end 4321, the second end 4322 and the third end 4323 of the movable rod 432 are spaced apart from each other in space to form a certain geometric relationship. The first end 4321 is used as a fixed fulcrum of the movable rod 432 and is rotatably connected to the side plate 320 of the box body 300. The second end 4322 is rotatably connected to the first wheel 110 for cooperation with the first track 710. The third end 4323 is rotatably connected to one end of the connecting rod 431 for receiving the driving force of the transmission handle 420. The spacing of any two ends ensures that the movable rod 432 can form an effective lever effect during the movement, thereby converting the rotation of the transmission handle 420 into the lifting movement of the first wheel 110. The driving member 410 drives the transmission handle 420 to rotate, and the transmission handle 420 transmits the driving force to the third end 4323 of the movable rod 432 through the connecting rod 431. The third end 4323 of the movable rod 432 rotates around the first end 4321 (fixed fulcrum) driven by the connecting rod 431. Since the first end 4321, the second end 4322 and the third end 4323 are arranged at intervals from each other, the rotation of the movable rod 432 will drive the first wheel 110 of the second end 4322 to move up and down. The three ends of the movable rod 432 are arranged at intervals to form an effective lever structure, which converts the rotation of the transmission handle 420 into the lifting and lowering movement of the first wheel 110, with high transmission efficiency and rapid motion response. Due to the three ends of the movable rod 432 being arranged at intervals, the rotation angle of the transmission handle 420 has a clear corresponding relationship with the lifting and lowering position of the first wheel 110. By controlling the rotation angle of the driving member 410, the position of the first wheel 110 can be accurately controlled to achieve fast and accurate reversing operation.

[0056] like Figures 3 to 5 As shown, in some embodiments, the rotation center of the first wheel 110 is spaced apart from the rotation center of the movable rod 432 .

[0057] like Figures 3 to 5 As shown, in some embodiments, the second end 4322 is located on a side of the first end 4321 away from the transmission handle 420 .

[0058] like Figures 3 to 5 As shown, in some embodiments, the third end 4323 is located above the first end 4321.

[0059] like Figures 3 to 5As shown, in some embodiments, the two connecting rods 431 are respectively connected to the two ends of the transmission handle 420 and are at the same distance from the rotation center of the transmission handle 420. The two connecting rods 431 are respectively connected to the two ends of the transmission handle 420 and are at the same distance from the rotation center of the transmission handle 420, forming a symmetrical structure. Since the two connecting rods 431 are at the same distance from the rotation center of the transmission handle 420, the rotation of the transmission handle 420 will drive the third ends 4323 of the two movable rods 432 to move at the same angle and speed, so that the two movable rods 432 rotate synchronously around their first ends 4321, so that the driving force of the transmission handle 420 can be evenly transmitted to the two movable rods 432, ensuring that the lifting and lowering movements of the two first wheels 110 are completely synchronized, so that the position of the first wheel 110 can be accurately controlled, and fast and accurate switching operations can be achieved, avoiding vibration or jamming caused by asynchronous movement, and improving the running stability of the reversing device 400. The symmetrical layout of the connecting rod 431 makes the structure of the reversing device 400 more compact, reduces space occupancy, and improves the adaptability of the track robot 11 in the stereoscopic warehouse 12, which is particularly suitable for high-density storage scenarios.

[0060] like Figures 3 to 5 As shown, in some embodiments, when the transmission handle 420 rotates, the third ends 4323 of the two movable rods 432 can rotate around the first end 4321 and synchronously approach or move away from the transmission handle 420 under the drive of the two connecting rods 431; when the third ends 4323 of the two movable rods 432 rotate around the first end 4321 and synchronously approach the transmission handle 420, the two first wheels 110 rise synchronously to achieve the separation of the two first wheel groups 100 from the first track 710; when the third ends 4323 of the two movable rods 432 rotate around the first end 4321 and synchronously move away from the transmission handle 420, the two first wheels 110 rise synchronously to achieve the contact between the two first wheel groups 100 and the first track 710. The driving member 410 drives the transmission handle 420 to rotate around its rotation center, and the transmission handle 420 synchronously drives the third ends 4323 of the two movable rods 432 to move through the two connecting rods 431. When the transmission handle 420 rotates, the third ends 4323 of the two movable rods 432 rotate around the first end 4321 driven by the connecting rod 431, and synchronously approach or synchronously move away from the transmission handle 420. When the third ends 4323 of the two movable rods 432 rotate around the first end 4321 and synchronously approach the transmission handle 420, the two first wheels 110 rise synchronously, and the two first wheel groups 100 are separated from the first track 710. When the third ends 4323 of the two movable rods 432 rotate around the first end 4321 and synchronously move away from the transmission handle 420, the two first wheels 110 descend synchronously, and the two first wheel groups 100 are in contact with the first track 710.

[0061] like Figures 3 to 5As shown, in some embodiments, the box 300 includes a chassis 310 and a side panel 320 arranged around the chassis 310, the side panel 320 includes a first side panel 320 and a second side panel 320 arranged relatively spaced apart, each group of the first wheel group 100 includes a first transmission shaft 120, a synchronous rotation block 130 and a first synchronous wheel 140 coaxially arranged with the first wheel 110, the two ends of the first transmission shaft 120 are respectively passed through the second side panel 320 and the first side panel 320, the transmission handle 420 and the transmission assembly are both arranged on the side of the first side panel 320 facing away from the second side panel 320, the driving shaft of the driving member 410 is passed through the first side panel 320 to be fixed to the center of the transmission handle 420, the synchronous rotation block 130 is rotatably connected to the second side panel 320, the synchronous rotation block 130 and the The movable rod 432 is respectively connected to the two ends of the first transmission shaft 120, the first wheel 110 is rotationally connected to the movable rod 432, and the first synchronous wheel 140 is rotationally connected to the synchronous rotation block 130. The movable rod 432 can drive the first synchronous wheel 140 and the first wheel 110 to rise or fall synchronously through the first transmission shaft 120 and the synchronous rotation block 130; when in the first position, the first wheel 110 and the first synchronous wheel 140 are respectively in contact with the two first rails 710 located on both sides of the box 300, and the second wheel set 200 is separated from the second rail 720; when in the second position, the first wheel 110 and the first synchronous wheel 140 are respectively separated from the two first rails 710 located on both sides of the box 300, and the second wheel set 200 is in contact with the second rail 720. The box 300 includes a chassis 310 and a side plate 320 arranged around the chassis 310, and the side plate 320 includes a first side plate 320 and a second side plate 320 arranged relatively spaced apart to form a stable support frame. Each first wheel set 100 includes a first transmission shaft 120, a synchronous rotation block 130, and a first synchronous wheel 140 coaxially arranged with the first wheel 110. The two ends of the first transmission shaft 120 are respectively penetrated through the second side plate 320 and the first side plate 320 to realize the synchronous movement of the moving rod 432 and the synchronous rotation block 130. The synchronous rotation block 130 is rotatably connected to the second side plate 320, and the first synchronous wheel 140 is rotatably connected to the synchronous rotation block 130 to ensure the synchronous movement of the first synchronous wheel 140 and the first wheel 110. The driving member 410 drives the transmission handle 420 to rotate through the driving shaft, and the transmission handle 420 drives the moving rod 432 to rotate around the first end 4321 through the transmission assembly. The rotation of the moving rod 432 is transmitted to the synchronous rotation block 130 through the first transmission shaft 120, and the synchronous rotation block 130 drives the first synchronous wheel 140 to rise or fall synchronously with the first wheel 110.In the first position, the first wheel 110 and the first synchronous wheel 140 are respectively in contact with the two first tracks 710 located on both sides of the box 300, and the second wheel set 200 is separated from the second track 720, so as to realize the movement along the first track 710. In the second position, the first wheel 110 and the first synchronous wheel 140 are respectively separated from the two first tracks 710 located on both sides of the box 300, and the second wheel set 200 is in contact with the second track 720, so as to realize the movement along the second track 720. The design of the first transmission shaft 120 and the synchronous rotating block 130 ensures the synchronous lifting and lowering of the first wheel 110 and the first synchronous wheel 140, avoids vibration or jamming caused by asynchronous movement, and improves the running stability of the reversing device 400.

[0062] like Figures 3 to 5 As shown, in some embodiments, the rail robot 11 for the stereoscopic warehouse 12 includes a support shaft 330, a first support member 341 and a second support member 342, wherein the first support member 341 is provided on the first side plate 320, and the second support member 342 is provided on the second side plate 320, and the two ends of the support shaft 330 are rotatably provided on the first support member 341 and the second support member 342, respectively, and the movable rod 432 is connected to one end of the support shaft 330 from the side where the first side plate 320 is located, and the synchronous rotation block 130 is connected to the other end of the support shaft 330 from the side where the second side plate 320 is located. The two ends of the support shaft 330 are rotatably provided on the first support member 341 and the second support member 342, respectively, to form a stable rotating support structure. The first support member 341 is provided on the first side plate 320, and the second support member 342 is provided on the second side plate 320, to ensure the stability and symmetry of the support shaft 330. The movable rod 432 is connected to one end of the support shaft 330 from the side where the first side plate 320 is located, and the synchronous rotation block 130 is connected to the other end of the support shaft 330 from the side where the second side plate 320 is located, so as to realize the synchronous movement of the movable rod 432 and the synchronous rotation block 130. The first wheel 110 is rotationally connected to the movable rod 432, and the first synchronous wheel 140 is rotationally connected to the synchronous rotation block 130, so as to ensure the synchronous lifting and lowering of the first wheel 110 and the first synchronous wheel 140. The rotation of the movable rod 432 is transmitted to the synchronous rotation block 130 through the support shaft 330, and the synchronous rotation block 130 drives the first synchronous wheel 140 to rise or fall synchronously with the first wheel 110, so as to avoid vibration or jamming caused by asynchronous movement, and improve the running stability of the reversing device 400.

[0063] In some embodiments, the reversing device 400 can also drive the first wheel set 100 to move to a third position relative to the box 300. At the third position, the first wheel set 100 contacts the first track 710, and the second wheel set 200 contacts the second track 720, so as to limit the movement of the track robot 11. At the third position, the first wheel set 100 and the second wheel set 200 just contact the first track 710 and the second track 720, respectively, so as to limit the movement of the track robot 11.

[0064] In some of the embodiments, the rail robot 11 further includes a lifting device 500 connected to the box body 300 , and the lifting device 500 is used to lift the material box so as to achieve the picking and placing of the material box in the storage shaft of the stereoscopic warehouse 12 .

[0065] In some embodiments, the first direction D1 and the second direction D2 are perpendicular to each other.

[0066] In some embodiments, the rail robot 11 further includes a first driving component 610 , and the first driving component 610 is used to drive the first wheel set 100 to rotate.

[0067] In some of the embodiments, the rail robot 11 further includes a second driving component 620 , and the second driving component 620 is used to drive the second wheel set 200 to rotate.

[0068] In addition, if Figure 1 and Figure 2 As shown, the present application also provides an intelligent warehousing system 10, which includes a three-dimensional warehouse 12 and a track robot 11 as described in any of the above embodiments.

[0069] The intelligent warehousing system 10 includes the track robot 11 described in any of the above embodiments, so the intelligent warehousing system 10 also includes at least the following beneficial effects:

[0070] Through the design of the driving member 410, the transmission handle 420 and the connecting rod assembly 430 in the reversing device 400, the track robot 11 can quickly and accurately realize the reversing operation. The driving member 410 drives the transmission handle 420 to rotate, driving the two sets of connecting rod assemblies 430 to move synchronously, so that the two sets of first wheel groups 100 are synchronously lifted and lowered relative to the box 300, thereby realizing the contact or separation of the first wheel group 100 and the first track 710, and the contact or separation of the second wheel group 200 and the second track 720. Compared with traditional screws, cams, cylinders or hydraulic systems, this mechanical reversing method has faster switching speed and higher reliability, which significantly improves the reversing efficiency of the track robot 11. In the first position, the first wheel group 100 is in contact with the first track 710, the second wheel group 200 is separated from the second track 720, and the track robot 11 can move along the first direction D1; in the second position, the first wheel group 100 is separated from the first track 710, the second wheel group 200 is in contact with the second track 720, and the track robot 11 can move along the second direction D2. This design enables the track robot 11 to flexibly switch between tracks in different directions, adapt to complex track layout requirements, and improve the adaptability and flexibility of the track robot 11.

[0071] The middle part of the transmission handle 420 is connected to the driving member 410, and the two ends are respectively connected to the two groups of connecting rod assemblies 430 for rotation. When the driving member 410 drives the transmission handle 420 to rotate, the two ends of the transmission handle 420 synchronously drive the two groups of connecting rod assemblies 430 to move, thereby making the two groups of first wheel assemblies 100 synchronously move up and down relative to the box 300. This synchronous design ensures the movement consistency of the two groups of first wheel assemblies 100 during the reversing process, avoids the shaking or deviation of the track robot 11 caused by asynchronism, and significantly improves the accuracy and stability of the reversing.

[0072] By driving two sets of connecting rod assemblies 430 simultaneously through a transmission handle 420, the structural design of the reversing device 400 is simplified. Compared with the design requiring multiple independent driving devices or a complex transmission system, this structure of a single transmission handle 420 not only reduces the number of parts, but also reduces the manufacturing cost and maintenance cost. At the same time, the simplified structure is easier to install and debug, and the overall reliability of the track robot 11 is improved.

[0073] The design of the single transmission handle 420 makes the overall structure of the reversing device 400 more compact, reducing the space occupied by the track robot 11 in the stereoscopic warehouse 12. This compact design not only improves the adaptability of the track robot 11 in complex track layouts, but also enables it to operate flexibly in a narrow warehouse environment, and is particularly suitable for high-density storage scenarios.

[0074] To sum up, the design of rotating two sets of movable rods 432 connected by a connecting rod 431 by rotating a transmission handle 420 not only achieves technical effects such as synchronous movement, simplified structure, and efficient transmission, but also improves the adaptability, reliability and ease of operation of the rail robot 11 in the three-dimensional warehouse 12, and provides an efficient, stable and economical solution for the modern intelligent warehousing system 10.

[0075] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0077] In the description of the present application, it should be understood that the terms "axial", "radial", "circumferential", "length", "width", "thickness", "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0078] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0079] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0080] In this application, unless otherwise clearly specified and limited, 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 connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection 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 this application can be understood according to specific circumstances.

[0081] It should be noted that when an element is referred to as being "located on", "fixed on" or "set on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0082] In the description of this specification, the description of reference terms "one embodiment", "other implementation methods", etc. means that the specific features, structures, materials or features described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present application. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

Claims

1. A rail robot for a stereoscopic warehouse, characterized in that: include: Box; A first wheel group, the first wheel group is arranged on the box body, and the first wheel group is used to cooperate with the first track of the stereoscopic warehouse and move along a first direction; A second wheel set, the second wheel set is arranged on the box body, and the second wheel set is used to cooperate with the second track of the stereoscopic warehouse and move along the second direction; A reversing device, the reversing device includes a driving member, a transmission handle and two groups of connecting rod assemblies arranged on the box body, the driving member is connected to the middle part of the transmission handle, the two groups of connecting rod assemblies are respectively arranged on both sides of the transmission handle along the first direction and are rotatably connected to the two ends of the transmission handle, the number of the first wheel groups is set to two groups, the two groups of the first wheel groups are arranged at intervals on both sides of the transmission handle along the first direction and correspond to the connecting rod assemblies one by one, each group of the connecting rod assemblies is connected to a group of the first wheel groups and is used to drive the first wheel groups to perform lifting and lowering movements, the driving member can drive the transmission handle to rotate to synchronously drive the two groups of connecting rod assemblies, so that the two groups of the first wheel groups can synchronously perform lifting and lowering movements relative to the box body to the first position or the second position; when in the first position, the first wheel group is in contact with the first track, and the second wheel group is separated from the second track; when in the second position, the first wheel group is separated from the first track, and the second wheel group is in contact with the second track.

2. The rail robot for a high-bay warehouse according to claim 1, characterized in that: Each group of the connecting rod assemblies includes a connecting rod and a moving rod, the first end of the moving rod is rotatably connected to the side plate of the box, and each group of the first wheel group includes a first wheel rotatably connected to the second end of the moving rod, the connecting rod is arranged between the moving rod and the transmission handle, the third end of the moving rod is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to one end of the transmission handle, and each of the connecting rods can drive the third end of the moving rod to rotate around the first end under the drive of the transmission handle, so as to drive the first wheel connected to the second end to perform a lifting movement to the first position or the second position.

3. The rail robot for a high-bay warehouse according to claim 2, characterized in that: Any two of the first end, the second end and the third end of the movable rod are spaced apart from each other; And / or, the rotation center of the first wheel is spaced apart from the rotation center of the moving rod.

4. The track robot for a high-bay warehouse according to claim 2, characterized in that: The second end is located at a side of the first end away from the transmission handle; And / or, the third end is located above the first end.

5. The track robot for a high-bay warehouse according to claim 2, characterized in that: The two connecting rods are respectively connected to the two ends of the transmission handle and are at the same distance from the rotation center of the transmission handle.

6. The rail robot for a high-bay warehouse according to any one of claims 2 to 5, characterized in that: When the transmission handle rotates, the third ends of the two movable rods can rotate around the first end and synchronously approach or move away from the transmission handle under the drive of the two connecting rods; when the third ends of the two movable rods rotate around the first end and synchronously approach the transmission handle, the two first wheels rise synchronously to achieve the separation of the two first wheel groups from the first track; when the third ends of the two movable rods rotate around the first end and synchronously move away from the transmission handle, the two first wheels rise synchronously to achieve the contact of the two first wheel groups with the first track.

7. The rail robot for a high-bay warehouse according to any one of claims 2 to 5, characterized in that: The box body includes a chassis and a side plate arranged around the chassis, the side plate includes a first side plate and a second side plate arranged at a relative interval, each group of the first wheel group includes a first transmission shaft, a synchronous rotation block and a first synchronous wheel arranged coaxially with the first wheel, the two ends of the first transmission shaft are respectively passed through the second side plate and the first side plate, the transmission handle and the transmission assembly are both arranged on the side of the first side plate facing away from the second side plate, the driving shaft of the driving member is passed through the first side plate to be fixed with the center of the transmission handle, the synchronous rotation block is rotatably connected to the second side plate, and the synchronous rotation block and the moving rod are respectively connected to the At both ends of the first transmission shaft, the first wheel is rotatably connected to the moving rod, and the first synchronous wheel is rotatably connected to the synchronous rotation block. The moving rod can drive the first synchronous wheel and the first wheel to rise or fall synchronously through the first transmission shaft and the synchronous rotation block; when in the first position, the first wheel and the first synchronous wheel are respectively in contact with the two first tracks located on both sides of the box, and the second wheel group is separated from the second track; when in the second position, the first wheel and the first synchronous wheel are respectively separated from the two first tracks located on both sides of the box, and the second wheel group is in contact with the second track.

8. The rail robot for a high-bay warehouse according to claim 7, characterized in that: The rail robot for a three-dimensional warehouse includes a support shaft, a first support member and a second support member, the first support member is arranged on the first side plate, the second support member is arranged on the second side plate, the two ends of the support shaft are rotatably passed through the first support member and the second support member respectively, the moving rod is connected to one end of the support shaft from the side where the first side plate is located, and the synchronous rotation block is connected to the other end of the support shaft from the side where the second side plate is located.

9. The rail robot for a high-bay warehouse according to any one of claims 1 to 4, characterized in that: The driving member can also drive the first wheel group to move relative to the box to a third position, and in the third position, the first wheel group contacts the first track, and the second wheel group contacts the second track, so as to limit the movement of the track robot; And / or, the rail robot further comprises a lifting device connected to the box body, the lifting device being used to lift the material box so as to realize the picking and placing of the material box in the storage shaft of the stereoscopic warehouse; and / or, the first direction and the second direction are perpendicular to each other; And / or, the rail robot further comprises a first driving assembly, wherein the first driving assembly is used to drive the first wheel set to rotate; And / or, the rail robot further includes a second driving assembly, and the second driving assembly is used for driving the second wheel set to rotate.

10. An intelligent warehousing system, characterized in that: It comprises a three-dimensional warehouse and a track robot as described in any one of claims 1 to 9.

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