Climbing mechanism and warehouse robot
By designing a climbing mechanism that uses transmission and limiting components to drive the climbing fingers to contact the shelf track, the structural complexity and stability issues caused by guide wheels in existing technologies are solved, enabling the warehouse robot to climb stably and efficiently to the designated storage location.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BLUESWORD INTELLIGENT TECH CO LTD
- Filing Date
- 2026-06-05
- Publication Date
- 2026-07-14
AI Technical Summary
Existing warehouse robots rely on guide wheels during the climbing process, which leads to complex structures and affects stability, making it difficult to efficiently climb to the designated storage location.
The climbing mechanism includes a fixing component, a drive wheel, a drive component, and climbing fingers. The cyclical rotation of the drive component drives the climbing fingers to contact the shelf track. The use of limiting components and openings ensures stability and reduces or eliminates the need for guide wheels.
It enables warehouse robots to climb stably along columns, simplifies structural design, improves climbing efficiency and stability, and avoids the complexity problems caused by guide wheels.
Smart Images
Figure CN122379987A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of logistics and warehousing equipment technology, and in particular to a climbing mechanism and a warehousing robot. Background Technology
[0002] With the rapid development of the modern logistics industry towards automation and intelligence, smart warehousing applications are becoming increasingly widespread.
[0003] In existing automated storage and retrieval systems (AS / RS), multiple racks are spaced apart, and aisles are provided between adjacent racks for picking and placing goods. Warehouse robots can move within these aisles and climb along pillars to designated storage locations to retrieve or place goods. However, when a warehouse robot climbs along the tracks, it relies on multiple directional guide wheels to ensure its climbing stability. The inclusion of these guide wheels not only complicates the structural design but also affects the design of the climbing mechanism.
[0004] This application provides a climbing mechanism for warehouse robots that can eliminate or reduce the need for guide wheels. Summary of the Invention
[0005] This application provides a climbing mechanism and a warehouse robot for climbing along a column, thereby enabling the warehouse robot to reach a designated storage location to retrieve or place goods.
[0006] In a first aspect, embodiments of this application provide a climbing mechanism, including:
[0007] Fasteners;
[0008] Two drive wheels spaced apart on the fixing member;
[0009] A transmission component is wound around the two transmission wheels, and multiple climbing fingers are spaced apart on the transmission component.
[0010] The drive component can drive the transmission component to rotate cyclically through the transmission wheel, thereby enabling multiple climbing fingers to press against the rails set on the shelf in sequence. The climbing fingers are provided with openings for engaging with guides on the rails.
[0011] In one feasible implementation, the transmission component is provided with a plurality of first limiting components at intervals, and the fixing component is provided with at least one limiting groove along the circulation direction of the transmission component, wherein the plurality of first limiting components cooperate with the limiting groove of the fixing component.
[0012] In one feasible implementation, the transmission member is further provided with a plurality of second limiting members at intervals, the plurality of second limiting members being used to abut against the surface of the fixing member.
[0013] In one feasible implementation, when the transmission component is a chain plate, the chain plate includes a plurality of chain blocks that are hinged in sequence, and each chain block is provided with a first limiting component and a second limiting component.
[0014] Alternatively, some chain blocks may have a first limiting element and some chain blocks may have a second limiting element.
[0015] In one feasible implementation, when the transmission component is a transmission belt or transmission chain, the climbing mechanism further includes an intermediate connecting component, which is fixedly disposed on the transmission component, and the first limiting component and the second limiting component are both disposed on the intermediate connecting component.
[0016] In one feasible implementation, each intermediate connector is provided with the first limiting member and the second limiting member;
[0017] Alternatively, the first limiting member and the second limiting member may be provided on part of the intermediate connecting member. In one feasible implementation, the first limiting member and the second limiting member are configured as guide wheels.
[0018] In one feasible implementation, the opening is located on the central symmetry line of the climbing finger;
[0019] Alternatively, the opening may be biased toward one side of the climbing finger.
[0020] In one possible implementation, the openings are multiple, and the multiple openings are spaced apart on the climbing finger.
[0021] In one feasible implementation, the transmission wheel is provided with a plurality of grooves in the circumferential direction, the grooves being used to cooperate with the first limiting member to drive the transmission member to rotate cyclically.
[0022] Secondly, embodiments of this application provide a warehouse robot, including a climbing mechanism as described in any of the first aspects, the climbing mechanism being used to drive the entire warehouse robot to climb along the shelf to a specified height.
[0023] In a first aspect, embodiments of this application provide a climbing track, which includes a fixed component, transmission wheels, transmission components, and climbing fingers. Two transmission components are spaced apart on the fixed component and wound around the two transmission wheels. The drive unit of the warehouse robot can rotate the transmission wheels, thereby driving the transmission components to rotate cyclically. Multiple climbing fingers are spaced apart on the transmission components, and the transmission components drive the multiple climbing fingers to rotate cyclically. During the rotation of the transmission components, the multiple climbing fingers can sequentially press against the track on the corresponding side of the shelf, and the multiple climbing fingers, in contact with the track, drive the warehouse robot to rise and fall.
[0024] Secondly, embodiments of this application provide a warehouse robot, including a climbing mechanism as described in any of the first aspects, the climbing mechanism being used to drive the entire warehouse robot to climb along a shelf to a specified height. Since this warehouse robot includes the climbing mechanism of any of the above-described technical solutions, it possesses all the beneficial effects of the climbing mechanism of any of the above-described technical solutions, which will not be elaborated further here. Attached Figure Description
[0025] The accompanying drawings, which are provided to further illustrate the invention and constitute a part of this invention, are illustrative embodiments of the invention and their descriptions are used to explain this application and do not constitute an undue limitation of the invention.
[0026] In the attached diagram:
[0027] Figure 1 This is a schematic diagram of the climbing mechanism and track cooperation provided in one embodiment of this application;
[0028] Figure 2 This is a schematic diagram of the climbing mechanism provided in the first embodiment of this application;
[0029] Figure 3 This is a schematic diagram of a warehouse robot cooperating with the tracks on the shelves.
[0030] Figure 4 This is an internal schematic diagram of the climbing mechanism provided in the first embodiment of this application;
[0031] Figure 5 This is a schematic diagram of the climbing mechanism provided in the second embodiment of this application after removing one side of the fixing member;
[0032] Figure 6 This is a schematic diagram of the climbing mechanism provided in the third embodiment of this application after removing one side of the fixing member;
[0033] Figure 7 This is a schematic diagram of the climbing finger provided in the first embodiment of this application;
[0034] Figure 8 This is a schematic diagram of the climbing fingers provided in the second embodiment of this application;
[0035] Figure 9 This is a schematic diagram of the climbing finger provided in the third embodiment of this application.
[0036] Explanation of reference numerals in the attached figures:
[0037] 100 - Fixture; 200 - Drive wheel; 300 - Drive component; 400 - Climbing finger; 500 - Track; 600 - Shelf;
[0038] 110 - Limiting groove; 310 - First limiting component; 320 - Second limiting component; 330 - Chain block; 410 - Opening; 510 - Guide part. Detailed Implementation
[0039] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.
[0040] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0041] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0042] With the rapid development of the modern logistics industry towards automation and intelligence, smart warehousing applications are becoming increasingly widespread.
[0043] In existing automated storage and retrieval systems (AS / RS), multiple racks are spaced apart, and aisles are provided between adjacent racks for retrieving and placing goods. Warehouse robots can move within these aisles and climb along pillars to reach designated storage locations to retrieve or place goods.
[0044] This application provides a climbing mechanism for a warehouse robot, which drives the entire warehouse robot to rise and fall along the shelf.
[0045] Figure 1 This is a schematic diagram of the climbing mechanism and the track 500 provided in one embodiment of this application; Figure 2 This is a schematic diagram of the climbing mechanism provided in the first embodiment of this application; Figure 3 This is a schematic diagram showing the interaction between the warehouse robot and the track 500 on the shelf. Figure 4This is an internal schematic diagram of the climbing mechanism provided in the first embodiment of this application; Figure 5 This is a schematic diagram of the climbing mechanism provided in the second embodiment of this application after removing one side of the fixing member 100; Figure 6 This is a schematic diagram of the climbing mechanism provided in the third embodiment of this application after removing one side of the fixing member 100.
[0046] Reference Figures 1 to 6 As shown, this application embodiment provides a climbing track 500, which includes a fixing member 100, a transmission wheel 200, a transmission member 300, and climbing fingers 400. The fixing member 100 may be a fixing plate. Two fixing plates are arranged opposite each other, and the transmission wheel 200 is disposed between the fixing plates. There are two transmission wheels 200, which are spaced apart on the fixing member 100, and the transmission member 300 is wound around the two transmission wheels 200. The drive component of the warehouse robot can drive the transmission wheel 200 to rotate, thereby driving the transmission member 300 to rotate cyclically. There are multiple climbing fingers 400, which are spaced apart on the transmission member 300, and the transmission member 300 drives the multiple climbing fingers 400 to rotate cyclically. During the rotation of the transmission member 300, the multiple climbing fingers 400 can sequentially press and contact the track 500 on the corresponding side of the shelf, and the multiple climbing fingers 400 drive the warehouse robot to rise and fall during the contact with the track 500.
[0047] For example, the transmission wheel 200 has several grooves in its circumferential direction. These grooves cooperate with the first limiting member 310 to drive the transmission member 300 to rotate cyclically. Alternatively, the transmission wheel 200 can be a sprocket or a pulley, and correspondingly, the transmission member 300 can be a transmission chain or a transmission belt. It should be noted that slippage may occur between the pulley and the transmission belt; therefore, the load capacity of warehouse robots using this transmission method is limited.
[0048] like Figure 1 and Figure 2 As shown, in some examples, the climbing finger 400 is provided with an opening 410, the size of which can match the guide part 510 of the track 500 on the shelf, ensuring that the climbing finger 400 will not deviate from the track 500 due to left and right movement, thus ensuring the stable lifting and lowering of the warehouse robot.
[0049] like Figures 4 to 6As shown, the transmission component 300 has multiple first limiting members 310 spaced apart on its side, and the fixing component 100 has at least one limiting groove 110 along the circulation direction of the transmission component. The multiple first limiting members 310 cooperate with the limiting groove 110 of the fixing component 100. The limiting groove 110 of the fixing component 100 is set along the trajectory of the transmission component 300. During the movement of the first limiting members 310 driven by the transmission component 300, the first limiting members 310 move along the limiting groove 110, ensuring that the transmission component 300 in the climbing mechanism rotates stably and does not swing during the lifting and lowering process of the warehouse robot, thereby ensuring that the climbing finger 400 is in stable contact with the guide rail and avoiding accidents of derailment from the track 500.
[0050] Continue to refer to Figures 4 to 6 As shown, in some examples, a plurality of second limiting members 320 are also provided at intervals on the transmission member 300. The plurality of second limiting members 320 are provided at intervals on the inner side of the transmission member 300, and their sides can cooperate with the surface of the fixing member 100 to restrict the transmission member 300 from swinging in a direction perpendicular to the fixing member 100.
[0051] For example, when the transmission component 300 is a transmission chain, the transmission wheel 200 is a sprocket. Two sprockets are positioned at both ends of the fixing component 100, and the transmission chain is wound around the two sprockets. Both ends of each sprocket are engaged with the corresponding side of the fixing component 100. Multiple first limiting members 310 are spaced apart on both sides of the transmission chain, and these first limiting members 310 engage with the limiting grooves 110 of the corresponding side of the fixing component 100. Multiple second limiting members 320 are fixed at intervals on the inner side of the transmission component 300. When the transmission chain engages with the sprockets, the second limiting members 320 are located on one side of the sprocket, their inner sides do not interfere with the sprocket, and their outer sides engage with the surface of the fixing component 100 to restrict its swing in a direction perpendicular to the fixing component 100.
[0052] Additionally, if the transmission component 300 is a transmission chain or belt, the climbing mechanism in some examples also includes intermediate connecting members. Multiple intermediate connecting members are fixedly disposed at intervals on the outer surface of the transmission chain or belt, and the first limiting member 310 and the second limiting member 320 are both disposed on the intermediate connecting members. Each fixed plate is provided with a first limiting member 310 and a second limiting member 320. Alternatively, some intermediate connecting members may be provided with the first limiting member 310 and the second limiting member 320. For example, the first limiting member 310 and the second limiting member 320 may be guide wheels or guide posts.
[0053] like Figure 5 and Figure 6As shown, in some other examples, the transmission component 300 is a chain plate, which is composed of multiple chain blocks 330 hinged together in sequence. Multiple first limiting members 310 are fixedly spaced on both sides of the chain plate, second limiting members 320 are fixedly spaced on the inner side, and climbing fingers 400 are fixedly spaced on the outer side. The first limiting members 310 also cooperate with the limiting grooves 110 of the fixing member 100, and the second limiting members 320 cooperate with the surface of the fixing member 100. The transmission wheel 200 is a customized component matching the chain plate, and its teeth can mesh with the first limiting members 310, that is, the transmission wheel 200 drives the chain plate to rotate cyclically through the first limiting members 310. In these examples, the first limiting members 310 and the second limiting members 320 can be provided on all chain blocks 330, or only on some chain blocks 330, as long as the first limiting members 310 and the second limiting members 320 can restrict the forward, backward, left, and right movement of the chain plate. In these examples, the first limiting member 310 is a guide post, and the second limiting member 320 is a guide wheel or a guide post.
[0054] Figure 7 This is a schematic diagram of the climbing finger 400 provided in the first embodiment of this application; Figure 8 This is a schematic diagram of the climbing finger 400 provided in the second embodiment of this application; Figure 9 This is a schematic diagram of the climbing finger 400 provided in the third embodiment of this application.
[0055] like Figure 7 As shown, in some examples, the opening 410 on the climbing finger 400 is located on the central symmetry line of the climbing finger 400, and the parts on both sides are symmetrical. When the climbing finger 400 presses against the track 500, the two sides of the opening 410 can be evenly stressed, which can improve the service life of the climbing finger 400 and ensure stable contact between the climbing finger 400 and the track 500. Figure 8 As shown, the opening 410 can also be tilted toward one side of the climbing finger 400, which can also meet the requirement of the track 500 for pressure contact.
[0056] In some instances, the shelving track 500 is provided with multiple guide sections 510 at intervals, and the corresponding climbing fingers 400 are provided with multiple openings 410, such as... Figure 9 As shown, multiple openings 410 are spaced apart on the climbing fingers 400. It can be understood that when these climbing fingers 400 with multiple openings 410 come into contact with the track 500, the connection between the two will be more stable, ensuring the stable lifting and lowering of the warehouse robot.
[0057] Secondly, embodiments of this application provide a warehouse robot, including a climbing mechanism as described in any of the first aspects, the climbing mechanism being used to drive the entire warehouse robot to climb along a shelf to a specified height. Since this warehouse robot includes the climbing mechanism of any of the above-described technical solutions, it possesses all the beneficial effects of the climbing mechanism of any of the above-described technical solutions, which will not be elaborated further here.
[0058] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.
[0059] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.
Claims
1. A climbing mechanism, characterized in that, include: Fastener (100); Two drive wheels (200) are spaced apart on the fixing member (100); A transmission member (300) is wound around the two transmission wheels (200), and a plurality of climbing fingers (400) are provided at intervals on the transmission member (300), and the climbing fingers (400) are provided with openings (410). The drive component can drive the transmission component (300) to rotate cyclically via the transmission wheel (200), thereby enabling multiple climbing fingers (400) to press against the track (500) set on the shelf in sequence, and the opening (410) is used to cooperate with the guide part (510) on the track (500).
2. The climbing mechanism according to claim 1, characterized in that, The transmission component (300) is provided with a plurality of first limiting components (310) spaced apart, and the fixing component (100) is provided with at least one limiting groove (110) along the circulation direction of the transmission component, and the plurality of first limiting components (310) cooperate with the limiting groove (110) of the fixing component (100).
3. The climbing mechanism according to claim 2, characterized in that, The transmission component (300) is also provided with a plurality of second limiting components (320) at intervals, and the plurality of second limiting components (320) are used to abut against the surface of the fixing component (100).
4. The climbing mechanism according to claim 3, characterized in that, When the transmission component (300) is a chain plate, the chain plate includes a plurality of chain blocks (330) that are hinged in sequence, and each chain block (330) is provided with a first limiting member (310) and a second limiting member (320). Alternatively, a first limiting element (310) may be provided on some of the chain blocks, and a second limiting element (320) may be provided on some of the chain blocks (330).
5. The climbing mechanism according to claim 3, characterized in that, When the transmission component (300) is a transmission belt or transmission chain, the climbing mechanism further includes an intermediate connecting component, which is fixedly disposed on the transmission component (300), and the first limiting component (310) and the second limiting component (320) are both disposed on the intermediate connecting component.
6. The climbing mechanism according to claim 5, characterized in that, Each of the intermediate connectors is provided with the first limiting member (310) and the second limiting member (320). Alternatively, some of the intermediate connecting members may be provided with the first limiting member (310) and the second limiting member (320).
7. The climbing mechanism according to any one of claims 3-6, characterized in that, The first limiting member (310) and the second limiting member (320) are configured as guide wheels.
8. The climbing mechanism according to claim 2, characterized in that, The opening (410) is located on the central symmetry line of the climbing finger (400); Alternatively, the opening (410) may be biased toward one side of the climbing finger (400).
9. The climbing mechanism according to claim 2, characterized in that, The opening (410) has multiple openings, which are spaced apart on the climbing finger (400).
10. The climbing mechanism according to claim 2, characterized in that, The transmission wheel (200) has several grooves in its circumferential direction. The grooves are used to cooperate with the first limiting member (310) to drive the transmission member (300) to rotate cyclically.
11. A warehouse robot, characterized in that, Includes a climbing mechanism as described in any one of claims 1 to 10, the climbing mechanism being used to drive the entire warehouse robot to climb along the shelf to a specified height.