Warehouse access climbing robot and working method thereof

Abstract

The application discloses an in-out warehouse climbing robot and a working method thereof. The in-out warehouse climbing robot comprises a rack assembly and a climbing robot. The rack assembly is provided with a plurality of groups of longitudinal placement arrays along the length direction. Each group of longitudinal placement arrays is composed of a plurality of material box placement positions which are distributed equidistantly from top to bottom. Each material box placement position can place one material box. The outer side of each group of longitudinal placement arrays is provided with a pair of climbing columns. The climbing robot comprises a walking unit, a climbing unit and a telescopic goods taking unit. The climbing robot moves horizontally on the ground under the drive of the walking unit. When the climbing robot walks on the ground to a state of entering between the pair of climbing columns, the climbing unit of the climbing robot can perform a climbing action along the climbing column. When the climbing unit of the climbing robot climbs along the climbing column to a state of any material box placement position, the telescopic part of the telescopic goods taking unit on the climbing robot can perform a telescopic action to below the material box at the height. The application improves the in-out warehouse efficiency and accelerates the conveying speed.

Description

Technical Field

[0001] This invention relates to the field of cargo storage and handling equipment. Background Technology

[0002] In a warehousing system, for goods stored in bins, the bins need to be removed from the storage racks and transported to a manual sorting station. After manual sorting, the bins are then returned to their original placement positions. Current technologies typically employ manual entry and exit or use chains and roller conveyors fixed to the ground for this process. This results in low overall transportation efficiency, requires the conveyor line to be fixed to the ground, leading to poor system flexibility and high transportation costs. Furthermore, the handling equipment bumps and tilts during bin movement, causing collisions and damage to the bins. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a warehouse climbing robot and its working method. The climbing robot completes the entry and exit of goods stored in bins. It is equipped with a walking unit, a climbing unit and a telescopic picking unit, thereby improving the flexibility of the warehousing system, reducing transportation costs, avoiding the bins from being bumped, falling or being collided, and ensuring stable and reliable operation of the climbing robot.

[0004] Technical Solution: To achieve the above objectives, the present invention provides an inbound / outbound climbing robot, comprising: a shelf assembly and a climbing robot. The shelf assembly has several sets of longitudinal placement arrays arranged along its length. Each set of longitudinal placement arrays consists of several equidistant material box placement positions distributed from top to bottom, and each material box placement position can hold one material box. A pair of climbing posts are provided on the outer side of each set of longitudinal placement arrays. The climbing robot includes a walking unit, a climbing unit, and a telescopic picking unit. Driven by the walking unit, the climbing robot moves horizontally on the ground. When the climbing robot walks on the ground and enters the space between a pair of climbing posts, the climbing unit of the climbing robot can climb along the climbing posts. When the climbing unit of the climbing robot climbs along the climbing posts to a material box placement position, the telescopic part of the telescopic picking unit on the climbing robot can extend and retract to below the material box at that height.

[0005] Furthermore, the walking unit is a chassis assembly, on which the climbing unit and the telescopic cargo retrieval unit are supported; the chassis assembly includes two caster assemblies, a sub-chassis, drive wheels and a main chassis, the sub-chassis is hinged to the main chassis and the two can rotate relative to each other, the two caster assemblies are respectively hinged to the sub-chassis and the main chassis, and the two casters mounted on each caster assembly can rotate around the hinge axis respectively.

[0006] Furthermore, the climbing unit is a climbing assembly, which is mounted on a climbing gantry mounting plate. The climbing gantry mounting plate is equipped with a synchronous belt, a drive motor, and a linear slide rail. Climbing base plate A and climbing base plate B are slidably mounted on the linear slide rail. Climbing base plate A and climbing base plate B are symmetrically distributed on both sides of the linear slide rail. Under the combined action of the synchronous belt and the drive motor, they can move closer to or further away from each other relative to the center of the linear slide rail. Climbing assembly A and climbing assembly B are respectively mounted on the lower surface of climbing base plate A and climbing base plate B relative to the outer side of the linear slide rail. Climbing assembly A and climbing assembly B move closer to or further away from the center of the linear slide rail as climbing base plate A and climbing base plate B move on the linear slide rail.

[0007] Furthermore, both the A climbing component and the B climbing component include a housing, side rollers, main rollers, chain assembly, and moving climbing teeth; when the climbing robot climbs along the climbing column, the side of the housing near the shelf assembly is an open structure, the chain assembly is located inside the housing, and the chain assembly is equidistantly equipped with several moving climbing teeth along the conveying path, and the side of the chain assembly near the open side of the housing is a vertically extending conveying section;

[0008] The climbing column has several fixed climbing teeth arranged at equal intervals along the height direction; the moving climbing teeth move synchronously with the chain assembly; the two main rollers are rotatably disposed at the upper and lower ends of the outer side of the housing, and the two side rollers are rotatably disposed at the upper and lower ends of the outer side of the housing, and the axes of the main rollers and the side rollers are both horizontal and perpendicular to each other.

[0009] Furthermore, the pair of climbing posts are provided with climbing track grooves along the height direction, and climbing sidewalls are provided on the climbing track grooves. The climbing sidewalls are perpendicularly arranged on the groove surface of the climbing track grooves; a plurality of fixed climbing teeth are arranged at equal intervals along the height direction on the climbing sidewalls.

[0010] When the climbing robot is in a non-climbing state, the left and right climbing components are in a retracted state. In this state, after the climbing robot travels to the bottom of a pair of climbing pillars, climbing components A and B move away from each other until the main rollers on both sides of climbing components A and B just come into contact with the climbing sidewalls of the climbing pillars, at which point the relative movement stops. At this time, the fixed climbing teeth at the bottom of the climbing pillars engage with any two moving climbing teeth evenly distributed on climbing components A and B. The motors on climbing components A and B drive the moving climbing teeth to mesh with the fixed climbing teeth to achieve upward climbing.

[0011] Furthermore, each climbing post has a fixed climbing tooth at its lowest end distributed longitudinally from top to bottom. The tooth is filled with hydraulic oil and a pressure sensor is installed inside the cavity. The side of the cavity has an opening, which is sealed with a convex elastic diaphragm.

[0012] Furthermore, when the main rollers on both sides of climbing components A and B come into contact with the climbing sidewall of the climbing column, the side rollers on both sides of climbing components A and B come into contact with the bottom surface of the climbing track groove of the climbing column, thereby preventing climbing components A and B from moving closer to each other.

[0013] Furthermore, the telescopic picking unit is a double-deep hook telescopic fork assembly, used for picking up and placing single-deep or double-deep material boxes; the double-deep hook telescopic fork assembly includes a telescopic fork side guard, a third-stage telescopic plate, a second-stage telescopic plate, a first-stage telescopic plate, a synchronous rack, a material box side guard, a synchronous belt motor assembly, a guide rail, a fixed base plate, a first-stage right extension chain, a first-stage left extension chain, a roller assembly, a second-stage right extension chain, and a second-stage left extension chain;

[0014] The synchronous belt motor assembly is fixed to the fixed base plate, and the synchronous rack is fixed to the first-stage telescopic plate. The third-stage telescopic plate, the second-stage telescopic plate, the first-stage telescopic plate, and the fixed base plate are connected to each other via guide rails, allowing them to move linearly relative to each other. One end of the first-stage right extension chain and the first-stage left extension chain is connected to the fixed base plate, and the other end passes around the roller assembly and connects to the second-stage telescopic plate. One end of the second-stage right extension chain and the second-stage left extension chain is connected to the first-stage telescopic plate, and the other end passes around the roller assembly and connects to the third-stage telescopic plate. The telescopic fork stop is installed at both ends of the third-stage telescopic plate. The synchronous belt motor assembly drives the synchronous belt to move, which in turn drives the synchronous rack meshing with the synchronous belt. The synchronous rack drives the first-stage telescopic plate to move, and the first-stage telescopic plate drives the second-stage telescopic plate via the first-stage right extension chain and the first-stage left extension chain. The second-stage telescopic plate drives the third-stage telescopic plate via the second-stage right extension chain and the second-stage left extension chain, thereby realizing the extension or retraction of the telescopic fork stop.

[0015] Furthermore, a method for operating a warehouse entry / exit climbing robot is characterized by comprising the following steps:

[0016] In the initial state, the A climbing component and B climbing component of the climbing robot are in a relatively close retracted state. Driven by the walking unit, the climbing robot moves horizontally on the ground and travels to the bottom of a pair of climbing posts on the outer side of the longitudinal placement array of the shelf assembly, and positions the climbing robot between the pair of climbing posts.

[0017] The climbing robot's drive motor starts, driving climbing base plates A and B to move relatively away from each other along a straight slide rail via a synchronous belt. Climbing component A moves synchronously with climbing base plate A, and climbing component B moves synchronously with climbing base plate B, until the main rollers on climbing components A and B just come into contact with the climbing sidewalls of the climbing column. At this point, the fixed climbing teeth at the bottom of the climbing column engage between the two evenly distributed moving climbing teeth on climbing components A and B.

[0018] The motors on climbing components A and B are started, driving the chain assembly to move along the length of the shell. The chain assembly drives the two moving climbing teeth on it to move synchronously, so that the moving climbing teeth engage with the fixed climbing teeth on the climbing column arranged at the same predetermined intervals in sequence. The climbing robot climbs upward along the climbing column to the height of the target material box placement position. During the climbing process, the side rollers on climbing components A and B contact the bottom surface of the climbing track groove of the climbing column, preventing climbing components A and B from moving closer to each other.

[0019] After the climbing robot reaches the height of the target material box placement position, the synchronous belt motor assembly drives the synchronous belt to move, which in turn drives the synchronous rack meshing with the synchronous belt to move. The synchronous rack drives the first-stage telescopic plate to extend. The first-stage telescopic plate drives the second-stage telescopic plate to extend through the first-stage right extension chain and the first-stage left extension chain. The second-stage telescopic plate drives the third-stage telescopic plate to extend through the second-stage right extension chain and the second-stage left extension chain. This causes the telescopic fork stops installed at both ends of the third-stage telescopic plate to extend horizontally towards the material box placement position and pass through the bottom of the material box.

[0020] The climbing robot moves slightly upward along the climbing column, so that the upper surface of the three-stage telescopic plate contacts the lower surface of the material box;

[0021] The synchronous belt motor assembly is driven in reverse, which drives the first-stage telescopic plate to retract via the synchronous rack. The first-stage telescopic plate drives the second-stage telescopic plate to retract via the first-stage right extension chain and the first-stage left extension chain. The second-stage telescopic plate drives the third-stage telescopic plate to retract via the second-stage right extension chain and the second-stage left extension chain. The telescopic fork stops installed at both ends of the third-stage telescopic plate move the material box together until the material box is pulled back to the material box stop, completing the material box removal action.

[0022] The climbing robot's motor reverse-drive chain assembly causes the moving climbing teeth and the fixed climbing teeth to mesh in opposite directions, allowing the climbing robot to climb down the climbing column to the ground.

[0023] The drive motor drives the synchronous belt in the opposite direction, causing the A climbing base plate and the B climbing base plate to move closer to each other along the linear slide rail. The A climbing assembly and the B climbing assembly retract synchronously, causing the main roller to disengage from the climbing side wall of the climbing column.

[0024] Driven by the walking unit, the climbing robot travels to the manual sorting station and unloads the material boxes for manual sorting.

[0025] After manual sorting is completed, the material box is placed back on the double-deep hook telescopic fork assembly of the climbing robot. Driven by the walking unit, the climbing robot travels to the bottom of the corresponding climbing column again and repeats the above climbing steps to climb to the height where the material box is placed.

[0026] The synchronous belt motor assembly drives the synchronous belt to move. Through the linkage of the synchronous rack, the first-stage telescopic plate, the first-stage right extension chain, the first-stage left extension chain, the second-stage telescopic plate, the second-stage right extension chain, the second-stage left extension chain, and the third-stage telescopic plate, the telescopic fork stop extends towards the material box placement position, pushing the material box into the material box placement position.

[0027] The synchronous belt motor assembly is driven in reverse, causing the telescopic fork stop to retract back to its initial position, completing the return action of the material box;

[0028] The climbing robot climbs down the climbing column to the ground and retrieves climbing components A and B, completing the entire inbound and outbound operation.

[0029] Beneficial effects: This invention uses a climbing robot to directly climb along climbing columns to pick up and place individual bins, eliminating the need for crossbeams between bins on each level. This significantly increases the storage density of the bin racks within the space and reduces the overall cost of the racks. The climbing robot precisely picks up and places individual bins and directly transports them to the manual sorting station, eliminating the need for ground-mounted roller conveyors or other conveying equipment. This shortens the transport distance of the bins and improves the efficiency and speed of individual bin entry and exit. Through the walking unit, climbing unit, and telescopic picking unit of the climbing robot, stable picking and placing of bins is achieved, improving the flexibility of the warehousing system, reducing transportation costs, and preventing bins from being bumped, dropped, or collided. The climbing robot operates stably and reliably. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of a warehouse entry and exit climbing robot according to the present invention.

[0031] Figure 2 This is a schematic diagram showing the partial positional relationship between the climbing robot of this invention and the shelf climbing column.

[0032] Figure 3 for Figure 2 Schematic diagram of the climbing column structure of section A of the shelving.

[0033] Figure 4 This is a schematic diagram of the climbing unit of the climbing robot of the present invention.

[0034] Figure 5 This is a schematic diagram showing the relationship between the main roller and side rollers of the climbing robot of the present invention and the climbing column.

[0035] Figure 6 This is a schematic diagram of the structure of the climbing robot of the present invention when the moving climbing teeth on the climbing unit are misaligned and connected with the fixed climbing teeth on the climbing column.

[0036] Figure 7 This is a schematic diagram of the structure of the climbing robot of the present invention, showing the movement of the climbing teeth on the climbing unit cooperating with the fixed climbing teeth on the climbing column to climb.

[0037] Figure 8 This is a schematic diagram of the climbing robot of the present invention.

[0038] Figure 9 This is a schematic diagram of the walking unit of the climbing robot of the present invention.

[0039] Figure 10 This is a schematic diagram of the climbing components of the climbing robot of the present invention when they are far apart from each other.

[0040] Figure 11 This is a schematic diagram of the climbing components of the climbing robot of the present invention when they are close to each other.

[0041] Figure 12 This is a structural schematic diagram of the climbing left and right telescopic base plate assembly of the present invention.

[0042] Figure 13 This is a schematic diagram of the structure of the telescopic picking unit of the present invention.

[0043] Figure 14 This is a schematic diagram of a climbing assembly with a photoelectric sensor installed in a first specific embodiment of the present invention.

[0044] Figure 15 This is a schematic diagram of a second special embodiment of the fixed climbing tooth at the lowest end of the climbing column of the present invention.

[0045] In the diagram, 1: Climbing robot; 1-1: Chassis assembly; 1-1-1: Caster assembly; 1-1-2: Sub-chassis; 1-1-3: Drive wheel; 1-1-4: Main chassis; 1-2: Climbing assembly; 1-2-1: Climbing assembly A; 1-2-3: Climbing assembly B; 1-2-1-1: Side roller; 1-2-1-2: Main roller; 1-2-1-3: Chain assembly; 1-2-1-4: Shell; 1-2-1-5: Motion climbing teeth; 1-2-2: Climbing left and right telescopic base plate assembly; 1-2-2-1: Climbing gantry mounting plate; 1-2-2-2: Synchronous belt; 1-2-2-3: Drive motor; 1-2-2-4: Linear slide rail; 1-2-21: Climbing base plate A; 1-2-23: Climbing base plate B; 1 -3: Double-extending hook telescopic fork assembly; 1-3-1: Telescopic fork side guard; 1-3-2: Three-stage telescopic plate; 1-3-3: Two-stage telescopic plate; 1-3-4: One-stage telescopic plate; 1-3-5: Synchronous stop bar; 1-3-6: Material box side guard; 1-3-7: Synchronous belt motor assembly; 1-3-8: Guide rail; 1-3-9: Fixed base plate; 1-3-10: One-stage right extension chain; 1-3-11: One-stage left extension chain; 1-3-12: Roller assembly; 1-3-13: Two-stage right extension chain; 1-3-14: Two-stage left extension chain; 2: Shelf assembly; 2-1: Climbing column; 2-2: Fixed climbing teeth; 2-21: Elastic diaphragm; 2-3: Climbing side wall; 2-4: Climbing track groove; 3: Material box placement position; 3-1: Material box. Detailed Implementation

[0046] The invention will now be further described with reference to the accompanying drawings.

[0047] like Figures 1 to 14 As shown, the present invention provides a warehouse entry / exit climbing robot, comprising a shelf assembly 2 and a climbing robot 1. The shelf assembly 2 has several sets of longitudinal placement arrays arranged along its length. Each set of longitudinal placement arrays consists of several equidistant material box placement positions 3 distributed from top to bottom, and each material box placement position 3 can hold one material box 3-1. A pair of climbing posts 2-1 are provided on the outer side of each set of longitudinal placement arrays, and fixed climbing teeth 2-2 are arranged at predetermined intervals along the height direction on the climbing posts 2-1.

[0048] like Figure 8 As shown, the climbing robot 1 includes a walking unit, a climbing unit, and a telescopic retrieval unit. The walking unit is a chassis assembly 1-1, the climbing unit is a climbing assembly 1-2, and the telescopic retrieval unit is a double-deep hook telescopic fork assembly 1-3. The chassis assembly 1-1 is supported below the climbing assembly 1-2 and the double-deep hook telescopic fork assembly 1-3.

[0049] like Figure 9As shown, the chassis assembly 1-1 includes a caster assembly 1-1-1, a sub-chassis 1-1-2, drive wheels 1-1-3, and a main chassis 1-1-4. The sub-chassis 1-1-2 is hinged to the main chassis 1-1-4, allowing them to rotate relative to each other. Two caster assemblies 1-1-1 are provided, each hinged to both the sub-chassis 1-1-2 and the main chassis 1-1-4. The two casters mounted on each caster assembly 1-1-1 can rotate around their respective hinge axes, enabling the chassis assembly 1-1 to adapt to uneven ground and improving the climbing robot 1's passability and stability when navigating on the ground.

[0050] like Figure 10 , Figure 11 As shown, the climbing assembly 1-2 is mounted on the climbing gantry mounting plate 1-2-2-1. The climbing gantry mounting plate 1-2-2-1 is equipped with a timing belt 1-2-2-2, a drive motor 1-2-2-3, and a linear slide rail 1-2-2-4. Climbing base plate A 1-2-21 and climbing base plate B 1-2-23 are slidably mounted on the linear slide rail 1-2-2-4. The climbing base plates A 1-2-21 and B 1-2-23 are symmetrically distributed on both sides of the linear slide rail 1-2-2-4, and under the combined action of the timing belt 1-2-2-2 and the drive motor 1-2-2-3, they can move closer to or further away from the center of the linear slide rail 1-2-2-4.

[0051] Climbing base plate A 1-2-21 and climbing base plate B 1-2-23 are respectively mounted on their lower surfaces on the outer side of the linear slide rail 1-2-2-4. Climbing components A 1-2-1 and B 1-2-3 are mounted on their respective lower surfaces. As climbing base plates A 1-2-21 and B 1-2-23 move on the linear slide rail 1-2-2-4, they move closer to or further away from the center of the linear slide rail 1-2-2-4.

[0052] like Figure 4As shown, both climbing assembly A 1-2-1 and climbing assembly B 1-2-3 include a housing 1-2-1-4, side rollers 1-2-1-1, main rollers 1-2-1-2, chain assembly 1-2-1-3, and moving climbing teeth 1-2-1-5. When the climbing robot 1 climbs along the climbing column 2-1, the side of the housing 1-2-1-4 near the shelf assembly 2 is an open structure. The chain assembly 1-2-1-3 is located inside the housing 1-2-1-4. Several moving climbing teeth 1-2-1-5 are equidistantly installed on the chain assembly 1-2-1-3 along the conveying path. The side of the chain assembly 1-2-1-3 near the open side of the housing 1-2-1-4 is a vertically extending conveying section. The two main rollers 1-2-1-2 are rotatably disposed on the upper and lower ends of the outer side of the housing 1-2-1-4, and the two side rollers 1-2-1-1 are rotatably disposed on the upper and lower ends of the outer side of the housing 1-2-1-4. The axes of the main rollers 1-2-1-2 and the side rollers 1-2-1-1 are both horizontal and perpendicular to each other.

[0053] like Figure 3 As shown, the pair of climbing posts 2-1 have climbing track grooves 2-4 along the height direction. Climbing sidewalls 2-3 are provided on the climbing track grooves 2-4, and are perpendicularly arranged on the groove surface of the climbing track grooves 2-4. Several fixed climbing teeth 2-2 are arranged equidistantly along the height direction on the climbing sidewalls 2-3. The lower end of the other sidewall of the climbing post 2-1, which does not have fixed climbing teeth 2-2, has an open section that allows the main roller 1-2-1-2 to enter between the two sidewalls of the climbing track groove 2-4. After climbing this open section, the main roller 1-2-1-2 is confined between the two sidewalls of the climbing track groove 2-4.

[0054] like Figure 13 As shown, the double-deep hook telescopic fork assembly 1-3 includes a telescopic fork stop 1-3-1, a third-stage telescopic plate 1-3-2, a second-stage telescopic plate 1-3-3, a first-stage telescopic plate 1-3-4, a synchronous rack 1-3-5, a material box stop 1-3-6, a synchronous belt motor assembly 1-3-7, a guide rail 1-3-8, a fixed base plate 1-3-9, a first-stage right extension chain 1-3-10, a first-stage left extension chain 1-3-11, a roller assembly 1-3-12, a second-stage right extension chain 1-3-13, and a second-stage left extension chain 1-3-14.

[0055] The synchronous belt motor assembly 1-3-7 is fixed to the fixed base plate 1-3-9, and the synchronous rack 1-3-5 is fixed to the first-stage telescopic plate 1-3-4. The third-stage telescopic plate 1-3-2, the second-stage telescopic plate 1-3-3, the first-stage telescopic plate 1-3-4, and the fixed base plate 1-3-9 are connected by guide rails 1-3-8, allowing them to move linearly relative to each other.

[0056] One end of the first-stage right extension chain 1-3-10 and the first-stage left extension chain 1-3-11 is connected to the fixed base plate 1-3-9, and the other end passes around the roller assembly 1-3-12 and connects to the second-stage telescopic plate 1-3-3. One end of the second-stage right extension chain 1-3-13 and the second-stage left extension chain 1-3-14 is connected to the first-stage telescopic plate 1-3-4, and the other end passes around the roller assembly 1-3-12 and connects to the third-stage telescopic plate 1-3-2. The telescopic fork guards 1-3-1 are installed at both ends of the third-stage telescopic plate 1-3-2.

[0057] The working method of the warehouse entry and exit climbing robot of the present invention is as follows:

[0058] After the climbing robot 1 travels to the bottom of the climbing column 2-1, the drive motor 1-2-2-3 drives the A and B climbing base plates to move to both sides along the linear slide rail 1-2-2-4 until the main roller 1-2-1-2 contacts the climbing side wall 2-3, and the fixed climbing tooth 2-2 engages with the moving climbing tooth 1-2-1-5; the motor-driven chain assembly 1-2-1-3 drives the moving climbing tooth to mesh with the fixed climbing tooth, and the climbing robot climbs upward to the target height. The side rollers 1-2-1-1 contact the bottom surface of the climbing track 2-4 to prevent retraction; the telescopic fork guard 1-3-1 passes through the bottom of the material box 3-1, and the climbing robot moves slightly upward to make the three-stage telescopic plate 1-3-2 contact the material box and then retract in the opposite direction to complete the picking up of goods; after climbing down in the opposite direction and retracting the climbing components, it travels to the sorting station to unload the goods; after sorting, it climbs back to the original position, the telescopic fork guard pushes the material box into the placement position and then retracts to complete the unloading and descends to retract.

[0059] Specifically, such as Figure 1 As shown, in the initial state, the A climbing component 1-2-1 and B climbing component 1-2-3 of the climbing robot 1 are in a relatively close retracted state. Driven by the walking unit and driven by the drive wheels 1-1-3, the climbing robot 1 moves horizontally on the ground, travels to the outside of the longitudinal placement array of the shelf assembly 2, and positions itself between the pair of climbing columns 2-1.

[0060] like Figure 5 , Figure 10 Place, Figure 11 As shown, the drive motor 1-2-2-3 of the climbing robot 1 starts, driving climbing base plate A 1-2-21 and climbing base plate B 1-2-23 to move relatively away from each other along the linear slide rail 1-2-2-4 via the synchronous belt 1-2-2-2. Climbing component A 1-2-1 moves synchronously with climbing base plate A 1-2-21, and climbing component B 1-2-3 moves synchronously with climbing base plate B 1-2-23, until the main rollers 1-2-1-2 on climbing components A 1-2-1 and B 1-2-3 just come into contact with the climbing side wall 2-3 of the climbing column 2-1, and then the movement stops.

[0061] At this point, the fixed climbing teeth 2-2 located at the bottom of the climbing column 2-1 engage with any two moving climbing teeth 1-2-1-5 evenly distributed on climbing component A 1-2-1 and climbing component B 1-2-3, completing the preparatory action before climbing. After the climbing robot 1 climbs the open section, the side rollers 1-2-1-1 on both sides of climbing component A 1-2-1 and climbing component B 1-2-3 enter the closed section. At this time, the side rollers 1-2-1-1 are confined within the closed section, and the side rollers 1-2-1-1 contact the bottom and side surfaces of the climbing track groove 2-4 of the climbing column 2-1, respectively, to prevent climbing component A 1-2-1 and climbing component B 1-2-3 from moving closer to each other.

[0062] like Figure 6 , Figure 7 As shown, the motors on climbing components A (1-2-1) and B (1-2-3) are started. The motors drive the chain assembly 1-2-1-3 to move along the length of the housing 1-2-1-4. The chain assembly 1-2-1-3 drives a number of moving climbing teeth 1-2-1-5 that are equidistantly arranged on it to move synchronously. This causes the moving climbing teeth 1-2-1-5 to mesh with the fixed climbing teeth 2-2 arranged at the same predetermined interval on the climbing column 2-1 in sequence. The climbing robot 1 then climbs up the climbing column 2-1 to the height of the target material box placement position 3.

[0063] During the climbing process, such as Figure 5 As shown, the side rollers 1-2-1-1 on climbing components A and B contact the bottom surface of the climbing track groove 2-4 of the climbing column 2-1, preventing climbing components A and B from moving closer to each other and ensuring a stable and reliable climbing process.

[0064] like Figure 13 As shown, after the climbing robot 1 reaches the height of the target material box placement position 3, the synchronous belt motor assembly 1-3-7 drives the synchronous belt to move, which in turn drives the synchronous rack 1-3-5 that meshes with the synchronous belt to move. The synchronous rack 1-3-5 then drives the first-stage telescopic plate 1-3-4 to extend.

[0065] The first-stage telescopic plate 1-3-4 drives the second-stage telescopic plate 1-3-3 to extend via the first-stage right extension chain 1-3-10 and the first-stage left extension chain 1-3-11. The second-stage telescopic plate 1-3-3 then drives the third-stage telescopic plate 1-3-2 to extend via the second-stage right extension chain 1-3-13 and the second-stage left extension chain 1-3-14. The telescopic fork guards 1-3-1, installed at both ends of the third-stage telescopic plate 1-3-2, extend horizontally towards the material box placement position 3 and pass through the bottom of the material box 3-1.

[0066] Subsequently, the climbing robot 1 moves slightly upward along the climbing column 2-1, so that the upper surface of the three-stage telescopic plate 1-3-2 contacts the lower surface of the material box 3-1.

[0067] Then, the synchronous belt motor assembly 1-3-7 drives in reverse, which in turn drives the first-stage telescopic plate 1-3-4 to retract via the synchronous rack 1-3-5. The first-stage telescopic plate 1-3-4 then drives the second-stage telescopic plate 1-3-3 to retract via the first-stage right extension chain 1-3-10 and the first-stage left extension chain 1-3-11. The second-stage telescopic plate 1-3-3 then drives the third-stage telescopic plate 1-3-2 to retract via the second-stage right extension chain 1-3-13 and the second-stage left extension chain 1-3-14. The telescopic fork stops 1-3-1 installed at both ends of the third-stage telescopic plate 1-3-2 move the material box 3-1 together until the material box 3-1 is pulled back to the material box stop 1-3-6, completing the removal of the material box 3-1.

[0068] The motor of the climbing robot 1 drives the chain assembly 1-2-1-3 in reverse, so that the moving climbing teeth 1-2-1-5 and the fixed climbing teeth 2-2 mesh in opposite directions, and the climbing robot 1 climbs down the climbing column 2-1 to the ground.

[0069] The drive motor 1-2-2-3 drives the synchronous belt 1-2-2-2 in reverse, causing the A climbing base plate 1-2-21 and the B climbing base plate 1-2-23 to move closer to each other along the linear slide rail 1-2-2-4. The A climbing component 1-2-1 and the B climbing component 1-2-3 retract synchronously, causing the main roller 1-2-1-2 to disengage from the climbing side wall 2-3 of the climbing column 2-1.

[0070] Driven by the walking unit, the climbing robot 1 travels to the manual sorting station to manually sort the material bins 3-1.

[0071] After manual sorting is completed, the climbing robot 1, driven by the walking unit, travels again to the bottom of the corresponding climbing column 2-1 and repeats the above climbing steps to climb to the height of the raw material box placement position 3 or the designated material box placement position 3.

[0072] The synchronous belt motor assembly 1-3-7 drives the synchronous belt to move. Through the linkage of the synchronous rack 1-3-5, the first-stage telescopic plate 1-3-4, the first-stage right extension chain 1-3-10, the first-stage left extension chain 1-3-11, the second-stage telescopic plate 1-3-3, the second-stage right extension chain 1-3-13, the second-stage left extension chain 1-3-14, and the third-stage telescopic plate 1-3-2, the telescopic fork stop 1-3-1 extends towards the material box placement position 3, pushing the material box 3-1 into the material box placement position 3.

[0073] The synchronous belt motor assembly 1-3-7 is driven in reverse, causing the telescopic fork stop 1-3-1 to retract back to its initial position, completing the return action of the material box 3-1.

[0074] Finally, the climbing robot 1 climbs down the climbing column 2-1 to the ground and retracts climbing component A 1-2-1 and climbing component B 1-2-3, completing the entire entry and exit operation.

[0075] As a specific embodiment of the present invention, after the climbing robot 1 enters between a pair of climbing posts 2-1, because the initial position of the moving climbing teeth 1-2-1-5 on the chain assembly 1-2-1-3 is not fixed, any moving climbing tooth 1-2-1-5 on the chain assembly 1-2-1-3 may overlap with the lowest fixed climbing tooth 2-2 of the climbing post 2-1 in height. When climbing assembly A 1-2-1 and climbing assembly B 1-2-3 extend away from each other, the moving climbing tooth 1-2-1-5 collides with the side of the lowest fixed climbing tooth 2-2 of the climbing post 2-1, causing the climbing robot 1 to shake, resulting in the cargo box 3-1 carried by the climbing robot 1 falling or the climbing robot 1 being damaged by a collision. To solve this problem, the present invention provides two specific embodiments for improvement.

[0076] The first specific embodiment of the present invention improves the climbing components 1-2 as follows:

[0077] like Figure 14 As shown, each climbing component 1-2 has a photoelectric sensor 4 mounted at a certain height on its housing 1-2-1-4. The photoelectric sensor 4 can detect the height position of the moving climbing teeth 1-2-1-5 on the chain assembly 1-2-1-3. Before the climbing robot 1 climbs, the height position of the moving climbing teeth 1-2-1-5 is calibrated. The photoelectric sensor 4 detects the height position of the moving climbing teeth 1-2-1-5 on the chain assembly 1-2-1-3 to ensure that any moving climbing tooth 1-2-1-5 is in the set fixed position. Since the moving climbing teeth 1-2-1-5 on the chain assembly 1-2-1-3 are equally spaced, the photoelectric sensor 4 can ensure that when a pair of climbing assemblies 1-2 move away from each other and enter between the two climbing posts 2-1, any moving climbing tooth 1-2-1-5 will not collide with any fixed climbing tooth 2-2 on the climbing post 2-1 as long as the initial position of any moving climbing tooth 1-2-1-5 is in the set fixed position.

[0078] The second specific embodiment of the present invention improves the fixed climbing tooth 2-2 at the lowest end of the climbing column 2-1 as follows:

[0079] like Figure 15 As shown, each climbing post 2-1 has a fixed climbing tooth 2-2 at its lowest end distributed longitudinally from top to bottom. The tooth 2-2 inside the tooth is a cavity filled with hydraulic oil, and a pressure sensor is installed in the cavity. An opening is provided on the side of the cavity, and a convex elastic diaphragm 2-21 is sealed and covered on the opening.

[0080] The working principle of this special embodiment is as follows: When the moving climbing tooth 1-2-1-5 collides with the side of the fixed climbing tooth 2-2, the convex elastic diaphragm 2-21 is first compressed and undergoes elastic deformation into the cavity. The elastic deformation force of the elastic diaphragm 2-21 is transmitted to the hydraulic oil in the cavity. The pressure sensor in the cavity receives the pulse signal of the pressure on the hydraulic oil and issues an alarm signal, prompting the operator or control system to detect an abnormal collision.

[0081] Meanwhile, by setting a liquid cavity and an outwardly protruding elastic diaphragm 2-21 on the fixed climbing tooth 2-2 at the lowest end of the climbing column 2-1, when the moving climbing tooth 1-2-1-5 collides with the fixed climbing tooth 2-2, the elastic diaphragm 2-21 can absorb part of the collision energy and generate elastic deformation, playing a buffering role, effectively reducing the impact loss of the climbing robot 1, reducing the degree of shaking of the climbing robot 1 after the collision, and preventing the cargo box 3-1 carried on the climbing robot 1 from falling due to violent shaking, which significantly improves the safety and reliability of the system operation.

[0082] The above are the preferred embodiments described in this invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention.

Claims

1. A warehouse entry / exit climbing robot, characterized in that: The system includes a shelving assembly (2) and a climbing robot (1). The shelving assembly (2) has several sets of longitudinal placement arrays along its length. Each set of longitudinal placement arrays consists of several equidistant material box placement positions (3) distributed from top to bottom. Each material box placement position (3) can hold one material box (3-1). A pair of climbing columns (2-1) are provided on the outside of each set of longitudinal placement arrays. The climbing robot (1) includes a walking unit, a climbing unit, and a telescopic picking unit. The climbing robot (1) moves horizontally on the ground under the drive of the walking unit. When the climbing robot walks on the ground and enters the state between a pair of climbing columns (2-1), the climbing unit of the climbing robot (1) can climb along the climbing column (2-1). When the climbing unit of the climbing robot (1) climbs along the climbing column (2-1) to the state where it is adjacent to any material box placement position (3), the telescopic part of the telescopic picking unit on the climbing robot (1) can extend and retract to below the material box (3-1) at the same height.

2. The warehouse entry / exit climbing robot according to claim 1, characterized in that: The walking unit is a chassis assembly (1-1), on which the climbing unit and the telescopic cargo retrieval unit are supported. The chassis assembly (1-1) includes two caster assemblies (1-1-1), a sub-chassis (1-1-2), a drive wheel (1-1-3), and a main chassis (1-1-4). The sub-chassis (1-1-2) is hinged to the main chassis (1-1-4) and the two can rotate relative to each other. The two caster assemblies (1-1-1) are respectively hinged to the sub-chassis (1-1-2) and the main chassis (1-1-4). The two casters installed on each caster assembly (1-1-1) can rotate around the hinge axis respectively.

3. The warehouse entry / exit climbing robot according to claim 2, characterized in that: The climbing unit is a climbing assembly (1-2), which is mounted on a climbing gantry mounting plate (1-2-2-1). The climbing gantry mounting plate (1-2-2-1) is equipped with a timing belt (1-2-2-2), a drive motor (1-2-2-3), and a linear slide rail (1-2-2-4). Climbing base plates A (1-2-21) and B (1-2-23) are slidably mounted on the linear slide rail (1-2-2-4). Climbing base plates A (1-2-21) and B (1-2-23) are symmetrically distributed on both sides of the linear slide rail (1-2-2-4). The timing belt (1-2-2-2) and... Under the combined action of the drive motor (1-2-2-3), the center of the linear slide rail (1-2-2-4) can move closer to or further away from each other. The lower surface of the A climbing base plate (1-2-21) and the B climbing base plate (1-2-23) relative to the outside of the linear slide rail (1-2-2-4) is respectively equipped with the A climbing component (1-2-1) and the B climbing component (1-2-3). The A climbing component (1-2-1) and the B climbing component (1-2-3) move closer to or further away from the center of the linear slide rail (1-2-2-4) as the A climbing base plate (1-2-21) and the B climbing base plate (1-2-23) move on the linear slide rail (1-2-2-4).

4. The warehouse entry / exit climbing robot according to claim 3, characterized in that: Both the A climbing assembly (1-2-1) and the B climbing assembly (1-2-3) include a shell (1-2-1-4), side rollers (1-2-1-1), main rollers (1-2-1-2), chain assembly (1-2-1-3), and moving climbing teeth (1-2-1-5). When the climbing robot (1) climbs along the climbing column (2-1), the shell (1-2-1-4) is open on the side near the shelf assembly (2). The chain assembly (1-2-1-3) is located inside the shell (1-2-1-4). The chain assembly (1-2-1-3) is equidistantly equipped with several moving climbing teeth (1-2-1-5) along the conveying path. The side of the chain assembly (1-2-1-3) near the open side of the shell (1-2-1-4) is a vertically extending conveying section. The climbing column (2-1) has several fixed climbing teeth (2-2) arranged at equal intervals along the height direction; the moving climbing teeth (1-2-1-5) move synchronously with the chain assembly (1-2-1-3); the two main rollers (1-2-1-2) are rotatably disposed at the upper and lower ends of the outer side of the shell (1-2-1-4), and the two side rollers (1-2-1-1) are rotatably disposed at the upper and lower ends of the outer side of the shell (1-2-1-4). The axes of the main rollers (1-2-1-2) and the side rollers (1-2-1-1) are both horizontal and perpendicular to each other.

5. A warehouse entry / exit climbing robot according to claim 4, characterized in that: The pair of climbing posts (2-1) are provided with climbing track grooves (2-4) along the height direction. Climbing sidewalls (2-3) are provided on the climbing track grooves (2-4) and are perpendicularly arranged on the groove surface of the climbing track grooves (2-4). A plurality of fixed climbing teeth (2-2) are arranged at equal intervals along the height direction on the climbing sidewalls (2-3). When the climbing robot (1) is in a non-climbing state, the left climbing component (1-2-1) and the right climbing component (1-2-3) are in a retracted state. In this state, after the climbing robot (1) travels to the bottom of a pair of climbing posts (2-1), the A climbing component (1-2-1) and the B climbing component (1-2-3) move away from each other until the main rollers (1-2-1-2) on both sides of the A climbing component (1-2-1) and the B climbing component (1-2-3) are just aligned with the climbing posts (2-1). When the climbing sidewall (2-3) of the climbing component (1-2-1) comes into contact with the climbing component (2-3), the relatively distant movement stops; at this time, the fixed climbing tooth (2-2) located at the bottom of the climbing column (2-1) engages between any two moving climbing teeth (1-2-1-5) evenly distributed on the climbing component (1-2-1) and the climbing component (1-2-3); the motors on the climbing component (1-2-1) and the climbing component (1-2-3) drive the moving climbing teeth (1-2-1-5) to mesh with the fixed climbing teeth (2-2) to achieve upward climbing.

6. A warehouse entry / exit climbing robot according to claim 5, characterized in that: Each climbing post (2-1) has a fixed climbing tooth (2-2) at its lowest end distributed longitudinally from top to bottom. The tooth is filled with hydraulic oil and a pressure sensor is installed inside the cavity. The cavity has an opening on its side, and the opening is sealed with a convex elastic diaphragm (2-21).

7. A warehouse entry / exit climbing robot according to claim 5, characterized in that: When the main rollers (1-2-1-2) on both sides of climbing assembly A (1-2-1) and climbing assembly B (1-2-3) come into contact with the climbing sidewall (2-3) of climbing column (2-1), the side rollers (1-2-1-1) on both sides of climbing assembly A (1-2-1) and climbing assembly B (1-2-3) come into contact with the bottom surface of the climbing track groove (2-4) of climbing column (2-1) to prevent climbing assembly A (1-2-1) and climbing assembly B (1-2-3) from moving closer to each other.

8. A warehouse entry / exit climbing robot according to claim 7, characterized in that: The telescopic picking unit is a double-deep hook telescopic fork assembly (1-3) used to pick up and place single-deep or double-deep material boxes (3-1); the double-deep hook telescopic fork assembly (1-3) includes a telescopic fork sidewall (1-3-1), a three-stage telescopic plate (1-3-2), a two-stage telescopic plate (1-3-3), a first-stage telescopic plate (1-3-4), a synchronous rack (1-3-5), a material box sidewall (1-3-6), a synchronous belt motor assembly (1-3-7), a guide rail (1-3-8), a fixed base plate (1-3-9), a first-stage right extension chain (1-3-10), a first-stage left extension chain (1-3-11), a roller assembly (1-3-12), a second-stage right extension chain (1-3-13), and a second-stage left extension chain (1-3-14); The synchronous belt motor assembly (1-3-7) is fixed to the fixed base plate (1-3-9), and the synchronous rack (1-3-5) is fixed to the first-stage telescopic plate (1-3-4). The third-stage telescopic plate (1-3-2), the second-stage telescopic plate (1-3-3), the first-stage telescopic plate (1-3-4), and the fixed base plate (1-3-9) are connected to each other by guide rails (1-3-8) and can move linearly relative to each other. One end of the first-stage right extension chain (1-3-10) and the first-stage left extension chain (1-3-11) is connected to the fixed base plate (1-3-9), and the other end passes around the roller assembly (1-3-12) and is connected to the second-stage telescopic plate (1-3-3). One end of the second-stage right extension chain (1-3-13) and the second-stage left extension chain (1-3-14) is connected to the first-stage telescopic plate (1-3-4), and the other end passes around the roller assembly (1-3-12) and is connected to the second-stage telescopic plate (1-3-3). The roller assembly (1-3-12) is connected to the third-stage telescopic plate (1-3-2); the telescopic fork stop (1-3-1) is installed at both ends of the third-stage telescopic plate (1-3-2); the synchronous belt motor assembly (1-3-7) drives the synchronous belt to move, which in turn drives the synchronous rack (1-3-5) meshing with the synchronous belt to move. The synchronous rack (1-3-5) drives the first-stage telescopic plate (1-3-4) to move. The first-stage telescopic plate (1-3-4) drives the second-stage telescopic plate (1-3-3) to move through the first-stage right extension chain (1-3-10) and the first-stage left extension chain (1-3-11). The second-stage telescopic plate (1-3-3) drives the third-stage telescopic plate (1-3-2) to move through the second-stage right extension chain (1-3-13) and the second-stage left extension chain (1-3-14), thereby realizing the extension or retraction of the telescopic fork stop (1-3-1).

9. A working method for a warehouse entry / exit climbing robot based on claim 8, characterized in that, Includes the following steps: After the climbing robot (1) travels to the bottom of the climbing column (2-1), the drive motor (1-2-2-3) drives the A and B climbing base plates to move to both sides along the linear slide rail (1-2-2-4) until the main roller (1-2-1-2) contacts the climbing side wall (2-3), and the fixed climbing tooth (2-2) engages with the moving climbing tooth (1-2-1-5); the motor-driven chain assembly (1-2-1-3) drives the moving climbing tooth to mesh with the fixed climbing tooth, and the climbing robot climbs upward to the target. The robot is positioned at a height of 1, and the side rollers (1-2-1-1) contact the bottom surface of the climbing track groove (2-4) to prevent retraction. The telescopic fork stop (1-3-1) passes through the bottom of the material box (3-1). The climbing robot moves slightly upward to make the three-stage telescopic plate (1-3-2) contact the material box and then retract in the opposite direction to complete the picking up of goods. After climbing down in the opposite direction and retracting the climbing components, the robot travels to the sorting station to unload the goods. After sorting, the robot climbs back to the original position. The telescopic fork stop pushes the material box into the placement position and then retracts to complete the unloading and descending to retrieve the goods.

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