A warehousing robot and warehousing system

Abstract

The embodiment of the application provides a kind of warehousing robot and warehousing system, warehousing robot includes chassis unit, climb unit and take and place goods unit.Therein, climb unit is connected with chassis unit, and take and place goods unit is also connected with chassis unit.Chassis unit can drive climb unit and take and place goods unit to walk in horizontal plane.Climb unit can be cooperated with the climbing cooperation component on shelf, to be able to drive chassis unit and take and place goods unit to climb cooperation component to lift;Take and place goods unit can be moved to corresponding goods location to take and place goods.In taking and placing goods, chassis unit can drive climb unit and take and place goods unit to move to the climbing cooperation component, then climb unit drives chassis unit and take and place goods unit to move to specified height along the climbing cooperation component, finally, take and place goods unit takes and places goods in shelf, simple and efficient, improve the flow efficiency of goods in warehousing system.

Description

Technical Field

[0001] This application relates to the field of logistics and warehousing equipment technology, and in particular to a warehousing robot and warehousing system. 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 warehousing systems, multiple racks are spaced apart on the ground. Picking shuttles are installed in aisles between adjacent racks, and elevators are located at the ends of the racks. The picking shuttles transfer goods between the rack locations and the elevators. AGV (Automated Guided Vehicle) robots are positioned on the ground to transfer goods between designated locations and the elevators. For example, when goods are needed from a specific rack location, the picking shuttle moves to the target location, retrieves the goods, moves them to the elevator, and then the elevator transports the goods to the ground. The AGV robot then retrieves the goods from the elevator and transports them to the designated location. This process of picking and placing goods requires the coordinated operation of multiple devices, making it cumbersome.

[0004] Therefore, this application provides a warehouse robot that can directly climb shelves and pick up and put away goods. Summary of the Invention

[0005] This application provides a warehouse robot and a warehouse system for directly climbing along shelves and picking up and placing goods in storage locations.

[0006] In a first aspect, embodiments of this application provide a warehouse robot for climbing shelves via an aisle, wherein the shelves on both sides of the aisle are equipped with climbing cooperation components, and the warehouse robot includes:

[0007] Chassis unit;

[0008] A climbing unit is connected to the chassis unit, and the climbing unit can cooperate with the climbing engagement component to drive the chassis unit to rise and fall along the climbing engagement component;

[0009] The loading and unloading unit is connected to the chassis unit;

[0010] The chassis unit can drive the climbing unit and the picking and placing unit to the climbing assembly. The climbing unit drives the chassis unit and the picking and placing unit to move along the climbing assembly to a specified height. The picking and placing unit picks and places goods from the shelf.

[0011] In one feasible implementation, the chassis unit includes a lifting assembly;

[0012] The climbing unit is connected to the upper part of the lifting assembly, which can control the climbing unit to rise and fall, so that the climbing unit can selectively connect with the climbing engagement assembly.

[0013] In one feasible implementation, the lifting assembly is configured as a scissor lift assembly;

[0014] And / or, the chassis unit includes a first chassis section and a second chassis section;

[0015] The first chassis portion is hinged to the second chassis portion, and one end of the lifting assembly is movably connected to the first chassis portion, while the other end is hinged to the second chassis portion.

[0016] In one feasible implementation, the warehouse robot further includes a resilient component connected to the climbing unit;

[0017] When the lifting assembly is in a low position, the lower end of the elastic assembly can abut against the chassis unit.

[0018] In one feasible implementation, the climbing assembly includes a first guide rail and a second guide rail, which are respectively vertically arranged on both sides of the tunnel;

[0019] The climbing unit includes:

[0020] A climbing mechanism is connected to one side of the chassis unit in the horizontal direction. The climbing mechanism can dock with the first guide rail and drive the chassis unit to move along the first guide rail.

[0021] A limiting mechanism is connected to the other side of the chassis unit in the horizontal direction. The limiting mechanism can dock with the second guide rail and move along the second guide rail.

[0022] The limiting mechanism is used to restrict the displacement of the warehouse robot in a direction perpendicular to the extension direction of the second guide rail.

[0023] In one feasible implementation, the climbing mechanism includes a climbing drive assembly connected to the chassis unit, which engages with a first guide rail and drives the chassis unit to move along the first guide rail.

[0024] In one feasible implementation, the climbing mechanism further includes:

[0025] A first frame is connected to one side of the chassis unit in the horizontal direction, and the climbing drive assembly is located on the first frame at one end away from the chassis unit.

[0026] A climbing limiting component is disposed on the first frame. The climbing limiting component is used to press against the outer wall of the first guide rail to limit the displacement of the frame in a direction perpendicular to the extension direction of the first guide rail.

[0027] In one feasible implementation, the climbing limiting component includes:

[0028] At least two first limiting wheels are arranged opposite each other, and the axial direction of the first limiting wheels extends along a first direction; at least two first limiting wheels respectively abut against opposite sides of the first guide rail;

[0029] At least two opposing second limiting wheels, with the axial direction of the second limiting wheels extending along a second direction; at least two second limiting wheels respectively abut against opposite sides of the first guide rail;

[0030] Wherein, both the first direction and the second direction are perpendicular to the first guide rail, and the first direction is perpendicular to the second direction.

[0031] In one feasible implementation, the climbing unit further includes a first detection component disposed on the first frame, the first detection component being used to detect whether the climbing drive component has been connected to the first guide rail;

[0032] And / or, the climbing unit further includes a second detection component disposed on the limiting mechanism, the second detection component being used to detect whether the limiting mechanism has been engaged and connected with the second guide rail.

[0033] In one feasible implementation, the limiting mechanism includes a second frame (231) that is floatingly connected to the frame (220) so that the second frame (231) can float relative to the frame (220) in a second direction;

[0034] The limiting mechanism further includes at least two third limiting wheels; the at least two third limiting wheels are arranged opposite to each other and spaced apart on the second frame along the first direction, and the at least two third limiting wheels can respectively press against the opposite sides of the second guide rail.

[0035] In one feasible implementation, the picking and placing unit includes:

[0036] A telescopic mechanism is connected to the chassis unit, and the telescopic mechanism has a movable end that moves in a third direction;

[0037] A picking and placing mechanism is connected to the movable end of the telescopic mechanism, and the picking and placing mechanism is configured to pick up or push goods in a fourth direction;

[0038] At least one support mechanism is disposed on the mobile end, the support mechanism being configured to support the shelf to support the picking and placing mechanism;

[0039] The third direction is perpendicular to the fourth direction.

[0040] In one feasible implementation, the support mechanism includes:

[0041] A support assembly connected to the loading and unloading mechanism, the support assembly being configured to move along the fourth direction;

[0042] A first drive component is connected to the support component in a transmission manner to drive the support component to move.

[0043] In one feasible implementation, the support assembly includes two support members, which are slidably connected to the picking and placing mechanism, and the first drive assembly is driven to drive the two support members to move towards or away from each other simultaneously.

[0044] And / or, the support assembly is provided with supporting rollers, and when the support assembly supports the shelf, the supporting rollers are in a rolling connection with the shelf.

[0045] In one feasible implementation, the telescopic mechanism is configured to be bidirectionally movable relative to the chassis unit along the third direction.

[0046] In one feasible implementation, the telescopic mechanism includes:

[0047] A base for connecting to the robot body;

[0048] A telescopic drive assembly is mounted on the base;

[0049] A multi-stage telescopic assembly is slidably disposed on the base, and the movable end is disposed on the multi-stage telescopic assembly. The telescopic drive assembly can drive the movable end of the multi-stage telescopic assembly to extend to both sides along the third direction.

[0050] In one feasible implementation, the multi-stage telescopic assembly includes a first cantilever, a second cantilever, and a third cantilever that are slidably connected in sequence.

[0051] The first cantilever is slidably connected to the base and is also drive-connected to the telescopic drive assembly; the moving end is formed on the third cantilever.

[0052] The base, the first cantilever, the second cantilever, and the third cantilever are connected by flexible components, and the first cantilever, the second cantilever, and the third cantilever move synchronously in the same direction.

[0053] In one feasible implementation, the base includes a first body and second bodies disposed on both sides of the first body along a fourth direction, each of the second bodies being slidably connected to the corresponding multi-level telescopic component;

[0054] The telescopic drive component includes:

[0055] A transmission component is movably mounted on the first body, and the transmission component is connected to each of the multi-stage telescopic components in a transmission manner.

[0056] The drive unit is disposed on the first body and is connected to the transmission component in a transmission manner.

[0057] In one feasible implementation, the picking and placing mechanism includes:

[0058] The base is connected to the movable end of the telescopic mechanism;

[0059] The cargo handling assembly is movably mounted on the base.

[0060] A second drive component is disposed on the base, and the second drive component is used to drive the second drive component to pick up and put down goods;

[0061] The cargo handling assembly includes:

[0062] A telescopic moving component is slidably connected to the base, and the second driving component is capable of driving the telescopic moving component to extend or retract along the third direction;

[0063] A push-pull assembly is slidably connected to the telescopic moving assembly, and the push-pull assembly is used to engage with the bottom of the goods to hook or push the goods.

[0064] A third drive component is disposed on the telescopic moving component, and the third drive component is used to drive the push-pull component to move along the fourth direction.

[0065] In one feasible implementation, the push-pull component includes:

[0066] A connecting frame is movably mounted on the telescopic moving assembly, and the third drive assembly is drively connected to the connecting frame;

[0067] At least two picking and placing modules; each picking and placing module includes a pawl and a pawl driver, the pawl driver being disposed on the connecting frame and being kinetically connected to the pawl to drive the pawl to rotate.

[0068] Secondly, embodiments of this application also provide a warehousing system, including:

[0069] The shelving unit has an aisle between at least two adjacent shelving units, and a climbing assembly is provided on the side of the shelving unit facing the aisle.

[0070] The warehouse robot as described in any of the first aspects is capable of climbing and moving up and down along a climbing assembly provided on the shelf to retrieve and place goods.

[0071] In one feasible implementation, the climbing assembly includes a first guide rail and a second guide rail disposed on both sides of the tunnel, both of which extend vertically.

[0072] The first guide rail includes a column and a rack disposed on the column, and the second guide rail includes a column.

[0073] The climbing unit of the warehouse robot cooperates with the first guide rail and the second guide rail respectively to limit the horizontal displacement of the warehouse robot, and the climbing unit is connected to the rack and pinion drive to enable the warehouse robot to move along the first guide rail.

[0074] In one feasible implementation, the shelving includes a shelving body, which includes connected beams and uprights, with the beams located on the side of the uprights facing the aisle.

[0075] The climbing assembly is fixedly connected to the crossbeam;

[0076] The crossbeam has a first support part and a second support part protruding on the side facing the aisle. The first support part is used to connect with the storage robot to support the storage robot, and the second support part is used to support the goods.

[0077] In a first aspect, embodiments of this application provide a warehouse robot for climbing shelves in an aisle, wherein the shelves on both sides of the aisle are equipped with climbing cooperation components. The warehouse robot includes a chassis unit, a climbing unit, and a picking / placing unit. The climbing unit is connected to the chassis unit, and the picking / placing unit is also connected to the chassis unit. The chassis unit can drive the climbing unit and the picking / placing unit to move horizontally. The climbing unit can cooperate with the climbing cooperation components on the shelf to drive the chassis unit and the picking / placing unit to rise and fall along the climbing cooperation components; the picking / placing unit can move to the corresponding storage location to pick up or place goods. When picking up or placing goods, the chassis unit can drive the climbing unit and the picking / placing unit to the climbing cooperation components, then the climbing unit drives the chassis unit and the picking / placing unit to move along the climbing cooperation components to a designated height, and finally the picking / placing unit picks up or places goods from the shelf. This method is simple and efficient, improving the turnover efficiency of goods in the warehousing system.

[0078] Secondly, embodiments of this application provide a warehousing system, including shelves and a warehousing robot as described in any of the first aspects. An aisle is provided between at least two adjacent shelves, and climbing and engaging components are provided on the shelves on both sides of the aisle. The warehousing robot can climb, move up and down along the climbing and engaging components provided on the shelves to retrieve and place goods. This warehousing system includes the warehousing robot of any of the above-described technical solutions, and therefore possesses all the beneficial effects of the warehousing robot of any of the above-described technical solutions, which will not be elaborated further here. Attached Figure Description

[0079] 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.

[0080] In the attached diagram:

[0081] Figure 1 This is a schematic diagram of the overall structure of a warehouse robot provided in one embodiment of this application;

[0082] Figure 2 yes Figure 1 A front view of the warehouse robot;

[0083] Figure 3 yes Figure 1 A schematic diagram of a warehouse robot in the picking and placing of goods.

[0084] Figure 4 yes Figure 1 A schematic diagram of a warehouse robot in its first state;

[0085] Figure 5 yes Figure 1 A schematic diagram of a warehouse robot in its second state;

[0086] Figure 6 yes Figure 1 A schematic diagram of a warehouse robot in its third state;

[0087] Figure 7 yes Figure 1 A schematic diagram of the first structure of the climbing unit in the diagram;

[0088] Figure 8 yes Figure 7 A second schematic diagram of the climbing unit;

[0089] Figure 9 yes Figure 8 A top view of the climbing unit;

[0090] Figure 10 yes Figure 7 An internal diagram of the climbing unit;

[0091] Figure 11 yes Figure 1 A schematic diagram of the picking and placing unit in the middle;

[0092] Figure 12 yes Figure 11 A schematic diagram of the first structure after the loading and unloading mechanism and the support mechanism are assembled.

[0093] Figure 13 yes Figure 12 A schematic diagram of the second structure after the loading and unloading mechanism and the support mechanism are assembled;

[0094] Figure 14 yes Figure 12 A schematic diagram of the third structure after the loading and unloading mechanism and the support mechanism are assembled;

[0095] Figure 15 This is a diagram illustrating a warehouse robot retrieving goods from a shelf.

[0096] Figure 16 yes Figure 15 An enlarged view of region A in the diagram;

[0097] Figure 17 yes Figure 12 A schematic diagram of the push-pull assembly in the diagram;

[0098] Figure 18 yes Figure 11 A schematic diagram of the first structure of the telescopic mechanism in the diagram;

[0099] Figure 19 yes Figure 18 A schematic diagram of the second structure of the telescopic mechanism;

[0100] Figure 20 This is a schematic diagram of a shelving system for a storage system provided in one embodiment of this application;

[0101] Figure 21 yes Figure 20 A schematic diagram of the beams of the shelving unit.

[0102] Explanation of reference numerals in the attached figures:

[0103] a-Warehouse robot; b-Shelf; c-First guide rail; d-Second guide rail;

[0104] 100 - Chassis unit; 200 - Climbing unit; 300 - Picking and placing unit; 400 - Flexible component; 500 - Shelf body;

[0105] 110 - Lifting assembly; 120 - First chassis section; 130 - Second chassis section; 140 - Support frame; 150 - Slider; 160 - Slide rail; 210 - Climbing mechanism; 220 - Frame; 230 - Limiting mechanism; 240 - First detection assembly; 250 - Second detection assembly; 510 - Crossbeam; 520 - Column;

[0106] 310-Telescopic mechanism; 320-Loading / unloading mechanism; 330-Supporting mechanism; 340-Detection component; 211-Climbing drive assembly; 212-First frame; 213-Climbing limit assembly; 214-Anti-fall assembly; 231-Second frame; 232-Third limit wheel; 233-Floating elastic element; 311-Base; 312-Telescopic drive assembly; 313-Dual-stage telescopic movement assembly; 321-Base; 322-Loading / unloading assembly; 323-Second drive assembly; 331-Supporting assembly; 332-First drive assembly; 511-First support part; 512-Second support part; 513-Connecting part; 514-Guide part;

[0107] 2131-First limiting wheel; 2132-Second limiting wheel; 2141-Snap-fit ​​component; 2142-First limiting part; 2143-Second limiting part; 3111-First body; 3112-Second body; 3121-Transmission component; 3122-Drive unit; 3131-First cantilever; 3132-Second cantilever; 3133-Third cantilever; 3221-Telescopic moving assembly; 3222-Push-pull assembly; 3223-Third drive assembly; 3311-Support component; 3312-Supporting roller;

[0108] 3122a - External toothed synchronous belt; 3222a - Connecting frame; 3222b - Pick-and-place module;

[0109] 3222b1 - Pawl; 3222b2 - Pawl driver. Detailed Implementation

[0110] 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.

[0111] 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.

[0112] 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.

[0113] With the rapid development of the modern logistics industry towards automation and intelligence, smart warehousing applications are becoming increasingly widespread.

[0114] In existing warehousing systems, multiple racks are spaced apart on the ground. Picking shuttles are installed in aisles between adjacent racks, and elevators are located at the ends of the racks. The picking shuttles transfer goods between the rack locations and the elevators. AGV (Automated Guided Vehicle) robots are positioned on the ground to transfer goods between designated locations and the elevators. For example, when goods are needed from a specific rack location, the picking shuttle moves to the target location, retrieves the goods, moves them to the elevator, and then the elevator transports the goods to the ground. The AGV robot then retrieves the goods from the elevator and transports them to the designated location. This process of picking and placing goods requires the coordinated operation of multiple devices, making it cumbersome.

[0115] Therefore, this application provides a warehouse robot that can directly climb shelves and pick up and put away goods. The solution provided by the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0116] Figure 1 This is a schematic diagram of the overall structure of the warehouse robot a provided in one embodiment of this application; Figure 2 yes Figure 1 A front view of warehouse robot A; Figure 3 yes Figure 1 This is a schematic diagram of the warehouse robot A in the picking and placing of goods.

[0117] Reference Figures 1 to 3As shown in the illustration, this application provides a warehouse robot a for climbing shelves b via an aisle. The shelves b on both sides of the aisle are equipped with climbing cooperation components. The warehouse robot a includes a chassis unit 100, a climbing unit 200, and a picking / placing unit 300. The climbing unit 200 is connected to the chassis unit 100, and the picking / placing unit 300 is also connected to the chassis unit 100. The chassis unit 100 can drive the climbing unit 200 and the picking / placing unit 300 to move horizontally. The climbing unit 200 can cooperate with the climbing cooperation components on the shelf b to drive the chassis unit 100 and the picking / placing unit 300 to rise and fall; the picking / placing unit 300 can move to the corresponding storage location to pick up or place goods. When picking up or placing goods, the chassis unit 100 can drive the climbing unit 200 and the picking / placing unit 300 to move to the climbing assembly. Then, the climbing unit 200 drives the chassis unit 100 and the picking / placing unit 300 to move along the climbing assembly to the designated height. Finally, the picking / placing unit 300 picks up or places goods from the shelf b. This is simple and efficient, and can improve the flow efficiency of goods in the warehousing system.

[0118] Reference Figure 1 and Figure 2 As shown, the chassis unit 100 includes a lifting assembly 110. A climbing unit 200 is fixedly connected to the upper part of the lifting assembly 110, and the lifting assembly 110 can control the raising and lowering of the climbing unit 200, allowing the climbing unit 200 to selectively connect with climbing engagement components. In some examples, the chassis unit 100 is directly fixedly mounted on the side of the top of the lifting assembly 110. In other examples, the climbing unit 200 includes a frame 220 for providing mounting bases for various components, which is fixedly connected to the top of the lifting assembly 110.

[0119] It should be noted that the lower end of the climbing assembly mounted on shelf b is a certain distance from the ground. When the chassis unit 100 moves the climbing unit 200 and the picking / placing unit 300 to below the climbing assembly, the climbing unit 200 cannot directly engage with the climbing assembly. The lifting assembly 110 can lift the climbing unit 200, raising it to a certain height so that it can engage and connect with the climbing assembly.

[0120] For example, the lifting component 110 can be configured as a scissor lift component. Of course, it can also be configured as other types of lifting mechanisms, as long as it can drive the loading and unloading unit 300 and the climbing unit 200 to rise and fall. The lifting component 110 is prior art and will not be described in detail here.

[0121] Figure 4 yes Figure 1 The diagram shows the warehouse robot a in its first state. At this point, the warehouse robot a has moved to the bottom of the climbing and cooperating components. Figure 5 yes Figure 1 The diagram shows the warehouse robot a in the second state, at which point the climbing unit 200 of the warehouse robot a is just connected to the climbing engagement component; Figure 6 yes Figure 1 The diagram shows the warehouse robot a in its third state. At this state, the climbing unit 200 is connected to the climbing assembly, and the climbing unit 200 can drive the picking and placing unit 300 and the chassis unit 100 to rise and fall.

[0122] When picking up or placing goods, the chassis unit 100 moves the picking / placing unit 300 and the climbing unit 200 to below the climbing assembly of the corresponding storage location, such as... Figure 4 As shown. Next, the lifting assembly 110 in the chassis unit 100 lifts the chassis unit 200, raising its height so that it can engage with the climbing assembly, as can be seen in the following diagram. Figure 5 As shown; then, the lifting component 110 retracts. At this time, the climbing unit 200, which is connected to the climbing cooperation component, remains stationary. The lifting component 110 pulls up the lower part of the chassis unit 100, which was originally in contact with the ground. At this time, the state of the warehouse robot a can be referred to Figure 6 As shown, finally, the climbing unit 200 drives the chassis unit 100 and the loading / unloading unit 300 to move to the designated height to load / unload goods.

[0123] Continue to refer to Figures 1 to 3 As shown, in some examples, the chassis unit 100 further includes a first chassis portion 120 and a second chassis portion 130. The first chassis portion 120 and the second chassis portion 130 are hinged, and they can rotate relative to each other relative to the hinge point. A support frame 140 is provided at the lower end of the lifting assembly 110. One end of the support frame 140 is hinged to a slider 150, which is slidably disposed in the first chassis portion 120, and the other end is hinged to the second chassis portion 130. When the chassis unit 100 traverses uneven ground, because the first chassis portion 120 and the second chassis portion 130 can move relative to each other, and one end of the support frame 140 is movably connected to the first chassis portion 120 while the other end is hinged to the second chassis portion 130, the support frame 140 remains stable, preventing tilting due to uneven ground. This ensures the stability of the goods transported by the entire warehouse robot a, preventing them from falling.

[0124] For example, a groove 160 is provided in the first chassis portion 120, and the slider 150 is slidably disposed in the groove 160.

[0125] Continue to refer to Figures 1 to 3As shown, in some examples, the warehouse robot a also includes an elastic component 400, which is connected to the climbing unit 200. When the lifting component 110 is in a low position, the lower end of the elastic component 400 can abut against the chassis unit 100 to provide a certain amount of elastic force to the climbing unit 200. The amount of elastic force can be equal to the total weight of the climbing unit 200 and the picking and placing unit 300.

[0126] It is understandable that when the lifting assembly 110 is in a low position, the climbing unit 200 and the loading / unloading unit 300 are subjected to a force equal in magnitude and opposite to the force of gravity. At this time, the lifting assembly 110 only needs to provide a small force to lift the climbing unit 200 and the loading / unloading unit 300, which facilitates lifting the climbing unit 200 and the loading / unloading unit 300 and also helps reduce the load on the lifting assembly 110, extending its service life. For example, in some other examples, the elastic component 400 is vertically positioned below the loading / unloading unit 300. It is understood that both the climbing unit 200 and the loading / unloading unit 300 are fixedly connected to the upper part of the lifting assembly 110, and the elastic component 400 can achieve the above effect by being positioned on either of them.

[0127] In addition, to ensure the stable lifting and lowering of the climbing unit 200 and the loading / unloading unit 300, multiple elastic components 400 are provided, and these multiple elastic components 400 are arranged at intervals along the outer edge of the lifting component 110. For example, the elastic component 400 can be an elastic column, which is prior art and its specific structure will not be described in detail here. The chassis unit 100 is also provided with control components, motion drive components, power supplies, and other components, all of which are prior art. This application does not improve these parts, and they will not be described in detail here.

[0128] Reference Figures 4 to 6 As shown, the climbing assembly includes a first guide rail c and a second guide rail d, which are vertically arranged on both sides of the tunnel.

[0129] Figure 7 yes Figure 1 A schematic diagram of the first structure of the climbing unit 200 in the middle; Figure 8 yes Figure 7 A second schematic diagram of the climbing unit 200; Figure 9 yes Figure 8 A top view of the climbing unit 200; Figure 10 yes Figure 7 Internal schematic diagram of the climbing unit 200.

[0130] In some examples, the climbing unit 200 includes a climbing mechanism 210 and a limiting mechanism 230. The climbing mechanism 210 is connected to one side of the chassis unit 100 in the horizontal direction. The climbing mechanism 210 can dock with the first track c and drive the chassis unit 100 to move along the first track c. The limiting mechanism 230 is connected to the other side of the chassis unit 100 in the horizontal direction. The limiting mechanism 230 can dock with the second track d and move along the second track d. The limiting mechanism 230 is used to restrict the displacement of the warehouse robot in a direction perpendicular to the extension direction of the second track d.

[0131] Reference Figures 7 to 9 As shown, in some other examples, the climbing unit 200 includes a climbing mechanism 210, a limiting mechanism 230, and a frame 220. The frame 220 is connected to the top of the lifting assembly 110, and the climbing mechanism 210 is connected to one horizontal side of the frame 220. The climbing mechanism 210 can dock with the first guide rail c and drive the frame 220 to move along the first guide rail c. The limiting mechanism 230 is connected to the frame 220, and the limiting mechanism 230 is positioned opposite to the climbing mechanism 210. The limiting mechanism 230 can dock with the second guide rail d to move along the second guide rail d, thereby limiting the displacement of the frame 220 in a direction perpendicular to the extension direction of the second guide rail d. The loading / unloading unit 300 is fixedly mounted on the frame 220, and the frame 220 is fixedly mounted on the top of the lifting assembly 110. It should be noted that the extension directions of the first guide rail c and the second guide rail d are vertical, and the direction perpendicular to the extension direction of the second guide rail d is horizontal.

[0132] With the coordinated action of the climbing mechanism 210 and the limiting mechanism 230, the frame 220 can rise and fall along the first guide rail c and the second guide rail d, thereby driving the picking and placing unit 300 to move to the designated storage location for direct picking and placing of goods. The limiting mechanism 230 can effectively limit the displacement of the frame 220 in the direction perpendicular to the second guide rail d, ensuring its stability during the climbing process, preventing swaying, thereby improving the overall lifting safety of the warehouse robot a, and also ensuring the positional accuracy between the warehouse robot a and the shelf b when picking and placing goods.

[0133] In some examples, the first guide rail c is equipped with a rack, and the climbing mechanism 210 is equipped with a corresponding gear. The gear of the climbing mechanism 210 can mesh with the rack of the first guide rail c, thereby driving the frame 220 to move up and down along the first guide rail c. In other examples, multiple climbing teeth are spaced apart on the first guide rail c, and the climbing mechanism 210 is equipped with climbing claws. During rotation, the climbing claws can sequentially support the upper surface of the climbing teeth, thereby driving the frame 220 to move up and down along the first guide rail c. It should be noted that the climbing tooth and climbing claw mechanisms are existing technologies and will not be described in detail.

[0134] Figure 10 yes Figure 7An internal diagram of the climbing unit.

[0135] Reference Figure 10 As shown, specifically, the climbing mechanism 210 includes a climbing drive assembly 211. The climbing drive assembly 211 is connected to the frame 220 and can engage with the first guide rail c, thereby driving the frame 220 to move up and down along the first guide rail c. Exemplarily, the climbing drive assembly 211 can be configured as a sprocket drive assembly, a gear drive assembly, or a toothed synchronous belt drive assembly. In these examples, the first guide rail c is provided with a rack or sprocket, and the climbing drive assembly 211 is provided with a drive element that cooperates with the rack or sprocket, such as a gear, an external toothed synchronous belt, or a sprocket.

[0136] The climbing mechanism 210 also includes a first frame 212. The first frame 212 is fixedly connected to the frame 220. The climbing drive assembly 211 is fixedly mounted on the first frame 212. (See reference) Figure 10 As shown, in some examples, the first frame 212 is fixedly connected to one side of the frame 220 in the horizontal direction, and the climbing drive assembly 211 is fixedly disposed on the first frame 212 at the end away from the frame 220. Exemplarily, the first frame 212 may be composed of plates connected in sequence, and the first frame 212 has holes processed as needed.

[0137] Continue to refer to Figures 7 to 10 As shown, the climbing mechanism 210 also includes a climbing limiting component 213. This climbing limiting component 213 is mounted on the first frame 212. When the climbing drive component 211 is engaged (connected) with the first guide rail c, the climbing limiting component 213 can press against the outer wall of the first guide rail c, thereby limiting the displacement of the frame 220 in a direction perpendicular to the extension direction of the first guide rail c, that is, limiting the horizontal displacement of the frame 220.

[0138] In some examples, a climbing restraint component 213 is provided on the first frame 212. In other examples, such as Figures 7 to 10 As shown, there are at least two climbing limiting components 213. The at least two climbing limiting components 213 are spaced apart on the first frame 212. All climbing limiting components 213 abut against the outer wall of the first guide rail c and jointly restrict the first frame 212 from swaying in a direction perpendicular to the extension direction of the first guide rail c. This, in turn, restricts the frame 220 from swaying in a direction perpendicular to the extension direction of the first guide rail c, thus ensuring the stability of the robot body in transporting goods.

[0139] For example, each climbing limiting component 213 includes at least two first limiting wheels 2131, which are disposed opposite to each other on the first frame 212, and the axial direction of all the first limiting wheels 2131 extends along a first direction; the at least two first limiting wheels 2131 can respectively press against opposite sides of the first guide rail c, thereby limiting the movement of the first frame 212 in a direction perpendicular to the outer wall of the first guide rail c. Figure 7 and Figure 8 As shown in these examples, each climbing limiting component 213 includes four first limiting wheels 2131, with each pair of first limiting wheels 2131 forming a group. The two groups of first limiting wheels 2131 are arranged vertically at intervals on the first frame 220. The two first limiting wheels 2131 in each group are arranged opposite to each other on the first frame 212, and both first limiting wheels 2131 can press against both sides of the first guide rail c.

[0140] In some examples, the climbing limiting assembly 213 further includes at least two second limiting wheels 2132. The at least two second limiting wheels 2132 are disposed opposite to each other on the first frame 212, and the axial direction of these second limiting wheels 2132 extends along a second direction. These second limiting wheels 2132 can respectively abut against opposite sides of the first guide rail c. It should be noted that both the first and second directions are perpendicular to the first guide rail c, and the first direction is perpendicular to the second direction. That is, the first limiting wheel 2131 and the second limiting wheel 2132 respectively abut against two mutually perpendicular sides of the first guide rail c, thereby jointly limiting the horizontal movement of the first frame 212 and ensuring the stability of the lifting and lowering of the frame 220 connected to the first frame 212. The first direction can be referred to... Figure 7 The x-direction is shown in the diagram, which indicates the direction closer to or farther from shelf b. A second direction can be referenced. Figure 7 The y-direction in the diagram indicates the direction in which the tunnel extends.

[0141] like Figure 7 , Figure 8 and Figure 10 As shown, each climbing limiting component 213 includes eight second limiting wheels 2132, with each pair of second limiting wheels 2132 forming a group. Each pair of second limiting wheels 2132 is arranged vertically on the same side of the first frame 212, and the axial direction of all the second limiting wheels 2132 extends along the second direction. Both second limiting wheels 2132 can press against the side of the first guide rail c to limit the horizontal movement of the first frame 212.

[0142] Reference Figure 10As shown, the climbing mechanism 210 also includes a fall arrestor 214. This fall arrestor 214 is mounted on the first frame 212. When the first frame 212 falls, the fall arrestor 214 can lock onto the first guide rail c, preventing the first frame 212 from falling rapidly along the first guide rail c, thereby preventing the robot body connected to the first frame 212 from falling rapidly. For example, the fall arrestor 2144 includes a latching member 2141 and a fall arrestor elastic member (not shown in the figure). One end of the latching member 2141 is hinged to the first frame 212, and the other end swings; one end of the fall arrestor elastic member is connected to the first frame 212, and the other end is connected to the latching member 2141. When the first frame 212 is stationary, under the action of gravity, the latching member 2141 compresses the fall arrestor elastic member and holds it in the moving position. When the first frame 212 falls, the locking member 2141 is in a weightless state. At this time, the elastic force of the anti-fall elastic element pushes the locking member 2141 to rotate upward. When the locking member 2141 rotates to a certain angle, it contacts and locks against the first guide rail c, thereby preventing the first frame 212 from continuing to fall. In addition, in some examples, to improve the anti-fall effect, the end of the locking member 2141 that contacts the first guide rail c is provided with teeth. The teeth can mesh with the rack on the first guide rail c to improve the stability when locked.

[0143] Continue to refer to Figure 10 As shown, in some examples, the fall arrestor 214 further includes a first limiting portion 2142. The first limiting portion 2142 is disposed on the first frame 212 and located above the latching member 2141, and can limit the upward rotation angle of the latching member 2141, thereby preventing the latching member 2141 from failing to engage with the first guide rail c due to excessive rotation. Specifically, the first limiting portion 2142 has a horizontal lower surface, which is used to block the latching member 2141.

[0144] In addition, the fall arrestor assembly 214 also includes a second limiting part 2143, which is disposed on the first frame 212 and located below the latching member 2141. When the latching member 2141 is stationary, the second limiting part 2143 supports the lower part of the latching member 2141, causing the latching member 2141 to be in an inclined state, thereby preventing the fall arrestor elastic element from being unable to rotate due to excessive inclination of the latching member 2141. For example, the fall arrestor elastic element can be a spring or a torsion spring.

[0145] Continue to refer to Figures 7 to 9As shown, the climbing unit 200 also includes a first detection component 240, which is mounted on the first frame 212 and located on one side of the climbing drive component 211. The first detection component 240 faces the position on the climbing drive component 211 that is connected to the first guide rail c, and is used to detect whether the climbing drive component 211 has been engaged and connected with the first guide rail c, thereby accurately determining the connection status between the two. For example, the first detection component 240 can be a photoelectric detection sensor.

[0146] Reference Figure 7 and Figure 8 As shown, the limiting mechanism 230 includes a second frame 231 and at least two third limiting wheels 232. The second frame 231 is connected to the frame 220, and the at least two third limiting wheels 232 can respectively press against opposite sides of the second guide rail d, thereby limiting the movement of the second frame 231 in a direction perpendicular to the extension direction of the second guide rail d, ensuring the stability of the second frame 231's lifting and lowering. That is to say, the climbing limiting component 213 ensures the stable lifting and lowering of the first frame 212, and the multiple third limiting wheels 232 ensure the stable lifting and lowering of the second frame 231. Together, they ensure the stable lifting and lowering of the frame 220 connected to the first frame 212 and the second frame 231, and also ensure the stable lifting and lowering of the chassis unit 100 and the loading / unloading unit 200 connected to the frame 220.

[0147] In some examples, the second frame 231 is fixedly connected to the frame 220; in other examples, the second frame 231 is floatingly connected to the frame 220, and the second frame 231 can float relative to the frame 220 in a second direction, thereby matching the installation position deviation of the first guide rail c and the second guide rail d in the second direction, ensuring that the first frame 212 and the second frame 231 can both rise and fall stably along the corresponding tracks.

[0148] Understandably, when the second frame 231 is fixedly connected to the frame 220, the relative positions of the second guide rail d and the first guide rail c, and the relative positions of the first frame 212 and the second frame 231, need to be precisely matched to ensure the stable lifting and lowering of the first frame 212 and the second frame 231, and to guarantee the overall stable lifting and lowering of the warehouse robot a. When the second frame 231 is floatingly connected to the frame 220, even if there are slight deviations in the relative positions of the second guide rail d and the first guide rail c, and the relative positions of the first frame 212 and the second frame 231, the second frame 231 can automatically float and change its relative position with the first frame 212 to match the positions of the second guide rail d and the first guide rail c, ensuring that the frame 220 will not be unable to lift and lower stably due to deviations in the installation positions of the second guide rail d and the first guide rail c.

[0149] In these examples, the limiting mechanism 230 also includes a floating elastic element 233. The second frame 231 is slidably connected to the frame 220 via a bushing and shaft sliding engagement, and can float relative to the frame 220 in a second direction. One end of the floating elastic element 233 abuts against the second frame 231, and the other end abuts against the frame 220. The floating elastic element 233 enables the second frame 231 to be held in the middle position of the frame 220 when no external force is applied. Figure 7 and Figure 8 As shown, there are two floating elastic elements 233, which are respectively located between the two opposite side walls of the second frame 231 and the frame 220. The two elements work together to adjust the relative position of the frame 220 and the second frame 231. For example, the floating elastic element 233 can be a spring, sleeved on the shaft.

[0150] Reference Figure 8 and Figure 9 As shown, the climbing unit 200 also includes a second detection component 250. The second detection component 250 is disposed on the second frame 231 of the limiting mechanism 230, and is used to detect whether the limiting mechanism 230 has been engaged and connected with the second guide rail d.

[0151] Figure 11 yes Figure 1 A schematic diagram of the picking and placing unit 300 in the middle.

[0152] Reference Figure 11 As shown, exemplarily, the picking and placing unit 300 includes a telescopic mechanism 310, a picking and placing mechanism 320, and at least one support mechanism 330. The telescopic mechanism 310 is connected to the frame 220 of the climbing unit 200 in the example described above, and has a movable end that moves in a third direction. The picking and placing mechanism 320 is connected to the movable end of the telescopic mechanism 310, and the telescopic mechanism 310 can drive the picking and placing mechanism 320 to move in a third direction to reach a designated storage location. The picking and placing mechanism 320 is configured to hook or push goods in a fourth direction. Specifically, when retrieving goods from shelf b, the telescopic mechanism 310 actuates and moves the picking and placing mechanism 320 to the designated storage location, where the picking and placing mechanism 320 hooks the goods from the designated storage location. The placing process is the reverse of the picking process described above and will not be repeated here.

[0153] At least one support mechanism 330 is connected to the movable end of the telescopic mechanism 310. Specifically, in some examples, the support mechanism 330 is disposed on the picking and placing mechanism 320, and in other examples, the support mechanism 330 is disposed on the movable end of the telescopic mechanism 310, configured to support the shelf b and support the picking and placing mechanism 320. The support mechanism 330 may be a telescopic device such as an electric actuator or cylinder that extends or retracts toward the shelf. The piston rod of the electric actuator or cylinder can be supported on the shelf b when extended. In addition, a supporting roller may be provided at the end of the piston rod. When the piston rod is supported on the shelf b, the supporting roller can roll into contact with the shelf b to reduce friction and wear between the support mechanism 330 and the shelf b, while also making the extension and retraction of the support mechanism 330 smoother.

[0154] When the telescopic mechanism 310 actuates and drives the picking and placing mechanism 320 to the designated storage location, the support mechanism 330 actuates simultaneously and extends outward from the picking and placing mechanism 320 to support it on the shelf b. This prevents the picking and placing mechanism 320 from sagging or swaying due to excessive extension of the telescopic mechanism 310, which would affect the accuracy and stability of picking. During the picking and placing of goods, the support mechanism 330, supported on the shelf b, can bear part of the weight of the telescopic mechanism 310, reducing the adverse effects of the weight of the goods and the picking and placing mechanism 320 on the telescopic mechanism 310, thus reducing the failure rate and greatly extending the service life of the telescopic mechanism 310.

[0155] Figure 12 yes Figure 11 A schematic diagram of the first structure after the loading and unloading mechanism 320 and the support mechanism 330 are assembled. Figure 13 yes Figure 12 A schematic diagram of the second structure after the loading and unloading mechanism 320 and the support mechanism 330 are assembled; Figure 14 yes Figure 12 A schematic diagram of the third structure after the loading and unloading mechanism 320 and the support mechanism 330 are assembled.

[0156] Reference Figures 11 to 14As shown, the support mechanism 330 includes a support component 331 and a first drive component 332. The support component 331 is connected to the picking and placing mechanism 320, and the first drive component 332 is disposed on the picking and placing mechanism 320 and connected to the support component 331. The first drive component 332 can drive the support component 331 to move in a fourth direction to selectively support it on the shelf b. Specifically, when the telescopic mechanism 310 actuates and causes the picking and placing mechanism 320 to extend, the first drive component 332 simultaneously actuates and drives the support component 331 to move towards the shelf b and support it on the shelf b; when the telescopic mechanism 310 actuates and causes the picking and placing mechanism 320 to retract, the first drive component 332 simultaneously actuates and drives the support component 331 away from the shelf b and retracts it into the picking and placing mechanism 320. For ease of explanation, a third direction can also be referred to... Figure 11 As shown in the x-direction, the fourth direction can be referenced. Figure 11 The direction is shown in the y-direction. It should be noted that, for ease of description of the directional relationships between the components in the picking and placing unit 300, this application specifically designates a third direction and a fourth direction. In the warehouse robot a, the aforementioned first direction and fourth direction are the same, and the second direction and third direction are the same.

[0157] For example, the support component 331 includes two support members 3311, which are slidably connected to the picking and placing mechanism 320 respectively. The first drive component 332 is connected to the two support members 3311 respectively, and can drive the two support members 3311 to move simultaneously towards or away from each other in the fourth direction, so as to extend out of or retract into the picking and placing mechanism 320.

[0158] For example, the two support members 3311 are respectively mounted on the loading and unloading mechanism 320 via slide rail sliders 150. The first drive component 332 can be a bidirectional moving gear and rack drive component, a synchronous belt drive component, or a dual-axis lead screw and nut drive component, as long as it can be connected to the two support members 3311 respectively and drive them to move synchronously in opposite directions or in opposite directions.

[0159] like Figures 12 to 14As shown, in some examples, there are at least two support mechanisms 330, which are spaced apart along a third direction. It is understood that the spaced-apart support mechanisms 330 can form a support surface, providing better support for the picking and placing mechanism 320, reducing its potential downward deviation due to gravity, and facilitating accurate picking and placing of goods. Additionally, in some examples, each support mechanism 330 is correspondingly configured with one first drive component 332, meaning one first drive component 332 controls the movement of one support mechanism 330. In other examples, one first drive component 332 corresponds to multiple support mechanisms 330, meaning one first drive component 332 drives multiple parallel support mechanisms 330 to move simultaneously via a drive shaft and corresponding drive components.

[0160] For example, the support member 3311 may be a profile member.

[0161] In some examples, the end of the support component 331 is provided with a supporting roller 3312, and when the support component 331 is supported on the shelf b, the supporting roller 3312 is in a rolling connection with the shelf b. For example, continue to refer to... Figure 12 and Figure 13 As shown, each support member 3311 is provided with a support roller 3312 at one end facing the shelf b. The support roller 3312 extends axially in the fourth direction and can roll on the shelf b beam extending in the third direction.

[0162] Figure 15 This is a schematic diagram of the warehouse robot a retrieving goods from shelf b according to this application; Figure 16 yes Figure 15 An enlarged schematic diagram of region A in the diagram.

[0163] Reference Figure 15 and Figure 16 As shown, when the telescopic mechanism 310 actuates and drives the picking and placing mechanism 320 to extend, the first drive assembly 332 drives the two support members 3311 to move simultaneously toward the shelf b. After the support members 3311 are supported on the crossbeam of the shelf b, the telescopic mechanism 310 continues to actuate, driving the picking and placing mechanism 320 to move. At this time, the ends of the support members 3311 slide on the crossbeam. Since the ends of the support members 3311 are equipped with supporting rollers 3312, the supporting rollers 3312 will contact the crossbeam of the shelf b. The two are in contact with rolling friction, which can reduce damage to the crossbeam of the shelf b and improve the smoothness of the support members when moving on the shelf.

[0164] In other examples, the support member 3311 has a guide wheel at its end facing the shelf b. The guide wheel's axis is vertically upward, and it protrudes further out of the supporting roller 3312 in the fourth direction, closer to the shelf b. When the first drive assembly 332 drives the support member 3311 to extend and support itself on the crossbeam, the guide wheel can abut against the side wall of the crossbeam and roll along the side wall, reducing friction with the side wall of the crossbeam and facilitating smooth movement of the support member 3311 in the fourth direction.

[0165] like Figures 12 to 14 As shown, the picking and placing mechanism 320 includes a base 321, a picking and placing component 322, and a second drive component 323. The base 321 serves as the mounting base for the components and is located at the moving end of the telescopic mechanism 310. The support mechanism 330 and the first drive component 332 are both mounted on the base 321. The picking and placing component 322 is connected to the base 321, and the second drive component 323 is mounted on the base 321. The second drive component 323 drives the picking and placing component 322 to move in a fourth direction. The picking and placing component 322 is used to hook or push goods. Specifically, when retrieving goods from a storage location, the second drive component 323 drives the picking and placing component 322 to move towards the storage location on shelf b and hook the goods.

[0166] like Figure 12 and Figure 13 As shown, specifically and exemplary, the goods handling assembly 322 includes a telescopic moving assembly 3221, a push-pull assembly 3222, and a third drive assembly 3223. The telescopic moving assembly 3221 is slidably connected to the base 321 via a slide rail slider assembly, and can slide out or retract from the base 321. The push-pull assembly 3222 is slidably disposed on the telescopic moving assembly 3221 via the slide rail slider assembly, and can slide along the telescopic moving assembly 3221 in a second direction. The third drive assembly 3223 is disposed on the telescopic moving assembly 3221 and connected to the push-pull assembly 3222, and can drive the push-pull assembly 3221 to move in the second direction, thereby selectively pulling goods onto the telescopic moving assembly 3221.

[0167] When retrieving goods, the second drive assembly 323 drives the telescopic moving assembly 3221 to extend to the bottom or side of the goods, allowing the push-pull assembly 3222 to move from the telescopic moving assembly 3221 to the bottom or side of the goods. The push-pull assembly 3222 then hooks onto the bottom or side of the goods. The third drive assembly 3223 then drives the push-pull assembly 3221 towards the base 321, pulling the goods onto the telescopic moving assembly 3221. Next, the second drive assembly 323 drives the telescopic moving assembly 3221 to retract, and the push-pull assembly 3222 brings the goods back to the base 321. The telescopic moving assembly 3221 is bidirectionally telescopic, extending to the storage locations on both sides of the shelf b. Exemplarily, the telescopic moving assembly 3221 can be a single-stage telescopic component or a multi-stage telescopic component; this is prior art and will not be described in detail further.

[0168] Figure 17 yes Figure 12 A schematic diagram of the push-pull component 3222 in the middle.

[0169] Reference Figure 17 As shown, exemplarily, the push-pull assembly 3222 includes a connecting frame 3222a and a picking / placing module 3222b. The connecting frame 3222a is mounted on the telescopic moving assembly 3221 via a slide rail slider 150 assembly. The picking / placing module 3222b is mounted on the connecting frame 3222a and can selectively connect to goods. A third drive assembly 3223 is mounted on the telescopic moving assembly 3221 and can drive the connecting frame 3222a to move in a fourth direction, thereby moving the picking / placing module 3222b. During the movement of the picking / placing module 3222b, it can push and pull goods, thereby pulling goods from the shelf b onto the telescopic moving assembly 3221 or pushing goods into a storage location on the shelf b.

[0170] In some examples, at least two pick-and-place modules 3222b are spaced apart along a third direction on the connecting frame 3222a, and these at least two modules are used to jointly push and pull the goods. It is understood that the spaced-apart pick-and-place modules 3222b can simultaneously push and pull the goods to multiple positions, thereby preventing the goods from rotating during pulling and ensuring the stability of the goods' movement. Figures 12 to 14 as well as Figure 17 and Figure 18 As shown in these examples, the push-pull assembly 3222 has two loading and unloading modules 3222b, which are spaced apart on the connecting frame 3222a.

[0171] The loading / unloading module 3222b includes a claw 3222b1 and a claw driver 3222b2. The claw driver 3222b2 is mounted on the connecting frame 3222a. The claw 3222b1 is connected to the claw driver 3222b2, and the claw driver 3222b2 can selectively drive the claw 3222b1 to selectively connect with the goods. For example, the claw driver 3222b2 can be a servo motor with its drive shaft arranged in the fourth direction, and the claw 3222b1 is mounted on the drive shaft of the servo motor. When the servo motor rotates, the claw 3222b1 can rotate, engaging or disengaging with the loading gripper on the side of the goods during rotation.

[0172] Additionally, for example, the bottom of the connecting frame 1222a is provided with teeth, and the third drive component 3223 is configured with an external toothed synchronous belt drive component. The teeth at the bottom of the connecting frame 1222a can engage with the teeth of the external toothed synchronous belt, thereby enabling the external toothed synchronous belt drive component to drive the connecting frame 1222a to move in the fourth direction. The external toothed synchronous belt drive component and the teeth that engage with it are both prior art and will not be described in detail further.

[0173] Figure 18 yes Figure 11 A schematic diagram of the first structure of the telescopic mechanism 310 in the middle; Figure 19 yes Figure 18 The second structural schematic diagram of the telescopic mechanism 310.

[0174] Reference Figure 18 and Figure 19 As shown, in some examples, the telescopic mechanism 300 is configured as a multi-stage telescopic structure and can move bidirectionally relative to the shelf b. The moving end is the end of the telescopic mechanism 310 that moves relative to the shelf b. Its moving end can extend to both sides of the rack b along a third direction, and on each side, the moving end can move two storage positions along the third direction. Thus, in the third direction, the telescopic mechanism 300 can cover four storage positions on both sides of the rack 220. In addition, since the picking and placing mechanism 320 can move bidirectionally in the fourth direction and pick up and place goods on the shelves b on both sides of the aisle, the combination of the telescopic mechanism 310 and the picking and placing mechanism 320 can cover eight storage positions in the front, back, left, and right directions, realizing a wide range of goods picking.

[0175] For example, the telescopic mechanism 300 includes a base 311, a telescopic drive assembly 312, and a multi-stage telescopic assembly 313. The base 311 is fixedly connected to the chassis unit 100. The telescopic drive assembly 312 is disposed on the base 311, and the multi-stage telescopic assembly 313 is slidably disposed on the base 311. The telescopic drive assembly 312 is connected to the multi-stage telescopic assembly 313 and can drive the multi-stage telescopic assembly 313 to extend to both sides in a third direction. The multi-stage telescopic assembly 313 can adopt a structure of multiple cantilever arms that are slidably connected in sequence, and the telescopic drive assembly 312 can adopt a structure of electric actuators or cylinders. The telescopic drive assembly 312 can drive the multi-stage telescopic assembly 313 to extend and retract in a third direction. By adjusting the extension and retraction stroke of the multi-stage telescopic assembly 313 during design, the coverage of four cargo positions in the third direction in the above embodiment can be satisfied.

[0176] Appendix Figure 18 A structural form of the multi-stage telescopic assembly 313 is shown. In this embodiment, the multi-stage telescopic assembly 313 includes a first cantilever 3131, a second cantilever 3132, and a third cantilever 3133 that are slidably connected in sequence. The first cantilever 3131 is slidably connected to the base 311, and the loading and unloading mechanism 320 is mounted on the third cantilever 3133. In addition, the base 311, the first cantilever 3131, the second cantilever 3132, and the third cantilever 3133 all have opposing first and second ends. When the multi-stage telescopic assembly 313 is in a folded state, the first ends of the first cantilever 3131, the second cantilever 3132, and the third cantilever 3133 are close to each other, and the second ends of the first cantilever 3131, the second cantilever 3132, and the third cantilever 3133 are also close to each other.

[0177] In addition, guide wheels are rotatably provided at the first and second ends of the first cantilever 3131, the first and second ends of the second cantilever 3132, and the first and second ends of the third cantilever 3133. The multi-stage telescopic assembly 313 also includes a flexible component, which can be composed of multiple belts or wire ropes. Taking belts as an example, a belt is fixedly connected to the first end of the first cantilever 3131, and this belt passes over the guide wheel at the second end of the second cantilever 3132 and is then fixed to the first end of the third cantilever 3133; a belt is fixedly connected to the second end of the first cantilever 3131, and this belt passes over the guide wheel at the first end of the second cantilever 3132 and is then fixed to the second end of the third cantilever 3133; a belt is fixedly connected to the first end of the base 311, and this belt passes over the guide wheel at the second end of the first cantilever 3131 and is then fixed to the first end of the second cantilever 3132; a belt is fixedly connected to the second end of the base 311, and this belt passes over the guide wheel at the first end of the first cantilever 3131 and is then fixed to the second end of the second cantilever 3132.

[0178] During the movement of the multi-stage telescopic assembly 313 from a folded state to an extended state along the first direction, the telescopic drive assembly 312 drives the first cantilever 3131 to move along the first direction. The first cantilever 3131 drives the second cantilever 3132 to move synchronously in the same direction via a belt that passes around the guide wheel of the first cantilever 3131. The second cantilever 3132 drives the third cantilever 3133 to move synchronously in the same direction via a belt that passes around the guide wheel of the second cantilever 3132. In the above structure, the movement of the second cantilever 3132 and the third cantilever 3133 does not require additional drive components, which simplifies the structure and reduces the weight of the telescopic mechanism 110.

[0179] like Figure 19 As shown, in another embodiment of this application, the base 311 includes a first body 3111 and second bodies 3112 disposed on both sides of the first body 3111 along the first direction. Each second body 3112 is provided with a multi-stage telescopic assembly 313. The telescopic drive assembly 312 includes a transmission member 3121 and a drive unit 3122. The first cantilever 3131 is slidably connected to the second body 3112. The transmission member 3121 is movably disposed on the first body 3111 and is drively connected to each multi-stage telescopic assembly 313. The drive unit 3122 is disposed on the first body 3111 and is drively connected to the transmission member 3121. The drive unit 3122 drives the aforementioned multi-stage telescopic assembly 113 to extend and retract via the transmission member 3121.

[0180] In this embodiment, both the first body 3111 and the second body 3121 extend along a third direction, and are spaced apart in a fourth direction. Each second body 3121 is provided with a multi-stage telescopic component 313 as described in the above embodiment. Furthermore, the transmission member 3121 is configured as a flat plate structure, and its two ends in the fourth direction are respectively fixedly connected to the first cantilever 3131 of the two multi-stage telescopic components 313, so that the two multi-stage telescopic components 313 can extend and retract synchronously. Additionally, a drive unit 3122 is provided on the first body 3111, which can drive the transmission member 3121 to move along the first direction, causing the multi-stage telescopic components 313 on both sides of it to extend and retract simultaneously. For example, the drive unit 3122 can adopt a structure such as an electric actuator. With the above structure, compared with the prior art, which uses a drive motor to drive the transmission shaft and drives the multi-stage telescopic assembly 313 to extend and retract through the transmission shaft and other transmission components, this application arranges the telescopic drive assembly 313 in the middle, and the telescopic drive assembly 312 and the multi-stage telescopic assembly 313 are offset in the fourth direction. In addition, the use of a flat transmission component 3121 can better utilize the installation space, reduce the overall thickness of the picking and placing device, and help to miniaturize and lighten the picking and placing device.

[0181] In another embodiment of this application, the drive unit 3122 includes an external toothed synchronous belt wound around the first body 3111. The external toothed synchronous belt can rotate cyclically in a third direction. The first body 3111 is also provided with a motor to drive the external toothed synchronous belt to rotate. In addition, the bottom of the transmission member 3121 is provided with a rack, which can mesh with the teeth of the external toothed synchronous belt. When the external toothed synchronous belt rotates, the external toothed synchronous belt can drive the transmission member to move in a third direction, thereby driving the multi-stage telescopic assembly to extend and retract in a third direction.

[0182] Additionally, the picking and placing unit 300 also includes a detection component 340, which is disposed at the end of the telescopic moving assembly 3221 extending in the fourth direction. The detection component 340 is used to detect the position of the goods or storage location, thereby enabling the push-pull assembly 3222 of the picking and placing mechanism 320 to accurately pick up and place the goods. For example, the detection component 340 may be a photoelectric detection sensor.

[0183] Secondly, embodiments of this application provide a warehousing system, including shelves b and a warehousing robot a as described in any of the first aspects. An aisle is provided between at least two adjacent shelves b. Each shelf b includes a shelf body 500 and a climbing assembly. Specifically, the climbing assembly is provided on the side of the shelf b facing the aisle; the warehousing robot a can climb, move up and down along the climbing assembly provided on the shelf b to retrieve and place goods. This warehousing system includes the warehousing robot a in any of the above-described technical solutions, and therefore possesses all the beneficial effects of the warehousing robot a in any of the above-described technical solutions, which will not be elaborated further here.

[0184] Figure 20 This is a schematic diagram of shelf b in a storage system provided in one embodiment of this application.

[0185] Reference Figure 20 As shown, for example, the shelf b includes a connected beam 510 and a column 520, the beam 510 being disposed on the side of the column 520 facing the aisle, and a climbing assembly being disposed on the column 520 or the beam.

[0186] Figure 21 yes Figure 20 A schematic diagram of beam b of the shelf.

[0187] Reference Figure 21 As shown, in some examples, a first support portion 511 and a second support portion 512 protrude from the side of the beam 510 facing the aisle. The first support portion 511 is used to connect with the storage robot to support the storage robot, and the second support portion 512 is used to support the goods.

[0188] Continue to refer to Figure 21As shown, the crossbeam 510 includes a connecting portion 513 extending horizontally, which is used for fixed connection with the column 520. A first support portion 511 is fixedly disposed on the connecting portion 513. In some examples, the first support portion 511 and the connecting portion 513 are integrally rolled, and the first support portion 511 is configured as a flange protruding from the connecting portion 513. In other examples, the first support portion 511 and the connecting portion 513 are two separate components, and the first support portion 511 can be fixedly mounted on the connecting portion 513 by multiple fixing bolts.

[0189] Continue to refer to Figure 21 As shown, the second support portion 512 is located above the first support portion 511 and is used to support goods. Exemplarily, the second support portion 512 is configured as a flange protruding from the connecting portion 513. In some examples, the second support portion 512 is integrally rolled with the connecting portion 513; in other examples, the second support portion 512 is fixedly mounted to the connecting portion 513 by a plurality of fixing bolts.

[0190] In some examples, the crossbeam 510 also includes a guide portion 514 extending inclined towards the ground (i.e., downwards), which is fixedly connected to one end of the first support portion 511 away from the connecting portion 513 and the other end of the second support portion 512 away from the connecting portion 513. This connection can be made, for example, by welding. The guide portion 514 serves a guiding function; specifically, even if the height of the goods is slightly lower than the height of the storage location, the goods can still enter and exit the storage location under the guidance of the guide portion 514, improving the accuracy and tolerance of goods storage. Similarly, even if there is a slight deviation in the height of the support mechanism 330 of the warehouse robot a, the support mechanism 330 can move to the second support portion 512 under the guidance of the guide portion 514, improving the tolerance of positional accuracy when the warehouse robot picks up and places goods.

[0191] In some examples, the climbing assembly includes a first guide rail c and a second guide rail d located on both sides of the tunnel, both of which extend vertically.

[0192] The first guide rail c is configured to include a column 520 of the shelf b near the aisle side and a rack provided on the column 520, and the second guide rail d is configured to be a column 520 of the shelf b on the other side of the aisle opposite to the first guide rail c.

[0193] The climbing unit 200 of the warehouse robot a is respectively engaged with the first guide rail c and the second guide rail d to limit the horizontal displacement of the warehouse robot a. The climbing unit 200 is connected to the rack and pinion transmission on the column 520. The warehouse robot a moves along the first guide rail c under the drive of its climbing unit 200.

[0194] 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.

[0195] 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 warehouse robot for climbing shelves (b) in an aisle, wherein the shelves (b) on both sides of the aisle are equipped with climbing cooperation components, characterized in that, The warehouse robots include: Chassis unit (100); A climbing unit (200) is connected to the chassis unit (100). The climbing unit (200) can cooperate with the climbing engagement assembly to drive the chassis unit (100) to rise and fall along the climbing engagement assembly. The loading and unloading unit (300) is connected to the chassis unit (100); The chassis unit (100) can drive the climbing unit (200) and the picking and placing unit (300) to move to the climbing assembly. The climbing unit (200) drives the chassis unit (100) and the picking and placing unit (300) to move along the climbing assembly to a specified height. The picking and placing unit (300) picks and places goods from the shelf (b).

2. The warehouse robot according to claim 1, characterized in that, The chassis unit (100) includes a lifting assembly (110). The climbing unit (200) is connected to the upper part of the lifting assembly (110), and the lifting assembly (110) can control the climbing unit (200) to rise and fall so that the climbing unit (200) can selectively connect with the climbing engagement assembly.

3. The warehouse robot according to claim 2, characterized in that, The lifting assembly (110) is configured as a scissor lift assembly; And / or, the chassis unit (100) includes a first chassis portion (120) and a second chassis portion (130). The first chassis part (120) is hinged to the second chassis part (130), and one end of the lifting assembly (110) is movably connected to the first chassis part (120), and the other end is hinged to the second chassis part (130).

4. The warehouse robot according to claim 2, characterized in that, The warehouse robot also includes a flexible component (400) connected to the climbing unit (200); When the lifting assembly (110) is in a low position, the lower end of the elastic assembly (400) can abut against the chassis unit (100).

5. The warehouse robot according to any one of claims 1-4, characterized in that, The climbing assembly includes a first guide rail (c) and a second guide rail (d), which are respectively vertically arranged on both sides of the tunnel. The climbing unit (200) includes: The climbing mechanism (210) is connected to one side of the chassis unit (100) in the horizontal direction. The climbing mechanism (210) can dock with the first guide rail (c) and drive the chassis unit (100) to move along the first guide rail (c). A limiting mechanism (230) is connected to the other side of the chassis unit (100) in the horizontal direction. The limiting mechanism (230) can dock with the second guide rail (d) and move along the second guide rail (d). The limiting mechanism (230) is used to limit the displacement of the warehouse robot in a direction perpendicular to the extension direction of the second guide rail (d).

6. The warehouse robot according to claim 5, characterized in that, The climbing mechanism (210) includes a climbing drive assembly (211) which is connected to the chassis unit (100). The climbing drive assembly (211) is capable of engaging with the first guide rail (c) and driving the chassis unit (100) to move along the first guide rail (c).

7. The warehouse robot according to claim 6, characterized in that, The climbing mechanism (210) also includes: The first frame (212) is connected to one side of the chassis unit (100) in the horizontal direction, and the climbing drive assembly (211) is located on the first frame (212) at one end away from the chassis unit (100); A climbing limiting component (213) is provided on the first frame (212). The climbing limiting component (213) is used to press against the outer wall of the first guide rail (c) to limit the displacement of the chassis unit (100) in a direction perpendicular to the extension direction of the first guide rail (c).

8. The warehouse robot according to claim 7, characterized in that, The climbing limiting component (213) includes: At least two first limiting wheels (2131) are arranged opposite each other, and the axial direction of the first limiting wheels (2131) extends along a first direction; at least two first limiting wheels (2131) respectively abut against opposite sides of the first guide rail (c); At least two opposing second limiting wheels (2132) are provided, and the axial direction of the second limiting wheels (2132) extends along a second direction; at least two second limiting wheels (2132) respectively press against opposite sides of the first guide rail (c); Wherein, both the first direction and the second direction are perpendicular to the first guide rail (c), and the first direction is perpendicular to the second direction.

9. The warehouse robot according to claim 7, characterized in that, The climbing mechanism (210) also includes a fall protection component (214), which is disposed on the first frame (212); When the first frame (212) falls, the anti-fall component (214) can lock into the first guide rail (c).

10. The warehouse robot according to claim 9, characterized in that, The fall arrestor assembly (214) includes a snap-fit ​​member (2141) and a fall arrestor elastic member; One end of the snap-fit ​​member (2141) is hinged to the first frame (212), and one end of the anti-fall elastic member is connected to the first frame (212), and the other end is connected to the snap-fit ​​member (2141); When the first frame (212) falls, the anti-fall elastic element can drive the locking element (2141) to rotate upward and lock into the first guide rail (c).

11. The warehouse robot according to claim 7, characterized in that, The climbing unit (200) further includes a first detection component (240) disposed on the first frame (212), the first detection component (240) being used to detect whether the climbing drive component (211) has been connected to the first guide rail (c); And / or, the climbing unit (200) further includes a second detection component (250) disposed on the limiting mechanism (230), the second detection component (250) being used to detect whether the limiting mechanism (230) has been engaged and connected with the second guide rail (d).

12. The warehouse robot according to claim 5, characterized in that, The limiting mechanism (230) includes a second frame (231) which is floatingly connected to the chassis unit (100) so that the second frame (231) can float relative to the chassis unit (100) in a second direction; The limiting mechanism (230) further includes at least two third limiting wheels (232), which are arranged opposite to each other and spaced apart on the second frame (231) along the second direction. The at least two third limiting wheels (232) can press against the opposite sides of the second guide rail (d) respectively.

13. The warehouse robot according to any one of claims 1-4, characterized in that, The picking and placing unit (300) includes: Telescopic mechanism (310), connected to the chassis unit (100), the telescopic mechanism (310) having a movable end that moves in a third direction; The picking and placing mechanism (320) is connected to the movable end of the telescopic mechanism (310), and the picking and placing mechanism (320) is configured to pick up or push goods in a fourth direction; At least one support mechanism (330) is provided on the mobile end, the support mechanism (330) being configured to support the shelf (b) to support the picking and placing mechanism (320). The third direction is perpendicular to the fourth direction.

14. The warehouse robot according to claim 13, characterized in that, The support mechanism (330) includes: A support assembly (331) is connected to the loading and unloading mechanism (320), and the support assembly (331) is configured to move along the fourth direction; The first drive component (332) is connected to the support component (331) in a transmission manner to drive the support component (331) to move.

15. The warehouse robot as described in claim 14, characterized in that, The support assembly (331) includes two support members (3311), which are slidably connected to the picking and placing mechanism (320). The first drive assembly (332) is connected to the two support members (3311) respectively and drives the two support members (3311) to move towards each other or away from each other at the same time. And / or, the support assembly (331) is provided with supporting rollers (3312), and when the support assembly (331) is supported on the shelf (b), the supporting rollers (3312) are tactilely connected to the shelf (b).

16. The warehouse robot according to claim 13, characterized in that, The telescopic mechanism (310) is configured to move bidirectionally relative to the chassis unit (100) in the third direction.

17. The warehouse robot according to claim 13, characterized in that, The telescopic mechanism (310) includes: A base (311) is used to connect to the chassis unit (100); A telescopic drive assembly (312) is disposed on the base (311); A multi-level telescopic component (313) is slidably disposed on the base (311), and the movable end is disposed on the multi-level telescopic component (313). The telescopic drive component (312) can drive the movable end of the multi-level telescopic component (313) to extend to both sides along the third direction.

18. The warehouse robot as described in claim 17, characterized in that, The multi-stage telescopic assembly (313) includes a first cantilever (3131), a second cantilever (3132) and a third cantilever (3133) that are slidably connected in sequence. The first cantilever (3131) is slidably connected to the base (311) and is drive-connected to the telescopic drive assembly (312), and the moving end is formed on the third cantilever (3133); The base (311), the first cantilever (3131), the second cantilever (3132) and the third cantilever (3133) are connected by flexible components, and the first cantilever (3131), the second cantilever (3132) and the third cantilever (3133) move synchronously in the same direction.

19. The warehouse robot as described in claim 17 or 18, characterized in that, The base (311) includes a first body (3111) and second bodies (3112) disposed on both sides of the first body (3111) along the fourth direction, each of the second bodies (3112) being slidably connected to the corresponding multi-level telescopic component (313). The telescopic drive assembly (312) includes: A transmission component (3121) is movably mounted on the first body (3111), and the transmission component (3121) is connected in transmission to each of the multi-stage telescopic components (313). The drive unit (3122) is disposed on the first body (3111) and is connected to the transmission member (3121) in a transmission manner.

20. The warehouse robot as claimed in any one of claims 13, characterized in that, The picking and placing mechanism (320) includes: The base (321) is connected to the movable end of the telescopic mechanism (310); The cargo handling assembly (322) is movably mounted on the base (321); A second drive assembly (323) is disposed on the base (321), and the second drive assembly (323) is used to drive the second drive assembly (323) to pick up and put down goods; The cargo handling assembly (322) includes: The telescopic moving component (3221) is slidably connected to the base (321), and the second driving component (323) can drive the telescopic moving component (3221) to extend or retract along the fourth direction; A push-pull assembly (3222) is slidably connected to the telescopic moving assembly (3221), and the push-pull assembly (3222) is used to engage with the bottom of the goods to hook or push the goods; A third drive assembly (3223) is disposed on the telescopic moving assembly (3221), and the third drive assembly (3223) is used to drive the push-pull assembly (3222) to move along the fourth direction.

21. The warehouse robot according to claim 20, characterized in that, The push-pull assembly (3222) includes: A connecting frame (3222a) is movably mounted on the telescopic moving assembly (3221), and the third driving assembly (3223) is connected to the connecting frame (3222a) in a transmission manner; At least two picking and placing modules (3222b); each picking and placing module (3222b) includes a claw (3222b1) and a claw driver (3222b2), the claw driver (3222b2) being disposed on the connecting frame (3222a), and the claw driver (3222b2) being kinetically connected to the claw (3222b1) to drive the claw (3222b1) to rotate.

22. A warehousing system, characterized in that, include: A shelving unit (b) is provided with an aisle between at least two adjacent shelving units (b), and the shelving units (b) on both sides of the aisle are provided with climbing assembly components; The warehouse robot (a) according to any one of claims 1-21 is capable of climbing and moving up and down along a climbing assembly provided on the shelf (b) to pick up and put down goods.

23. The warehousing system as described in claim 22, characterized in that, The climbing assembly includes a first guide rail (c) and a second guide rail (d) disposed on both sides of the tunnel, both of which extend vertically. The first guide rail (c) includes a column (520) and a rack disposed on the column (520), and the second guide rail (d) includes a column (520). The climbing unit (200) of the warehouse robot (a) cooperates with the first guide rail (c) and the second guide rail (d) respectively to limit the horizontal displacement of the warehouse robot (a), and the climbing unit (200) is connected to the rack and pinion drive to enable the warehouse robot (a) to move along the first guide rail (c).

24. The warehousing system as described in claim 22, characterized in that, The shelving (b) includes a shelving body (500), which includes a connected beam (510) and a column (520), with the beam (510) located on the side of the column (520) facing the aisle; The climbing assembly is fixedly connected to the crossbeam (510); The crossbeam (510) has a first support part (511) and a second support part (512) protruding on the side facing the alley. The first support part (511) is used to cooperate with the storage robot (a) to support the storage robot (a), and the second support part (512) is used to support the goods.

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