Rail type climbing mechanism and control method for intelligent warehousing robot

Abstract

The application relates to a guide rail type climbing mechanism for an intelligent warehousing robot and a control method, and belongs to the field of intelligent warehousing robots. The climbing mechanism comprises a tensioning assembly, a position-to-position detection assembly, a driving assembly, a guide rail and a control unit, and can enable the intelligent warehousing robot to realize stable, efficient and safe climbing and descending. The tensioning assembly realizes gear set meshing tensioning through the cooperation of a driving gear and a driven gear, and realizes multidirectional guidance and limit control in cooperation with a limit hole; the position-to-position detection assembly realizes real-time detection of a climbing posture in cooperation with a positioning wheel; the driving assembly comprises a motor and an electric cylinder double driving structure, thereby improving transmission stability and anti-interference capability; the anti-falling spring sheet is automatically opened under the conditions of power failure or impact, forms an anti-skid locking structure in meshing with the guide rail, and effectively prevents sliding accidents; the control unit can realize multi-source signal fusion control, and improves the intelligence and safety level of the system. The mechanism has the advantages of compact structure, safety and reliability, stable meshing and strong anti-interference capability.

Description

Technical Field

[0001] This invention belongs to the field of intelligent warehousing robots, and more specifically, relates to a guide rail climbing mechanism and control method for intelligent warehousing robots. Background Technology

[0002] Most existing intelligent warehouse robot climbing devices rely on a single drive mechanism. While simple in structure, they suffer from problems such as weak engagement, insufficient limit control, and the risk of slippage under power failure or external impact. Furthermore, some structures are prone to engagement misalignment or positioning failure in complex environments, failing to meet the demands for high safety, high precision, and high stability. Therefore, it is necessary to design a climbing mechanism and its guide rail system that is more reliable, prevents falls, and provides precise engagement. Summary of the Invention

[0003] To address the aforementioned issues, this invention provides a guide rail climbing mechanism and control method for intelligent warehousing robots. Through the combination of a multi-gear meshing tensioning structure and horizontal and oblique limiting holes, transmission efficiency and lateral stability are ensured. Furthermore, it is equipped with anti-fall springs and position detection components, effectively improving the stability and safety of the intelligent warehousing robot's climbing and descending movements.

[0004] The present invention adopts the following technical solution:

[0005] On one hand, the present invention provides a guide rail climbing mechanism for intelligent warehousing robots, including: a tensioning component, a position detection component, a drive component, a guide rail, and a control unit;

[0006] The tensioning assembly includes a first limiting mounting plate, a second limiting mounting plate, a first driving gear, a first driven gear, a second driven gear, a second transmission gear, a first anti-fall spring, and a second anti-fall spring.

[0007] The position detection component includes a first fixed mounting plate, a first position correction servo, a first servo arm, a first positioning wheel, a second position correction servo, a second servo arm, a second positioning wheel, and a position sensor;

[0008] The drive assembly includes a drive motor, a first transmission gear, an electric cylinder, a lead screw, a connecting rod, and a second fixed mounting plate;

[0009] The guide rail includes a C-shaped guide rail and two straight racks;

[0010] The control unit is connected to the position detection component and the drive component to realize the position feedback and limit control of the climbing mechanism. In the event of a power failure or sudden impact, the control unit can trigger an emergency stop command.

[0011] Furthermore, the first limiting mounting plate is provided with multiple limiting holes, including a first oblique limiting hole, a second oblique limiting hole, a third oblique limiting hole, a first vertical limiting hole, a second vertical limiting hole, and a third vertical limiting hole;

[0012] The second limiting mounting plate includes a first lateral limiting hole, a second lateral limiting hole, a third lateral limiting hole, a first pin mounting sleeve, a second pin mounting sleeve, a third pin mounting sleeve, a guide tip, and a connecting rod.

[0013] The first driving gear is connected to the first limiting mounting plate, the second limiting mounting plate, and the second transmission gear via a fifth pin; the first driven gear is connected to the first limiting mounting plate and the second limiting mounting plate via a fourth pin; the second driven gear is connected to the first limiting mounting plate and the second limiting mounting plate via a sixth pin.

[0014] The lead screw is connected to the second limiting mounting plate via a connecting rod;

[0015] The first anti-fall spring is fixed to the first mounting hole on the first limiting mounting plate by the seventh pin, and the second anti-fall spring is fixed to the second mounting hole on the first limiting mounting plate by the seventh pin. Guide wheels are installed on the two anti-fall springs.

[0016] The first position correction servo, the second position correction servo, and the position sensor are fixed on the first fixed mounting plate. The first fixed mounting plate has two square holes, through which the first positioning wheel and the second positioning wheel can extend and contact the C-shaped guide rail.

[0017] Furthermore, the lengths L1 of the vertical limiting hole on the first limiting mounting plate, L2 of the oblique limiting hole, and L3 of the horizontal limiting hole on the second limiting mounting plate satisfy the Pythagorean theorem, that is... ;

[0018] The first, second, and third pin mounting sleeves are integral with the second limiting mounting plate to ensure the rigidity of the climbing mechanism. The first, second, and third pin mounting sleeves are threadedly connected to the first, second, and third pins, respectively. The first, second, and third pin mounting sleeves, along with the first, second, and third pins, work in conjunction with the first, second, and third vertical limiting holes to enable the second limiting mounting plate, the first driving gear, the first driven gear, and the second driven gear to climb and descend vertically.

[0019] Furthermore, the drive motor sequentially drives the first transmission gear, the second transmission gear, and the first drive gear;

[0020] The first drive gear, in conjunction with the second oblique limiting hole and the fifth pin, enables climbing and descending; the first drive gear, in conjunction with the second transverse limiting hole and the second oblique limiting hole, enables horizontal extension.

[0021] The first driven gear, in conjunction with the first oblique limiting hole and the fourth pin, enables climbing and descending; the first driven gear, in conjunction with the first transverse limiting hole and the first oblique limiting hole, enables horizontal extension.

[0022] The second driven gear, in conjunction with the third oblique limiting hole and the sixth pin, enables climbing and descending; the second driven gear, in conjunction with the third lateral limiting hole and the third oblique limiting hole, enables horizontal extension.

[0023] The fall protection spring has a fan-shaped structure, and a gear structure is provided at the outer end of the bottom, which can engage with the two straight racks of the guide rail for protection.

[0024] The position sensor detects the distance between the climbing mechanism and the C-shaped guide rail in real time. The first position correction servo and the second position correction servo feed back the contact force between the first positioning wheel, the second positioning wheel and the C-shaped guide rail to the control unit in real time to realize the operation status detection function. When the climbing mechanism tilts, the control unit is triggered to adjust the posture of the climbing mechanism so that the first driving gear, the first driven gear, the second driven gear and the two spur racks of the guide rail maintain stable meshing.

[0025] Furthermore, the control unit receives feedback from the first position correction servo and the second position correction servo on the contact force between the first positioning wheel and the second positioning wheel and the C-shaped guide rail. When the contact force value between the first positioning wheel and the second positioning wheel exceeds the safety threshold or the two contact forces deviate significantly, the control unit sends a command to the drive motor to adjust the posture of the climbing mechanism.

[0026] Furthermore, the guide rail is provided with a reserved height from the ground, which is greater than the vertical projection length of the first anti-fall spring and the second anti-fall spring.

[0027] The distance between the two spur racks on the guide rail is equal to the total width of the first driving gear, the first driven gear, and the second driven gear after they are stretched and tightened in the horizontal direction, thereby achieving reliable meshing.

[0028] On the other hand, the present invention provides a guide rail climbing mechanism and control method for intelligent warehousing robots, comprising the following steps:

[0029] (1) In the initial state, the first anti-falling clip and the second anti-falling clip are in the open state and located below the guide rail, and the second limiting mounting plate is in the first limiting position;

[0030] (2) The electric cylinder drives the transmission screw, which drives the second limit mounting plate to rise to the second limit position through the connecting rod. The guide tip rises accordingly, and the two anti-fall springs close. At the same time, the first driving gear cooperates with the second oblique limit hole and the fifth pin to achieve climbing. The first driving gear cooperates with the second transverse limit hole and the second oblique limit hole to achieve horizontal extension. The first driven gear cooperates with the first oblique limit hole and the fourth pin to achieve climbing. The first driven gear cooperates with the first transverse limit hole and the first oblique limit hole to achieve horizontal extension. The second driven gear cooperates with the third oblique limit hole and the sixth pin to achieve climbing. The second driven gear cooperates with the third transverse limit hole and the third oblique limit hole to achieve horizontal extension. At this time, the overall width of the first driving gear, the first driven gear, and the second driven gear after horizontal extension is equal to the distance between the two straight racks on the guide rail.

[0031] (3) The drive motor starts and drives the entire climbing mechanism to rise through the meshing of the first driving gear, the first driven gear, the second driven gear and the two spur racks of the guide rail, so as to realize the intelligent warehouse robot climbing upward;

[0032] (4) When the drive motor rotates in the opposite direction, it will drive the entire climbing mechanism to descend, thus enabling the intelligent warehousing robot to move downward.

[0033] The positioning detection component monitors the operating status of the climbing mechanism in real time. When the climbing mechanism tilts, it triggers the control unit to adjust the posture of the climbing mechanism.

[0034] In addition, if a power outage or external impact occurs, an emergency stop is triggered: the control unit triggers the electric cylinder reset operation, which drives the second limit mounting plate back to the first limit position through the connecting rod. At this time, the guide tip is inserted between the two guide wheels, causing the first and second anti-fall springs to spring open and mesh with the two straight racks of the guide rail, forming an anti-slip locking structure to prevent the intelligent warehousing robot from sliding down and falling.

[0035] For any aspects not covered in this invention, existing technologies may be used.

[0036] The beneficial effects of this invention are as follows:

[0037] The intelligent warehousing robot climbing mechanism of this invention features a compact structure, clear control logic, and a highly reliable meshing structure with redundant safety protection design: It incorporates a multi-gear meshing tensioning structure, where the main and driven gears precisely unfold with horizontal and oblique limiting holes, meshing with the guide rail rack to ensure transmission efficiency and lateral stability; it includes anti-fall springs, where the control unit triggers an electric cylinder reset operation, causing the guide tip to descend and insert, opening the first and second anti-fall springs and meshing them with the two straight racks of the guide rail to form an anti-slip locking structure, preventing the intelligent warehousing robot from sliding and falling; through the integration of a positioning servo motor and sensor system, it achieves real-time feedback on the C-shaped guide rail status, immediately triggering an emergency stop in case of deviation or abnormality. With dual protection of mechanical locking and electronic monitoring, it maintains structural stability and controllable movement even in complex environments. It is particularly suitable for vertical lifting applications requiring high reliability, such as intelligent warehousing climbing robots, high-rise detection devices, and intelligent inspection systems. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of a guide rail climbing mechanism for an intelligent warehousing robot according to one embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the tensioning component structure in one embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the first limiting mounting plate in one embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of the second limiting mounting plate in one embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of the position detection component in one embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of a driving component in one embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the engagement and tensioning state of the tensioning mechanism in one embodiment of the present invention;

[0045] Figure 8 This is a schematic diagram of the anti-fall shrapnel in the deployed state according to one embodiment of the present invention;

[0046] Figure 9 This is a schematic diagram of a control system according to an embodiment of the present invention.

[0047] The numbers in the diagram are as follows:

[0048] 1-Tensioning assembly; 11-First limiting mounting plate; 111-First oblique limiting hole; 112-Second oblique limiting hole; 113-Third oblique limiting hole; 114-First vertical limiting hole; 115-Second vertical limiting hole; 116-Third vertical limiting hole; 117-First mounting hole; 118-Second mounting hole; 12-Second limiting mounting plate; 121-First lateral limiting hole; 122-Second lateral limiting hole; 123-Third lateral limiting hole; 124-First... 125-Second pin mounting sleeve; 126-Third pin mounting sleeve; 127-Guide tip; 128-Connecting rod; 131-First driven gear; 132-First driving gear; 133-Second driven gear; 134-Second transmission gear; 141-Fourth pin; 142-Fifth pin; 143-Sixth pin; 151-First anti-fall spring; 152-Guide wheel; 153-Seventh pin; 154-Second anti-fall spring;

[0049] 2-Positioning detection component; 21-First fixed mounting plate; 22-First position correction servo; 221-First servo arm; 222-First positioning wheel; 23-Second position correction servo; 231-Second servo arm; 232-Second positioning wheel; 24-Position sensor;

[0050] 3-Drive assembly; 31-Drive motor; 311-First transmission gear; 32-Electric cylinder; 321-Lead screw; 33-Second fixed mounting plate;

[0051] 4-Guide rail; 41-C-type guide rail; 42-Straight rack;

[0052] 5-Control unit; Detailed Implementation

[0053] To make the objectives, technical solutions, and beneficial effects of this invention clearer and more explicit, the following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a more detailed explanation of the guide rail climbing mechanism and control method for intelligent warehousing robots provided by this invention. The advantages and features of this invention will become clearer with the following description. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, used only to facilitate and clarify the illustration of the embodiments of this invention. It should be understood that the described embodiments are merely illustrative of this invention and are not intended to limit the scope of protection of this invention.

[0054] Example 1

[0055] 1. Combining Figure 1 and Figure 9 As shown, the intelligent warehousing robot guide rail climbing mechanism provided in this embodiment includes: tensioning component 1, position detection component 2, drive component 3, guide rail 4 and control unit 5;

[0056] Combination Figure 2 , Figure 7 and Figure 8 As shown, the tensioning assembly 1 includes a first limiting mounting plate 11, a second limiting mounting plate 12, a first driving gear 132, a first driven gear 131, a second driven gear 133, a second transmission gear 134, a first anti-fall spring 151, and a second anti-fall spring 154.

[0057] Combination Figure 5 As shown, the position detection component 2 includes a first fixed mounting plate 21, a first position correction servo motor 22, a first servo motor arm 221, a first positioning wheel 222, a second position correction servo motor 23, a second servo motor arm 231, a second positioning wheel 232, and a position sensor 24.

[0058] Combination Figure 6 As shown, the drive assembly 3 includes a drive motor 31, a first transmission gear 311, an electric cylinder 32, a lead screw 321, a connecting rod 128, and a second fixed mounting plate 33;

[0059] Combination Figure 1 As shown, the guide rail 4 includes a C-shaped guide rail 41 and two straight racks 42;

[0060] Combination Figure 9 As shown, the control unit 5 is connected to the position detection component 2 and the drive component 3, and is used to realize the position feedback and limit control of the climbing mechanism. In the event of a power failure or sudden impact, the control unit can trigger an emergency stop command.

[0061] Combination Figure 3 As shown, the first limiting mounting plate 11 is provided with a plurality of limiting holes, including a first oblique limiting hole 111, a second oblique limiting hole 112, a third oblique limiting hole 113, a first vertical limiting hole 114, a second vertical limiting hole 115, and a third vertical limiting hole 116.

[0062] Combination Figure 4 As shown, the second limiting mounting plate 12 includes a first lateral limiting hole 121, a second lateral limiting hole 122, a third lateral limiting hole 123, a first pin mounting sleeve 124, a second pin mounting sleeve 125, a third pin mounting sleeve 126, a guide tip 127, and a connecting rod 128.

[0063] Combination Figure 2 , Figure 8As shown, the first driving gear 132 is connected to the first limiting mounting plate 11, the second limiting mounting plate 12, and the second transmission gear 134 via the fifth pin 142; the first driven gear 131 is connected to the first limiting mounting plate 11 and the second limiting mounting plate 12 via the fourth pin 141; and the second driven gear 133 is connected to the first limiting mounting plate 11 and the second limiting mounting plate 12 via the sixth pin 143.

[0064] Combination Figure 2 and Figure 6 As shown, the lead screw 321 is connected to the second limiting mounting plate 12 via the connecting rod 128;

[0065] Combination Figure 3 and Figure 7 As shown, the first anti-fall spring 151 is fixed to the first mounting hole 117 on the first limiting mounting plate 11 by the seventh pin 153, and the second anti-fall spring 154 is fixed to the second mounting hole 118 on the first limiting mounting plate 11 by the seventh pin 153. Guide wheels 152 are installed on the two anti-fall springs.

[0066] Combination Figure 5 and Figure 6 As shown, the first position correction servo 22, the second position correction servo 23, and the position sensor 24 are fixed on the first fixed mounting plate 21. The first fixed mounting plate 21 has two square holes, through which the first positioning wheel 222 and the second positioning wheel 232 can extend and contact the C-shaped guide rail 41.

[0067] Furthermore, the lengths L1 and L2 of the vertical limiting hole on the first limiting mounting plate 11 and the length of the horizontal limiting hole on the second limiting mounting plate 12 satisfy the Pythagorean theorem, that is... ;

[0068] Combination Figure 2 , Figure 3 and Figure 4 As shown, the first pin mounting sleeve 124, the second pin mounting sleeve 125, the third pin mounting sleeve 126, and the second limiting mounting plate 12 are an integral structure to ensure the rigidity and strength of the climbing mechanism. The first pin mounting sleeve 124, the second pin mounting sleeve 125, the third pin mounting sleeve 126, and the first, second, and third pins are threadedly connected. The first pin mounting sleeve 124, the second pin mounting sleeve 125, the third pin mounting sleeve 126, the first pin, the second pin, and the third pin, in conjunction with the first vertical limiting hole 114, the second vertical limiting hole 115, and the third vertical limiting hole 116, enable the second limiting mounting plate 12, the first driving gear 132, the first driven gear 131, and the second driven gear 133 to climb and descend in the vertical direction.

[0069] Combination Figure 2 and Figure 6 As shown, the drive motor 31 sequentially drives the first transmission gear 311, the second transmission gear 134, and the first drive gear 132;

[0070] Combination Figure 2 , Figure 3 and Figure 4 As shown, the first drive gear 132, in conjunction with the second oblique limiting hole 112 and the fifth pin 142, enables climbing and descending; the first drive gear 132, in conjunction with the second transverse limiting hole 122 and the second oblique limiting hole 112, enables its horizontal extension.

[0071] Combination Figure 2 , Figure 3 and Figure 4 As shown, the first driven gear 131, in conjunction with the first oblique limiting hole 111 and the fourth pin 141, enables climbing and descending; the first driven gear 131, in conjunction with the first transverse limiting hole 121 and the first oblique limiting hole 111, enables horizontal extension.

[0072] Combination Figure 2 , Figure 3 and Figure 4 As shown, the second driven gear 133, in conjunction with the third oblique limiting hole 113 and the sixth pin 143, enables climbing and descending; the second driven gear 133, in conjunction with the third transverse limiting hole 123 and the third oblique limiting hole 113, enables horizontal extension.

[0073] Combination Figure 2 and Figure 8 As shown, the anti-fall shrapnel has a fan-shaped structure, and a gear structure is provided at the outer end of the bottom, which can mesh with the two straight racks 42 of the guide rail 4 for protection.

[0074] Furthermore, combined with Figure 5 As shown, the position sensor 24 detects the distance between the climbing mechanism and the C-shaped guide rail 41 in real time. The first position correction servo motor 22 and the second position correction servo motor 23 feed back the contact force between the first positioning wheel 222, the second positioning wheel 232 and the C-shaped guide rail 41 to the control unit in real time to realize the operation status detection function. When the climbing mechanism tilts, the control unit is triggered to adjust the position of the climbing mechanism so that the first driving gear 132, the first driven gear 131, the second driven gear 133 and the two spur racks 42 of the guide rail 4 maintain stable meshing.

[0075] Furthermore, the control unit receives feedback from the first position correction servo motor 22 and the second position correction servo motor 23 on the contact force between the first positioning wheel 222, the second positioning wheel 232 and the C-shaped guide rail 41. When the contact force value between the first positioning wheel 222 and the second positioning wheel 232 exceeds the safety threshold or the two contact forces are significantly different, the control unit sends a command to the drive motor 31 to adjust the posture of the climbing mechanism.

[0076] It should be noted that the guide rail 4 has a reserved height from the ground, which is greater than the vertical projection length of the first anti-fall spring 151 and the second anti-fall spring 154.

[0077] It should be noted that the distance between the two spur racks 42 on the guide rail 4 is equal to the total width of the first driving gear 132, the first driven gear 131, and the second driven gear 133 after they are stretched and tightened in the horizontal direction, thereby achieving reliable meshing.

[0078] Example 2

[0079] This embodiment provides a guide rail climbing mechanism and control method for an intelligent warehousing robot, as described below. Figures 1 to 9 The climbing method will be further described in Example 1. The climbing method includes the following steps:

[0080] (1) In the initial state, the first anti-fall spring 151 and the second anti-fall spring 154 are in the open state and located below the guide rail 4, and the second limiting mounting plate 12 is in the first limiting position.

[0081] (2) The electric cylinder 32 drives the transmission screw 321, which drives the second limit mounting plate 12 to rise to the second limit position through the connecting rod 128. The guide tip 127 rises accordingly, and the two anti-fall springs close. At the same time, the first driving gear 132 cooperates with the second oblique limit hole 112 and the fifth pin 142 to achieve climbing. The first driving gear 132 cooperates with the second transverse limit hole 122 and the second oblique limit hole 112 to achieve horizontal extension. The first driven gear 131 cooperates with the first oblique limit hole 111 and the fourth pin 141 to achieve climbing. The first driven gear 131 cooperates with the first transverse limit hole 121 and the first oblique limit hole 111 to achieve horizontal extension. The second driven gear 133 cooperates with the third oblique limit hole 113 and the sixth pin 143 to achieve climbing. The second driven gear 133 cooperates with the third transverse limit hole 123 and the third oblique limit hole 113 to achieve horizontal extension.

[0082] At this time, the total width of the first driving gear 132, the first driven gear 131, and the second driven gear 133 after being stretched and tightened in the horizontal direction is equal to the distance between the two straight racks 42 on the guide rail 4.

[0083] (3) The drive motor 31 starts and drives the entire climbing mechanism to rise through the meshing of the first driving gear 132, the first driven gear 131, the second driven gear 133 and the two spur racks 42 of the guide rail 4, so as to realize the intelligent warehouse robot climbing upward.

[0084] (4) When the drive motor 31 rotates in the opposite direction, it will drive the entire climbing mechanism to descend, thus enabling the intelligent warehouse robot to move downward.

[0085] Furthermore, the positioning detection component 2 monitors the operating status of the climbing mechanism in real time. When the climbing mechanism tilts, it triggers the control unit to adjust the climbing mechanism's posture. In addition, if a power outage or external impact occurs, an emergency stop is triggered. The control unit 5 triggers the electric cylinder 32 to reset, which drives the second limit mounting plate 12 back to the first limit position via the connecting rod 128. At this time, the guide tip 127 is inserted between the two guide wheels 152, causing the first anti-fall spring 151 and the second anti-fall spring 154 to spring open and engage with the two straight racks 42 of the guide rail 4, forming an anti-slip locking structure to prevent the intelligent warehousing robot from sliding down and falling.

[0086] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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.

[0087] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A guide rail climbing mechanism for intelligent warehousing robots, characterized in that, The guide rail climbing mechanism includes: a tensioning assembly (1), a position detection assembly (2), a drive assembly (3), a guide rail (4), and a control unit (5). The tensioning assembly (1) includes a first limiting mounting plate (11), a second limiting mounting plate (12), a first driving gear (132), a first driven gear (131), a second driven gear (133), a second transmission gear (134), a first anti-fall spring (151), and a second anti-fall spring (154). The position detection assembly (2) includes a first fixed mounting plate (21), a first position correction servo (22), a first servo arm (221), and a first positioning wheel (222). The second position correction servo (23), the second servo arm (231), the second positioning wheel (232), and the position sensor (24) are included. The drive assembly (3) includes a drive motor (31), a first transmission gear (311), an electric cylinder (32), a lead screw (321), a connecting rod (128), and a second fixed mounting plate (33). The guide rail (4) includes a C-shaped guide rail (41) and two straight racks (42). The control unit (5) is connected to the position detection assembly (2) and the drive assembly (3) to realize the position feedback and limit control of the climbing mechanism. In the event of a power failure or sudden impact, the control unit (5) can trigger an emergency stop command. The first limiting mounting plate (11) is provided with multiple limiting holes, including a first oblique limiting hole (111), a second oblique limiting hole (112), a third oblique limiting hole (113), a first vertical limiting hole (114), a second vertical limiting hole (115), and a third vertical limiting hole (116). The second limiting mounting plate (12) includes a first transverse limiting hole (121), a second transverse limiting hole (122), a third transverse limiting hole (123), a first pin mounting sleeve (124), a second pin mounting sleeve (125), a third pin mounting sleeve (126), a guide tip (127), and a connecting rod (128). The lengths L1 of the vertical limiting hole on the first limiting mounting plate (11), L2 of the oblique limiting hole, and L3 of the transverse limiting hole on the second limiting mounting plate (12) satisfy the Pythagorean theorem, i.e. The first pin mounting sleeve (124), the second pin mounting sleeve (125), the third pin mounting sleeve (126) and the second limiting mounting plate (12) are an integral structure to ensure the rigidity of the climbing mechanism. The first pin mounting sleeve (124), the second pin mounting sleeve (125), the third pin mounting sleeve (126) and the first pin, the second pin, and the third pin are threaded together. The first pin mounting sleeve (124), the second pin mounting sleeve (125), the third pin mounting sleeve (126), the first pin, the second pin, and the third pin are in conjunction with the first vertical limiting hole (114), the second vertical limiting hole (115), and the third vertical limiting hole (116) to realize the climbing and descending of the second limiting mounting plate (12), the first driving gear (132), the first driven gear (131), and the second driven gear (133) in the vertical direction. The first driving gear (132) is connected to the first limiting mounting plate (11), the second limiting mounting plate (12), and the second transmission gear (134) via the fifth pin (142). The first driven gear (131) is connected to the first limiting mounting plate (11) and the second limiting mounting plate (12) via the fourth pin (141). The second driven gear (133) is connected to the first limiting mounting plate (11) and the second limiting mounting plate (12) via the sixth pin (143). The lead screw (321) is connected to the second limiting mounting plate (12) via the connecting rod (128). The drive motor (31) sequentially drives the first transmission gear (311), the second transmission gear (134), and the first driving gear (132). The first driving gear (132) cooperates with the second inclined gear. The limiting hole (112) and the fifth pin (142) enable climbing and descending. The first driving gear (132) cooperates with the second transverse limiting hole (122) and the second oblique limiting hole (112) to achieve horizontal extension. The first driven gear (131) cooperates with the first oblique limiting hole (111) and the fourth pin (141) to achieve climbing and descending. The first driven gear (131) cooperates with the first transverse limiting hole (121) and the first oblique limiting hole (111) to achieve horizontal extension. The second driven gear (133) cooperates with the third oblique limiting hole (113) and the sixth pin (143) to achieve climbing and descending. The second driven gear (133) cooperates with the third transverse limiting hole (123) and the third oblique limiting hole (113) to achieve horizontal extension. The distance between the two straight racks (42) on the guide rail (4) is equal to the total width of the first driving gear (132), the first driven gear (131), and the second driven gear (133) after they are stretched and tightened in the horizontal direction, thereby achieving reliable meshing; The first anti-fall spring (151) and the second anti-fall spring (154) are fan-shaped structures, and a gear structure is provided at the outer end of the bottom, which can mesh with the two straight racks (42) of the guide rail (4) for protection. The first anti-fall spring (151) is fixed to the first mounting hole (117) on the first limiting mounting plate (11) by the seventh pin (153), and the second anti-fall spring (154) is fixed to the second mounting hole (118) on the first limiting mounting plate (11) by the seventh pin (153). Guide wheels (152) are installed on the two anti-fall springs. The first position correction servo (22), the second position correction servo (23), and the position sensor (24) are fixed on the first fixed mounting plate (21). The first fixed mounting plate (21) has two square holes. The first positioning wheel (222) and the second positioning wheel (232) can extend through the square holes on the first fixed mounting plate (21) and contact the C-shaped guide rail (41). The position sensor (24) detects the distance between the climbing mechanism and the C-shaped guide rail (41) in real time. The first position correction servo (22) and the second position correction servo (23) feed back the contact force between the first positioning wheel (222), the second positioning wheel (232) and the C-shaped guide rail (41) to the control unit (5) in real time to realize the operation status detection function. When the climbing mechanism tilts, the control unit (5) is triggered to adjust the posture of the climbing mechanism so that the first driving gear (132), the first driven gear (131), the second driven gear (133) and the two spur racks (42) of the guide rail (4) maintain stable meshing. If a power outage or external impact occurs, an emergency stop is triggered. The control unit (5) triggers the electric cylinder (32) to reset, and drives the second limit mounting plate (12) back to the first limit position through the connecting rod (128). At this time, the guide tip (127) is inserted between the two guide wheels (152), causing the first anti-fall spring (151) and the second anti-fall spring (154) to spring open and mesh with the two straight racks (42) of the guide rail (4) to form an anti-slip locking structure, preventing the intelligent warehouse robot from sliding down and falling.

2. The guide rail climbing mechanism as described in claim 1, characterized in that: The control unit (5) receives feedback from the first position correction servo (22) and the second position correction servo (23) on the contact force between the first positioning wheel (222), the second positioning wheel (232) and the C-shaped guide rail (41). When the contact force value between the first positioning wheel (222) and the second positioning wheel (232) exceeds the safety threshold or the two contact forces are significantly different, the control unit (5) sends a command to the drive motor (31) to adjust the position of the climbing mechanism.

3. The guide rail climbing mechanism as described in claim 1, characterized in that: The guide rail (4) has a reserved height from the ground, which is greater than the vertical projection length of the first anti-fall spring (151) and the second anti-fall spring (154).

4. The control method for the guide rail climbing mechanism as described in claim 1, characterized in that, Includes the following steps: S1: In the initial state, the first anti-falling clip (151) and the second anti-falling clip (154) are in the open state and located below the guide rail (4), and the second limiting mounting plate (12) is in the first limiting position; S2: The electric cylinder (32) drives the transmission screw (321), which, through the connecting rod (128), causes the second limiting mounting plate (12) to rise to the second limiting position. The guide tip (127) rises accordingly, and the two anti-fall springs close. At the same time, the first driving gear (132) cooperates with the second oblique limiting hole (112) and the fifth pin (142) to achieve climbing. The first driving gear (132) cooperates with the second transverse limiting hole (122) and the second oblique limiting hole (112) to achieve horizontal extension. The first driven gear (131) cooperates with the first oblique limiting hole (111) and the fourth pin (141) to achieve climbing. The first driven gear (131) cooperates with the first transverse limiting hole (121) and the first oblique limiting hole (111) to achieve horizontal extension. The second driven gear (133) cooperates with the third oblique limiting hole (113) and the sixth pin (143) to achieve climbing. The second driven gear (133) cooperates with the third transverse limiting hole (123) and the third oblique limiting hole (113) to achieve horizontal extension. At this time, the total width of the first driving gear (132), the first driven gear (131), and the second driven gear (133) after horizontal extension and tension is equal to the distance between the two straight racks (42) on the guide rail (4). S3: The drive motor (31) starts and drives the entire climbing mechanism to rise through the meshing of the first driving gear (132), the first driven gear (131), the second driven gear (133) and the two spur racks (42) of the guide rail (4), thereby realizing the intelligent warehouse robot climbing upward. S4: When the drive motor (31) rotates in the opposite direction, it will drive the entire climbing mechanism to descend, thus enabling the intelligent warehouse robot to move downward.

5. The control method for the guide rail climbing mechanism as described in claim 4, characterized in that... The positioning detection component (2) detects the operating status of the climbing mechanism in real time. When the climbing mechanism tilts, it triggers the control unit (5) to adjust the position of the climbing mechanism.

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