Climbing robot and warehousing system

Abstract

The invention provides a climbing robot and a warehousing system, relates to the technical field of intelligent warehousing, and is used for solving the technical problem that a climbing unit on the climbing robot and a guide rail on a goods shelf are prone to deviation, the climbing robot comprises a robot body and the climbing unit, and the climbing unit is arranged on one side of the robot body; the climbing unit comprises a base, a climbing assembly and a first guide limiting assembly, the climbing assembly and the first guide limiting assembly are both arranged on the base, and the climbing assembly is configured to climb along the guide rail; the first guiding and limiting assembly defines a limiting space, and the first guiding and limiting assembly is constructed to swing relative to the base, so that the climbing unit is in butt joint with the guide rail, and the guide rail is limited in the limiting space; an included angle is formed between the first direction and the extending direction of the guide rail. According to the invention, the climbing unit can automatically adapt to the error of the guide rail, so that the climbing reliability of the climbing robot on the goods shelf is improved.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent warehousing technology, and in particular to a climbing robot and warehousing system. Background Technology

[0002] With the rapid development of artificial intelligence, automation, and information technology, smart warehousing is an important part of modern logistics. The application of smart warehousing ensures the speed and accuracy of data input in all aspects of warehouse management.

[0003] In related technologies, smart warehousing includes shelves for placing goods and climbing robots. One side of the shelf has a guide rail for the climbing robot to climb. The climbing robot includes a climbing unit. The climbing robot can climb along the guide rail on the shelf to retrieve goods at different heights on the shelf or place goods at different heights on the shelf.

[0004] However, in related technologies, the docking accuracy requirements between the climbing unit and the guide rail are high, docking is difficult, and misalignment is prone to occur after docking, resulting in technical problems such as jamming or inability to climb when the climbing robot is climbing. Summary of the Invention

[0005] In view of the above problems, this disclosure provides a climbing robot and a storage system to at least partially solve one of the technical problems of high precision requirements for docking between the climbing unit and the guide rail, difficulty in docking, and easy misalignment after docking, which leads to jamming or inability to climb when the climbing robot is climbing.

[0006] To achieve the above objectives, the present disclosure provides the following technical solutions:

[0007] A first aspect of this disclosure provides a climbing robot for climbing and retrieving goods on a shelf, the shelf having a guide rail for the climbing robot to climb; the climbing robot includes: a robot body and a climbing unit, the climbing unit being disposed on one side of the robot body; the climbing unit includes a base, a climbing component, and a first guide limiting component, the climbing component and the first guide limiting component being both disposed on the base, the climbing component being configured to climb along the guide rail; the first guide limiting component defining a limiting space, the first guide limiting component being configured to swing relative to the base, so that the climbing unit docks with the guide rail and confines the guide rail within the limiting space.

[0008] In some embodiments, the first guide limiting assembly includes a first connector and two first limiting structures disposed opposite to each other on opposite sides of the first connector, the two first limiting structures defining the limiting space between them, and the first connector being configured to swing relative to the base about a first rotation axis; wherein the first rotation axis is consistent with the extension direction of the guide rail.

[0009] In some embodiments, the first limiting structure includes at least one first guide wheel, which is rotatably connected to the first connector so that the first guide wheel can rotate about its own axis, wherein the central axis of the first guide wheel and the first rotation axis are intersected.

[0010] In some embodiments, the climbing unit further includes a second guide limiting component, the second guide limiting component and the first guide limiting component being spaced apart on the base along the extension direction of the base;

[0011] The second guide limiting assembly includes a second connector and two second limiting structures disposed at opposite ends of the second connector. The second connector is configured to swing relative to the base about a second rotation axis. The guide rail has flanges on both sides of the side facing the climbing unit. The flanges have first surfaces so that the two second limiting structures respectively abut against the first surfaces of their corresponding flanges.

[0012] The second rotation axis extends in the same direction as the base.

[0013] In some embodiments, the second limiting structure includes at least one second guide wheel, which is rotatably connected to the second connector so that the second guide wheel can rotate about its own axis, wherein the central axis of the second guide wheel and the second rotation axis are intersected.

[0014] In some embodiments, the climbing unit further includes a third guide limiting component, which is disposed on the base and located between the first guide limiting component and the second guide limiting component;

[0015] The third guide limiting component includes two third limiting structures; the two third limiting structures are respectively disposed opposite to each other on opposite sides of the base; the flange has a second surface disposed opposite to the first surface, and the two third limiting structures are configured to abut against the second surface of their corresponding flanges.

[0016] In some embodiments, the third guide limiting component further includes two third connectors, and the two third limiting structures are respectively connected to the base through the two third connectors.

[0017] In some embodiments, the third limiting structure includes at least one third guide wheel, which is configured to be rotatably connected to the corresponding third connector so that the third guide wheel can rotate about its own axis, and the central axis of the third guide wheel has an angle with the extension direction of the base.

[0018] In some embodiments, the first guide limiting component is disposed near the top of the base; the second guide limiting component is disposed near the bottom of the base.

[0019] In some embodiments, the guide rail has two opposing sidewalls, forming a climbing area between the two sidewalls for the climbing unit to climb, and the two sidewalls are located between two opposing first limiting structures.

[0020] In some embodiments, the guide rail has a flange connected to the sidewall, the flange having a second surface facing away from the climbing unit; the two first limiting structures are configured to abut against the second surface.

[0021] In some embodiments, the climbing unit further includes a fourth guide wheel, which is located between two opposing first limiting structures and rotatably connected to the base so that the fourth guide wheel can rotate about its own axis, and the fourth guide wheel makes rolling contact with at least one side of the climbing area and its corresponding sidewall.

[0022] In some embodiments, the climbing unit further includes a fifth guide wheel, the fifth guide wheel and the fourth guide wheel are spaced apart in a second direction, and the fifth guide wheel is rotatable about its own axis and rolls in contact with at least one side wall of the climbing area on the guide rail.

[0023] In some embodiments, the fifth guide wheel is disposed near the bottom of the base and rotatably connected to the base, and the fourth guide wheel is disposed near the top of the base.

[0024] In some embodiments, the climbing unit further includes a support member; the climbing assembly includes a drive motor and a transmission structure, the transmission structure including a driving wheel, a driven wheel, and a flexible member, the driving wheel and the driven wheel being spaced apart along a second direction, the drive motor being configured to be connected to the driving wheel, and the flexible member being wound around the driving wheel and the driven wheel; the flexible member defining an annular region, the support member being disposed within the annular region and connected to the base, and the support member being configured to support the flexible member near the guide rail side.

[0025] In some embodiments, the fifth guide wheel is rotatably connected to the support member, and the support member has clearance notches on both sides of the opposite sides along the first direction. Partial structures on both sides of the fifth guide wheel roll into contact with the sidewalls on both sides of the climbing area through the clearance notches.

[0026] In some embodiments, the first connector has two opposing buffer members on the side of its two ends near the base, and the buffer members are configured to elastically contact the base when the first connector rotates.

[0027] In some embodiments, the climbing unit further includes a fall arrestor movably disposed on the base and configured to move between a first position and a second position; the guide rail has fourth limiting structures arranged at intervals along the extension direction of the guide rail.

[0028] When the climbing component drives the climbing robot to climb upward along the guide rail, the fall arrestor is located in the first position, and there is a gap between the fall arrestor and the fourth limiting structure in the third direction.

[0029] When the climbing robot descends relative to the guide rail, if the acceleration of the climbing robot's descent exceeds a preset threshold, the fall arrestor moves from the first position to the second position, and the fall arrestor interferes with the fourth limiting structure in the third direction.

[0030] In some embodiments, the climbing unit further includes an elastic element disposed between the fall arrestor and the base. The elastic element is configured to drive the fall arrestor to move from the first position to the second position by its own elastic force when the acceleration of the climbing robot's descent is greater than a preset threshold.

[0031] In some embodiments, the elastic element is a torsion spring.

[0032] In some embodiments, the guide rail has a plurality of first climbing teeth, which are spaced apart along the extension direction of the guide rail, and the first climbing teeth are formed as the fourth limiting structure; the climbing assembly has a plurality of spaced second climbing teeth along a second direction, which mesh with the first climbing teeth to drive the climbing robot to climb along the guide rail.

[0033] In some embodiments, the tooth surfaces of both the first and second climbing gears have an inclined angle with the second direction.

[0034] In some embodiments, the climbing robot includes two climbing units, which are spaced apart along a first direction and disposed on the same side of the robot body.

[0035] In some embodiments, the robot body includes a mobile base, a lifting mechanism, a mounting base, and a fork assembly. The lifting mechanism and the mounting base are both disposed on the mobile base, and the lifting mechanism is connected between the mobile base and the mounting base. The fork assembly is disposed on the mounting base. The lifting mechanism can drive the mounting base to move up and down relative to the mobile base in a second direction, so that the height of the climbing robot in the second direction is adjustable. The climbing unit is connected to the end of the mounting base.

[0036] A second aspect of this disclosure provides a storage system including a shelf and a climbing robot as described in the above embodiments; the shelf is provided with a guide rail for the climbing robot to climb, the guide rail is at a first distance from the ground, and the climbing robot docks with the guide rail from the bottom.

[0037] The climbing robot provided in this embodiment includes a robot body and a climbing unit, with the climbing unit disposed on one side of the robot body. The climbing unit includes a base, a climbing assembly, and a first guide and limiting assembly. Both the climbing assembly and the first guide and limiting assembly are disposed on the base. The first guide and limiting assembly defines a limiting space and can swing relative to the base, allowing the climbing unit to engage with a guide rail and confine the guide rail within the limiting space. Under the action of a force, the climbing assembly climbs along the guide rail to place goods at different heights on the shelf, or to retrieve goods from different heights on the shelf. As can be seen, by setting the first guide limiting component to be able to swing relative to the base, for example, it can swing with the position of the guide rail. In this way, the first guide limiting component can adapt to the error of the guide rail, so as to confine the guide rail within the limiting space, reduce the requirement for docking accuracy between the climbing unit and the guide rail, reduce the docking difficulty, and avoid the problem that the climbing unit is prone to misalignment after docking with the guide rail, which would cause the climbing unit to get stuck or unable to climb along the guide rail. This facilitates the docking of the climbing unit with the guide rail, improves the compatibility between the climbing robot and the guide rail on the shelf, and improves the reliability and smoothness of the climbing robot climbing along the guide rail.

[0038] The warehousing system provided in this embodiment has the same beneficial effects as the climbing robot provided in the above embodiments, and will not be described again here.

[0039] In addition to the technical problems solved by the embodiments of this disclosure, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the climbing robot and warehousing system provided by the embodiments of this disclosure, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A schematic diagram of the state of the climbing robot and the shelf provided in an embodiment of this disclosure;

[0042] Figure 2 This is a schematic diagram of a climbing robot provided in an embodiment of the present disclosure;

[0043] Figure 3 This is a schematic diagram of a climbing unit in a climbing robot provided in an embodiment of the present disclosure;

[0044] Figure 4 This is a schematic diagram of the state of the climbing unit and guide rail in a climbing robot provided in an embodiment of the present disclosure.

[0045] Figure 5 This is a partial structural diagram of the first guide and limit component and the base in the climbing robot provided in this embodiment of the disclosure;

[0046] Figure 6 This is a side view of one state of the climbing unit and guide rail in the climbing robot provided in an embodiment of the present disclosure;

[0047] Figure 7 This is a partial structural diagram of the climbing unit in the climbing robot provided in this embodiment of the disclosure;

[0048] Figure 8 This is a schematic diagram of the anti-fall component, elastic component, and part of the base in the climbing robot provided in the embodiments of this disclosure;

[0049] Figure 9 This is a schematic diagram of the state of a climbing robot provided in an embodiment of the present disclosure;

[0050] Figure 10 This is a schematic diagram of one structure of the guide rail in an embodiment of this disclosure.

[0051] Figure label:

[0052] 10-Climbing robot;

[0053] 100 - Robot body; 110 - Mobile base; 120 - Lifting mechanism; 130 - Mounting base; 140 - Fork assembly;

[0054] 200-climbing unit;

[0055] 210 - Base; 211 - First pivot; 212 - Second pivot; 213 - First seat body; 214 - Second seat body; 215 - Support component; 2151 - Clearance notch;

[0056] 220 - Climbing assembly; 221 - Drive motor; 222 - Transmission structure; 2221 - Drive wheel; 2222 - Driven wheel; 2223 - Flexible component; 2224 - Second climbing wheel tooth;

[0057] 230 - First guide and limit assembly; 231 - Limiting space; 232 - First connector;

[0058] 2321 - Buffer component;

[0059] 233-First limiting structure; 2331-First guide wheel;

[0060] 240 - Second guide and limiting assembly; 241 - Second connector; 242 - Second limiting structure; 2421 - Second guide wheel;

[0061] 250 - Third guide and limiting assembly; 251 - Third connector; 252 - Third limiting structure; 2521 - Third guide wheel;

[0062] 260 - Fall protection component; 270 - Elastic component;

[0063] 280 - Fourth guide wheel; 290 - Fifth guide wheel;

[0064] 300 - Shelf; 310 - Guide rail; 311 - First climbing gear tooth; 312 - Flanged edge; 3121 - First surface;

[0065] 3122 - Second surface; 313 - Fourth limiting structure; 314 - Side wall; 315 - Climbing area. Detailed Implementation

[0066] With the rapid development of artificial intelligence, automation, and information technology, intelligent warehousing has become a crucial link in modern logistics. Its application ensures the speed and accuracy of data input at every stage of warehouse management. Related technologies include shelves for placing goods and climbing robots. One side of the shelf has a guide rail for the climbing robot to climb. The climbing robot includes a climbing unit that allows it to ascend along the guide rail to retrieve goods at different heights or place goods at different heights on the shelf. However, in these technologies, the high precision required for the connection between the climbing unit and the guide rail makes connection difficult, and misalignment is prone to occur after connection, leading to technical problems such as jamming or inability to climb by the climbing robot.

[0067] To address the aforementioned issues, this disclosure provides a climbing robot and a warehousing system. In this climbing robot, by configuring the first guide limiting component to swing relative to the base in a first direction, for example, it can swing with the position of the guide rail. This reduces the accuracy requirements for the docking between the climbing unit and the guide rail, lowers the docking difficulty, and allows the first guide limiting component to adapt to the guide rail's errors, thus confining the guide rail within a limited space. This avoids the problem of misalignment after docking between the climbing unit and the guide rail, which could cause the climbing unit to jam or be unable to climb along the guide rail. This facilitates docking between the climbing unit and the guide rail, improves the compatibility between the climbing robot and the guide rail on the shelf, and enhances the reliability and smoothness of the climbing robot climbing along the guide rail.

[0068] To make the above-mentioned objects, features, and advantages of the embodiments of this disclosure more apparent and understandable, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0069] Please refer to Figure 1 As shown, this embodiment of the disclosure provides a climbing robot 10 for climbing and picking up goods on a shelf 300. The shelf 300 has a guide rail 310 for the climbing robot 10 to climb. The climbing robot 10 can climb along the guide rail 310 to different heights on the shelf 300 so as to place goods on the shelf 300 or take goods off the shelf 300.

[0070] Please refer to Figure 2 As shown, the climbing robot 10 includes a robot body 100 and a climbing unit 200. The climbing unit 200 is disposed on one side of the robot body 100 so as to connect with the guide rail 310 and drive the robot body 100 to climb on the shelf 300 along the guide rail 310.

[0071] In some embodiments, please continue to refer to Figure 2 and Figure 3 As shown, the climbing unit 200 includes a base 210 and a climbing component 220. The climbing component 220 is disposed on the base 210, which is connected to the robot body 100. The climbing component 220 is used to dock with the guide rail 310 on the shelf 300. In this way, the climbing component 220 drives the robot body 100 to climb along the guide rail 310 on the shelf 300 under the action of driving force.

[0072] Among them, the guide rail 310 extends along the height direction of the shelf 300, for example, in Figure 1 In the middle, the guide rail 310 is installed at one end of the shelf 300 and extends along the second direction; the base 210 is set on one side of the robot body 100 facing the guide rail. The base 210 can be a plate-shaped structure, shell-shaped structure, etc., with the same extension direction as the guide rail 310. The climbing component 220 is set on the base, and the robot body 100 climbs along the extension direction of the guide rail 310 through the climbing component 220.

[0073] Specifically, please refer to Figure 2 The climbing component 220 extends in the same direction as the base 210. The base 210 is an elongated strip with a groove extending along its length. The climbing component 220 is partially disposed within the groove and partially disposed outside the groove. The climbing component 220 includes an annular closed flexible member 2223, a driving wheel 2221, and a driven wheel 2222. The flexible member 2223 includes, but is not limited to, a timing belt. The driving wheel 2221 and the driven wheel 2222 can be matched with timing pulleys of the timing belt. The two timing pulleys are rotatably disposed on the base 210, with one timing pulley being the driving wheel and the other being the driven wheel. The annular closed timing belt is disposed outside the two timing pulleys and is driven by the timing pulleys. Multiple second climbing wheel teeth 2224 are spaced apart on the timing belt. The multiple second climbing wheel teeth 2224 are used to mesh with the corresponding first climbing wheel teeth 311 on the guide rail, thereby enabling the climbing component to climb along the guide rail.

[0074] Due to manufacturing or installation errors, the guide rail 310 may have misalignment issues when the climbing component 220 and the guide rail 310 are connected, which may cause the climbing component 220 and the guide rail 310 to fail to connect or to get stuck or unable to climb after connection.

[0075] Based on the above issues, please refer to Figure 2 and Figure 3 As shown in the embodiment of this disclosure, the climbing unit 200 further includes a first guide limiting component 230, which is movably disposed on the base 210 so that the first guide limiting component 230 can swing relative to the base 210, and the first guide limiting component 230 defines a limiting space 231 so that the limiting space 231 can be adaptively swung and adjusted according to the error of the guide rail 310, so as to limit the guide rail 310 in the limiting space 231, and make the climbing component 220 dock with the guide rail 310 so as to climb along the guide rail 310 on the shelf 300 under the action of driving force.

[0076] In some embodiments, such as Figure 2 , Figure 3 and Figure 5As shown, the base 210 includes a first base body 213 and a second base body 214, with the second base body 214 located below the first base body 213; for example, as... Figure 5 As shown, the first guide limiting component 230 can be rotatably connected to the first seat 213 via the first rotating shaft 211, so that the first guide limiting component 230 swings in a first direction with the axis of the first rotating shaft 211 as the rotation center. The axis of the first rotating shaft 211 is, for example, the same as the extension direction of the guide rail 310 (such as the vertical direction), and there is an angle between the first direction and the axis of the first rotating shaft 211. The swing trajectory of the first guide limiting component 230 around the first rotating shaft 211 in the first direction can be a straight line or an arc, as long as the guide rail 310 is confined in the limiting space 231, which is not limited here.

[0077] Therefore, in this embodiment, by designing a first guide limiting component 230 in the climbing unit 200, the first guide limiting component 230 defines a limiting space 231. The first guide limiting component 230 is movably mounted on the base 210 and swings relative to the base 210, so that the first guide limiting component 230 can adapt to the error of the guide rail 310, so as to limit the guide rail 310 in the limiting space 231. In this way, after the climbing component 220 is connected to the guide rail 310, under the action of the driving force, the robot body 100 can climb along the extension direction of the guide rail 310 on the shelf 300. This avoids the problem of the climbing unit 200 getting stuck or unable to climb along the guide rail 310 due to misalignment between the climbing unit 200 and the guide rail 310, thereby improving the compatibility between the climbing robot 10 and the guide rail 310 on the shelf 300 and improving the reliability of the climbing robot 10 when climbing along the guide rail 310.

[0078] In some embodiments, please refer to Figure 3As shown, the first guide limiting assembly 230 includes a first connector 232 and two first limiting structures 233 disposed opposite to each other on opposite sides of the first connector 232. For example, the two first limiting structures 233 are spaced apart at both ends of the first connector 232 along a first direction, defining a limiting space 231 between the two first limiting structures 233. The first connector 232 is configured to rotate about a first rotation axis so that the first connector 232 swings relative to the base 210 in a first direction (i.e., the first connector 232 swings relative to the base 210 in a first direction), so that... The first connector 232 can drive the two first limiting structures 233 to make adaptive adjustments according to the error of the guide rail 310, so as to limit the guide rail 310 in the limiting space 231, that is, the guide rail 310 is located between the two oppositely arranged first limiting structures 233. In this way, when the climbing component 220 climbs along the guide rail 310 under the driving force, the two oppositely arranged first limiting structures 233 and the guide rail 310 mutually limit and guide each other, so that the climbing robot 10 can climb along the extension direction of the guide rail 310, so as to facilitate the climbing robot 10 to pick up and put down goods.

[0079] The first rotation axis is consistent with the extension direction of the guide rail 310; for example, when the first connector 232 is rotatably connected to the base 210 through the first rotating shaft 211, the first rotation axis is the axis of the first rotating shaft 211.

[0080] In some embodiments, please refer to Figure 2 and Figure 3 As shown, the first limiting structure 233 includes at least one first guide wheel 2331, which is rotatably connected to the first connecting member 232, allowing the first guide wheel 2331 to rotate around its own axis. Thus, when the first guide wheel 2331 and the guide rail 310 move relative to each other, the first guide wheel 2331 can rotate relative to the guide rail 310 around its own axis, preventing jamming between them during relative movement and improving the smoothness of their relative movement. The central axis of the first guide wheel 2331 is staggered with the first rotation axis.

[0081] In some embodiments, each first limiting structure 233 includes two or more first guide wheels 2331 arranged sequentially along a second direction (i.e., the extension direction of the guide rail 310), for example, as shown in... Figure 2 and Figure 3 As shown, each first limiting structure 233 includes two first guide wheels 2331 arranged sequentially along the second direction; in this way, the size of the limiting space 231 in the second direction can be increased, thereby improving the reliability of mutual limiting and guiding between the first limiting structure 233 and the guide rail 310.

[0082] In other embodiments, the first limiting structure 233 may also include at least one ball or other spherical structure, and the ball can rotate around its own center. When the guide rail 310 is limited in the limiting space 231, the ball can roll into contact with the surface of the guide rail 310, so that when there is relative movement between the guide rail 310 and the ball, the ball can rotate to prevent jamming.

[0083] In some embodiments, the first guide limiting component 230 is disposed near the top of the base 210, and the climbing component 220 is disposed below the first guide limiting component 230 on the base 210, for example, in Figure 2 In the first guide and limit component 230, the first connector 232 is rotatably connected to the first base 213 via the first rotating shaft 211, and the first connector 232 is located below the first base 213.

[0084] In this embodiment of the application, by setting the first guide limiting component 230 at a position near the top of the base 210, in addition to guiding the climbing unit 200 to climb by the first limiting structure 233, interference between the climbing component 220 and the first guide limiting component 230 can be avoided.

[0085] In some embodiments, please refer to Figure 2 and Figure 3 As shown, the climbing unit 200 also includes a second guide limiting component 240, and the second guide limiting component 240 and the first guide limiting component 230 are spaced apart on the base 210 along a second direction; for example, along the second direction, the first guide limiting component 230 is disposed above the second guide limiting component 240.

[0086] In some embodiments, please refer to Figure 2 and Figure 3As shown, the second guide limiting assembly 240 includes a second connector 241 and two second limiting structures 242 disposed at opposite ends of the second connector 241. The second connector 241 is disposed on the base 210 and movably connected to the base 210, so that the second connector 241 can drive the two second limiting structures 242 to rotate relative to the base 210 around a second rotation axis, so that the second guide limiting assembly 240 swings in a first direction. The direction of the second rotation axis is, for example, the same as the extension direction of the first rotation axis. In addition, the guide rail 310 has flanges 312 on both sides facing the climbing unit 200. The flanges 312 have first surfaces 3121, for example, the side facing the robot body 100. When the second connector 241 drives the two second limiting structures 242 to swing in the first direction around the second rotation axis, the two second limiting structures 242 respectively abut against the first surfaces 3121 of their corresponding flanges 312 (e.g., ...). Figure 4 (As shown in the diagram). The two second limiting structures 242 abut against the first surface 3121 of the flange 312 of the guide rail 310, which can limit the movement of the guide rail 310 and the climbing unit 200 in the third direction, thereby improving the reliability of the relative position between the climbing unit 200 and the guide rail 310 in the third direction; wherein, the third direction is perpendicular to the first direction and the second direction, respectively.

[0087] In some embodiments, the flange 312 may be perpendicularly connected to the sidewall 314. The flange 312, the sidewall 314, and the bottom wall between the two sidewalls 314 may form an Ω-shaped guide rail. The first climbing gear tooth 311 is mounted in the climbing area 315 formed by the Ω-shaped guide rail.

[0088] For example, such as Figure 3 As shown, the second connector 241 can be rotatably connected to the base 210 via the second rotating shaft 212. Two second limiting structures 242 are respectively disposed at opposite ends of the second connector 241 along the first direction. The second connector 241 can drive the two second limiting structures 242 to rotate relative to the base 210 via the second rotating shaft 212 under the action of force, so as to swing in the first direction to adjust the position between the two second limiting structures 242 and the flanges 312 on both sides of the guide rail 310, so that the second limiting structures 242 respectively abut against the first surface 3121 of their corresponding flanges 312.

[0089] In some embodiments, the second limiting structure 242 includes at least one second guide wheel 2421. For example, as shown... Figure 3 and Figure 4As shown, the second limiting structure 242 includes a second guide wheel 2421, which is rotatably connected to the second connecting member 241 so that the second guide wheel 2421 can rotate around its own axis. The central axis of the second guide wheel 2421 and the second rotation axis are intersected. When the climbing unit 200 climbs along the guide rail 310 on the shelf 300, the second guide wheel 2421 abuts against the first surface 3121 of the corresponding flange 312. During the climbing process, the second guide wheel 2421 rotates around its own axis to avoid jamming between the second guide wheel 2421 and the first surface 3121 of the flange 312.

[0090] In other embodiments, the second limiting structure 242 may also be a ball bearing or similar structure. As long as the climbing robot 10 can rotate around its own axis and roll into contact with the first surface 3121 of the flange 312 when it climbs along the guide rail 310 on the shelf 300, it can prevent jamming. This will not be discussed here.

[0091] In some embodiments, the second guide limiting component 240 is disposed at a position near the bottom of the base 210, for example, in Figure 2 In this configuration, the second guide limiting component 240 is disposed at the end of the second seat 214 away from the first seat 213. This allows the climbing unit 200 to be guided and limited during climbing, while also preventing interference between the second guide limiting component 240 and the climbing component 220. It is understood that the climbing component 220 is located between the second guide limiting component 240 and the first guide limiting component 230.

[0092] To further improve the reliability of the guide limit between the climbing unit 200 and the guide rail 310, and to prevent the climbing unit 200 from jamming during climbing, please refer to the embodiments disclosed herein. Figure 2 and Figure 3 As shown, the climbing unit 200 also includes a third guide limiting component 250. Along the second direction, the third guide limiting component 250 is movably disposed on the base 210 and located between the first guide limiting component 230 and the second guide limiting component 240. The third guide limiting component 250 and the second guide limiting component 240 together limit the climbing unit 200 in the third direction.

[0093] In some embodiments, please continue to refer to Figure 3As shown, the third guide limiting assembly 250 includes two third connectors 251 and two third limiting structures 252. The two third limiting structures 252 are respectively disposed opposite to each other on both sides of the base 210 and are respectively connected to the base 210 through the two third connectors 251. Additionally, the flanges 312 on opposite sides of the guide rail 310 facing the robot body 100 each have a second surface 3122, wherein the second surface 3122 and the first surface 3121 are two surfaces of the flange 312 disposed opposite to each other in a third direction. The two third limiting structures 252 respectively abut against the second surface 3122 of their corresponding flanges 312 (e.g., ...). Figure 4 As shown in the figure, two second limiting structures 242 abut against the first surfaces 3121 on both sides of the flange 312 to limit the climbing unit 200 and the guide rail 310 in the third direction.

[0094] In some embodiments, the third limiting structure 252 includes at least one third guide wheel 2521. For example... Figure 3 As shown, the third limiting structure 252 includes a third guide wheel 2521, which is configured to be rotatably connected to the third connector 251 so that the third guide wheel 2521 can rotate about its own axis. The central axis of the third guide wheel 2521 forms an angle with the extension direction of the guide rail 310. For example, the central axis of the third guide wheel 2521 is the same as the first direction. Thus, when the climbing unit 200 docks with the guide rail 310 and climbs along the second direction, the third guide wheel 2521 rolls into contact with the second surface 3122 of the corresponding flange 312, and the third guide wheel 2521 rotates about its own axis to prevent the climbing unit 200 from causing the robot body 100 to get stuck when climbing along the guide rail 310. Of course, the third limiting structure 252 can also be a ball bearing or other structure, as long as it can prevent the climbing unit 200 from causing the robot body 100 to get stuck when climbing along the guide rail 310. There are no restrictions here.

[0095] In some embodiments, such as Figure 3 and Figure 4 As shown, the guide rail 310 has a flange 312 connected to the side wall, the flange 312 has a second surface 3122 facing away from the climbing unit 200, and two first limiting structures 233 are configured to abut against the second surface 3122 to limit the first limiting structures in the direction perpendicular to the second surface 3122.

[0096] In some embodiments, such as Figure 4As shown, the first guide wheel 2331 of the first limiting structure 233 can be configured to roll in contact with the second surface 3122 of the flange 312, that is, the first guide wheel 2331 can roll on the second surface 3122. When the first guide wheel 2331 rotates relative to the first connecting member 232, it can prevent the climbing unit 200 from causing the robot body 100 to get stuck when climbing along the guide rail 310.

[0097] like Figure 4 As shown, the first guide wheel 2331 and the third guide wheel 2521 roll against the second surface 3122 of the flange 312, and the climbing component 220 climbs vertically along the climbing area 315 of the guide rail 310. The second surface 3122 serves to support and limit the first guide wheel 2331 and the third guide wheel 2521 in the third direction. This arrangement ensures the stability of the climbing robot 10 on the guide rail 310 and prevents the robot body 100 from falling off the guide rail 310. In some embodiments, the third guide limiting component 250 may be omitted.

[0098] In some embodiments, please refer to Figure 3 As shown, the first connector 232 is located near the top of the base 210, the second connector 241 is located near the bottom of the base 210, and the third connector 251 is located near the middle of the base.

[0099] In some embodiments, such as Figure 5 As shown, two buffer members 2321 are provided on both sides of the first connector 232, which are arranged opposite to each other. When the first connector 232 swings in the first direction, the buffer member 2321 can elastically contact the base 210 to avoid the problem of rigid collision between the first connector 232 and the base 210 when the first connector 232 rotates around the first rotation axis.

[0100] In other words, by providing two buffers 2321 at opposite ends of the first connector 232 in the first direction, the impact force of the first connector 232 colliding with the base 210 during rotation can be absorbed by the buffers 2321.

[0101] In some embodiments, the buffer 2321 may be a buffer pad, buffer column or other structure made of elastic materials such as rubber or silicone, thereby reducing the noise of the rigid collision between the first connector 232 and the base 210 when rotating, thereby improving the user experience.

[0102] In some embodiments, such as Figure 4As shown, the guide rail 310 has two opposing side walls 314, and a climbing area 315 is formed between the two side walls 314 for the climbing unit 200 to climb. The two side walls 314 are located between two opposing first limiting structures 233 and are in active contact with their corresponding first limiting structures 233, so as to limit the climbing unit 200 in the first direction and guide its movement in the second direction through the opposing first limiting structures 233.

[0103] In some embodiments, please refer to Figures 2-3 As shown, the climbing unit 200 also includes a fourth guide wheel 280, which is located between two opposing first limiting structures 233 and rotatably connected to the base 210, allowing the fourth guide wheel 280 to rotate about its own axis. The fourth guide wheel 280 rolls into contact with at least one sidewall 314 of the climbing area 315, thus the fourth guide wheel 280 and the first limiting structures 233 together limit the climbing unit 200 in a first direction and guide it in a second direction.

[0104] It should be noted that this application does not limit the number of fourth guide wheels 280. There may be one fourth guide wheel 280 or at least two. For example, the climbing unit 200 may include two fourth guide wheels 280, which are spaced apart along the first direction and can roll on the corresponding side walls 314 on both sides of the climbing area 315.

[0105] In some embodiments, the climbing unit 200 further includes a fifth guide wheel 290, which is spaced apart from the fourth guide wheel 280 in the second direction. The fifth guide wheel 290 is rotatable about its own axis and rolls in contact with at least one side wall 314 of the climbing area 315 on the guide rail 310. In this way, the fourth guide wheel 280, the fifth guide wheel 290 and the first limiting structure 233 together limit the climbing unit 200 in the first direction and guide it in the second direction.

[0106] In some embodiments, along the second direction, the fifth guide wheel 290 is disposed near the bottom of the base 210 and rotatably connected to the base 210, such as... Figure 3 As shown, as long as there is installation space at the position of the base 210 near the outer side of the drive wheel 2221, the fifth guide wheel 290 can be set at the position near the drive wheel 2221 and rotatedly connected to the base 210. The fifth guide wheel 290 is configured to roll into contact with the corresponding side walls 314 on both sides of the climbing area 315.

[0107] Please continue to refer to Figure 3 and Figure 6As shown, the climbing unit 200 also includes a support member 215; the climbing assembly 220 includes a drive motor 221 and a transmission structure 222. The transmission structure 222 includes a drive wheel 2221, a driven wheel 2222 and a flexible member 2223. The drive wheel 2221 and the driven wheel 2222 are spaced apart along a second direction. The drive motor 221 is configured to be connected to the drive wheel 2221. The flexible member 2223 is wound around the drive wheel 2221 and the driven wheel 2222. The flexible member 2223 defines an annular region, and the support member 215 is disposed within the annular region and connected to the two side walls of the base 210. The support member 215 is configured to support the flexible member 2223 on the side near the guide rail 310 to prevent the flexible member 2223 on the side near the guide rail 310 from bending or concave towards the side away from the guide rail 310 when moving in the second direction, so as to improve the reliability of the meshing transmission between the second climbing gear tooth 2224 on the flexible member 2223 and the first climbing gear tooth 311 on the guide rail.

[0108] The support member 215 can be a strip-shaped structure, a block-shaped structure, or a plate-shaped structure extending along the second direction, as long as it can provide a supporting foundation for the flexible member 2223, and no specific restrictions are imposed here.

[0109] In other embodiments, such as Figure 3 and Figure 6 As shown, the fifth guide wheel 290 is rotatably connected to the support member 215. Along the first direction, the support member 215 has clearance notches 2151 on both opposite sides. Parts of the structure on both opposite sides of the fifth guide wheel 290 roll into contact with the side walls 314 on both sides of the climbing area 315 through the clearance notches 2151, so that the climbing unit 200 is limited in the first direction and guided in the second direction by the fourth guide wheel 280, the fifth guide wheel 290 and the first limiting structure 233.

[0110] Therefore, in the above embodiments, by setting the first guide limiting component 230, the fourth guide wheel 280, and the fifth guide wheel 290, the guide rail 310 is limited in the first direction, and the movement of the guide rail 310 and the climbing unit 200 in the second direction is guided. The second guide limiting component 240 and the third guide limiting component 250 limit the climbing unit 200 and the guide rail 310 in the third direction, thereby improving the reliability of the relative position between the climbing unit 200 and the guide rail 310. Furthermore, by swinging the first guide limiting component 230, the second guide limiting component 240, and the third guide limiting component 250 in the first direction, they can adaptively adjust according to the error of the guide rail 310, avoiding the problem of misalignment and inability to connect between the climbing unit 200 and the guide rail 310, thereby improving the applicability of the climbing robot 10.

[0111] In some embodiments, please refer to Figure 5 and Figure 6 As shown, the climbing unit 200 also includes a fall arrestor 260, which is movably mounted on the base 210. The fall arrestor 260 is configured to move between a first position and a second position under the influence of a force. For example, the fall arrestor 260 can swing relative to the base 210 in a second direction about a fourth rotation axis, wherein the first position is located below the second position in the second direction. The guide rail 310 has fourth limiting structures 313 arranged sequentially at intervals along the extension direction of the guide rail 310. When the climbing assembly 220 drives the climbing robot 10 to climb upward along the guide rail 310, the fall arrestor 260 is in the first position, and there is a gap between the fall arrestor 260 and the fourth limiting structures 313 in a third direction (e.g., ...). Figure 6 As shown in the diagram, the gap between the fall arrestor 260 and the fourth limiting structure 313 in the third direction when in the first position is, for example, denoted by D. At this time, the fall arrestor 260 and the fourth limiting structure 313 do not interfere with each other. When the climbing robot 10 descends relative to the guide rail 310, if the acceleration of the climbing robot 10 during its descent exceeds a preset threshold, for example, when the climbing robot 10 is in free fall with an acceleration of g, the fall arrestor 260 moves from the first position to the second position. The fall arrestor 260 is located on and abuts against the fourth limiting structure 313. In this way, the fourth limiting structure 313 can limit the downward movement of the fall arrestor 260 in the second direction, which can prevent the climbing robot 10 from continuing to fall and causing personal injury or equipment damage, thus improving the safety and reliability of the climbing robot 10 climbing on the shelf 300.

[0112] In some embodiments, such as Figure 6 As shown, the fourth limiting structure 313 can be the first climbing gear tooth 311.

[0113] In some embodiments, please refer to Figure 7 and Figure 8 As shown, the climbing unit 200 also includes an elastic element 270, which is disposed between the anti-fall element 260 and the base 210. The elastic element 270 is configured such that when the acceleration of the climbing robot 10 during descent is greater than a preset threshold, for example, when the climbing robot 10 is in free fall and the acceleration is g, the elastic element 270 can drive the anti-fall element 260 to move from the first position to the second position through its own elastic force, so as to limit the anti-fall element 260 through the fourth limiting structure 313 provided on the guide rail 310 and prevent the climbing robot 10 from continuing to fall.

[0114] For example, the elastic element 270 includes, but is not limited to, a torsion spring. (e.g.) Figure 8As shown, the elastic element 270 is a torsion spring, which is connected between the anti-fall element 260 and the base 210. When the acceleration of the climbing robot 10 is g, 0.5g, etc., the torsion spring can drive the anti-fall element 260 to the second position through its own elastic force, so that the projection of the fourth limiting structure 313 and the anti-fall element 260 in the second direction at least partially overlaps, so that the anti-fall element 260 is limited in the second direction by the fourth limiting structure 313, preventing the climbing robot 10 from continuing to fall downward, and improving the safety and reliability of the climbing robot 10 climbing on the shelf 300.

[0115] In some embodiments, please refer to Figure 10 As shown, the guide rail 310 has multiple first climbing teeth 311, which are spaced apart along the extension direction of the guide rail 310. The first climbing teeth 311 can be used by the climbing unit 200 to climb. The first climbing teeth 311 can be formed as a fourth limiting structure 313. That is, the first climbing teeth 311 and the fourth limiting structure 313 are physically the same structure. The first climbing teeth 311 can not only be used by the climbing unit 200 to climb, but also prevent the climbing unit 200 from falling downwards when it is in a state of free fall, for example. In this way, the structure of the guide rail 310 can be simplified and the cost can be reduced.

[0116] In some embodiments, please return to the reference. Figure 3 As shown, the flexible member 2223 has a plurality of spaced second climbing gear teeth 2224, which mesh with the first climbing gear teeth 311. The drive motor 221 can drive the drive wheel 2221 to rotate. The drive wheel 2221 drives the flexible member 2223, which is sleeved on the drive wheel 2221 and the driven wheel 2222, to move, so that the second climbing gear teeth 2224 on the flexible member 2223 mesh with the first climbing gear teeth 311 to drive the climbing robot 10 to climb along the guide rail 310.

[0117] For example, the flexible element 2223 is either a drive belt or a drive chain, such as a plain belt or a synchronous belt.

[0118] In some embodiments, such as Figure 3 As shown, the tooth surfaces of the first climbing gear 311 and the second climbing gear 2224 are both inclined at an angle to the second direction. That is, the first climbing gear is an inclined gear, and the second climbing gear 2224 is an inclined gear that matches the first climbing gear 311. In this way, the problem of the first climbing gear and the second climbing gear 2224 not being able to mesh with each other can be avoided.

[0119] In some embodiments, please refer to Figure 2As shown, the climbing robot 10 includes two climbing units 200. The two climbing units 200 are spaced apart along a first direction on one side of the robot body 100 facing the guide rail 310. Thus, the two climbing units 200 respectively connect to the guide rails 310 on both sides of the shelf 300 and climb along the guide rails 310 under the action of a driving force. It can be understood that by setting two climbing units 200, allowing the robot body 10 to climb on the shelf 300 via the two climbing units 200, the reliability of the climbing robot 10 climbing on the shelf 300 can be improved.

[0120] In some embodiments, please refer to Figure 2 and 9 As shown, the robot body 100 includes a movable base 110, a lifting mechanism 120, a mounting base 130, and a fork assembly 140. The mounting base 130 is mounted on the movable base 110 via the lifting mechanism 120, which connects the movable base 110 and the mounting base 130. The fork assembly 140 is disposed on the mounting base 130. The lifting mechanism 120 can drive the mounting base 130 to rise and fall relative to the movable base 110 in a second direction, thereby making the height of the climbing robot 10 adjustable in the second direction. A climbing unit 200 is connected to one end of the mounting base 130, i.e., the climbing unit 200 is mounted on one end of the mounting base 130.

[0121] For example, by providing a lifting mechanism 120 between the movable base 110 and the mounting base 130, the mounting base 130 can be raised and lowered relative to the movable base 110 in a second direction. In a specific implementation, since the guide rail 310 is usually at a certain height above the location of the shelf 300, when the climbing robot 10 needs to climb the shelf 300, the mounting base 130 can be raised first by the lifting mechanism 120 so that the climbing unit 200 can dock with the guide rail 310 on the shelf 300. Then, the movable base 110 can be retracted by the lifting mechanism 120, so that the climbing robot 10 can climb the shelf 300. When the climbing unit 200 needs to disengage from the guide rail 310, the climbing unit 200 first descends along the guide rail 310 to its lowest position. Then, through the lifting function of the lifting mechanism 120, the movable base 110 extends towards the ground, making contact with the ground. The connection between the climbing unit 200 and the guide rail 310 is then released, allowing the climbing robot 10 to land safely. It should be understood that in some embodiments, the lifting mechanism 120 may not need to retract the movable base 110 during the ascent of the climbing robot 10 along the guide rail 310.

[0122] This application does not limit the specific structure of the lifting mechanism 120, as long as the lifting mechanism 120 can function as a lifting mounting base 130. In some embodiments, such as Figure 9As shown, the lifting mechanism 120 is a scissor-type linkage structure. In some other embodiments, the lifting mechanism 120 may also be a telescopic hydraulic mechanism, etc.

[0123] Additionally, the mounting base 130 can provide support and a mounting foundation for the fork assembly 140 and the climbing unit 200. The fork assembly 140 can be a telescopic fork; for example, the fork assembly 140 may include a telescopic arm and a pick-and-place mechanism located at the end of the telescopic arm for picking up and placing goods.

[0124] Examples of such devices include suction cups, pick-and-place hooks, and clamps for gripping goods. Specific details can be found in related technologies, and no limitations are imposed here.

[0125] Please refer to Figure 1 As shown, this application embodiment also provides a storage system, including a shelf 300 and a climbing robot 10 as provided in the above embodiment. The shelf 300 is provided with a guide rail 310 for the climbing robot 10 to climb. The guide rail 310 is at a first distance from the ground, and the climbing robot 10 docks with the guide rail 310 from the bottom.

[0126] The structure and principle of the climbing robot 10 have been described in detail in the above embodiments and will not be repeated here.

[0127] For example, such as Figure 1 As shown, the shelf 300 has multiple storage locations arranged in a vertical direction. Guide rails 310 are provided on both sides of the storage locations. The climbing robot 10 can climb along the guide rails 310 to place goods on storage locations at different heights or to retrieve goods from storage locations at different heights.

[0128] Of course, the shelf 300 also has multiple storage locations in the first direction. In order to retrieve and place goods in different storage locations, each storage location has guide rails 310 on both sides to facilitate the climbing robot 10 to climb.

[0129] It should be noted that, in addition to using a synchronous belt to climb on the guide rail as described in the above embodiments, the climbing component 220 can also alternatively or additionally climb on the guide rail using gears. For example, each of the two climbing components 220 is equipped with one gear, and a rack or chain is provided on the guide rail of the shelf, with the gears climbing on the chain or rack.

[0130] In summary, in this embodiment of the application, by setting the first guide limiting component to be able to swing relative to the base in a first direction (e.g., swing towards the first direction), for example, it can swing with the position of the guide rail. In this way, the first guide limiting component can adapt to the error of the guide rail, so as to limit the guide rail within the limiting space. This avoids the problem of the climbing unit getting stuck or unable to climb along the guide rail due to the misalignment between the climbing unit and the guide rail, thereby improving the compatibility between the climbing robot and the guide rail on the shelf and improving the reliability of the climbing robot when climbing along the guide rail.

[0131] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0132] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0133] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0134] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0135] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments or may be combined at least as shown in the accompanying drawings.

[0136] In the description of the embodiments of this application, the technical terms "installation" and "connection" have the same meaning and can be used interchangeably. Unless otherwise expressly specified and limited, "installation" and "connection" can be a fixed connection (e.g., a detachable fixed connection, welding, or integral molding) or a movable connection; they can be directly connected without an intermediate medium or indirectly connected through an intermediate medium.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A climbing robot for climbing and picking up and down goods on a goods shelf (300) having a guide rail (310) for the climbing robot (10) to climb, characterized in that, The climbing robot (10) comprises a robot body (100) and a climbing unit (200) arranged on one side of the robot body (100); The climbing unit (200) comprises a base (210), a climbing assembly (220) and a first guide limiting assembly (230), the climbing assembly (220) and the first guide limiting assembly (230) are arranged on the base (210), and the climbing assembly (220) is configured to climb along the guide rail (310); the first guide limiting assembly (230) defines a limiting space (231), and the first guide limiting assembly (230) is configured to swing relative to the base (210) to make the climbing unit (200) interface with the guide rail (310) and limit the guide rail (310) in the limiting space (231).

2. The climbing robot of claim 1, wherein, The first guide limiting assembly (230) comprises a first connecting piece (232) and two first limiting structures (233) arranged on opposite sides of the first connecting piece (232), the limiting space (231) is defined between the two first limiting structures (233), and the first connecting piece (232) is configured to swing relative to the base (210) about a first rotation axis; wherein the first rotation axis is consistent with the extension direction of the guide rail (310).

3. The climbing robot of claim 2, wherein, The first limiting structure (233) comprises at least one first guide wheel (2331), the first guide wheel (2331) is rotationally connected with the first connecting piece (232) to enable the first guide wheel (2331) to rotate about its own axis, wherein the central axis of the first guide wheel (2331) and the first rotation axis are arranged in a staggered manner.

4. The climbing robot of claim 2, wherein, The climbing unit (200) further comprises a second guide limiting assembly (240), the second guide limiting assembly (240) and the first guide limiting assembly (230) are arranged on the base (210) in a spaced manner along the extension direction of the base (210); The second guide limiting assembly (240) comprises a second connecting piece (241) and two second limiting structures (242) arranged on opposite ends of the second connecting piece (241), the second connecting piece (241) is configured to swing relative to the base (210) about a second rotation axis, and the two sides of the guide rail (310) facing the climbing unit (200) have flanges (312), the flanges (312) have first surfaces (3121) to make the two second limiting structures (242) respectively abut against the first surfaces (3121) of the corresponding flanges (312); Wherein, the extension direction of the second rotation axis is consistent with the extension direction of the base (210).

5. The climbing robot of claim 4, wherein, The second limiting structure (242) comprises at least one second guide wheel (2421), which is rotationally connected with the second connecting piece (241) to enable the second guide wheel (2421) to rotate around its own axis, wherein the central axis of the second guide wheel (2421) and the second rotation axis are staggered with each other.

6. The climbing robot of claim 4, wherein, The climbing unit (200) further comprises a third guide limiting assembly (250) arranged on the base (210) and located between the first guide limiting assembly (230) and the second guide limiting assembly (240). The third guide limiting assembly (250) comprises two third limiting structures (252), which are oppositely arranged on opposite sides of the base (210); the flange (312) has a second surface (3122) oppositely arranged with the first surface (3121), and the two third limiting structures (252) are configured to abut against the second surface (3122) of the corresponding flange (312).

7. The climbing robot of claim 6, wherein, The third guide limiting assembly (250) further comprises two third connecting pieces (251), and the two third limiting structures (252) are connected with the base (210) through the two third connecting pieces (251).

8. The climbing robot of claim 7, wherein, The third limiting structure (252) comprises at least one third guide wheel (2521), which is rotationally connected with the corresponding third connecting piece (251) to enable the third guide wheel (2521) to rotate around its own axis, and the central axis of the third guide wheel (2521) and the extension direction of the base (210) form an angle.

9. The climbing robot according to any one of claims 4-8, characterized in that, The first guide limiting assembly (230) is arranged close to the top of the base (210); and the second guide limiting assembly (240) is arranged close to the bottom of the base (210).

10. The climbing robot of claim 3, wherein, The guide rail (310) has two side walls (314) oppositely arranged, and a climbing area (315) for the climbing unit (200) to climb is formed between the two side walls (314), and the two side walls (314) are located between the two first limiting structures (233) oppositely arranged.

11. The climbing robot of claim 10, wherein, The guide rail (310) has a flange (312) connected with the side wall (314), and the flange (312) has a second surface (3122) facing away from the climbing unit (200). The two first limiting structures (233) are configured to abut against the second surface (3122).

12. The climbing robot of claim 10, wherein, The climbing unit (200) further comprises a fourth guide wheel (280) located between the two first limiting structures (233) oppositely arranged and rotationally connected with the base (210) to enable the fourth guide wheel (280) to rotate around its own axis, and the fourth guide wheel (280) is in rolling contact with the side wall (314) of at least one side of the climbing area (315).

13. The climbing robot of claim 12, wherein, The climbing unit (200) further comprises a fifth guide wheel (290), which is arranged in the second direction and spaced apart from the fourth guide wheel (280), and the fifth guide wheel (290) can rotate around its own axis and roll in contact with the side wall (314) on at least one side of the climbing area (315) on the guide rail (310).

14. The climbing robot of claim 13, wherein, The fifth guide wheel (290) is arranged close to the bottom of the base (210) and is rotationally connected with the base, and the fourth guide wheel (280) is arranged close to the top of the base (210).

15. The climbing robot of claim 13, wherein, The climbing unit (200) further comprises a support (215); The climbing assembly (220) comprises a driving motor (221) and a transmission structure (222), the transmission structure (222) comprises a driving wheel (2221), a driven wheel (2222) and a flexible member (2223), the driving wheel (2221) and the driven wheel (2222) are arranged in the second direction and spaced apart, the driving motor (221) is connected with the driving wheel (2221), and the flexible member (2223) is arranged around the driving wheel (2221) and the driven wheel (2222). The flexible member (2223) defines an annular area, the support (215) is arranged in the annular area and connected with the base (210), and the support (215) is configured to support the flexible member (2223) close to one side of the guide rail (310).

16. The climbing robot of claim 15, wherein, The fifth guide wheel (290) is rotationally connected with the support (215), and the support (215) has an avoiding gap (2151) on each of the opposite sides in the first direction, and part of the structure on the opposite sides of the fifth guide wheel (290) is in rolling contact with the side wall (314) on both sides of the climbing area (315) through the avoiding gap (2151).

17. The climbing robot of claim 9, wherein, The two ends of the first connecting piece (232) are close to one side of the base (210) and have two buffer pieces (2321) arranged oppositely, and when the first connecting piece (232) rotates, the buffer pieces (2321) are configured to be in elastic contact with the base (210).

18. The climbing robot of any one of claims 1-8, wherein, The climbing unit (200) further comprises an anti-falling piece (260), which is movably arranged on the base (210) and is configured to move between a first position and a second position; and the guide rail (310) has fourth limiting structures (313) arranged in the extension direction of the guide rail (310) and spaced apart in sequence; When the climbing assembly (220) drives the climbing robot (10) to climb upward along the guide rail (310), the anti-falling piece (260) is located in the first position, and there is a gap in the third direction between the anti-falling piece (260) and the fourth limiting structure (313). When the climbing robot (10) falls at an acceleration greater than a preset threshold value relative to the guide rail (310), the anti-falling piece (260) is moved from the first position to the second position, and the anti-falling piece (260) interferes with the fourth limiting structure (313) in the third direction.

19. The climbing robot of claim 18, wherein, The climbing unit (200) further comprises an elastic piece (270) arranged between the anti-falling piece (260) and the base (210), and the elastic piece (270) is configured to drive the anti-falling piece (260) to move from the first position to the second position by its elastic force when the climbing robot (10) falls at an acceleration greater than a preset threshold value.

20. The climbing robot of claim 19, wherein, The elastic piece (270) is a torsion spring.

21. The climbing robot of claim 18, wherein, The guide rail (310) has a plurality of first climbing teeth (311) arranged at intervals along the extension direction of the guide rail (310), and the first climbing teeth (311) form the fourth limiting structure (313); The climbing assembly (220) has a plurality of second climbing teeth (2224) arranged at intervals in a second direction, and the second climbing teeth (2224) are engaged with the first climbing teeth (311) to drive the climbing robot (10) to climb along the guide rail (310).

22. The climbing robot of any one of claims 1-8, wherein, The climbing robot (10) comprises two climbing units (200) arranged at intervals in a first direction on the same side of the robot body (100).

23. The climbing robot of claim 22, wherein, The robot body (100) comprises a mobile base (110), a lifting mechanism (120), a mounting seat (130), and a fork assembly (140), the lifting mechanism (120) and the mounting seat (130) are arranged on the mobile base (110), and the lifting mechanism (120) is connected between the mobile base (110) and the mounting seat (130), the fork assembly (140) is arranged on the mounting seat (130), the lifting mechanism (120) can drive the mounting seat (130) to rise and fall relative to the mobile base (110) in a second direction, so that the height of the climbing robot (10) in the second direction is adjustable; the climbing unit (200) is connected with the end of the mounting seat (130).

24. A warehousing system characterized by The climbing robot (10) comprises a robot body (100) and a climbing unit (200) arranged on the robot body (100), the climbing unit (200) comprises a base (210), a climbing assembly (220), and an anti-falling piece (260), the base (210) is arranged on the robot body (100), the climbing assembly (220) is arranged on the base (210), the anti-falling piece (260) is arranged on the base (210) and is connected with the climbing assembly (220), the anti-falling piece (260) is arranged to be movable between a first position and a second position relative to the base (210), and the anti-falling piece (260) is arranged to interfere with a fourth limiting structure (313) of a guide rail (310) of a rack (300) in a third direction when the climbing robot (10) falls at an acceleration greater than a preset threshold value relative to the guide rail (310).

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