Warehouse system

Abstract

The present disclosure provides a warehouse system, comprising: at least one rack having a guide rail extending along a first direction; a robot comprising: a walking stand translatably disposed on the guide rail along the first direction and extending along a second direction, the second direction being orthogonal to the first direction; a stage translatably disposed on the walking stand along the second direction; a first transmitting end extending along the first direction and a first receiving end disposed on the walking stand and electromagnetically coupled with the first transmitting end to supply power to the walking stand through the first transmitting end; and / or a second transmitting end disposed on the walking stand and a second receiving end disposed on the stage and electromagnetically coupled with the second transmitting end to supply power to the stage through the second transmitting end.

Description

Technical Field

[0001] At least one embodiment of this disclosure relates to the field of warehousing equipment technology, and more particularly to a warehousing system. Background Technology

[0002] In automated warehousing systems, robots are important equipment used to access and retrieve boxes between storage locations on shelves and buffer locations. They typically consist of a traveling frame and a platform that can move up and down along the traveling frame. The traveling frame moves laterally through a moving mechanism that works in conjunction with guide rails on the shelves, while the platform moves up and down along the traveling frame to pick up and place boxes at different heights.

[0003] Currently, the power supply for traveling uprights usually adopts a contact power supply method using sliding contact lines and current collectors. That is, the sliding contact lines are laid along the shelves or guide rails, and the current collectors are fixed to the traveling uprights and draw power through sliding contact between the carbon brushes and the sliding contact lines. The power supply for the platform adopts a cable and drag chain method, which introduces the power supply cable from the traveling uprights to the electrical equipment that rises and falls with the platform.

[0004] However, the aforementioned power supply methods have several shortcomings. First, the system structure of sliding contact line power supply is complex, resulting in high construction and maintenance costs. Relying on metal sliding contact for conductivity, it is prone to malfunctions such as brush wear, poor contact, and arcing / power outages during long-term operation. Especially in cold chain warehousing, low temperatures and high humidity cause icing and condensation on the sliding contact line, leading to frequent arcing / power outages and accelerated component wear. This poses fire safety hazards, requires frequent shutdowns for maintenance, and the dust generated by metal wear can contaminate cold chain goods. The system suffers from poor stability and high operation and maintenance costs. Second, cable chains generate significant noise during operation, are difficult to lay out and plan routes for, and cables are prone to wear, tangling, and even breakage due to long-term bending and friction. Summary of the Invention

[0005] To address at least one of the aforementioned and other technical problems in the prior art, this disclosure provides a warehousing system to effectively solve at least some of the aforementioned technical problems.

[0006] This disclosure provides a storage system, comprising: at least one shelf having a guide rail extending along a first direction; a robot including: a walking frame movably disposed on the guide rail along the first direction and extending along a second direction orthogonal to the first direction; a platform movably disposed on the walking frame along the second direction; a first transmitter and a first receiver, the first transmitter extending along the first direction, the first receiver disposed on the walking frame and electromagnetically coupled to the first transmitter to supply power to the walking frame through the first transmitter; and / or, a second transmitter and a second receiver, the second transmitter disposed on the walking frame, the second receiver disposed on the platform and electromagnetically coupled to the second transmitter to supply power to the platform through the second transmitter.

[0007] According to an embodiment of this disclosure, the second transmitting end is electrically connected to the first receiving end to obtain alternating current from the first receiving end and generate an alternating magnetic field through the alternating current to perform electromagnetic coupling with the second receiving end.

[0008] According to an embodiment of this disclosure, the second receiving end obtains induced alternating current from the second transmitting end through electromagnetic coupling. The second receiving end is electrically connected to a rectifier and voltage regulator circuit, and the output end of the rectifier and voltage regulator circuit is electrically connected to the first electrical load of the platform, so as to convert the induced alternating current into direct current for use by the first electrical load.

[0009] According to an embodiment of this disclosure, the first receiving end includes a first power-taking coil and a second power-taking coil, which are electromagnetically coupled to the first transmitting end to independently acquire alternating current. The first power-taking coil is also electrically connected to the second transmitting end to transmit the acquired alternating current to the second transmitting end. The second power-taking coil is also electrically connected to a rectifier and voltage regulator circuit, the output of which is electrically connected to a second electrical load of the walking frame to convert the acquired alternating current into direct current for use by the second electrical load.

[0010] According to an embodiment of this disclosure, the first receiving end includes a third power-taking coil, which is electromagnetically coupled to the first transmitting end to obtain alternating current; the output end of the third power-taking coil is connected to a parallel node, which is divided into a first branch and a second branch; the first branch is electrically connected to the second transmitting end to transmit the alternating current to the second transmitting end; the second branch is electrically connected to a rectifier and voltage regulator circuit, and the output end of the rectifier and voltage regulator circuit is electrically connected to a second electrical load of the traveling frame to convert the alternating current into direct current for use by the second electrical load.

[0011] According to embodiments of this disclosure, a first gap is formed between the first receiving end and the first transmitting end, and the first gap remains constant as the traveling stand moves along the first direction; and / or, a second gap is formed between the second receiving end and the second transmitting end, and the second gap remains constant as the platform moves along the second direction.

[0012] According to an embodiment of this disclosure, the shelf includes at least two crossbeams spaced apart along the second direction, the crossbeams extending along the first direction, the first transmitting end being disposed on at least one of the crossbeams, the guide rail being disposed on the crossbeams, and the traveling frame slidingly engaging with the guide rail via traveling wheels to achieve horizontal movement along the first direction; and / or, the first transmitting end includes a first transmitting cable laid in a closed loop, the first transmitting cable extending along the first direction; and / or, the second transmitting end includes a second transmitting cable laid in a closed loop, the second transmitting cable extending along the second direction.

[0013] According to an embodiment of this disclosure, a warehousing system includes: at least two of the aforementioned shelves, which are arranged in parallel and spaced apart, with an aisle formed between adjacent shelves; at least two of the aforementioned robots are arranged opposite each other in the same aisle, each robot being disposed on one of the aforementioned shelves; a first transmitting cable is laid along the extension direction of the aisle, and portions of the first transmitting cable disposed on opposite sides of at least two of the aforementioned shelves respectively form power-receiving sections; and a first receiving end of each of the aforementioned robots is electromagnetically coupled to the power-receiving section of the first transmitting cable located on the corresponding shelf to draw power.

[0014] According to an embodiment of this disclosure, the first transmitting cable is laid on at least two sides opposite to the shelf to form a power supply section, and at least one robot is provided on each of the at least two sides opposite to the shelf; the first receiving end of at least two robots is electromagnetically coupled to the power supply section located on the same side of the shelf to obtain power.

[0015] According to embodiments of this disclosure, the robot includes a first robot and a second robot, with at least a portion of the first robot located above the second robot; the first robot and the second robot are disposed on the same side of one of the aforementioned shelves, the first transmitting cable extends along the aforementioned second direction and folds back to form a loop, and the first robot and the second robot respectively electromagnetically couple to power receiving sections at different heights of the same first transmitting cable; or, the first robot is disposed in one of two adjacent shelves, the second robot is disposed in the other of two adjacent shelves, and the first robot and the second robot are located in the same aisle; the first transmitting cable is laid along the extension direction of the aisle and extends and folds back along the aforementioned second direction to form a loop between two adjacent shelves, and the first robot and the second robot respectively electromagnetically couple to power receiving sections at different heights of the first transmitting cable.

[0016] According to the illustrative embodiments of this disclosure, a warehousing system is provided. In this warehousing system, a first transmitter extends along a first direction, and a first receiver is disposed on a traveling frame and electromagnetically coupled to the first transmitter to supply power to the traveling frame; and / or, a second transmitter is disposed on the traveling frame, and a second receiver is disposed on a platform and electromagnetically coupled to the second transmitter to supply power to the platform. Thus, during the translation of the traveling frame along the guide rail and / or the lifting and lowering of the platform along the traveling frame, electrical energy can be continuously obtained in a non-contact manner through electromagnetic coupling, realizing dynamic wireless power supply for at least one stage of the robot's two-stage motion structure.

[0017] Based on the above solution, the original contact power supply using sliding contact lines and / or cable drag chains has been replaced with electromagnetic coupling non-contact power supply. This eliminates the need for metal sliding contact and the reciprocating bending of the drag chain to supply energy, thus eliminating potential faults associated with contact power supply, such as brush wear, poor contact, and arcing / power outages. It also avoids problems like high drag chain noise and cable wear and tangling. Furthermore, because the gap between the receiver and transmitter can remain constant, this warehousing system is particularly suitable for high-humidity, condensation-prone environments such as cold chain logistics, which helps improve system stability and reduce maintenance costs. Attached Figure Description

[0018] Figure 1 A schematic diagram of the structure of a warehousing system according to an embodiment of the present disclosure is shown.

[0019] Figure 2 yes Figure 1 A three-dimensional view of part A shown;

[0020] Figure 3 yes Figure 1 The 3D view of part B shown;

[0021] Figure 4 yes Figure 1 The diagram shows the power supply principle of the first transmitter and the first receiver.

[0022] Figure 5 This is a schematic diagram illustrating the electrical connection between a first receiving end and a second transmitting end in an exemplary embodiment.

[0023] Figure 6 This is a schematic diagram illustrating the electrical connection between the first receiving end and the second transmitting end in another illustrative embodiment;

[0024] Figure 7 The schematic diagram illustrates a structural schematic of a storage system according to an embodiment of the present disclosure, showing two shelves;

[0025] Figure 8 yes Figure 7The diagram shows a structural schematic of a cable support bracket that supports the first transmitting cable on a shelf.

[0026] Figure 9 This schematically illustrates a structural diagram of another warehousing system according to an embodiment of the present disclosure, showing three shelves;

[0027] Figure 10 The schematic diagram illustrates the structure of another warehousing system according to an embodiment of the present disclosure, showing a first robot and a second robot.

[0028] In the accompanying drawings, the meanings of the reference numerals are as follows:

[0029] 100. Shelves; 110. Beams;

[0030] 200. Robot;

[0031] 210. Walking frame; 220. Platform; 230. First robot; 240. Second robot; 250. Second electrical load;

[0032] 310. First transmitting end; 311. First transmitting cable;

[0033] 320. First receiving end; 321. First power extraction coil; 322. Second power extraction coil; 323. Third power extraction coil; 324. Parallel node; 325. First branch; 326. Second branch;

[0034] 410. Second transmitter; 420. Second receiver;

[0035] 500. Distribution cabinet;

[0036] 600. Rectifier and voltage regulator circuit;

[0037] 700. Cable bracket. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0039] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0040] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0041] When using expressions such as "at least one of A, B, and C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C. Similarly, when using expressions such as "at least one of A, B, or C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C.

[0042] Figure 1 A schematic diagram of the structure of a warehousing system according to an embodiment of the present disclosure is shown. Figure 2 yes Figure 1 The three-dimensional view of part A shown. Figure 3 yes Figure 1 The three-dimensional view of part B shown. Figure 4 yes Figure 1 The diagram shows the power supply principle of the first transmitter and the first receiver.

[0043] This disclosure provides a storage device, with reference to Figures 1 to 3 As shown, the system includes at least one shelf 100 and a robot 200. The at least one shelf 100 has a guide rail extending along a first direction. The robot 200 includes a traveling frame 210 and a platform 220. The traveling frame 210 is slidably disposed on the guide rail along the first direction and extends along a second direction orthogonal to the first direction. The platform 220 is slidably disposed on the traveling frame 210 along the second direction. A first transmitter 310 and a first receiver 320 are included. The first transmitter 310 extends along the first direction, and the first receiver 320 is disposed on the traveling frame 210 and electromagnetically coupled to the first transmitter 310 to supply power to the traveling frame 210 through the first transmitter 310. And / or, a second transmitter 410 and a second receiver 420, wherein the second transmitter 410 is disposed on the traveling stand 210 and the second receiver 420 is disposed on the platform 220 and is electromagnetically coupled to the second transmitter 410 so as to supply power to the platform 220 through the second transmitter 410.

[0044] Shelving 100 is a supporting structure in warehouse equipment used for storing goods. (Refer to...) Figure 1 As shown, the shelf 100 typically has multiple shelf storage locations for storing boxes; and a buffer location is also provided below the shelf 100 or in a designated area for temporarily storing boxes awaiting entry or already shipped. The robot 200 is movably positioned beside the shelf storage locations facing the shelf 100, suitable for retrieving and placing boxes between the shelf storage locations and the buffer location, thereby realizing the inbound and outbound operations of boxes.

[0045] In some illustrative embodiments, reference is made to Figure 1 As shown, to achieve the aforementioned function of picking up and placing boxes, the shelf 100 has a guide rail extending along a first direction. The walking frame 210, as a vertical support component of the robot 200, slides along the guide rail of the shelf 100 via a walking mechanism and can translate along the guide rail in the first direction. To achieve the sliding engagement between the walking frame 210 and the guide rail, the walking frame 210 can be equipped with walking wheels or sliders, and the guide rail is correspondingly configured as a track structure that engages with the walking wheels or sliders. The walking wheels or sliders are embedded in the guide rails and can roll or slide along them, thereby achieving the translation of the walking frame 210 along the first direction. The first direction can be understood as the direction in which the walking frame 210 of the robot 200 translates along the shelf, which is typically a horizontal direction in a warehousing scenario. Furthermore, the walking frame 210 extends along a second direction, which can be understood as the direction in which the walking frame 210 extends, which is typically a vertical direction in a warehousing scenario.

[0046] Furthermore, the robot 200 also includes a platform 220 disposed on the traveling frame 210, which is a component used by the robot 200 to carry or pick up / place boxes. The platform 220 can translate along the traveling frame 210 in a second direction. To realize the lifting and translating of the platform 220 along the traveling frame 210, the traveling frame 210 can be provided with a lifting track extending in the second direction, and the platform 220 is provided with a slider or roller that cooperates with the lifting track. The platform 220 is driven to slide along the lifting track by a drive mechanism (e.g., chain drive, lead screw drive, or rack and pinion drive), thereby realizing the lifting and lowering movement of the platform 220 in the second direction.

[0047] According to embodiments of this disclosure, referring to Figure 1 and Figure 2 As shown, the shelf 100 includes at least two crossbeams 110 spaced apart along a second direction. The crossbeams 110 extend along a first direction. A first launching end 310 is arranged on at least one crossbeam 110. A guide rail is provided on the crossbeam 110. The traveling upright 210 slides with the guide rail through traveling wheels to achieve horizontal movement along the first direction.

[0048] In some illustrative embodiments, reference is made to Figure 1 and 2As shown, the shelving 100 includes at least two beams 110 spaced apart along a second direction (i.e., the vertical direction), each beam 110 extending along a first direction (i.e., the horizontal direction). The beams 110 are the main load-bearing components of the shelving, typically made of shaped steel (such as I-beams, rectangular steel pipes) or aluminum alloy profiles, with their upper and lower flanges or surfaces forming support surfaces for mounting guide rails and carrying boxes. Guide rails are mounted on the beams 110 and extend along the first direction. The guide rails can be installed on the upper surface or side of the beams 110 by welding, bolting, or fixing with pressure plates, depending on the cross-sectional shape of the beams 110 and the type of guide rail. The bottom or lower end of the traveling upright 210 is equipped with traveling wheels (e.g., steel wheels or rubber-coated rollers), which roll in cooperation with the guide rails. Thus, driven by a traveling drive motor (such as a servo motor with a reducer), the traveling upright 210 rolls along the guide rails via the traveling wheels, thereby achieving horizontal movement of the traveling upright 210 along the first direction.

[0049] Based on this, refer to Figure 2 As shown, the first transmitting end 310 is disposed on the crossbeam 110 of the shelf 100 and extends along the first direction; the first receiving end 320 is disposed on the traveling frame 210, moves synchronously with the traveling frame 210, and is arranged opposite to the first transmitting end 310. The first transmitting end 310 can be understood as an electrical energy transmitting component, used to convert electrical energy into an alternating magnetic field and radiate it into space; the first receiving end 320 can be understood as an electrical energy receiving component, used to pick up electrical energy from the alternating magnetic field radiated by the first transmitting end 310 through electromagnetic coupling. Non-contact electrical energy transmission is achieved between the first transmitting end 310 and the first receiving end 320 through electromagnetic coupling, thereby supplying power to the traveling frame 210.

[0050] It should be noted that in some of the illustrative embodiments described below, the first transmitter 310 is set on the shelf 100 as an example, but the setting position of the first transmitter 310 is not limited to this.

[0051] For example, in some other illustrative embodiments, the first transmitter 310 may also be disposed on other mounting bases (such as ground foundation beams, ceiling suspension tracks, etc.) extending along the first direction and independent of the shelf 100, that is, the first transmitter 310 may be disposed on a mounting structure outside the shelf 100. In this case, the sliding guidance function of the traveling upright 210 and the power supply function of the traveling upright 210 can be realized by the guide rail and the external mounting base respectively, without having to rely on the same structure.

[0052] Alternatively, the interior of the guide rail can form a certain accommodating space, and the first transmitting end 310 can also be disposed within the accommodating space formed by the guide rail.

[0053] In some illustrative embodiments, reference is made to Figure 4As shown, the first transmitter 310 is connected to an external power supply (such as...) Figure 4 The power distribution cabinet 500 shown is electrically connected. An external power supply provides alternating current to the first transmitter 310. After the alternating current is passed through the transmitting cable (which can be in the form of a transmitting coil) in the first transmitter 310, an alternating magnetic field is generated in the space around it. The receiving coil in the first receiver 320 is placed in this alternating magnetic field, and an induced alternating current is generated in the receiving coil due to Faraday's law of electromagnetic induction. This induced alternating current is processed by the rectifier and voltage regulator circuit 600 and converted into direct current, which is then used by the second electrical load 250 (such as a walking drive motor, a lifting drive motor, a controller, etc.) on the walking frame 210.

[0054] In some illustrative embodiments, reference is made to Figure 3 As shown, the second transmitter 410 is disposed on the traveling frame 210, and the second receiver 420 is disposed on the platform 220, with the second receiver 420 arranged opposite to the second transmitter 410. The second transmitter 410 can be understood as an electrical energy transmitting component disposed on the traveling frame 210, used to convert electrical energy into an alternating magnetic field and radiate it into space; the second receiver 420 can be understood as an electrical energy receiving component disposed on the platform 220, used to pick up electrical energy from the alternating magnetic field radiated by the second transmitter 410 via electromagnetic coupling. Non-contact electrical energy transmission is achieved between the second transmitter 410 and the second receiver 420 through electromagnetic coupling, thereby supplying power to the platform 220.

[0055] Specifically, the second transmitter 410 is electrically connected to the first receiver 320 to obtain alternating current from the first receiver 320. This alternating current can originate from the electrical energy induced by the first receiver 320 from the first transmitter 310. A portion of this energy is rectified and used for the electrical load of the traveling frame 210, while the other portion is directly supplied to the second transmitter 410 in the form of alternating current. Alternatively, in some other illustrative embodiments, the second transmitter 410 can also adopt a form similar to the first transmitter 310 described above, directly connected to an external power supply. That is, the second transmitter 410 does not rely on the first receiver 320 to obtain electrical energy, but is independently powered by an external power supply. See [reference needed] for details. Figure 4 As shown, it will not be elaborated further here.

[0056] Furthermore, after the alternating current is passed through the transmitting cable in the second transmitting end 410, an alternating magnetic field is generated in the space around it; the receiving coil in the second receiving end 420 is placed in this alternating magnetic field, and an induced alternating current is generated in the receiving coil due to Faraday's law of electromagnetic induction. This induced alternating current is also processed by the rectifier and voltage regulator circuit 600 and converted into DC power to supply the first electrical load (such as a picking drive motor, sensor, etc., not shown in the figure) on the platform 220.

[0057] It should be noted that "and / or" in the above-mentioned storage equipment means that the non-contact power transmission structure formed by the first transmitter 310 and the first receiver 320, and the non-contact power transmission structure formed by the second transmitter 410 and the second receiver 420 can be configured either one or both, specifically including the following three embodiments.

[0058] In one embodiment, reference is made to... Figures 1 to 3 As shown, the storage equipment is equipped with electromagnetic coupling power supply between the first transmitter 310 and the first receiver 320, and electromagnetic coupling power supply between the second transmitter 410 and the second receiver 420. Specifically, the traveling frame 210 obtains power from the shelf side in a non-contact manner through electromagnetic coupling between the first receiver 320 and the first transmitter 310; the platform 220 obtains power from the traveling frame side in a non-contact manner through electromagnetic coupling between the second receiver 420 and the second transmitter 410.

[0059] In this embodiment, reference is made to Figure 4 As shown, an external power supply (such as a distribution cabinet 500) is electrically connected to the first transmitter 310 located on the shelf 100, providing alternating current to the first transmitter 310. When alternating current is passed through the transmitting cable in the first transmitter 310, an alternating magnetic field is generated. The receiving coil in the first receiver 320 located on the traveling frame 210 obtains induced alternating current from this alternating magnetic field through electromagnetic coupling. The induced alternating current obtained by the first receiver 320 is then divided into two paths: one path is processed by a rectifier and voltage regulator circuit 600 and converted into DC power, supplying the second electrical load 250 (such as a traveling drive motor, lifting drive motor, etc.) on the traveling frame 210; the other path is directly transmitted to the second transmitter 410 located on the traveling frame 210 in the form of alternating current. After the alternating current is passed through the transmitting cable in the second transmitting end 410, an alternating magnetic field is generated. The receiving coil in the second receiving end 420 of the platform 220 obtains the induced alternating current from the alternating magnetic field through electromagnetic coupling. The induced alternating current is processed by the rectifier and voltage regulator circuit 600 and converted into DC power to supply the first electrical load (such as a picking drive motor, sensor, etc.) on the platform 220.

[0060] Therefore, during the translation of the traveling upright 210 along the first direction, the first receiving end 320 moves synchronously with the traveling upright 210. Since the first transmitting end 310 is continuously laid on the shelf 100 along the first direction, the first receiving end 320 maintains an electromagnetic coupling relationship with the first transmitting end 310 throughout the movement, thereby achieving dynamic continuous wireless power supply for the traveling upright 210 during the translation process. Similarly, during the translation of the platform 220 along the second direction, the second receiving end 420 moves synchronously with the platform 220. Since the second transmitting end 410 is continuously laid on the traveling upright 210 along the second direction, the second receiving end 420 maintains an electromagnetic coupling relationship with the second transmitting end 410 throughout the lifting and lowering process, thereby achieving dynamic continuous wireless power supply for the platform 220 during the lifting and lowering process. This embodiment can simultaneously solve the problems of contact wear, arcing and power failure, high noise, and difficult maintenance existing in the sliding contact line power supply of the traveling upright 210 and the drag chain cable power supply of the platform 220.

[0061] In another embodiment, the storage equipment is only configured with electromagnetic coupling power supply between the first transmitter 310 and the first receiver 320, without configuring electromagnetic coupling power supply between the second transmitter 410 and the second receiver 420. That is, the traveling frame 210 obtains power from the shelf side in a non-contact manner through electromagnetic coupling between the first receiver 320 and the first transmitter 310, while the platform 220 obtains power using other power supply methods (such as conventional cable power supply). Therefore, this embodiment is suitable for scenarios where the power supply problem of the traveling frame 210's sliding contact line needs to be solved.

[0062] In another embodiment, the storage equipment is only configured with electromagnetic coupling power supply between the second transmitter 410 and the second receiver 420, without configuring electromagnetic coupling power supply between the first transmitter 310 and the first receiver 320. That is, the platform 220 obtains power from the traveling frame 210 side in a non-contact manner through electromagnetic coupling between the second receiver 420 and the second transmitter 410, while the traveling frame 210 obtains power using other power supply methods (such as traditional sliding contact line power supply). Therefore, this embodiment is suitable for scenarios requiring solutions to the power supply problem of the platform 220's drag chain cable.

[0063] Figure 5 This is a schematic diagram illustrating the electrical connection between a first receiver and a second transmitter in one exemplary embodiment. Figure 6 This is a schematic diagram illustrating the electrical connection between the first receiver and the second transmitter in another illustrative embodiment.

[0064] According to embodiments of this disclosure, referring to Figures 4 to 6 As shown, the second transmitting end 410 is electrically connected to the first receiving end 320 to obtain alternating current from the first receiving end 320 and generate an alternating magnetic field through the alternating current to perform electromagnetic coupling with the second receiving end 420.

[0065] According to embodiments of this disclosure, referring to Figures 4 to 6 As shown, the second receiving end 420 obtains the induced alternating current from the second transmitting end 410 through electromagnetic coupling. The second receiving end 420 is electrically connected to the rectifier and voltage regulator circuit 600. The output end of the rectifier and voltage regulator circuit 600 is electrically connected to the first electrical load of the platform 220 so as to convert the induced alternating current into DC power for use by the first electrical load of the platform 220.

[0066] In some illustrative embodiments, reference is made to Figures 4 to 6 As shown, the first receiver 320 obtains an induced alternating current from the alternating magnetic field of the first transmitter 310 via electromagnetic coupling. A portion of this induced alternating current is transmitted directly to the second transmitter 410 via a wire in the form of alternating current. The second transmitter 410 typically employs a coil structure. When alternating current flows through the transmitting cable, the changing current generates a changing alternating magnetic field in the surrounding space. This alternating magnetic field is continuously distributed along the laying path of the second transmitter 410. Since the second transmitter 410 is fixedly mounted on the traveling stand 210 and extends along the second direction, when the second receiver 420 moves up, down, or translates along the traveling stand 210 with the platform 220, the receiving coil in the second receiver 420 is always within the coverage area of ​​this alternating magnetic field, thereby maintaining an electromagnetic coupling relationship with the second transmitter 410 and realizing dynamic continuous wireless power supply to the platform 220 during the lifting process.

[0067] The second receiving end 420 obtains the induced alternating current from the second transmitting end 410 via electromagnetic coupling. Specifically, the receiving coil in the second receiving end 420 is placed in the alternating magnetic field generated by the second transmitting end 410. The magnetic flux through the receiving coil changes over time, thereby generating an induced electromotive force in the receiving coil; when the circuit is closed, an induced alternating current is formed. The second receiving end 420 is electrically connected to a rectifier and voltage regulator circuit 600, and this induced alternating current is converted into direct current after processing by the rectifier and voltage regulator circuit 600.

[0068] Furthermore, the aforementioned rectifier and voltage regulator circuit 600 can be constructed by sequentially connecting a rectifier circuit, a filter circuit, and a voltage regulator circuit. Specifically, the rectifier circuit can be a bridge full-wave rectifier circuit (e.g., composed of four diodes), which utilizes the unidirectional conductivity of diodes to convert alternating current into unidirectional pulsating direct current. The filter circuit can be implemented by connecting a capacitor in parallel at the output of the rectifier circuit to filter out the AC component in the pulsating direct current, making it a smoother direct current. The voltage regulator circuit can be a three-terminal voltage regulator chip (or a switching regulator), which uses voltage negative feedback to maintain a stable output voltage, overcoming voltage fluctuations caused by mains power fluctuations or load changes. The output of the rectifier and voltage regulator circuit 600 is electrically connected to the first electrical load on the platform 220, thereby supplying the converted stable direct current to the first electrical load on the platform 220 (such as a picking-up drive motor, sensor, etc.).

[0069] According to embodiments of this disclosure, referring to Figure 4 As shown, the first transmitting end 310 includes a first transmitting cable 311 laid in a closed loop, extending along a first direction. And / or, the second transmitting end 410 includes a second transmitting cable laid in a closed loop, extending along a second direction.

[0070] According to embodiments of this disclosure, referring to Figure 4 As shown, a first gap is formed between the first receiving end 320 and the first transmitting end 310, and the gap is translated along the first direction with the traveling stand 210, while the size of the first gap remains constant. And / or, a second gap is formed between the second receiving end 420 and the second transmitting end 410, and the gap is translated along the second direction with the platform 220, while the size of the second gap remains constant.

[0071] In some illustrative embodiments, reference is made to Figure 4 As shown, the first transmitting end 310 includes a first transmitting cable 311 laid in a closed loop, and the second transmitting end 410 includes a second transmitting cable laid in a closed loop. Specifically, the first transmitting cable 311 extends along a first direction on the shelf 100, and the cable folds back after reaching its end, thus forming a closed loop. This closed loop can be installed near the same crossbeam 110 of the shelf 100, so that the cable forms a continuous energy transmission path along the first direction. The second transmitting cable extends along a second direction on the traveling upright 210, and similar to the first transmitting cable 311, it folds back after reaching its end to form a closed loop, thus forming a continuous energy transmission path along the second direction. When alternating current is applied to the transmitting cable, an alternating magnetic field is generated in the space around the cable, providing an electromagnetic coupling energy source for the power extraction coil.

[0072] Based on this, the power-collecting coil in the first receiver 320 and the first transmitting cable 311 must maintain a relatively fixed positional relationship. Specifically, the power-collecting coil is arranged along the extension direction of the first transmitting cable 311, forming a first gap with the first transmitting cable 311. Since the power-collecting coil is set on the traveling frame 210, when the traveling frame 210 moves in the first direction, the power-collecting coil moves synchronously with the traveling frame 210; while the first transmitting cable 311 is continuously laid along the shelf 100, the power-collecting coil always maintains the first gap with the first transmitting cable 311 during the movement, thereby ensuring the stability of the electromagnetic coupling coefficient between the two. Similarly, the power-collecting coil in the second receiver 420 forms a second gap with the second transmitting cable. Since the second transmitting cable is fixedly set on the traveling frame 210 and extends in the second direction, when the second receiver 420 moves up and down with the platform 220 in the second direction, the power-collecting coil always maintains the second gap with the second transmitting cable, thereby ensuring the stability of electromagnetic coupling during the lifting process.

[0073] Furthermore, to ensure that the gap between the first transmitting cable 311 and the second transmitting cable and their corresponding receiving ends remains constant in their respective extension directions, both can be fixed to the guide rail and the traveling stand 210 respectively using cable clamps. The cable clamp has a fixing part and a clamping part. The fixing part is used to connect to the guide rail or the traveling stand 210, while the clamping part is fixed to the fixing part and used to clamp the cable. The clamping part typically consists of two opposing clamping bodies (e.g., an upper clamping body and a lower clamping body), with arc-shaped grooves matching the outer diameter of the cable formed on their opposing surfaces. When the two clamping bodies are closed, their respective arc-shaped grooves together form a clamping hole to accommodate and clamp the cable, thereby ensuring that the cable's position relative to the mounting carrier is accurate and stable.

[0074] According to an illustrative embodiment of this disclosure, referring to Figure 5 As shown, the first receiving end 320 includes a first power-taking coil 321 and a second power-taking coil 322. The first power-taking coil 321 and the second power-taking coil 322 are electromagnetically coupled to the first transmitting end 310 to independently acquire alternating current. The first power-taking coil 321 is also electrically connected to the second transmitting end 410 to transmit the acquired alternating current to the second transmitting end 410. The second power-taking coil 322 is also electrically connected to a rectifier and voltage regulator circuit 600. The output terminal of the rectifier and voltage regulator circuit 600 is electrically connected to the second electrical load 250 of the traveling frame 210 to convert the acquired alternating current into direct current for use by the second electrical load 250 of the traveling frame 210.

[0075] In some illustrative embodiments, reference is made to Figure 5As shown, the first receiving end 320 includes a first power-taking coil 321 and a second power-taking coil 322. A first transmitting cable 311 is laid on the shelf 100, and its two ends are electrically connected to the power distribution cabinet 500 via wires. The power distribution cabinet 500 provides alternating current to the first transmitting cable 311, and the alternating current generates an alternating magnetic field in the space around the first transmitting cable 311. Furthermore, the first power-taking coil 321 and the second power-taking coil 322 are each independently mounted on the traveling frame 210, and both are within the alternating magnetic field generated by the first transmitting cable 311.

[0076] When the walking frame 210 moves along the first direction, the two power-collecting coils move synchronously with it. Because the first transmitting cable 311 is continuously laid along the first direction, the two power-collecting coils are always within the coverage of the alternating magnetic field during the movement, thereby generating induced alternating currents through electromagnetic induction. The two ends of the first power-collecting coil 321 are led out through wires and electrically connected to the input end of the second transmitting end 410 (i.e., the second transmitting cable) to directly transmit the acquired alternating current to the second transmitting cable for use in generating the alternating magnetic field. The two ends of the second power-collecting coil 322 are also led out through wires and electrically connected to the input end of the rectifier and voltage regulator circuit 600 (similar to the above embodiment, and will not be described again here). The output end of the rectifier and voltage regulator circuit 600 is electrically connected to the second electrical load 250 of the walking frame 210 through wires to convert the acquired alternating current into direct current for use by the second electrical load 250 of the walking frame 210 (such as a walking drive motor, a lifting drive motor, a controller, etc.).

[0077] In this implementation, the first power-taking coil 321 and the second power-taking coil 322 independently obtain power from the same first transmitting cable 311, each undertaking different power supply tasks. The two power supplies are electrically isolated from each other and do not interfere with each other. Changes in the load of one line will not affect the power supply stability of the other line.

[0078] According to another illustrative embodiment of this disclosure, referring to Figure 6 As shown, the first receiving end 320 includes a third power-taking coil 323, which is electromagnetically coupled to the first transmitting end 310 to obtain alternating current. The output end of the third power-taking coil 323 is connected to a parallel node 324, which is divided into a first branch 325 and a second branch 326. The first branch 325 is electrically connected to the second transmitting end 410 to transmit the alternating current to the second transmitting end 410. The second branch 326 is electrically connected to a rectifier and voltage regulator circuit 600, the output end of which is electrically connected to the second electrical load 250 of the traveling frame 210 to convert the alternating current into direct current for use by the second electrical load 250 of the traveling frame 210.

[0079] In other illustrative embodiments, reference is made to... Figure 6 As shown, the first receiving end 320 includes a third power-taking coil 323. This third power-taking coil 323 is disposed on the traveling support 210 to obtain alternating current from the alternating magnetic field of the first transmitting cable 311 via electromagnetic coupling. Furthermore, the two ends of the third power-taking coil 323 are led out via wires and connected to a parallel node 324, which (specifically, may be a terminal block or a soldered node) divides the circuit into a first branch 325 and a second branch 326.

[0080] Based on this, the first branch 325 is electrically connected to the input end of the second transmitting cable via a wire to directly transmit alternating current to the second transmitting cable for generating an alternating magnetic field. The second branch 326 is electrically connected to the input end of the rectifier and voltage regulator circuit 600 (similar to the above embodiment, and will not be described again here) via a wire. The output end of the rectifier and voltage regulator circuit 600 is electrically connected to the second electrical load 250 of the traveling frame 210 via a wire to convert the alternating current into direct current for use by the second electrical load 250 of the traveling frame 210.

[0081] In this implementation, only a single power-collecting coil is used to obtain power from the first transmitting cable 311. The obtained alternating current simultaneously supplies power to both the second transmitting cable and the load of the traveling support frame 210 at the parallel node 324. Compared with the above implementation that simultaneously sets up the first power-collecting coil 321 and the second power-collecting coil 322, this implementation only requires the arrangement of one power-collecting coil, resulting in a simpler structure, reduced hardware costs and installation complexity, and suitability for applications with lower total power requirements.

[0082] Figure 7 The schematic diagram illustrates a structural schematic of a storage system according to an embodiment of the present disclosure, showing two shelves.

[0083] According to embodiments of this disclosure, referring to Figure 7 As shown, the storage system includes at least two racks 100. The at least two racks 100 are arranged parallel to each other, and an aisle is formed between adjacent racks 100. At least two robots 200 are arranged opposite each other within the same aisle, each robot 200 positioned on one rack 100. A first transmitting cable 311 is laid along the extension direction of the aisle, and the portions of the first transmitting cable 311 located on opposite sides of the at least two racks 100 respectively form power-receiving sections. The first receiving end 320 of each robot 200 is electromagnetically coupled to the power-receiving section of the first transmitting cable 311 located on the corresponding rack 100 to draw power.

[0084] Figure 8 yes Figure 7 The diagram shows a structural schematic of a cable support bracket that supports the first transmitting cable.

[0085] In some illustrative embodiments, reference is made to Figure 7 As shown, the warehousing system includes at least two racks 100. The at least two racks 100 are arranged in parallel and spaced apart, forming an aisle between adjacent racks 100 for the robot 200 to walk and operate. A first transmitting cable 311 is laid in the middle area of ​​the aisle along the extension direction of the aisle and is suspended between the two racks 100.

[0086] Specifically, refer to Figure 7 and Figure 8 As shown, the first transmitting cable 311 includes two power-receiving sections and an intermediate section located between the two power-receiving sections. The two power-receiving sections are respectively located on opposite sides of two racks 100 and are fixedly installed using L-shaped cable brackets 700. The L-shaped cable bracket 700 has mutually perpendicular fixed parts and cantilevered parts. The fixed parts are fixedly connected to the uprights or beams 110 of the rack 100 using bolts or other fasteners, while the cantilevered parts extend horizontally from the rack 100 into the aisle. The power-receiving sections of the first transmitting cable 311 are installed on the cantilevered parts of the L-shaped cable bracket 700. The intermediate section is located between the two power-receiving sections, spanning the distance between the two racks 100. It can be suspended by the cantilevered parts of the L-shaped cable brackets 700 on both sides, or, as needed, can be supplemented with intermediate support components for auxiliary support. Thus, the first transmitting cable 311 is suspended in the middle of the aisle between the two shelves 100, without occupying the ground space of the aisle, avoiding interference with the walking path of the robot 200, and facilitating the installation and maintenance of the cable.

[0087] Furthermore, at least two robots 200 are positioned opposite each other within the same aisle, with each robot 200 positioned on a shelf 100. Specifically, each robot 200 is positioned on the side of its corresponding shelf 100 facing the aisle. The walking frames 210 of the two robots 200 translate along the guide rails of their respective shelves 100, and their first receiving ends 320 are located at opposite power-receiving sections of the first transmitting cable 311. The first receiving ends 320 of the two robots 200 located on opposite sides of the first transmitting cable 311 obtain power from different power-receiving sections of the same first transmitting cable 311 via electromagnetic coupling, enabling wireless power supply to their respective walking frames 210. Each robot 200 is positioned on opposite sides of a shelf 100, and the two robots 200 can independently translate along the first direction of their corresponding shelves 100, performing storage and retrieval operations between storage and buffer positions on the shelves without interfering with each other.

[0088] In this implementation, by suspending the first transmitting cable 311 in the middle of the aisle between the two shelves 100 and simultaneously powering the robots 200 on both shelves 100 via electromagnetic coupling, only one transmitting cable is needed to cover the power supply needs of the two robots 200 positioned opposite each other in the same aisle. Furthermore, since the first transmitting cable 311 is suspended in the middle of the aisle, it does not occupy the walking space of the robots 200, nor does it affect passage and operation within the aisle; the two robots 200 draw power from opposite sides of the same transmitting cable, operating independently without interference, making the system flexible and reliable.

[0089] Figure 9 The schematic diagram illustrates the structure of another storage system according to an embodiment of the present disclosure, showing three shelves.

[0090] According to embodiments of this disclosure, referring to Figure 9 As shown, the first transmitting cable 311 is laid on at least two opposite sides of a shelf 100 to form power supply sections, and at least one robot 200 is provided on each of the at least two opposite sides of the shelf 100. The first receiving end 320 of at least two robots 200 respectively electromagnetically couples with the power supply section located on the same side of the shelf 100 to obtain power.

[0091] In some illustrative embodiments, reference is made to Figure 9 As shown, the storage system includes three racks 100, which are arranged in parallel and spaced apart, with aisles formed between adjacent racks 100. The first transmitting cable 311 is arranged in a semi-circular (or circular or other form) arrangement around the perimeter of the central rack 100, without transmitting cables on the side racks 100. Specifically, the first transmitting cable 311 is laid around the horizontal circumference of the central rack 100, for example, in a closed loop along at least three sides of the rack 100 (i.e., arranged on three or four sides), and is fixed to the uprights or beams 110 of the central rack 100 by the aforementioned cable clamps or cable brackets 700, thereby forming power supply sections extending in a first direction on the left and right sides of the central rack 100 respectively.

[0092] Furthermore, a robot 200 is positioned on each side of the central shelf 100 facing the other two shelves 100, i.e., two robots 200 are respectively positioned on opposite sides of the central shelf 100 and each faces an aisle. Each robot 200 can translate along a first direction of the central shelf 100, or extend along the first direction across the opposite side of the central shelf 100 to the corresponding position of an adjacent shelf 100 (i.e., the upper shelf 100 and the lower shelf 100), to perform storage and retrieval operations of containers among the three shelves 100. The first transmitting cable 311 is arranged on at least two opposite sides of the shelf 100, causing the power-receiving sections on both sides of the central shelf 100 to generate alternating magnetic fields. The first receiving ends 320 of the two robots 200 respectively obtain electrical energy from two different power-receiving sections of the first transmitting cable 311 (i.e., two opposite sides of the first transmitting cable 311) through electromagnetic coupling, thereby achieving wireless power supply for their respective walking uprights 210.

[0093] In this implementation, a single first transmitting cable 311 is installed on the central shelf 100 to simultaneously power the robots 200 in the left and right aisles, enabling the two robots to cover the working range of the three shelves 100, further improving cable utilization and reducing system costs.

[0094] In other illustrative embodiments, the storage system includes two shelves 100 arranged in parallel and spaced apart, forming an aisle between them. This embodiment can be considered as an embodiment of the three shelves described above, omitting the usage scenario behind the shelf located on one side.

[0095] Specifically, the first transmitting cable 311 is arranged in a semi-circular shape around the periphery of one of the shelves 100 (e.g., the upper or lower shelf 100) and fixed to the uprights or beams 110 of the shelf 100 by cable clamps or cable brackets 700, forming a power supply section extending along a first direction on the aisle-facing side of the shelf 100. A robot 200 is provided on the aisle-facing side of the shelf 100. The robot 200 can translate along the first direction of the shelf 100 and extend to the corresponding position of the adjacent shelf 100 (i.e., the shelf 100 on the other side where no cable is installed) to perform the storage and retrieval operation of the goods between the two shelves 100. At the same time, another robot 200 is also provided on the other side of the aisle, which translates along the first direction of the other shelf 100.

[0096] In this implementation, after an alternating current is passed through the first transmitting cable 311, an alternating magnetic field is generated in the space around it. The first receiving end 320 of the robot 200 located on the shelf 100 where the first transmitting cable 311 is located directly obtains electrical energy from the cable through electromagnetic coupling. The first receiving end 320 of the robot 200 located on the other shelf 100 is within the coverage area of ​​the alternating magnetic field of the first transmitting cable 311 and can also obtain electrical energy from the same first transmitting cable 311. Thus, the two robots 200 obtain electrical energy independently and realize their respective walking operations.

[0097] Figure 10 The schematic diagram illustrates the structure of another warehousing system according to an embodiment of the present disclosure, showing a first robot and a second robot.

[0098] According to embodiments of this disclosure, referring to Figure 10 As shown, robot 200 includes a first robot 230 and a second robot 240, with at least a portion of the first robot 230 located above the second robot 240. The first robot 230 and the second robot 240 are disposed on the same side of a shelf 100. A first transmitting cable 311 extends along a second direction and folds back to form a loop. The first robot 230 and the second robot 240 respectively obtain power through electromagnetic coupling with the same first transmitting cable 311 at different heights in the power-receiving sections.

[0099] In some illustrative embodiments, reference is made to Figure 10 As shown, robot 200 includes a first robot 230 and a second robot 240. The first robot 230 and the second robot 240 are positioned on the same side of the same shelf 100 (or opposite sides), with the first robot 230 positioned above the second robot 240 along the second direction (i.e., the vertical direction). That is, the first robot 230, located at the higher level, is responsible for storing and retrieving boxes in the upper area of ​​the shelf 100, while the second robot 240, located at the lower level, is responsible for storing and retrieving boxes in the lower area of ​​the shelf 100. They are arranged vertically at intervals and can independently perform the actions of retrieving and placing boxes within their respective height ranges. Thus, when boxes need to be retrieved or placed in higher storage locations, the two robots can work in relay. For example, the second robot 240, located at the lower level, lifts the box from the buffer position to the intermediate handover position, and the first robot 230, located at the higher level, retrieves the box from the handover position and places it in the higher storage location; the reverse operation is performed for outbound shipments. Therefore, the two robots work together to cover the entire height range of the shelf 100, improving the vertical space utilization and work efficiency of the warehousing system.

[0100] Based on this, the first transmitting cable 311 extends along a first direction and further extends along a second direction at the end of the shelf 100, then folds back to form a closed loop, which is approximately rectangular. Specifically, the first transmitting cable 311 forms two parallel power-receiving sections in the vertical direction, namely a first power-receiving section and a second power-receiving section, both extending along the first direction (horizontal direction) and spaced apart in the second direction (vertical direction); the two power-receiving sections are connected by an intermediate section extending along the second direction, thus enabling the first transmitting cable 311 to form a complete closed loop. The entire cable can be fixed to the uprights or beams 110 of the shelf 100 using cable clamps or cable supports 700, ensuring the cable's position in the vertical direction is accurate and stable.

[0101] A first robot 230 and a second robot 240 are arranged at different heights along a second direction on a first transmitting cable 311 to share the same cable for electromagnetic coupling power extraction. Specifically, the first receiving end 320 of the first robot 230, located at a higher level, is positioned at the upper region of its walking frame 210, while the first receiving end 320 of the second robot 240, located at a lower level, is positioned at the lower region of its walking frame 210. The two first receiving ends 320 are arranged at different heights relative to the two powered sections of the first transmitting cable 311, maintaining a constant gap between themselves and the cable. When an alternating current is applied to the first transmitting cable 311, generating an alternating magnetic field, the first receiving end 320 of the first robot 230 in the upper region obtains power from the upper section of the first transmitting cable 311 via electromagnetic coupling, and the first receiving end 320 of the second robot 240 in the lower region obtains power from the lower section of the first transmitting cable 311 via electromagnetic coupling. The first receivers 320 of the two robots 200 each draw power independently from different height positions on the same first transmitting cable 311 without interfering with each other.

[0102] In this implementation, only a single first transmitting cable 311 is needed to cover the power supply needs of multiple robots at different heights. Compared to related technologies that require separate power lines for each robot, this significantly reduces the cable length and the number of power supply devices, lowering system costs and construction complexity. Furthermore, the two robots 200 draw power from different height sections of the same transmitting cable, operating independently without interference. This makes the system flexible and reliable, particularly suitable for scenarios where multiple robots need to work in relays on high-rise racks 100. It should be understood that the embodiments disclosed herein are not limited to this.

[0103] According to another illustrative embodiment of this disclosure (not shown in the figures), a first robot 230 is disposed in one of two adjacent shelves 100, and a second robot 240 is disposed in the other of two adjacent shelves 100, with the first robot 230 and the second robot 240 located in the same aisle. A first transmitting cable 311 is laid along the extension direction of the aisle and extends and turns back along a second direction to form a loop between the two adjacent shelves 100. The first robot 230 and the second robot 240 respectively obtain power through electromagnetic coupling with the first transmitting cable 311 at different heights in the power-receiving sections.

[0104] In some illustrative embodiments, two adjacent shelves 100 are arranged in parallel intervals, forming an aisle between them for robots to walk and operate. A first robot 230 and a second robot 240 are respectively arranged on the opposite side of the two shelves. A first transmitting cable 311 is laid along the extension direction of the aisle and extends and turns back along a second direction (i.e., the vertical direction) to form a loop between two adjacent shelves 100.

[0105] Specifically, the first transmitting cable 311 is introduced from one end of the aisle, arranged horizontally on the outside of a shelf 100, and after crossing the aisle, extends to another shelf 100 in a combined vertical and horizontal direction; after reaching the other shelf 100, it extends horizontally back to the vicinity of the starting end, thus forming a closed loop in the aisle formed by superimposed vertical and horizontal directions. This closed loop forms at least a power supply section in the height direction, meaning that different height sections of the cable can be used to supply power to robots at different heights.

[0106] Furthermore, the first robot 230 and the second robot 240 are arranged at intervals along a second direction (vertical direction), that is, at least a portion of the first robot 230 is located above the second robot 240, thus offsetting them in the height direction. The first robot 230 and the second robot 240 respectively obtain power through electromagnetic coupling with the power-receiving sections of the first transmitting cable 311 at different heights, without interfering with each other.

[0107] In the aisle between two adjacent shelves, when robots need to be placed at different heights to cover different height areas of the shelves (e.g., high-level robots and low-level robots are responsible for the storage and retrieval of boxes in the upper and lower areas of the shelves, respectively), laying independent power lines for each robot 200 would result in a large amount of cable laying, complex wiring, and high costs. Therefore, in the above embodiment, by laying a first transmitting cable 311 vertically in the aisle to form a loop, the cable forms multiple power supply sections in the vertical direction. This allows a single cable to simultaneously power two robots 200 located at different heights and on different shelves 100, significantly reducing the cable laying length and the number of power supply devices, lowering system costs and construction complexity. Simultaneously, the two robots draw power from different height sections of the same cable, working independently without interference, making the system flexible and reliable.

[0108] It should also be noted that the directional terms mentioned in the embodiments, such as "up," "down," "front," "back," "left," and "right," are only for reference in the accompanying drawings and are not intended to limit the scope of protection of this disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or constructions will be omitted where they may cause confusion in understanding this disclosure.

[0109] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A warehousing system, characterized in that, include: At least one shelf (100) has guide rails extending in a first direction; Robots (200), including: The walking frame (210) is movably disposed on the guide rail along the first direction and extends along the second direction, which is orthogonal to the first direction; The platform (220) is slidably disposed on the traveling frame (210) along the second direction. A first transmitting end (310) and a first receiving end (320), the first transmitting end (310) extending along the first direction, the receiving end (320) being disposed on the walking frame (210) and electromagnetically coupled to the first transmitting end (310) to supply power to the walking frame (210) through the first transmitting end (310); And / or, a second transmitter (410) and a second receiver (420), the second transmitter (410) being disposed on the walking stand (210), the second receiver (420) being disposed on the platform (220) and electromagnetically coupled to the second transmitter (410) to supply power to the platform (220) through the second transmitter (410).

2. The warehousing system according to claim 1, characterized in that, The second transmitting end (410) is electrically connected to the first receiving end (320) to obtain alternating current from the first receiving end (320) and generate an alternating magnetic field through the alternating current to electromagnetically couple with the second receiving end (420).

3. The warehousing system according to claim 2, characterized in that, The second receiving end (420) obtains induced alternating current from the second transmitting end (410) through electromagnetic coupling. The second receiving end (420) is electrically connected to the rectifier and voltage regulator circuit (600). The output end of the rectifier and voltage regulator circuit (600) is electrically connected to the first electrical load of the platform (220) so as to convert the induced alternating current into direct current for use by the first electrical load.

4. The warehousing system according to claim 2 or 3, characterized in that, The first receiving end (320) includes a first power extraction coil (321) and a second power extraction coil (322). The first power extraction coil (321) and the second power extraction coil (322) are electromagnetically coupled to the first transmitting end (310) respectively, so as to independently obtain alternating current. The first power-taking coil (321) is also electrically connected to the second transmitting end (410) to transmit the acquired alternating current to the second transmitting end (410). The second power-taking coil (322) is also electrically connected to the rectifier and voltage regulator circuit (600). The output terminal of the rectifier and voltage regulator circuit (600) is electrically connected to the second electrical load (250) of the walking frame (210) so as to convert the acquired alternating current into direct current for use by the second electrical load (250).

5. The warehousing system according to claim 2 or 3, characterized in that, The first receiving end (320) includes a third power extraction coil (323), which is electromagnetically coupled to the first transmitting end (310) to obtain alternating current; The output terminal of the third power-taking coil (323) is connected to the parallel node (324), which is divided into a first branch (325) and a second branch (326). The first branch (325) is electrically connected to the second transmitter (410) to transmit the alternating current to the second transmitter (410). The second branch (326) is electrically connected to the rectifier and voltage regulator circuit (600), and the output terminal of the rectifier and voltage regulator circuit (600) is electrically connected to the second electrical load (250) of the walking frame (210) so as to convert the alternating current into direct current for use by the second electrical load (250).

6. The warehousing system according to claim 1, characterized in that, A first gap is formed between the first receiving end (320) and the first transmitting end (310), and the first gap is translated along the first direction with the walking frame (210), and the size of the first gap remains constant. And / or, a second gap is formed between the second receiving end (420) and the second transmitting end (410), and the second gap remains constant as the stage (220) translates along the second direction.

7. The warehousing system according to claim 1, characterized in that, The shelf (100) includes at least two crossbeams (110) spaced apart along the second direction, the crossbeams (110) extending along the first direction, the first launching end (310) being arranged on at least one of the crossbeams (110), the guide rail being disposed on the crossbeams (110), and the walking frame (210) slidingly engaging with the guide rail via walking wheels to achieve horizontal movement along the first direction; And / or, the first transmitting end (310) includes a first transmitting cable (311) laid in a closed loop, the first transmitting cable (311) extending along the first direction; And / or, the second transmitter (410) includes a second transmitter cable laid in a closed loop, the second transmitter cable extending along the second direction.

8. The warehousing system according to claim 7, characterized in that, include: At least two of the shelves (100) are arranged in parallel and spaced apart, and an aisle is formed between two adjacent shelves (100); At least two robots (200) are arranged opposite each other in the same alleyway, and each of the at least two robots (200) is arranged on a shelf (100). The first transmitting cable (311) is laid along the extension direction of the alley, and the portions of the first transmitting cable (311) located on at least two opposite sides of the rack (100) respectively form power supply sections; The first receiving end (320) of each robot (200) is electromagnetically coupled to the first transmitting cable (311) in the power supply section of the corresponding shelf (100) to obtain power.

9. The warehousing system according to claim 7, characterized in that, The first transmitting cable (311) is laid on at least two sides opposite to one of the shelves (100) to form a power supply section, and at least one of the robots (200) is provided on each of the at least two sides opposite to the shelves (100). The first receiving end (320) of at least two of the robots (200) is electromagnetically coupled to the power supply section located on the same side of the shelf (100) to draw power.

10. The warehousing system according to claim 7, characterized in that, The robot (200) includes a first robot (230) and a second robot (240), with at least a portion of the first robot (230) located above the second robot (240); The first robot (230) and the second robot (240) are disposed on the same side of a shelf (100), the first transmitting cable (311) extends along the second direction and folds back to form a loop, and the first robot (230) and the second robot (240) respectively electromagnetically couple to the same first transmitting cable (311) at different heights of the power supply section to obtain power. Alternatively, the first robot (230) is located in one of two adjacent shelves (100), and the second robot (240) is located in the other of two adjacent shelves (100), with the first robot (230) and the second robot (240) situated in the same aisle; The first transmitting cable (311) is laid along the extension direction of the alley and extends back along the second direction to form a loop between two adjacent shelves (100). The first robot (230) and the second robot (240) are electromagnetically coupled to the first transmitting cable (311) at different heights of the power supply section to obtain power.

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