Climbing robot and warehousing system

Abstract

One or more embodiments of the invention provide a climbing robot and a warehousing system. The climbing robot comprises a vehicle body assembly and a climbing assembly. The climbing assembly comprises a supporting piece, a transmission shaft and a climbing mechanism. The climbing mechanism comprises an assembling side plate, a climbing piece and an anti-derailing guide wheel. The support is assembled to the vehicle body assembly. The assembly side plate is fixed to the support member. The assembling side plates are rotationally connected with the transmission shaft, and the climbing piece climbs along with rotation of the transmission shaft. In the axial direction of the transmission shaft, the assembly side plate is located on one side of the climbing piece, the assembly side plate exceeds the climbing piece in the advancing direction of the climbing piece, and the derailing prevention guide wheel is arranged on the portion, exceeding the climbing piece, of the assembly side plate and used for being matched with a lifting inclined face of a rail injection guide base of the rail assembly. According to the climbing robot provided by the specification, the anti-derailing guide wheels are arranged, so that before the climbing robot enters the rail, the anti-derailing guide wheels can be matched with the rail entering guide seats, and the uneven posture caused by the uneven ground is corrected.

Description

Technical Field

[0001] This specification relates to one or more embodiments in the field of intelligent warehousing technology, and more particularly to a climbing robot and warehousing system. Background Technology

[0002] With the rapid development of artificial intelligence, automation, and information technology, smart warehousing has become a crucial link in the modern logistics system. The application of smart warehousing not only improves the speed of data input in all aspects of warehouse management but also greatly enhances the accuracy and reliability of operations.

[0003] However, current climbing robots have high requirements for the flatness of the ground. If there are debris or unevenness on the ground, the climbing components may not align with the structure at the track when the climbing robot enters the track, resulting in unstable operation of the climbing robot. Summary of the Invention

[0004] In view of the above, one or more embodiments of this specification provide the following technical solutions: According to a first aspect of one or more embodiments of this specification, a climbing robot is provided, comprising: Vehicle body components; The climbing assembly includes a support member, a drive shaft, and a climbing mechanism; the climbing mechanism includes an assembled side plate, climbing components, and anti-derailment guide wheels. The support member is assembled to the vehicle body assembly; the assembled side plate is fixed to the support member; the assembled side plate is rotatably connected to the drive shaft, and the climbing member climbs as the drive shaft rotates; Along the axial direction of the drive shaft, the assembly side plate is located on one side of the climbing member. Along the forward direction of the climbing member, the assembly side plate extends beyond the climbing member. The anti-derailment guide wheel is disposed on the part of the assembly side plate that extends beyond the climbing member, and is used to cooperate with the lifting slope of the track entry guide seat of the track assembly.

[0005] Furthermore, the number of climbing mechanisms is set to at least two, and the two climbing mechanisms are respectively installed at both ends of the drive shaft.

[0006] Furthermore, the number of climbing components is set to two, and the drive shafts of the two climbing components are arranged in parallel.

[0007] Furthermore, the vehicle body assembly includes a frame and a telescopic drive component fixed to the frame; the climbing robot also includes a telescopic swing arm, the two ends of which are respectively connected to the support components of the two climbing components; The telescopic drive component drives the two ends of the telescopic swing arm to extend outward or retract inward; during the extension process, the two climbing components move away from each other; during the retraction process, the two climbing components move closer to each other.

[0008] Furthermore, the telescopic swing arm includes a middle rod, a first connecting rod, and a second connecting rod. One end of the middle rod is rotatably connected to the first connecting rod, and the other end is rotatably connected to the second connecting rod. The middle part of the middle rod is connected to the telescopic drive member. The first connecting rod is rotatably connected to one of the two support members, and the second connecting rod is rotatably connected to the other of the two support members. When the intermediate rod rotates around the first direction, the telescopic swing arm extends outward; when the intermediate rod rotates around the second direction, the telescopic swing arm retracts inward. The first direction and the second direction are opposite.

[0009] Furthermore, each of the support members includes a set of guide plates, and the two guide plates of the two support members are spaced apart along the axial direction of the transmission shaft. Each set of guide plates includes a first guide plate and a second guide plate. In the height direction of the climbing robot, the first guide plate is higher than the second guide plate. The climbing assembly includes a first climbing assembly and a second climbing assembly. Along the axial direction of the drive shaft, the climbing mechanism at the first end of the first climbing assembly is connected to the first guide plate, and the climbing mechanism at the second end is connected to the second guide plate. Along the axial direction of the drive shaft, the climbing mechanism at the first end of the second climbing assembly is connected to the second guide plate, and the climbing mechanism at the second end is connected to the first guide plate.

[0010] Furthermore, each of the climbing mechanisms includes two assembly side plates, and the climbing component is located between the two assembly side plates along the axial direction of the drive shaft. The anti-derailment guide wheels are provided on the inner sides of the two assembly side plates, and the axial directions of the two anti-derailment guide wheels coincide.

[0011] Furthermore, the bottom of the assembled side plate is provided with a vehicle body correction guide wheel, which is used to cooperate with the guide side of the track assembly's rail entry guide seat. The vehicle body correction guide wheel is perpendicular to the axis of the anti-derailment guide wheel.

[0012] Furthermore, the climbing mechanism also includes a pair of centering guide wheels for abutting against the outer surface of the track assembly; the climbing component is located between the pair of centering guide wheels in the axial direction of the drive shaft.

[0013] Furthermore, in the forward direction of the climbing component, the centering guide wheel and the anti-derailment guide wheel are at least partially opposite each other, and a track installation space is formed between the centering guide wheel and the anti-derailment guide wheel.

[0014] Furthermore, the climbing component includes a sprocket, the sprocket having a plurality of teeth, each of the teeth having an arc-shaped side in the axial direction of the sprocket.

[0015] According to a second aspect of one or more embodiments of this specification, a storage system is provided, comprising: a track assembly and the climbing robot described above, the track assembly including an entry guide seat; The guide seat is recessed along the forward direction of the climbing member to form a rail entry opening, and a lifting ramp is provided on the top of the guide seat; the height of the lifting ramp gradually increases in the recessed direction of the rail entry opening.

[0016] Furthermore, the top of the guide seat is connected to a track; the climbing component includes a sprocket, and the track includes a pair of track plates arranged opposite each other and a plurality of rollers connecting the pair of track plates, the plurality of rollers being spaced apart in the height direction.

[0017] Furthermore, the multiple rollers are arranged at double pitch intervals.

[0018] As can be seen from the above embodiments, by setting anti-derailment guide wheels and placing them on the part of the assembly side plate that extends beyond the climbing component, the anti-derailment guide wheels can cooperate with the entry guide seat before the climbing robot enters the track to correct the uneven posture caused by uneven ground, so that the climbing robot can accurately enter the track and improve the operational stability of the climbing robot. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a climbing robot provided in an exemplary embodiment; Figure 2 yes Figure 1 A structural diagram of a climbing robot from a rear view. Figure 3 yes Figure 1 Schematic diagram of the structure of the CRRC body components; Figure 4 yes Figure 1 A schematic diagram of the climbing component; Figure 5 yes Figure 4 A partial structural diagram of the climbing component when it mates with the guide seat for the entry rail; Figure 6 yes Figure 2 A schematic diagram of the structure of the pickup and delivery component; Figure 7 yes Figure 6 Partial structural diagram of the pickup and delivery component; Figure 8This is a partial structural diagram of a warehousing system provided in an exemplary embodiment; Figure 9 This is a partial structural diagram of a warehousing system provided in an exemplary embodiment.

[0020] Reference numerals: 10. Body component; 11. Frame; 111. Bottom frame; 112. Top frame; 113. Side plate; 114. Track; 12. Telescopic drive component; 13. Traveling wheel; 14. Traveling drive component; 15. Support roller; 16. Decorative panel; 20. Climbing component; 201. First climbing component; 202. Second climbing component; 21. Support component; 211. Mounting beam; 212. First guide plate; 213. Second guide plate; 22. Drive shaft; 23. Climbing mechanism; 230. Track mounting space; 231. Assembled side plate; 232. Climbing component; 2321. Gear tooth; 233. Anti-derailment guide wheel; 234. Body alignment guide wheel; 235. Centering guide wheel. 235; Climbing drive component 24; Transmission gear 25; Telescopic swing arm 30; Intermediate rod 31; First connecting rod 32; Second connecting rod 33; Picking assembly 40; Beam 41; Limiting part 410; Chain 411; Transmission sprocket 412; Tensioning wheel 413; Telescopic beam 414; Outer upright plate 415; Mounting frame 42; Connecting frame 43; Picking drive component 44; Picking transmission gear 45; Picking transmission shaft 46; Picking sprocket 47; Moving part 48; Picking hook 49; Track assembly 50; Track guide seat 51; Track opening 511; Lifting ramp 512; Track 52; Track plate 521; Roller 522; Outer plate 523. Detailed Implementation

[0021] Current climbing robots have high requirements for ground flatness. If there are debris or uneven ground, the climbing components may not align with the track structure when the climbing robot enters the track, resulting in unstable operation of the climbing robot. This specification provides a climbing robot and storage system to solve these technical problems.

[0022] like Figure 1 and Figure 2 As shown, this specification provides a climbing robot, including a body assembly 10, a climbing assembly 20, a telescopic swing arm 30, and a cargo retrieval assembly 40. The body assembly 10 includes a frame 11, a telescopic drive component 12, walking wheels 13, a walking drive component 14, support rollers 15, and a decorative panel 16.

[0023] The telescopic drive component 12 is fixed to the frame 11. The walking wheels 13 are installed at the bottom of the frame 11, and the walking drive component 14 drives the walking wheels 13, thereby moving the entire climbing robot on the ground. Support rollers 15 are fixed to the bottom of the frame 11, providing auxiliary support for the movement of the climbing robot. The decorative panel 16 is used to conceal the movement mechanism of the climbing robot, improving its aesthetics.

[0024] Please refer to the following: Figure 3 As shown, frame 11 includes a bottom frame 111, a top frame 112, and side panels 113. Side panels 113 connect the bottom frame 111 and the top frame 112. The bottom frame 111 is used to secure the telescopic drive component 12, the traveling wheels 13, the traveling drive component 14, and the support rollers 15. The top frame 112 is used to secure the retrieval assembly 40. Side panels 113 are provided with grooves 114 for installation in conjunction with the climbing assembly 20.

[0025] Please refer to the following: Figure 4 As shown, the climbing assembly 20 includes a support member 21, a drive shaft 22, a climbing mechanism 23, a climbing drive member 24, and a transmission gear 25. The support member 21 is assembled to the vehicle body assembly 10. The support member 21 includes a mounting beam 211, a first guide plate 212, and a second guide plate 213. Please refer to the accompanying documentation. Figure 5 As shown, the climbing mechanism 23 includes an assembly side plate 231, a climbing component 232, an anti-derailment guide wheel 233, a vehicle body correction guide wheel 234, and a centering guide wheel 235.

[0026] The assembly side plate 231 is fixed to the support member 21. Specifically, the assembly side plate 231 is fixed to the mounting beam 211. The assembly side plate 231 is rotatably connected to the drive shaft 22, for example, the assembly side plate 231 and the drive shaft 22 can be rotatably connected through bearings. In the axial direction of the drive shaft 22, the assembly side plate 231 is located on one side of the climbing member 232. In the forward direction of the climbing member 232, the assembly side plate 231 extends beyond the climbing member 232. The anti-derailment guide wheel 233 is provided on the part of the assembly side plate 231 that extends beyond the climbing member 232, and is used to cooperate with the lifting ramp of the track entry guide seat of the track assembly.

[0027] This manual describes how by setting up anti-derailment guide wheels 233 and placing them on the part of the assembly side plate 231 that extends beyond the climbing component 232, the anti-derailment guide wheels 233 can cooperate with the entry guide seat before the climbing robot enters the track to correct the unevenness of the posture caused by the uneven ground, so that the climbing robot can accurately enter the track and improve the operational stability of the climbing robot.

[0028] The number of climbing mechanisms 23 is set to at least two, and the two climbing mechanisms 23 are respectively installed at both ends of the drive shaft 22. By setting multiple climbing mechanisms 23, the supporting force provided by the climbing mechanisms 23 can be increased, thereby improving the climbing stability of the climbing robot.

[0029] The climbing components 20 are configured in pairs, including a first climbing component 201 and a second climbing component 202. The drive shafts 22 of the two climbing components 20 are arranged in parallel, and the climbing parts 232 of the two climbing components 20 are arranged opposite each other. By using multiple components 20, the climbing robot can climb using its four corners, further increasing the support force provided by the climbing mechanism 23 and improving the climbing stability of the robot.

[0030] The telescopic swing arm 30 is connected to the support members 21 of the two climbing components 20 respectively. The telescopic drive member 12 drives both ends of the telescopic swing arm 30 to extend outward or retract inward. During the extension process, the two climbing components 20 move away from each other. During the retraction process, the two climbing components 20 move closer to each other.

[0031] By setting the telescopic swing arm 30, the distance between the climbing components 232 on both sides can be adjusted. On the one hand, the climbing robot can adapt to climbing shelves with different spacing, improving its versatility. On the other hand, the climbing mechanism 23 can be pressed tightly against the climbing track, further improving the operational stability of the climbing robot.

[0032] The telescopic rocker arm 30 includes a central rod 31 and a first connecting rod 32 and a second connecting rod 33 rotatably connected to both ends of the central rod 31. One end of the central rod 31 is rotatably connected to the first connecting rod 32, and the other end is rotatably connected to the second connecting rod 33. The middle part of the central rod 31 is connected to the telescopic drive member 12, which drives the central rod 31 to rotate. The first connecting rod 32 and the second connecting rod 33 are rotatably connected to two support members 21, respectively.

[0033] like Figure 4 As shown, when the intermediate rod 31 rotates counterclockwise, the first connecting rod 32 and the second connecting rod 33 move away from each other, and the telescopic swing arm 30 extends outward. When the intermediate rod 31 rotates clockwise, the first connecting rod 32 and the second connecting rod 33 move closer to each other, and the telescopic swing arm 30 retracts inward. This is illustrated using an example where the first direction is counterclockwise and the second direction is clockwise. In other embodiments, the first direction can be clockwise and the second direction can be counterclockwise, as long as the first and second directions are opposite. By setting the linkage structure, the two climbing components 20 can move synchronously, improving the working efficiency of the climbing robot.

[0034] Each support member 21 includes a set of guide plates. When the climbing robot includes two climbing components, the climbing robot can include two support members 21. The two sets of guide plates of the two support members 21 can be spaced apart along the axial direction of the drive shaft 22. Each set of guide plates includes a first guide plate 212 and a second guide plate 213. The first guide plate 212 and the second guide plate 213 cooperate with the slide groove 114 on the side plate 113 to guide the climbing component 20 during its movement.

[0035] In the height direction, the first guide plate 212 is higher than the second guide plate 213. The climbing assembly 20 includes a first climbing assembly 201 and a second climbing assembly 202. Axially, on the drive shaft 22, the climbing mechanism 23 at the first end of the first climbing assembly 201 is connected to the first guide plate 212, and the climbing mechanism 23 at the second end is connected to the second guide plate 213. Axially, on the drive shaft 22, the climbing mechanism 23 at the first end of the second climbing assembly 202 is connected to the second guide plate 213, and the climbing mechanism 23 at the first end is connected to the first guide plate 212. For example, such as... Figure 4 As shown, the left climbing mechanism 23 of the first climbing component 201 is connected to the first guide plate 212, and the right climbing mechanism 23 is connected to the second guide plate 213. The left climbing mechanism 23 of the second climbing component 202 is connected to the second guide plate 213, and the right climbing mechanism 23 is connected to the first guide plate 212.

[0036] With this configuration, when the telescopic swing arm 30 retracts and the first climbing component 201 and the second climbing component 202 approach each other, after the retraction of the first climbing component 201 and the second climbing component 202 is complete, the first guide plate 212 of one climbing component 20 overlaps with the second guide plate 213 of the other climbing component 20. This reduces the size of the climbing robot in the direction of movement of the climbing components 20, improving the structural compactness of the climbing robot. At the same time, the first climbing component 201 and the second climbing component 202 have identical structures and are centrally symmetrically arranged, reducing manufacturing costs.

[0037] Two assembly side plates 231 are provided. The climbing component 232 is located between the two assembly side plates 231 along the axial direction of the drive shaft 22. Anti-derailment guide wheels 233 are provided on the inner sides of each assembly side plate 231. By providing multiple assembly side plates 231, when the climbing robot enters the track, the anti-derailment guide wheels 233 on each assembly side plate 231 can provide guidance, further improving the operational stability of the climbing robot. The two assembly side plates 231 can be molded as a single unit, improving manufacturing convenience.

[0038] The anti-derailment guide wheels 233 of the two assembled side plates 231 are axially aligned, reducing the probability of tilting of the climbing component 232. The two anti-derailment guide wheels 233 are located between the two assembled side plates 231, without occupying the space outside the assembled side plates 231, thus improving the structural compactness of the climbing assembly 20.

[0039] The bottom of the assembly side plate 231 is equipped with a vehicle body correction guide wheel 234, which is used to cooperate with the guide side of the track entry guide seat of the track assembly. The axis direction of the vehicle body correction guide wheel 234 is perpendicular to that of the anti-derailment guide wheel 233. By setting the vehicle body correction guide wheel 234, the climbing robot can be further guided. When the climbing robot moves on the ground, the vehicle body correction guide wheel 234 contacts the track entry guide seat first, making an initial adjustment to the position of the climbing robot, improving the accuracy of the climbing robot's entry into the track, and further improving the operational stability of the climbing robot.

[0040] The centering guide wheel 235 is used to abut against the outer surface of the track assembly. A pair of centering guide wheels 235 are provided, with the climbing member 232 positioned between them along the axial direction of the drive shaft 22. By setting the centering guide wheels 235, the distance between the climbing member 232 and the track assembly is kept constant, maintaining the fit between the climbing member 232 and the track assembly, further improving the operational stability of the climbing assembly 20.

[0041] In the forward direction of the climbing component 232, the centering guide wheel 235 and the anti-derailment guide wheel 233 are at least partially opposite each other, forming a track mounting space 230 between them. When the climbing robot moves on the shelf, the track is located between the anti-derailment guide wheel 233 and the centering guide wheel 235, which can play a certain clamping role and reduce the risk of the climbing robot falling off the shelf.

[0042] The climbing component 232 can be a sprocket. The sprocket includes multiple teeth 2321, each tooth 2321 having an arc-shaped side on its axial side. By setting the side of the teeth 2321 to be arc-shaped, it can play a guiding role during the process of the climbing component 232 entering the track, making the process of the climbing robot entering the track smoother and improving the stability of the climbing robot's operation.

[0043] The climbing drive component 24 is fixed to the assembly side plate 231, and the transmission gear 25 is fixed to the transmission shaft 22. The climbing drive component 24 can be a motor, which is connected to the transmission gear 25 for transmission. The climbing drive component 24 and the transmission shaft 22 increase the torque through gear transmission, thereby improving the operational stability of the climbing robot.

[0044] When the climbing robot moves to the corresponding position, the telescopic drive component 12 starts working, causing the intermediate rod 31 to rotate. This rotates the first connecting rod 32, causing the first climbing component 201 to extend outward, and the second connecting rod 33 causes the second climbing component 202 to extend outward. During the extension of the climbing components 20, the anti-derailment guide wheel 233 cooperates with the lifting ramp of the track guide seat to adjust the posture of the climbing robot, making the climbing robot more level and allowing the climbing component 232 to enter the track more accurately. At this time, the climbing drive component 24 starts working to drive the climbing robot to climb.

[0045] Once the climbing robot reaches the designated vertical position, it hovers, and the retrieval component 40 begins operation. Please refer to [link / reference needed]. Figure 6 As shown, the picking assembly 40 includes a beam 41, a mounting frame 42, a connecting frame 43, a picking drive component 44, a picking transmission gear 45, a picking transmission shaft 46, a picking sprocket 47, a moving component 48, and a picking hook 49.

[0046] The number of beams 41 is set to a pair, and the mounting frame 42 and the connecting frame 43 respectively connect the pair of beams 41. The picking drive unit 44 is set on the mounting frame 42. The picking drive shaft 46 is rotatably connected to the mounting frame 42. The picking drive gear 45 is fixed to the picking drive shaft 46 and is driven by the picking drive unit 44. The picking drive unit 44 can be a motor, which is driven by the picking drive shaft 46 through gears to increase the torque of the picking drive shaft 46.

[0047] Two picking sprockets 47 are installed at both ends of the picking drive shaft 46. The beam 41 is equipped with a chain 411 and drive sprockets 412. The drive sprockets 412 are installed near both ends of the beam 41 and are used to mount the chain 411. The beam 41 is also equipped with tension wheels 413 to keep the chain 411 taut. A moving part 48 is fixed to the chain 411 and slidably connected to the beam 41. Through the interaction of the picking sprockets 47 and the moving part 48, the moving part 48 moves, allowing the picking hook 49 to pick up and place items on the shelf.

[0048] Please refer to the following: Figure 7As shown, beam 41 includes a telescopic beam 414 and an outer upright plate 415 that are slidably connected. Mounting bracket 42 connects to a pair of outer upright plates 415 to form a fixed frame. This fixed frame is mounted to the vehicle body assembly 10. Moving member 48 is slidably connected to the telescopic beam 414. A pair of telescopic beams 414 are connected to mounting bracket 42 to form a secondary frame. The telescopic beam 414 is provided with a limiting part 410. Driven by the picking drive member 44, the moving member 48 slides. When the moving member 48 abuts against the limiting part 410, the picking sprocket 47 drives the telescopic beam 414 to slide, so that the secondary frame formed by the telescopic beam 414 and the moving member 48 extends further outward as a whole, and the picking hook 49 on the moving member 48 is used to pick up and put down goods.

[0049] Please refer to the following: Figure 8 and Figure 9 As shown, this specification also provides a storage system, including: a track assembly 50 and the aforementioned climbing robot. The track assembly 50 includes an entry guide seat 51 and a track 52. The entry guide seat 51 is recessed along the forward direction of the climbing member 232 to form an entry opening 511. A lifting ramp 512 is provided on the top of the entry guide seat 51. The height of the lifting ramp 512 gradually increases in the recessed direction of the entry opening 511.

[0050] As the height of the lifting ramp 512 gradually increases in the concave direction of the entry opening 511, the climbing robot is gradually lifted during the entry process. Even if the climbing robot's posture becomes uneven due to uneven ground, the lifting ramp 512 guides the climbing robot to maintain a consistent entry position, improving the robot's operational stability and thus increasing the efficiency of the warehousing system.

[0051] The track 52 is manufactured using a sheet metal cold rolling and pressing roller process. The track 52 includes a pair of track plates 521, rollers 522, and an outer plate 523. The pair of track plates 521 are arranged opposite each other, and the rollers 522 connect the pair of track plates 521. The outer plate 523 is located on the side of the track plates 521 facing the climbing robot. Multiple rollers 522 are provided, spaced apart in the height direction. By using rollers 522, compared to a traditional chain structure, elongation can be avoided, improving the stability of the storage system.

[0052] Multiple rollers 522 are spaced at double pitches. When the climbing robot is climbing, two gear teeth 2321 can be accommodated between adjacent rollers 522. This arrangement reduces the number of rollers 522, thus lowering the cost of the storage system. The tooth tip circle of the climbing component 232 can be enlarged by contouring to ensure meshing stability and prevent derailment.

Claims

1. A climbing robot, comprising: Vehicle body components; The climbing assembly includes a support member, a drive shaft, and a climbing mechanism; the climbing mechanism includes an assembled side plate, climbing components, and anti-derailment guide wheels. The support member is assembled to the vehicle body assembly; the assembled side plate is fixed to the support member; the assembled side plate is rotatably connected to the drive shaft, and the climbing member climbs as the drive shaft rotates; Along the axial direction of the drive shaft, the assembly side plate is located on one side of the climbing member. Along the forward direction of the climbing member, the assembly side plate extends beyond the climbing member. The anti-derailment guide wheel is disposed on the part of the assembly side plate that extends beyond the climbing member, and is used to cooperate with the lifting slope of the track entry guide seat of the track assembly.

2. The climbing robot according to claim 1, wherein the number of climbing mechanisms is set to at least two, and the two climbing mechanisms are respectively installed at both ends of the drive shaft.

3. The climbing robot according to claim 2, wherein the number of climbing components is set to two, and the drive shafts of the two climbing components are arranged in parallel.

4. The climbing robot according to claim 3, wherein the vehicle body assembly includes a frame and a telescopic drive component fixed to the frame; the climbing robot further includes a telescopic swing arm, the two ends of which are respectively connected to the support components of the two climbing components; The telescopic drive component drives the two ends of the telescopic swing arm to extend outward or retract inward; during the extension process, the two climbing components move away from each other; during the retraction process, the two climbing components move closer to each other.

5. The climbing robot according to claim 4, wherein the telescopic swing arm includes a middle rod, a first connecting rod and a second connecting rod, one end of the middle rod is rotatably connected to the first connecting rod and the other end is rotatably connected to the second connecting rod, the middle part of the middle rod is connected to the telescopic drive member, the first connecting rod is rotatably connected to one of the two support members, and the second connecting rod is rotatably connected to the other of the two support members; in, When the intermediate rod rotates around the first direction, the telescopic swing arm extends outward; when the intermediate rod rotates around the second direction, the telescopic swing arm retracts inward. The first direction and the second direction are opposite.

6. The climbing robot according to claim 4, wherein each of the support members includes a set of guide plates, the two guide plates of the two support members are spaced apart along the axial direction of the transmission shaft, each set of guide plates includes a first guide plate and a second guide plate; and in the height direction of the climbing robot, the first guide plate is higher than the second guide plate; the climbing assembly includes a first climbing assembly and a second climbing assembly; Along the axial direction of the drive shaft, the climbing mechanism at the first end of the first climbing assembly is connected to the first guide plate, and the climbing mechanism at the second end is connected to the second guide plate. Along the axial direction of the drive shaft, the climbing mechanism at the first end of the second climbing assembly is connected to the second guide plate, and the climbing mechanism at the second end is connected to the first guide plate.

7. The climbing robot according to claim 1, each of the climbing mechanisms includes two assembly side plates, the climbing component is located between the two assembly side plates in the axial direction of the transmission shaft, the anti-derailment guide wheels are provided on the inner sides of the two assembly side plates, and the axial directions of the two anti-derailment guide wheels coincide.

8. The climbing robot according to claim 1, wherein the bottom of the assembly side plate is provided with a vehicle body correction guide wheel for cooperating with the guide side of the track entry guide seat of the track assembly, and the vehicle body correction guide wheel is perpendicular to the axis of the anti-derailment guide wheel.

9. The climbing robot according to claim 1, wherein the climbing mechanism further comprises a pair of centering guide wheels for abutting against the outer surface of the track assembly; and the climbing component is located between the pair of centering guide wheels in the axial direction of the drive shaft.

10. The climbing robot according to claim 9, wherein in the forward direction of the climbing component, the centering guide wheel and the anti-derailment guide wheel are at least partially opposite each other, and a track mounting space is formed between the centering guide wheel and the anti-derailment guide wheel.

11. The climbing robot according to claim 1, wherein the climbing component includes a sprocket, the sprocket including a plurality of teeth, each of the teeth having an arc-shaped side in the axial direction of the sprocket.

12. A warehousing system, comprising: The track assembly and the climbing robot as described in any one of claims 1-11, wherein the track assembly includes an entry guide seat; The guide seat is recessed along the forward direction of the climbing member to form a rail entry opening, and a lifting ramp is provided on the top of the guide seat; the height of the lifting ramp gradually increases in the recessed direction of the rail entry opening.

13. The storage system according to claim 12, wherein a track is connected to the top of the guide seat; the climbing member includes a sprocket, and the track includes a pair of track plates disposed opposite each other and a plurality of rollers connecting the pair of track plates, the plurality of rollers being spaced apart in the height direction.

14. The storage system according to claim 13, wherein the plurality of rollers are arranged at double pitch intervals.

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