Workbin carrying robot and warehousing system

Abstract

The invention discloses a workbin carrying robot and a warehousing system.The workbin carrying robot comprises a portal moving along transverse guide rails, the transverse guide rails comprise a first guide rail and a second guide rail which are distributed from top to bottom in the height direction of the portal, the portal comprises a stand column, and the stand column is provided with a first connecting assembly connected with the first guide rail; the first connecting assembly comprises a first connecting piece, a second connecting piece and a connecting arm, the first connecting piece slides on the first guide rail and can horizontally move along the first guide rail, the second connecting piece is slidably connected to the stand column and can move in the height direction of the stand column, and the connecting arm is hinged to the first connecting piece and the second connecting piece. The relative position of the stand column and the first guide rail can be adjusted in a self-adaptive mode in the height direction of the portal frame. The first connecting piece and the second connecting piece are hinged to the connecting arms correspondingly, the first connecting piece and the second connecting piece are slidably connected with the first guide rail and the second guide rail correspondingly, and therefore the door frame can incline and horizontally move along the transverse guide rail.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse systems, in particular to a material box carrying robot and a warehouse system. BACKGROUND

[0002] The material box carrying robot is usually used for carrying material boxes on a shelf, and its structure can include a portal moving horizontally along a shelf guide rail, and a material box taking and placing mechanism moving vertically along the portal. Through the composite motion of the two, the material box taking and placing mechanism can take and place material boxes at any storage position on the shelf.

[0003] The height of the portal of the material box carrying robot is usually matched with the height of the shelf. In the case of high shelf and portal, due to the possible inconsistency of the driving force on the upper and lower ends of the portal, there may be a speed difference between the upper and lower ends of the portal, resulting in an asymmetric pulling force on the portal during movement. In the related art, the portal is usually horizontally matched with the guide rail through a sliding connecting piece (such as a sliding rail or a guide wheel), but is rigidly fixed and constrained in the height direction. When the portal is subjected to an asynchronous pulling force from the upper and lower drives, this structure will cause additional longitudinal friction or lateral bending moment between the portal and the guide rail, eventually causing the material box carrying robot to jam during movement. SUMMARY

[0004] The present application aims to solve one of the above-mentioned technical problems in the prior art to some extent. To this end, the present application provides a material box carrying robot and a warehouse system, which can move horizontally along the transverse guide rail in the case of portal inclination, and run stably.

[0005] In a first aspect, to achieve the above-mentioned purpose, the present application provides a material box carrying robot, which includes a portal moving along a transverse guide rail, the transverse guide rail including a first guide rail and a second guide rail distributed and arranged from top to bottom along the height direction of the portal, the portal including a stand column, the stand column being provided with a first connecting assembly connected with the first guide rail, the first connecting assembly including a first connecting piece, a second connecting piece and a connecting arm, the first connecting piece sliding on the first guide rail and being capable of moving horizontally along the first guide rail, the second connecting piece being slidingly connected to the stand column and being capable of moving along the height direction of the stand column, the connecting arm being hingedly connected with the first connecting piece and the second connecting piece respectively, so that the relative position of the stand column and the first guide rail can be adaptively adjusted in the height direction of the portal.

[0006] In the technical solution, the first connecting assembly is arranged between the column of the portal frame and the first guide rail in the transverse guide rail, and the connecting arm is hingedly connected with the first connecting piece and the second connecting piece, so that the column of the portal frame is hingedly connected with the first guide rail, and in the case that the driving speeds of the upper side and the lower side of the portal frame are inconsistent, the column can eliminate the influence caused by the inconsistent driving speeds of the upper side and the lower side by tilting, and the connecting position of the column and the first guide rail can be more smoothly adjusted in the height direction of the column when the column tilts, so that the portal frame can move horizontally along the transverse guide rail in the tilted state.

[0007] Preferably, the portal frame is further provided with a second connecting assembly connected with the second guide rail, the second connecting assembly comprises a third connecting piece and a fourth connecting piece, the third connecting piece is slidably connected with the second guide rail and can move horizontally along the second guide rail, and the fourth connecting piece is hingedly connected with the third connecting piece through a hinge shaft.

[0008] Preferably, the fourth connecting piece is slidably connected with the column and moves in the height direction of the column.

[0009] Preferably, the hinge shaft is rotatably connected with at least one of the third connecting piece and the fourth connecting piece, so that the third connecting piece and the fourth connecting piece are hingedly connected, and the hinge shaft can move in the height direction of the portal frame relative to at least one of the third connecting piece and the fourth connecting piece within a preset height, so that the third connecting piece and the fourth connecting piece can move relative to each other in the height direction of the column.

[0010] Preferably, the first connecting assembly and the second connecting assembly further comprise a positioning device, so that the first connecting assembly and the second connecting assembly can be aligned in the height direction of the column.

[0011] Preferably, the column comprises a first column and a second column, the first column and the second column are respectively provided with a first connecting assembly connected with the first guide rail, and at least one of the first connecting assemblies arranged on the first column and the second column respectively further comprises a first driving assembly for driving the first connecting assembly to move horizontally along the first guide rail.

[0012] Preferably, the first column and the second column are respectively provided with a second connecting assembly connected with the second guide rail.

[0013] Preferably, the bottom of the portal frame is further provided with a moving chassis, the moving chassis comprises a mounting bracket and a second driving assembly, the mounting bracket is used for carrying the portal frame, and the second driving assembly is used for driving the moving chassis to move along the ground.

[0014] Preferably, the second driving assembly comprises a driving wheel arranged at the center of the bottom of the mounting bracket, and the bottom surface of the mounting bracket is formed with upwardly inclined slopes on both sides of the driving wheel in the direction of guiding of the transverse guide rail, so that the bottom surface of the mounting bracket is kept away from the ground when the portal frame is inclined to both sides of the direction of guiding of the transverse guide rail.

[0015] Preferably, the portal frame is provided with a lifting assembly moving along the height direction of the portal frame, and the lifting assembly is provided with an executing mechanism for carrying the bin.

[0016] In addition, in order to achieve the above-mentioned purpose, the application further provides a warehousing system comprising a shelf and a bin carrying robot, wherein the bin carrying robot is the bin carrying robot according to any one of the above-mentioned technical solutions, the shelf is provided with a transverse guide rail, and the portal frame of the bin carrying robot moves along the transverse guide rail. The beneficial effects of the warehousing system and the bin carrying robot provided by the application are similar to the reasoning process, and will not be repeated here.

[0017] The features and advantages of the present application will be described in detail in the following specific embodiments and drawings. The best mode or means of the present application will be fully illustrated in conjunction with the drawings, but it is not a limitation on the technical solutions of the present application. In addition, the features, elements and components appearing in each of the following text and drawings are multiple, and different symbols or numbers are marked for convenience of representation, but all represent the same or similar structure or function parts. BRIEF DESCRIPTION OF DRAWINGS

[0018] The present application will be further described below in conjunction with the drawings:

[0019] Figure 1 is a structural schematic view of the bin carrying robot of the embodiment (inclined state);

[0020] Figure 2 is another structural schematic view of the bin carrying robot of the embodiment (uninclined state);

[0021] Figure 3 is a structural schematic view of the first connecting assembly of the embodiment;

[0022] Figure 4 is a structural schematic view of the second connecting assembly of the embodiment;

[0023] Figure 5 is a structural schematic view of the moving chassis of the embodiment.

[0024] Explanation of reference signs:

[0025] Wherein, 101, first vertical column; 102, second vertical column; 103, lifting assembly; 110, first connecting assembly; 111, first connecting piece; 112, second connecting piece; 113, connecting arm; 114, first driving assembly; 120, second connecting assembly; 121, third connecting piece; 122, fourth connecting piece; 123, hinged shaft; 130, moving chassis; 131, mounting bracket; 132, second driving assembly; 1321, driving wheel; 140, positioning device; 201, first guide rail; 202, second guide rail. DETAILED DESCRIPTION

[0026] Embodiments of the present application are described in detail below with reference to the attached drawings, wherein the same or like reference numerals in the drawings represent the same or like elements or elements having the same or similar functions throughout the several views. The embodiments in the embodiments are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0027] In this specification, "one embodiment" or "an embodiment" or "example" or "exemplary" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in some embodiments" in various places in the specification are not necessarily all referring to the same embodiment.

[0028] In the description of the present application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" means two or more. "And / or", which describes the relationship between the associated objects, means that there can be three kinds of relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents that the associated objects before and after it are in an "or" relationship.

[0029] As Figures 1 to 3As shown, a material box carrying robot comprises a portal moving along a transverse guide rail, the transverse guide rail comprises a first guide rail 201 and a second guide rail arranged in a top-down manner along a portal height direction, the portal comprises a column, the column is provided with a first connecting assembly 110 connected with the first guide rail 201, the first connecting assembly 110 comprises a first connecting piece 111, a second connecting piece 112 and a connecting arm 113, the first connecting piece 111 slides on the first guide rail 201 and can move horizontally along the first guide rail 201, the second connecting piece 112 is slidingly connected to the column and can move along a column height direction, and the connecting arm 113 is hingedly connected with the first connecting piece 111 and the second connecting piece 112 respectively, so that the relative position of the column and the first guide rail 201 can be adaptively adjusted in the portal height direction.

[0030] Specifically, as shown in Figure 3 The upper and lower sides of the first guide rail 201 are formed with guide grooves, and the first connecting piece 111 is correspondingly provided with two groups of guide wheels in the height direction, and the two groups of guide wheels respectively roll in the guide grooves on the upper and lower sides of the first guide rail 201, so that the first connecting piece 111 and the first guide rail 201 form a stable sliding connection. Through the above arrangement, the first connecting piece 111 can clamp the first guide rail 201 from at least two opposite directions (upper and lower sides) of the first guide rail 201, preventing the first connecting piece 111 from being pulled out of the first guide rail 201. It should be noted that in other embodiments, the first guide rail 201 and the first connecting piece 111 can be slidingly connected in any other form of sliding connection manner in the prior art, which will not be enumerated one by one in this embodiment.

[0031] Specifically, as shown in Figure 1 , 3 The second connecting piece 112 is formed with a protrusion or a groove, and the column is correspondingly formed with a groove or a protrusion matched with the second connecting piece 112, the protrusion can slide in the groove, and the protrusion cannot be pulled out of the groove in the horizontal direction, so that the second connecting piece 112 can slide on the column, and the sliding connection manner of the second connecting piece 112 and the column can also be set according to the use requirement.

[0032] In the embodiment, the first connecting assembly 110 is arranged between the column of the portal frame and the first guide rail 201 in the transverse guide rail, and the connecting arm 113 is hingedly connected with the first connecting piece 111 and the second connecting piece 112, so that the column of the portal frame and the first guide rail 201 are hingedly connected. In the case that the driving speeds of the upper and lower sides of the portal frame are inconsistent, the column can eliminate the influence caused by the inconsistent driving speeds of the upper and lower sides by tilting. The second connecting piece 112 is slidingly connected with the column, so that the connection position between the column and the first guide rail 201 can be more smoothly adjusted in the height direction of the column when the column tilts, and the portal frame can move horizontally along the transverse guide rail in the tilted state.

[0033] In some embodiments, as shown in Figure 1 、 4 The portal frame is further provided with a second connecting assembly 120 connected with the second guide rail, the second connecting assembly 120 is used for auxiliary supporting the portal frame and limiting the tilting angle of the portal frame, so as to prevent the tilting angle of the portal frame from being too large. The second connecting assembly 120 includes a third connecting piece 121 and a fourth connecting piece 122. The third connecting piece 121 is slidingly connected with the second guide rail 202 and can move horizontally along the second guide rail 202. The fourth connecting piece 122 is slidingly connected with the column and moves in the height direction of the column. In the case that the column tilts, the connection position between the second connecting assembly 120 and the column can be adjusted in the height direction, so as to prevent the column from being squeezed or pulled in the tilted state.

[0034] In some embodiments, the fourth connecting member 122 and the third connecting member 121 are hingedly connected through a hinge shaft 123. The hinge shaft 123 is fixedly connected to one of the third connecting member 121 and the fourth connecting member 122, and rotatably connected to the other one; or the hinge shaft 123 is rotatably connected to both the third connecting member 121 and the fourth connecting member 122, and slides relative to at least one of the third connecting member 121 and the fourth connecting member 122, so that the third connecting member 121 and the fourth connecting member 122 can move relative to each other along the height direction of the portal frame when the upright column is tilted. For example, the hinge shaft 123 is fixedly connected to the third connecting member 121, and the fourth connecting member 122 is provided with a shaft hole, and the hinge shaft 123 is rotatably connected in the shaft hole, so that the third connecting member 121 and the fourth connecting member 122 are hingedly connected. The shaft hole can be a U-shaped hole or a strip-shaped hole, so that the hinge shaft 123 can rotate in the shaft hole and move along the height direction of the portal frame. In other embodiments, the third connecting member 121 and the fourth connecting member 122 can be provided with U-shaped holes or strip-shaped holes at the same time, and the hinge shaft 123 can move along the height direction of the upright column relative to the third connecting member 121 or the fourth connecting member 122 at the same time, so that the intersection position of the upright column and the second guide rail 200 relative to the height of the upright column can be adjusted when the portal frame is tilted. In this embodiment, the fourth connecting member 122 can be fixedly connected to the upright column, and the third connecting member 121 and the fourth connecting member 122 are hingedly connected through the hinge shaft 123 and move in the shaft hole at the same time, so that the third connecting member 121 and the fourth connecting member 122 can move relative to each other along the height direction of the portal frame.

[0035] In the above embodiments, the hinge shaft 123 serves as a support point to assist in supporting the third connecting member 121 and the portal frame, and the third connecting member 121 and the fourth connecting member 122 are hingedly connected through the hinge shaft 123, so that the portal frame can be tilted at a certain angle in the vertical plane. Figure 3 As shown in FIG. 6, the third connecting member 121 or the fourth connecting member 122 is further provided with a limiting member to limit the rotation angle of the hinge shaft 123, thereby limiting the tilt angle of the portal frame in the vertical plane (the tilt angle of the portal frame to the left and right in the figure). For example, the limiting member is a limiting protrusion, a limiting protrusion column or a limiting strip, and the other one of the third connecting member 121 and the fourth connecting member 123 abuts against the limiting member when it rotates by a certain angle (a preset angle), so as to limit the tilt angle of the portal frame.

[0036] Specifically, as shown in FIG. 7, the third connecting member 121 is provided with a limiting protrusion, and the fourth connecting member 122 is provided with a limiting protrusion column. When the third connecting member 121 rotates relative to the fourth connecting member 122, the limiting protrusion abuts against the limiting protrusion column, so as to limit the rotation angle of the third connecting member 121 relative to the fourth connecting member 122. Figure 2As shown, the upper and lower sides of the second guide rail 202 are formed with guide grooves, and the third connecting piece 121 is correspondingly provided with two groups of guide wheels in the height direction, and the two groups of guide wheels are respectively rolled in the guide grooves on the upper and lower sides of the second guide rail 202 to form stable sliding connection between the third connecting piece 121 and the second guide rail 202. Through the above arrangement, the third connecting piece 121 can clamp the second guide rail 202 from at least two opposite directions (the upper and lower sides) to prevent the third connecting piece 121 from being pulled out of the second guide rail 202. It should be noted that in other embodiments, the second guide rail 202 and the third connecting piece 121 can be slidably connected in any other form of sliding connection manner in the prior art.

[0037] Specifically, as shown in the figure, Figure 2 The fourth connecting piece 122 is formed with a protrusion or a groove, and the column is correspondingly formed with a groove or a protrusion matched with the fourth connecting piece 122. The protrusion can slide in the groove, and the protrusion cannot be pulled out of the groove in the horizontal direction, so that the fourth connecting piece 122 can slide on the column within a certain range (the relative sliding range is determined by the length of the groove and the protrusion). Similarly, the sliding connection manner between the second connecting piece 112 and the column can also be set according to the use requirement. In addition, in some embodiments, when the mobile chassis 130 as shown in the figure is not arranged at the bottom of the portal, the fourth connecting piece 122 and the column can also be connected in a fixed connection manner to stably support the portal by the second connecting assembly 120. Figure 2

[0038] In some embodiments, as shown in the figure, Figure 1 The first connecting assembly 110 and the second connecting assembly 120 further include a positioning device 140, so that the first connecting assembly 110 and the second connecting assembly 120 can be aligned in the height direction of the column. For example, the positioning device 140 is a code scanning camera, and the shelf or guide rail (the first guide rail 201 and the second guide rail) is provided with a position code. The code scanning camera can obtain the position of the first connecting assembly 110 and the second connecting assembly 120 on the first guide rail 201 and the second guide rail by scanning and identifying the position code, so that the first connecting assembly 110 and the second connecting assembly 120 stop when moving to the specified position, thereby ensuring that the first connecting assembly 110 and the second connecting assembly 120 can be aligned in the height direction of the column when the portal completes a horizontal movement and is in a stopped state, that is, the portal does not tilt when it is in a stopped state, so as to facilitate subsequent operation of the bin handling robot.

[0039] In some embodiments, as shown in the figure, Figure 1 , 5 ​As shown, the gantry bottom is further provided with a mobile chassis 130, the mobile chassis 130 comprising a mounting bracket 131 for carrying the gantry and a second driving assembly 132 for driving the mobile chassis 130 to move along the ground. In the embodiment, the gantry is mainly supported by the mobile chassis 130 running on the ground, and in some embodiments, is additionally supported by the first connecting assembly 110 and the second connecting assembly 120. In other embodiments, the gantry does not need to be provided with the second connecting assembly 120, and is supported and driven to move along the first guide rail 201 by the mobile chassis 130 and the first connecting assembly 110 at the upper and lower ends of the gantry. The mobile chassis 130 and the first connecting assembly 110 are both provided with a positioning device 140, which aligns the first connecting assembly 110 and the mobile chassis 130 in the height direction, so that the gantry does not tilt when stopped, facilitating subsequent operations of the material box handling robot.

[0040] In some embodiments, as shown in Figure 5 As shown, the second driving assembly 132 comprises a driving wheel 1321 driven to rotate by the second driving assembly 132, which is a driving motor. The driving wheel 1321 is arranged at the center of the bottom of the mounting bracket 131. The bottom surface of the mounting bracket 131 is formed into an upwardly inclined slope surface to the two sides of the transverse guide rail guide direction with the driving wheel 1321 as the center, so that the bottom surface of the mounting bracket 131 avoids the ground in the state that the gantry is inclined to the two sides of the transverse guide rail guide direction. That is, by arranging the bottom surface of the mounting bracket 131 into an arc shape bent upward on both sides, friction or collision between the bottom surface of the mounting bracket 131 and the ground is avoided when the gantry moves in the inclined state, ensuring that the gantry can move horizontally along the transverse guide rail in the inclined state.

[0041] In some embodiments, as shown in Figure 1 , 2As shown, the column includes a first column 101 and a second column 102, and the first column 101 and the second column 102 are respectively provided with a first connecting assembly 110 connected with the first guide rail 201. At least one of the first connecting assemblies 110 provided on the first column 101 and the second column 102 respectively further includes a first driving assembly 114 for driving the first connecting assembly 110 to move horizontally along the first guide rail 201. In the embodiment, the portal frame is provided in a double-column structure, and the first connecting assembly 110 connected with the first guide rail 201 is arranged on both sides of the first column 101 and the second column 102 to stably support the portal frame. The first connecting assemblies 110 on both sides of the portal frame in the double-column structure can be driven by one side or both sides, that is, the two first connecting assemblies 110 can be simultaneously provided with the first driving assembly 114 to drive the portal frame to move, or the first driving assembly 114 can be arranged only on one side of the first connecting assembly 110. In other embodiments, the portal frame can also be provided in a single-column structure or a multi-column structure, that is, the portal frame includes only one column or more than two columns, which can be arranged according to the use requirement.

[0042] In some embodiments, as shown in Figure 1 、 2 the first column 101 and the second column 102 are respectively provided with a second connecting assembly 120 connected with the second guide rail. In the embodiment, the portal frame is provided in a double-column structure and both sides are provided with the second connecting assembly 120. In other embodiments, the number of columns of the portal frame and the number and position of the second connecting assemblies 120 can be arranged according to the use requirement, which will not be described herein.

[0043] In some embodiments, as shown in Figure 1 、 2 the portal frame is provided with a lifting assembly 103 moving in the height direction of the portal frame, and the lifting assembly 103 is provided with an execution mechanism (not shown) for carrying the box. The lifting assembly 103 in the embodiment can move in the height direction of the portal frame, and the execution assembly is fixedly connected to the lifting assembly 103 and moves along with the lifting assembly 103 in the height direction of the portal frame. The specific structure of the execution mechanism is not limited in the embodiment, and the execution mechanism can be selected from the execution mechanisms suitable for the prior art. The execution mechanism can take and place the box relative to the rack and carry the box.

[0044] In conclusion, in the related art, the portal frame of the bin carrying robot needs to be driven from both the top and bottom sides due to the high height, and when driving control is performed, the driving speeds of the top and bottom sides cannot be ensured to be consistent in real time, and when the driving speeds of the two sides are inconsistent, the portal frame will tilt (rotate and tilt around one side driving motor) under the action of the driving motor, and the first connecting assembly 110 and the second connecting assembly 120 are connected through the hinge, so that the portal frame can tilt when moving, and the tilt state does not affect the movement of the portal frame, solving the problem that the portal frame cannot move normally when tilting in the prior art.

[0045] The embodiment provides a warehousing system, which comprises a shelf and a bin carrying robot, the bin carrying robot is provided as the bin carrying robot in any one of the above-mentioned embodiments, and the shelf is provided with a transverse guide rail, and the portal frame of the bin carrying robot moves along the transverse guide rail. The beneficial effects of the warehousing system and the bin carrying robot provided in the embodiment are similar to the reasoning process, and are not described here.

[0046] The foregoing describes specific embodiments of the application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order in order to achieve the desired results. In some implementations, multitasking and parallel processing can be advantageous. The foregoing describes specific embodiments of the application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the figures do not necessarily require the particular order shown or sequential order in order to achieve the desired results. In some implementations, multitasking and parallel processing can be advantageous.

Claims

1. A magazine handling robot comprising a portal moving along a transverse guide rail, the transverse guide rail comprising a first guide rail (201) and a second guide rail arranged distributed along a portal height direction from top to bottom, the portal comprising a column, characterized in that, The column is provided with a first connecting assembly (110) connected with the first guide rail (201), the first connecting assembly (110) comprises a first connecting piece (111), a second connecting piece (112) and a connecting arm (113), the first connecting piece (111) slides on the first guide rail (201) and can move horizontally along the first guide rail (201), the second connecting piece (112) is slidingly connected to the column and can move in the height direction of the column, and the connecting arm (113) is hingedly connected with the first connecting piece (111) and the second connecting piece (112) respectively, so that the relative position of the column and the first guide rail (201) can be adaptively adjusted in the gantry height direction.

2. The magazine handling robot according to claim 1, characterized in that The gantry is also provided with a second connecting assembly (120) connected with the second guide rail, the second connecting assembly (120) comprises a third connecting piece (121) and a fourth connecting piece (122), the third connecting piece (121) is slidingly connected to the second guide rail and can move horizontally along the second guide rail, and the fourth connecting piece (122) and the third connecting piece (121) are hingedly connected through a hinge shaft (123).

3. The magazine handling robot according to claim 2, characterized in that, The fourth connecting piece (122) is slidingly connected to the column and moves in the height direction of the column.

4. The magazine handling robot of claim 2, wherein, The hinge shaft (123) is rotatably connected to at least one of the third connecting piece (121) and the fourth connecting piece (122) to hingedly connect the third connecting piece (121) and the fourth connecting piece (122), and the hinge shaft (123) can move in the gantry height direction relative to at least one of the third connecting piece (121) and the fourth connecting piece (122) within a preset height, so that the third connecting piece (121) and the fourth connecting piece (121) can move relatively in the height direction of the column.

5. The magazine handling robot of claim 2, wherein, The first connecting assembly (110) and the second connecting assembly (120) further comprise a positioning device (140) to align the first connecting assembly (110) and the second connecting assembly (120) in the height direction of the column.

6. The bin handling robot of claim 1, wherein, The column comprises a first column (101) and a second column (102), the first column (101) and the second column (102) are respectively provided with a first connecting assembly (110) connected with the first guide rail (201), and at least one of the two first connecting assemblies (110) respectively arranged on the first column (101) and the second column (102) further comprises a first driving assembly (114) for driving the first connecting assembly (110) to move horizontally along the first guide rail (201).

7. The magazine handling robot according to claim 6, characterized in that The first column (101) and the second column (102) are respectively provided with a second connecting assembly (120) connected with the second guide rail.

8. The magazine handling robot according to any one of claims 1 to 7, characterized in that, The portal frame bottom is further provided with a mobile chassis (130), the mobile chassis (130) comprising a mounting bracket (131) for carrying the portal frame and a second driving assembly (132) for driving the mobile chassis (130) to move along the ground.

9. The magazine handling robot according to claim 8, characterized in that, The second driving assembly (132) comprises a driving wheel (1321) arranged at a central position of the bottom of the mounting bracket (131), and the bottom surface of the mounting bracket (131) is formed with upwardly inclined slope surfaces on both sides of the lateral rail guide direction with the driving wheel (1321) as the center, so that the bottom surface of the mounting bracket (131) is kept away from the ground in the state that the portal frame is inclined to both sides of the lateral rail guide direction.

10. A warehousing system comprising a rack and a bin handling robot, characterized in that, The bin carrying robot is provided as the bin carrying robot in any one of claims 1 to 9, the shelves are provided with the lateral rails, and the portal frame of the bin carrying robot moves along the lateral rails.

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