Climbing device, climbing robot and warehousing system

Abstract

The utility model relates to the technical field of intelligent warehousing systems, and discloses a climbing device, a climbing robot and a warehousing system.The climbing device comprises a climbing part and a supporting part; wherein the climbing part is arranged on the supporting part, and the climbing part comprises a motor, a synchronous belt and a synchronous wheel; the synchronous belt is arranged on the synchronous wheel, and the motor is used for driving the synchronous wheel to rotate so as to drive the synchronous belt to rotate relative to the supporting part. A plurality of meshing parts are arranged on the synchronous belt, and synchronous pins are arranged on the meshing parts in a one-to-one correspondence mode; a sensor is arranged on the supporting part and used for detecting the synchronous pin. In this way, whether the synchronous belt in the working state is abnormal or not can be detected in time.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of intelligent warehousing systems, and particularly to a climbing device, a climbing robot, and a warehousing system. Background Art

[0002] In a warehousing system in the logistics field, shelves are usually used to store goods, and a climbing robot is used to pick up, place, and transport goods on the shelves, so as to realize the flow of goods in the warehousing system. In the related art, tracks are arranged on the shelves, and the climbing device in the climbing robot can climb longitudinally along the shelf tracks, so that the climbing robot can transport goods stored at different heights on the shelves.

[0003] For a climbing device that realizes its own climbing through the internal synchronous belt movement, when the synchronous belt malfunctions, the climbing device cannot normally climb along the shelf tracks. If the climbing device continues to work after the synchronous belt malfunctions, it may even cause the deformation of the shelf tracks. Currently, there is no climbing device that can timely detect whether the synchronous belt is abnormal when the synchronous belt is in a working state. Summary of the Utility Model

[0004] In view of the above problems, the embodiments of the present application provide a climbing device, a climbing robot, a warehousing system, a method for determining synchronous belt abnormality, and a storage medium, which are used to solve the problem that the climbing device in the prior art cannot timely detect whether the synchronous belt is abnormal when the synchronous belt is in a working state.

[0005] According to one aspect of the embodiments of the present application, a climbing device is provided, including: a climbing part and a supporting part; wherein, the climbing part is arranged on the supporting part, and the climbing part includes a motor, a synchronous belt, and a synchronous pulley; the synchronous belt is arranged on the synchronous pulley, and the motor is used to drive the synchronous pulley to rotate, so as to drive the synchronous belt to rotate relative to the supporting part; a plurality of meshing parts are arranged on the synchronous belt, and synchronous pins are correspondingly arranged on the plurality of meshing parts one by one; a sensor is arranged on the supporting part, and the sensor is used to sequentially detect the synchronous pins when the synchronous belt rotates.

[0006] In an optional manner, the sensor is a proximity sensor.

[0007] In an optional manner, the plurality of meshing parts are arranged on the synchronous belt at equal intervals.

[0008] In an optional manner, the synchronous pin is made of a metal material, and the proximity sensor is an inductive proximity sensor.

[0009] In an optional manner, the synchronous pin is made of a magnetic material, and the proximity sensor is a Hall device.

[0010] In an alternative manner, the motor includes an encoder.

[0011] According to another aspect of the embodiments of the present application, a climbing robot is provided, including a controller and a climbing device as described in any one of the above; wherein, the controller is electrically connected to the sensor, and the controller is configured to: obtain the detection information of the synchronous pin successively detected by the sensor, and determine the spacing information between two adjacent synchronous pins according to the detection information of the synchronous pin successively detected; determine whether the synchronous belt is abnormal according to the spacing information between two adjacent synchronous pins.

[0012] In an alternative manner, the motor includes an encoder, and the encoder is configured to determine the displacement of the synchronous belt; the controller is electrically connected to the encoder, and the controller is further configured to: obtain a first count value of the encoder when the sensor generates first detection information; obtain a second count value of the encoder when the sensor generates second detection information, where the first detection information and the second detection information are the detection information of the synchronous pin successively detected by the sensor twice; determine the absolute value of the difference between the first count value and the second count value; if the absolute value of the difference is greater than a preset difference threshold, determine that the synchronous belt is abnormal.

[0013] In an alternative manner, the climbing robot includes a plurality of synchronous pins arranged at equal intervals, and the preset difference threshold is determined based on the initial spacing between adjacent synchronous pins.

[0014] In an alternative manner, the climbing part further includes a speed reducer for changing the rotational speed output by the motor, and the preset difference threshold is NormalValue + Δ; where NormalValue = p * (i / d / π) * a * b, Δ is proportional to (i / d / π) * a * b, p is the initial spacing, i is the transmission ratio of the speed reducer, d is the pitch diameter of the synchronous pulley, a is the number of lines of the encoder, and b is the counting magnification of the encoder.

[0015] In an alternative manner, the controller is further configured to: obtain a first moment when the sensor generates first detection information, and obtain a second moment when the sensor generates second detection information, where the first detection information and the second detection information are the detection information of the synchronous pin successively detected by the sensor twice; determine the duration between the first moment and the second moment; if the duration is greater than a preset duration threshold, determine that the synchronous belt is abnormal.

[0016] In an alternative manner, the controller is further configured to: when the absolute value of the difference falls within a first preset difference range, determine that the synchronous belt is in a first abnormal state, where the first abnormal state is that the synchronous belt is deformed; when the absolute value of the difference falls within a second preset difference range, determine that the synchronous belt is in a second abnormal state, where the second abnormal state is that the synchronous belt is broken; when the absolute value of the difference falls within a third preset difference range, determine that the synchronous belt is in a third abnormal state, where the third abnormal state is that the synchronous pin falls off. Herein, the minimum value of the first preset difference range is greater than or equal to the preset difference threshold, the minimum value of the second preset difference range is greater than the minimum value of the first preset difference range, and the minimum value of the third preset difference range is greater than the minimum value of the second preset difference range.

[0017] According to another aspect of the embodiments of the present application, a warehousing system is provided. The warehousing system includes a shelf and a climbing robot as described in any one of the above. The shelf includes a shelf track, and a plurality of engaging portions of the climbing robot are configured to engage with the shelf track.

[0018] In an alternative manner, the engaging portion is a bump, and the shelf track has a plurality of slots arranged vertically. The bump is configured to abut against the slots when the synchronous belt rotates vertically along the shelf track, so that the climbing robot ascends and descends along the shelf track.

[0019] According to another aspect of the embodiments of the present application, a method for determining synchronous belt abnormality is provided, which is applied to a climbing robot. The climbing robot includes a climbing device and a controller. The climbing device includes a climbing portion and a supporting portion. Among them, the climbing portion is arranged on the supporting portion, and the climbing portion includes a motor, a synchronous belt, and a synchronous pulley. The synchronous belt is arranged on the synchronous pulley, and the motor is configured to drive the synchronous pulley to rotate so as to drive the synchronous belt to rotate relative to the supporting portion. A plurality of engaging portions are arranged on the synchronous belt, and synchronous pins are correspondingly arranged on the plurality of engaging portions one by one. A sensor is arranged on the supporting portion, and the sensor is configured to sequentially detect the synchronous pins when the synchronous belt rotates. The controller is electrically connected to the sensor. The method includes: obtaining the detection information of the synchronous pins successively detected by the sensor; determining the spacing information of two adjacent synchronous pins according to the detection information of the synchronous pins successively detected; and determining whether the synchronous belt is abnormal according to the spacing information of the two adjacent synchronous pins.

[0020] In an alternative manner, the climbing robot further includes an encoder for determining the displacement of the transmission part, and the controller is electrically connected to the encoder; obtaining the detection information of the synchronous pin successively detected by the sensor includes: when the sensor generates the first detection information, obtaining the first count value of the encoder; when the sensor generates the second detection information, obtaining the second count value of the encoder, where the first detection information and the second detection information are the detection information of the synchronous pin successively detected by the sensor twice; determining the spacing information between two adjacent synchronous pins according to the detection information of the synchronous pin successively detected includes: determining the absolute value of the difference between the first count value and the second count value; determining whether the synchronous belt is abnormal according to the spacing information between two adjacent synchronous pins includes: if the absolute value of the difference is greater than a preset difference threshold, determining that the synchronous belt is abnormal.

[0021] In an alternative manner, the climbing robot includes a plurality of synchronous pins arranged at equal intervals, and the preset difference threshold is determined based on the initial spacing between adjacent synchronous pins.

[0022] In an alternative manner, the climbing part further includes a speed reducer for changing the speed output by the motor, and the preset difference threshold is NormalValue + Δ; where NormalValue = p * (i / d / π) * a * b, Δ is proportional to (i / d / π) * a * b, p is the initial spacing, i is the transmission ratio of the speed reducer, d is the pitch diameter of the synchronous pulley, a is the number of lines of the encoder, and b is the counting magnification of the encoder.

[0023] In an alternative manner, obtaining the detection information of the synchronous pin successively detected by the sensor includes: obtaining the first moment when the sensor generates the first detection information, and obtaining the second moment when the sensor generates the second detection information, where the first detection information and the second detection information are the detection information of the synchronous pin successively detected by the sensor twice; determining the spacing information between two adjacent synchronous pins according to the detection information of the synchronous pin successively detected includes: determining the duration between the first moment and the second moment; determining whether the synchronous belt is abnormal according to the spacing information between two adjacent synchronous pins includes: if the duration is greater than a preset duration threshold, determining that the synchronous belt is abnormal.

[0024] In an alternative embodiment, the method further includes: when the absolute value of the difference falls within a first preset difference range, determining that the timing belt is in a first abnormal state, where the first abnormal state is deformation of the timing belt; when the absolute value of the difference falls within a second preset difference range, determining that the timing belt is in a second abnormal state, where the second abnormal state is breakage of the timing belt; when the absolute value of the difference falls within a third preset difference range, determining that the timing belt is in a third abnormal state, where the third abnormal state is detachment of the timing pin. Herein, the minimum value of the first preset difference range is greater than or equal to the preset difference threshold, the minimum value of the second preset difference range is greater than the minimum value of the first preset difference range, and the minimum value of the third preset difference range is greater than the minimum value of the second preset difference range.

[0025] According to another aspect of the embodiments of the present application, there is provided a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the timing belt abnormality determination method as described in any one of the above.

[0026] In the embodiments of the present application, if the timing belt is stretched, the distance between two adjacent meshing portions will become larger. At this time, there will be a difference between the detection data obtained by the sensor detecting the timing pin provided on the meshing portion and the detection data obtained by detecting the timing pin when the timing belt is in a normal state. Therefore, it can be determined whether the timing belt is abnormally stretched according to the detection data obtained by the sensor detecting the timing pin.

[0027] Moreover, if one or more meshing portions provided on the timing belt fall off, the timing pins provided on the meshing portions will also fall off with the meshing portions. Since the sensor is used to detect the timing pins provided on the timing belt, when the timing belt is in a working state, after the timing pins fall off, they cannot pass through the detection area of the sensor as the timing belt rotates, so that the sensor cannot detect the fallen timing pins. At this time, the detection data obtained by the sensor detecting the timing pins does not include the detection data of the fallen timing pins. Therefore, it can be determined whether the meshing portions provided on the timing belt are abnormally fallen off according to the detection data obtained by the sensor detecting the timing pins.

[0028] The above description is only an overview of the technical solutions of the embodiments of the present application. In order to be able to understand the technical means of the embodiments of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the embodiments of the present application more obvious and understandable, the following specifically illustrates the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings are only used to illustrate the embodiments and are not considered as a limitation to the present application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0030] Figure 1 Shows a schematic structural diagram of a warehousing system provided by an embodiment of the present application;

[0031] Figure 2 Shows a schematic diagram of a scene where a climbing robot transports a cargo box to a shelf provided by an embodiment of the present application;

[0032] Figure 3 Shows a schematic structural diagram of a climbing device provided by an embodiment of the present application;

[0033] Figure 4 Shows a partial schematic diagram of a climbing device provided by an embodiment of the present application;

[0034] Figure 5 Shows a structural block diagram of a climbing robot provided by an embodiment of the present application;

[0035] Figure 6 Shows a schematic diagram of a step flow executed by a controller provided by an embodiment of the present application;

[0036] Figure 7 Shows a schematic diagram of a partial synchronous belt and a meshing part provided by an embodiment of the present application;

[0037] Figure 8 Shows a schematic diagram of a step flow executed by a controller provided by another embodiment of the present application;

[0038] Figure 9 Shows a schematic diagram of detection information generated by a sensor provided by an embodiment of the present application;

[0039] Figure 10 Shows a schematic diagram of a step flow executed by a controller provided by yet another embodiment of the present application.

[0040] The reference numerals in the specific embodiments are as follows:

[0041] 10. Shelf; 11. Shelf track;

[0042] 20. Climbing robot; 21. Climbing device; 22. Controller;

[0043] 211. Climbing part; 2111. Motor; 2112. Synchronous belt; 2113. Synchronous pulley; 212. Meshing part; 213. Synchronous pin; 214. Support part; 215. Sensor;

[0044] 30. Bin. Specific embodiments

[0045] Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs; the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion.

[0047] In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "a plurality" is more than two, unless otherwise specifically defined.

[0048] Reference to "an embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0049] In the description of the embodiments of this application, the term "and / or" is merely a description of the association relationship of associated objects, indicating any combination of the listed objects. For example, "A and / or B" can mean: the existence of A, the simultaneous existence of A and B, or the existence of B, these three situations. In addition, the character " / " herein generally indicates that the associated objects before and after are in an "or" relationship.

[0050] In the description of the embodiments of this application, the term "a plurality" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0051] In the description of the embodiments of the present application, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the embodiments of the present application.

[0052] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "coupling", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific situations.

[0053] Figure 1 The structural schematic diagram of the warehousing system provided by the embodiments of the present application is shown. As Figure 1 shown, the warehousing system includes a shelf 10, a climbing robot 20, and a plurality of bins 30. The bins 30 can store goods. Among them, a shelf track 11 is provided on the shelf 10. The shelf 10 has a plurality of storage locations for storing the bins 30. The climbing robot 20 can vertically lift along the shelf track 11 to carry the bins 30 on the shelf 10.

[0054] Figure 2 The schematic diagram of the scene where the climbing robot provided by the embodiments of the present application transports the cargo box to the shelf is shown. As Figure 2 shown, the climbing robot 20 includes a climbing device 21. Figure 2 In (a) of, the bottom of the shelf track 11 has a certain height from the support surface (such as the ground). Before the climbing robot 20 is connected to the shelf track 11, it needs to first move to the connection position of the shelf 10 (that is, the position where the climbing device 21 is opposite to the bottom of the shelf track 11). At this time, the climbing device 21 is not connected to and inserted into the bottom of the shelf track 11. Figure 2 In (b) of, when the climbing robot 20 is located at the connection position of the shelf 10, control the climbing device 21 to rise vertically and make the climbing device 21 connected to and inserted into the shelf track 11. At this time, the chassis of the climbing robot 20 is still located on the support surface. Figure 2In (c) of this, after the climbing robot 20 is connected to the shelf track 11, the climbing device 21 can vertically lift along the shelf track 11, so that the climbing robot 20 places the bin 30 at the target storage location of the shelf 10 (the target storage location is on the sixth floor of the shelf 10).

[0055] In order to enable the climbing robot 20 to autonomously lift vertically along the shelf track 11, the climbing device 21 in the climbing robot 20 usually has a motor, a synchronous belt, and a synchronous pulley. Among them, the motor is used to drive the synchronous pulley to rotate, thereby driving the synchronous belt to rotate along the shelf track 11 to drive the climbing device 21 to lift, and further driving the climbing robot 20 to lift vertically along the shelf track 11.

[0056] The synchronous belt is composed of a flexible belt body and a reinforcing member. The flexible belt body is the main part of the synchronous belt and is usually made of rubber or other elastic materials, making the flexible belt body have a certain flexibility and wear resistance. The reinforcing member is embedded inside the flexible belt body, which can improve the strength and durability of the synchronous belt, prevent the flexible belt body from being overstretched or deformed during rotation, and the reinforcing member is made of a material with a certain strength, such as steel wire, nylon, or polyester.

[0057] In order to enable the synchronous belt to rotate stably along the shelf track 11, usually multiple meshing parts, such as bumps and tooth blocks, are provided on the synchronous belt. Correspondingly, multiple matching parts, such as grooves, are provided on the shelf track 11 that match the meshing parts. During the climbing process of the climbing device 21, it drives the synchronous belt to rotate by driving the synchronous pulley through the motor. During the rotation of the multiple meshing parts included in the synchronous belt, they correspond one by one to the multiple matching parts on the shelf track 11 and are meshed and clamped with each other, so that the synchronous belt can rotate stably along the shelf track 11, thereby realizing the vertical lifting of the climbing device 21 along the shelf track 11.

[0058] To enable the meshing part and the mating part to mesh accurately, the distance between two adjacent meshing parts is matched with the distance between two adjacent mating parts. For example, these two distances are the same. Only when the distances match can the meshing part on the synchronous belt mesh and clamp with the corresponding mating part during rotation. However, during the use of the climbing device 21, due to the influence of the goods and its own weight, the synchronous belt is often pulled, which may cause the synchronous belt to deform or break. If the synchronous belt continues to rotate, the synchronous belt will be stretched, and the distance between two adjacent meshing parts arranged on the synchronous belt will become larger. If the distance between two adjacent meshing parts is greater than the distance between two adjacent mating parts, the meshing part on the synchronous belt cannot effectively mesh with the mating part on the shelf track 11, resulting in the synchronous belt being unable to rotate stably along the shelf track 11, and further unable to drive the climbing device 21 to lift and lower stably along the shelf track 11. When the synchronous belt is in the working state, if the synchronous belt cannot be detected in time to identify the above abnormalities and continue to control the synchronous belt to rotate along the shelf track 11, the meshing part on the synchronous belt will damage the shelf track 11.

[0059] Moreover, multiple meshing parts arranged on the synchronous belt mesh with the mating parts on the shelf track 11 to provide climbing force for the synchronous belt, enabling the synchronous belt to rotate along the shelf track 11. If one or more meshing parts arranged on the synchronous belt fall off, it may cause the synchronous belt to be unable to overcome gravity or other resistances, resulting in the synchronous belt being unable to rotate along the shelf track 11, and thus the climbing device 21 cannot climb vertically along the shelf track 11. When the synchronous belt is in the working state, if the synchronous belt cannot be detected in time to identify such abnormalities for abnormal handling, it will lead to climbing failure, and the climbing robot 20 cannot complete the operation task, and may also cause the climbing robot 20 to fall, resulting in damage to the climbing robot 20.

[0060] Based on the above considerations, in order to detect whether the synchronous belt is abnormal in time when the synchronous belt is in the working state, the embodiment of the present application proposes a climbing device. Synchronous pins are respectively arranged on multiple meshing parts in the climbing device, and a sensor for sequentially detecting the synchronous pins is arranged in the climbing device. If the synchronous belt is stretched, resulting in an increase in the distance between two adjacent meshing parts arranged on the synchronous belt, then the data of the synchronous pins on these two meshing parts detected by the sensor will be different from the normal data. If one or more meshing parts fall off, the sensor cannot detect the synchronous pins arranged on the fallen meshing parts, that is, the detection data does not include the data of the fallen synchronous pins. Therefore, through the above settings, it is possible to determine whether the synchronous belt is abnormal according to the data detected by the sensor.

[0061] Figure 3The structural schematic diagram of the climbing device provided by the embodiment of the present application is shown. Figure 4 The partial schematic diagram of the climbing device provided by the embodiment of the present application is shown. As Figure 3 and Figure 4 shown, the climbing device 21 includes a climbing part 211, an engaging part 212, a synchronous pin 213, a supporting part 214, and a sensor 215. The climbing part 211 is arranged on the supporting part 214.

[0062] The supporting part 214 is mainly used for fixing and accommodating the climbing part 211. It can be a housing which is used to accommodate the climbing part 211 and at the same time is also used for fixedly supporting the climbing part 211. At least part of the motor 2111 and the synchronous pulley 2113 of the climbing part 211 can be fixedly arranged in the housing, and part of the synchronous belt 2112 is accommodated in the housing. The engaging part 212 exposed from the synchronous belt 2112 meshes with the mating part on the external shelf track 11. The supporting part 214 can also be a support frame or any other supporting structure as long as it can provide a supporting effect on the climbing part 211.

[0063] The climbing part 211 includes a motor 2111, a synchronous belt 2112, and a synchronous pulley 2113. The synchronous belt 2112 is arranged on the synchronous pulley 2113. The motor 2111 is used to drive the synchronous pulley 2113 to rotate so as to drive the synchronous belt 2112 to rotate relative to the supporting part 214. A plurality of engaging parts 212 are arranged at intervals on the synchronous belt 2112. Among them, the engaging part 212 is mainly used for meshing with the mating part on the shelf track 11.

[0064] A synchronous pin 213 is arranged on each engaging part 212. The synchronous pin 213 is mainly used for identifying the position of the engaging part 212 so that the sensor 215 can identify its position. It can be a magnetic part or a metal part. Among them, the distance between two adjacent engaging parts 212 can be set as required and is not limited here.

[0065] Among them, in the embodiment of the present application, the engaging part 212 can be a convex block, and the mating part on the shelf track 11 that meshes with the engaging part 212 can be a groove. When the synchronous belt 2112 rotates along the shelf track 11, the protruding side of the convex block is stuck into the groove on the shelf track 11, so as to realize the meshing of the engaging part 212 with the mating part on the shelf track 11, so that the synchronous belt 2112 can rotate stably along the shelf track. If the engaging part 212 is a convex block, the synchronous pin 213 can be arranged inside the convex block, so as to avoid damage to the synchronous pin 213 due to contact with other components during the rotation of the synchronous belt 2112.

[0066] The sensor 215 is disposed on the support portion 214. The sensor 215 is configured to sequentially detect the synchronous pins 213 when the synchronous belt 2112 rotates. When the support portion 214 is a housing, the sensor 215 can be disposed at a position on the inner side of the housing opposite to the synchronous belt 2112 for detecting the synchronous pins 213 on the engagement portion 212. The sensor 215 can be disposed on the inner side of the housing by means of snap connection or punching. The housing can protect the sensor 215 from being damaged.

[0067] After the installation position of the sensor 215 on the support portion 214 is determined, the detection area of the sensor 215 is also determined accordingly. When the synchronous belt 2112 rotates along the shelf track 11, the synchronous pins 213 provided on the engagement portion 212 will rotate with the rotation of the synchronous belt 2112, so that the synchronous pins 213 sequentially pass through the detection area of the sensor 215, thereby enabling the sensor 215 to sequentially detect a plurality of synchronous pins 213. By using the sensor 215 to detect the synchronous pins 213, it is possible to determine whether the synchronous belt 2112 is abnormal based on the detection data of the sensor 215. Since the sensor 215 is mainly used to detect the synchronous pins 213, the type of the sensor 215 can be determined according to the material of the synchronous pins 213 and the like.

[0068] In the embodiment of the present application, if a certain section of the belt body in the synchronous belt 2112 is stretched, the distance between two adjacent engagement portions 212 will become larger. For example, if the belt body between the engagement portion A and the engagement portion B is stretched, then the distance between the engagement portion A and the engagement portion B will become larger accordingly. At this time, there will be a difference between the detection data obtained by the sensor 215 detecting the synchronous pins 213 provided on the engagement portion 212 and the detection data obtained by detecting the synchronous pins 213 when the synchronous belt 2112 is in a normal state. For example, if the synchronous belt between the engagement portion A and the engagement portion B is stretched, then when the rotation speed of the synchronous belt 2112 remains unchanged, the interval time detected by the sensor 215 for the synchronous pins 213 provided on these two engagement portions 212 will also become longer. Therefore, it is possible to determine whether the synchronous belt 2112 is abnormally stretched based on the detection data obtained by the sensor 215 detecting the synchronous pins 213.

[0069] Moreover, if one or more engaging portions 212 provided on the timing belt 2112 become detached, the timing pins 213 provided on the engaging portions 212 will also become detached along with the engaging portions 212. Since the sensor 215 is used to detect the timing pins 213 provided on the timing belt 2112, when the timing belt 2112 is in the working state, after the timing pins 213 become detached, they cannot pass through the detection area of the sensor 215 as the timing belt 2112 rotates. As a result, the sensor 215 cannot detect the detached timing pins 213, and the detection data obtained by detecting the timing pins 213 by the sensor 215 does not include the detection data of the detached timing pins 213. Therefore, it is possible to determine whether the engaging portions 212 provided on the timing belt 2112 are abnormally detached according to the detection data obtained by the sensor 215 detecting the timing pins 213.

[0070] It should be noted that in the embodiments of the present application, only the case where two engaging portions 212 and two timing pins 213 are provided in the climbing device 21 is taken as an example for illustration, and the number of the engaging portions 212 and the timing pins 213 is not limited. The number of the engaging portions 212 and the timing pins 213 can also be three or more.

[0071] To enable the sensor 215 to effectively detect the timing pins 213, the sensor 215 can adopt a proximity sensor. Among them, the proximity sensor is a sensor that can detect the object to be detected without contacting it. In the embodiments of the present application, by using the proximity sensor to detect the timing pins 213, detection can be performed without contacting the timing pins 213, avoiding wear and a decrease in measurement accuracy caused by the contact between the sensor 215 and the timing pins 213.

[0072] In some embodiments, the timing pins 213 are made of a metal material, and the sensor 215 is an inductive proximity sensor. The metal material is strong and durable, and the inductive proximity sensor has high sensitivity and high measurement accuracy, thus meeting the requirements for the engineering implementation of the climbing device 21.

[0073] In other embodiments, the timing pins 213 are made of a magnetic material, and the sensor 215 is a Hall device. The Hall device has high measurement accuracy, good stability, long service life and fast response speed, and can also meet the requirements for the engineering implementation of the climbing device 21.

[0074] In some embodiments, a plurality of engaging portions 212 are equidistantly arranged on the synchronous belt 2112. In the embodiments of the present application, since the plurality of engaging portions 212 are arranged at equal intervals on the synchronous belt 2112, the distance between any two adjacent synchronous pins 213 is also the same. Therefore, when the synchronous belt 2112 is in a normal state, it is convenient to determine whether the synchronous belt is abnormal based on the detection data detected by the sensor 215. For example, if the distance between any two adjacent synchronous pins 213 is the same, then when the rotation speed of the synchronous belt 2112 remains unchanged, the sensor 215 detects that the interval time between two adjacent synchronous pins 213 is the same. When the rotation speed of the synchronous belt 2112 changes, the actual distance between two adjacent synchronous pins 213 can also be calculated based on the speed change curve and the detected interval time between two adjacent synchronous pins 213.

[0075] In some embodiments, the motor 2111 further includes an encoder. The encoder is used to determine the displacement of the synchronous belt 2112. Specifically, the rotation distance of the synchronous belt 2112 can be determined according to the count value output by the encoder. In the motor control system, it is a prior art to use an encoder and the count value of the encoder to determine the rotation distance of the synchronous belt, and thus it will not be elaborated here.

[0076] In the embodiments of the present application, by arranging an encoder in the climbing device 21, it is possible to determine whether the synchronous belt 2112 is abnormal based on two count values of the encoder corresponding to when the sensor 215 detects the synchronous pin 213 twice. The judgment method is simple and convenient for judging the state of the synchronous belt 2112.

[0077] Figure 5 The structural block diagram of the climbing robot provided by the embodiments of the present application is shown. Figure 6 The step flow diagram executed by the controller provided by the embodiments of the present application is shown. As Figure 5 shown, the climbing robot 20 includes a climbing device 21 and a controller 22, wherein the controller 22 is electrically connected to the sensor 215. The structure and implementation manner of the climbing device 21 can refer to the embodiments of the climbing device 21 described above, and will not be elaborated here.

[0078] The controller 22 can be a single-chip microcomputer, a microcontroller unit (MCU), a programmable logic controller (PLC), a digital signal processor (DSP), a field-programmable gate array (FPGA), a system on chip (SoC), etc.

[0079] Next, in combination withFigure 6 Describe the step process executed by the controller.

[0080] The controller 22 is used to obtain the detection information (1001) of the synchronous pins successively detected by the sensor. As introduced above, when the synchronous belt 2112 rotates, the synchronous pins 213 provided on the meshing portion 212 will successively pass through the detection area of the sensor 215. Therefore, the sensor 215 will successively detect the synchronous pins 213 passing through the detection area, thereby generating detection information.

[0081] The controller 22 is also used to determine the spacing information (1002) between two adjacent synchronous pins according to the detection information of the synchronous pins successively detected, and determine whether the synchronous belt is abnormal (1003) according to the spacing information between two adjacent synchronous pins.

[0082] Figure 7 The figure shows a schematic diagram of a partial synchronous belt and a meshing portion provided by an embodiment of the present application. As Figure 7 shown, Figure 7 in (a) of, the synchronous belt 2112 is in a normal state, and the initial spacing between two adjacent meshing portions 212 is p. Figure 7 in (b) of, after the synchronous belt 2112 is stretched, the spacing between two adjacent meshing portions 212 becomes p + m, where m is the distance by which the synchronous belt 2112 is stretched. That is to say, when the synchronous belt 2112 is stretched, the spacing between two adjacent meshing portions 212 will increase, that is, the spacing between two adjacent synchronous pins 213 will increase.

[0083] If the meshing portion 212 falls off, the spacing information of two adjacent synchronous pins 213 determined by the controller 22 according to the detection information will also be different from that in the normal state. For example, assume that there are three meshing portions 212, namely meshing portion A, meshing portion B, and meshing portion C, and meshing portion B is located between meshing portion A and meshing portion C. If the meshing portion B falls off, the spacing information of two adjacent synchronous pins 213 determined by the controller 22 according to the detection information of the synchronous pins 213 successively detected belongs to the spacing information of the synchronous pin 213 provided on the meshing portion A and the synchronous pin 213 provided on the meshing portion B. If the meshing portion B does not fall off, then the spacing information of two adjacent synchronous pins 213 determined by the controller 22 should be the spacing information of the synchronous pin 213 provided on the meshing portion A and the synchronous pin 213 provided on the meshing portion B. Therefore, the spacing information of two adjacent synchronous pins determined by the controller 22 when the meshing portion 212 falls off is different from the spacing information determined when the meshing portion 212 does not fall off.

[0084] Therefore, in the embodiments of the present application, the controller 22 can accurately determine whether the synchronous belt 2112 is stretched and whether the meshing portion 212 has fallen off according to the spacing information by determining the spacing information between two adjacent synchronous pins based on the detection information. For example, by detecting the actual spacing between two adjacent synchronous pins 213, if the actual spacing between two adjacent synchronous pins 213 is slightly greater than the initial spacing, it is determined that the synchronous belt 2112 is stretched; if the actual spacing between two adjacent synchronous pins is much greater than the initial spacing, for example, the actual spacing is greater than or equal to twice the initial spacing, it is determined that the meshing portion 212 has fallen off.

[0085] In the embodiments of the present application, the motor 2111 further includes an encoder for determining the displacement of the synchronous belt 2112, and the controller 22 is electrically connected to the encoder. Figure 8 The figure shows a schematic flow chart of steps executed by the controller provided in another embodiment of the present application. As Figure 8 shown, the controller 22 is further configured to obtain a first count value (2001) of the encoder when the sensor 215 generates first detection information, and obtain a second count value of the encoder when the sensor 215 generates second detection information, where the first detection information and the second detection information are the detection information (2002) of the sensor 215 detecting the synchronous pin 213 successively twice. Among them, the detection information generated by the sensor 215 when detecting the synchronous pin 213 is different from the detection information generated when not detecting the synchronous pin 213.

[0086] Figure 9 The figure shows a schematic diagram of the detection information generated by the sensor provided in the embodiments of the present application. As Figure 9 shown, when the sensor 215 does not detect the synchronous pin 213, the sensor 215 generates a low-level signal, and when detecting the synchronous pin 213, it generates a high-level signal (it can also be that when not detecting the synchronous pin 213, the sensor 215 generates a high-level signal, and when detecting the synchronous pin 213, it generates a low-level signal, depending on the interface circuit, trigger mode, etc., which is not limited here). Among them, A and B are the detection times when the sensor 215 detects two adjacent synchronous pins 213. In the embodiments of the present application, the first count value of the encoder obtained by the controller 22 is the count value of the encoder at time A, and the second count value of the encoder obtained is the count value of the encoder at time B.

[0087] The controller 22 is further configured to determine the absolute value of the difference between the first count value and the second count value (2003). If the absolute value of the difference is greater than a preset difference threshold, it is determined that the timing belt is abnormal (2004). As introduced above, the relative position of the synchronization pin 213 on the shelf track 11 can be determined according to the count value output by the encoder. Therefore, there is a corresponding relationship between the absolute value of the difference between the first count value and the second count value determined by the controller 22 and the distance between two relative positions of two adjacent synchronization pins 213 on the shelf track 11, that is, there is a corresponding relationship with the distance between two adjacent synchronization pins 213.

[0088] Therefore, in the embodiment of the present application, if the absolute value of the difference is greater than the preset difference threshold, it means that the distance between two successively detected synchronization pins 213 is greater than the initial distance, so that it can be determined that the timing belt 2112 is abnormal. The preset difference threshold can be set according to the initial distance and is not limited herein.

[0089] In some embodiments, the climbing robot 20 includes a plurality of synchronization pins 213 arranged at equal intervals, and the preset difference threshold is determined based on the initial distance between adjacent synchronization pins 213. Exemplarily, if the initial distance is length A and each increase in the count value of the encoder represents the rotation length B of the timing belt 2112, the preset difference threshold can be A / B. Wherein, A and B have the same unit. If A / B is a decimal, it can be rounded up or down.

[0090] In the embodiment of the present application, in the initial state of the timing belt 2112, since the initial distances between any two adjacent synchronization pins 213 are the same, the controller 22 can use the same preset difference threshold to judge the magnitude relationship between the absolute value of the difference between the two count values when the synchronization pins 213 are detected successively twice and the preset difference threshold, thereby improving the judgment efficiency.

[0091] Moreover, since there is a corresponding relationship between the absolute value of the difference between the first count value and the second count value and the distance between two adjacent synchronization pins 213 corresponding thereto, as Figure 9 shown, on the premise that the rotation speed of the timing belt 2112 is the same, if the initial distance between adjacent synchronization pins 213 is larger, the interval duration between time A and time B is longer, and the corresponding absolute value of the difference between the first count value and the second count value is also larger. Therefore, in the embodiment of the present application, since the preset difference threshold is determined based on the initial distance between adjacent synchronization pins 213, the accuracy of the determined preset difference threshold is improved, and the accuracy of judging whether the timing belt 2112 is abnormal is also improved.

[0092] On the basis of the foregoing embodiments, in the embodiment of the present application, the climbing part 211 further includes a reducer, and the reducer is configured to change the rotation speed output by the motor 2111, and the preset difference threshold is NormalValue + Δ.

[0093] Among them, NormalValue = p * (i / d / π) * a * b, Δ is proportional to (i / d / π) * a * b, p is the initial spacing, i is the transmission ratio of the speed reducer, d is the pitch diameter of the synchronous pulley 2113, a is the number of lines of the encoder, and b is the counting magnification of the encoder.

[0094] Among them, in order to improve the accuracy of the determined Δ, the synchronous belt 2112 can be experimented or analyzed to determine the stretched distance m of the synchronous belt 2112, and then Δ can be quickly determined according to Δ = m * (i / d / π) * a * b.

[0095] In the embodiment of the present application, since the accuracy of the preset difference threshold determined by the above method is relatively high, it is possible to accurately determine whether the synchronous belt 2112 is abnormal according to the preset difference threshold.

[0096] Figure 10 The figure shows a schematic flow chart of steps executed by a controller provided in another embodiment of the present application. As Figure 10 shown, in the embodiment of the present application, the controller 22 is further configured to obtain a first moment (3001) when the sensor generates the first detection information, and obtain a second moment when the sensor generates the second detection information, where the first detection information and the second detection information are detection information of the synchronous pin successively detected by the sensor (3002), and determine the duration between the first moment and the second moment (3003). If the duration is greater than the preset duration threshold, it is determined that the synchronous belt is abnormal (3004).

[0097] Among them, the preset duration threshold required for the synchronous belt 2112 to rotate the distance of the initial spacing can be determined according to the rotation speed of the synchronous belt 2112 and the initial spacing between two adjacent synchronous pins 213. When the rotation speed of the synchronous belt 2112 is the same, if the spacing between two adjacent synchronous pins 213 is larger, then the longer the duration required for the synchronous belt 2112 to rotate the distance of this spacing. Therefore, in the embodiment of the present application, whether the synchronous belt 2112 is abnormal can be accurately determined according to the duration between the first moment and the second moment.

[0098] For example, as Figure 9 shown, the first moment is moment A, and the second moment is moment B. If the synchronous belt 2112 is not abnormal, the duration between moment A and moment B is equal to the preset duration threshold. If the synchronous belt 2112 is stretched or the meshing part 212 falls off, the spacing between two adjacent synchronous pins 213 increases, then the interval duration for detecting these two synchronous pins 213 is lengthened, that is, the interval duration is greater than the preset duration threshold.

[0099] In some embodiments, the controller 22 is further configured to determine that the timing belt 2112 is in a first abnormal state when the absolute value of the difference falls within a first preset difference range, where the first abnormal state is that the timing belt 2112 is deformed; determine that the timing belt 2112 is in a second abnormal state when the absolute value of the difference falls within a second preset difference range, where the second abnormal state is that the timing belt 2112 is broken; and determine that the timing belt 2112 is in a third abnormal state when the absolute value of the difference falls within a third preset difference range, where the third abnormal state is that the timing pin 213 falls off. Herein, the minimum value of the first preset difference range is greater than or equal to a preset difference threshold, the minimum value of the second preset difference range is greater than the minimum value of the first preset difference range, and the minimum value of the third preset difference range is greater than the minimum value of the second preset difference range.

[0100] Among them, the first preset difference range, the second preset difference range, and the third preset difference range are three different threshold intervals. When the timing belt 2112 is deformed, the timing belt 2112 is slightly stretched, and at this time, the increase in the distance between two adjacent timing pins 213 is relatively small. When the timing belt 2112 is broken, it indicates that the degree of deformation of the timing belt 2112 has exceeded the maximum deformation degree it can withstand, that is, the distance by which the timing belt 2112 is stretched is relatively large, and at this time, the increase in the distance between two adjacent timing pins 213 is relatively large. When the meshing portion 212 falls off, resulting in the timing pin 213 falling off, the increase in the distance between two adjacent timing pins 213 at this time is the largest, at least doubling the initial distance.

[0101] When the timing belt 2112 is in different health states (i.e., the timing belt 2112 is in a deformed, broken, or timing pin 213 fallen-off state), the corresponding abnormal handling methods are also different. Therefore, in the embodiments of the present application, by setting different threshold intervals and then determining which threshold interval the absolute value of the difference falls into, the health state of the current timing belt 2112 can be accurately determined, so that the abnormal handling method can be quickly determined and the abnormality can be handled, thereby reducing losses.

[0102] It should be noted that the first preset difference range, the second preset difference range, and the third preset difference range can be determined as needed and are not limited herein. For example, the maximum value in the threshold interval corresponding to the first preset difference range is less than the minimum value in the threshold interval corresponding to the second preset difference range, and the maximum value in the threshold interval corresponding to the second preset difference range is less than the minimum value in the threshold interval corresponding to the third preset difference range.

[0103] An embodiment of the present application provides a synchronous belt abnormality determination method, which is applied to a climbing robot. The climbing robot includes a climbing device and a controller. The climbing device includes a climbing part and a supporting part. The climbing part is arranged on the supporting part, and the climbing part includes a motor, a synchronous belt, and a synchronous pulley. The synchronous belt is arranged on the synchronous pulley, and the motor is used to drive the synchronous pulley to rotate, so as to drive the synchronous belt to rotate relative to the supporting part. A plurality of meshing parts are arranged on the synchronous belt, and synchronous pins are correspondingly arranged on the plurality of meshing parts one by one. A sensor is arranged on the supporting part, and the sensor is used to sequentially detect the synchronous pins when the synchronous belt rotates. The controller is electrically connected to the sensor. The specific structure of the climbing robot can refer to the embodiments described above. This method is executed by the controller in the climbing robot. Please refer to Figure 6 , and the method includes:

[0104] Step 1001: Obtain the detection information of the synchronous pins successively detected by the sensor.

[0105] Step 1002: Determine the spacing information between two adjacent synchronous pins according to the detection information of the synchronous pins successively detected.

[0106] Step 1003: Determine whether the synchronous belt is abnormal according to the spacing information between two adjacent synchronous pins.

[0107] Please refer to Figure 8 , in some embodiments, the climbing robot further includes an encoder, which is used to determine the displacement of the transmission part. The controller is electrically connected to the encoder. Step 1001 includes the following steps 2001 to 2002, step 1002 includes step 2003, and step 1003 includes step 2004.

[0108] Step 2001: When the sensor generates the first detection information, obtain the first count value of the encoder.

[0109] Step 2002: When the sensor generates the second detection information, obtain the second count value of the encoder, where the first detection information and the second detection information are the detection information of the synchronous pins successively detected by the sensor twice.

[0110] Step 2003: Determine the absolute value of the difference between the first count value and the second count value.

[0111] Step 2004: If the absolute value of the difference is greater than the preset difference threshold, determine that the synchronous belt is abnormal.

[0112] In some embodiments, the climbing robot includes a plurality of equally spaced synchronous pins, and the preset difference threshold is determined based on the initial spacing between adjacent synchronous pins.

[0113] In some embodiments, the climbing part further includes a speed reducer for changing the rotational speed output by the motor, and the preset difference threshold is NormalValue + Δ.

[0114] Wherein, NormalValue = p * (i / d / π) * a * b, Δ is proportional to (i / d / π) * a * b, p is the initial spacing, i is the transmission ratio of the speed reducer, d is the pitch diameter of the synchronous pulley, a is the number of lines of the encoder, and b is the counting magnification of the encoder.

[0115] Please refer to Figure 10 , in some embodiments, step 1001 includes the following steps 3001 to 3002, step 1002 includes step 3003, and step 1003 includes step 3004.

[0116] Step 3001: Obtain the first moment when the sensor generates the first detection information.

[0117] Step 3002: Obtain the second moment when the sensor generates the second detection information, where the first detection information and the second detection information are the detection information of the synchronous pin detected by the sensor successively twice.

[0118] Step 3003: Determine the duration between the first moment and the second moment.

[0119] Step 3004: If the duration is greater than the preset duration threshold, determine that the synchronous belt is abnormal.

[0120] In some embodiments, the method for determining the abnormality of the synchronous belt further includes:

[0121] Step a01: When the absolute value of the difference falls within the first preset difference range, determine that the synchronous belt is in the first abnormal state, and the first abnormal state is that the synchronous belt is deformed.

[0122] Step a02: When the absolute value of the difference falls within the second preset difference range, determine that the synchronous belt is in the second abnormal state, and the second abnormal state is that the synchronous belt is broken.

[0123] Step a03: When the absolute value of the difference falls within the third preset difference range, determine that the synchronous belt is in the third abnormal state, and the third abnormal state is that the synchronous pin falls off.

[0124] Wherein, the minimum value of the first preset difference range is greater than or equal to the preset difference threshold, the minimum value of the second preset difference range is greater than the minimum value of the first preset difference range, and the minimum value of the third preset difference range is greater than the minimum value of the second preset difference range.

[0125] For the specific implementation process and beneficial effects of the embodiments of the above method for determining the abnormality of the synchronous belt, reference can be made to the embodiments of the foregoing climbing robot, and details are not described herein one by one.

[0126] An embodiment of the present application further provides a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the above-described embodiment of the synchronous belt abnormality determination method.

[0127] An embodiment of the present application provides a computer program, and the computer program can be executed by a processor to implement the above-described embodiment of the synchronous belt abnormality determination method.

[0128] An embodiment of the present application provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the above-described embodiment of the synchronous belt abnormality determination method.

[0129] In several embodiments provided by the present application, if any function is implemented in the form of a software function module / unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, all or part of the technical solution of the present application can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be an electronic device such as a personal computer or a server) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store computer program codes.

[0130] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings provided herein. The structure required to construct such a system will be apparent from the above description. In addition, the embodiments of the present application are not directed to any specific programming language. It should be understood that the content of the present application described herein can be implemented using various programming languages, and the description of the specific language above is for the purpose of disclosing the best mode of the present application.

[0131] It should be noted that the above embodiments are illustrative of the present application rather than restrictive thereof, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a claim listing several devices, several units or modules of these devices may be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specifically stated, should not be construed as limiting the order of execution.

[0132] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A climbing device, characterized in that: include: A climbing part and a supporting part; wherein the climbing part is arranged on the supporting part, and the climbing part comprises a motor, a synchronous belt and a synchronous wheel; The synchronous belt is arranged on the synchronous wheel, and the motor is used to drive the synchronous wheel to rotate, so as to drive the synchronous belt to rotate relative to the supporting part; The synchronous belt is provided with a plurality of meshing parts, and the plurality of meshing parts are provided with synchronous pins in a one-to-one correspondence; A sensor is arranged on the support portion, and the sensor is used to detect the synchronization pins in sequence when the synchronization belt rotates.

2. The climbing device according to claim 1, characterized in that: The sensor is a proximity sensor.

3. The climbing device according to claim 1, characterized in that: The plurality of meshing parts are arranged on the synchronous belt at equal intervals.

4. The climbing device according to claim 2, characterized in that: The synchronization pin is made of metal material, and the proximity sensor is an inductive proximity sensor.

5. The climbing device according to claim 2, characterized in that: The synchronization pin is made of a magnetic material, and the proximity sensor is a Hall device.

6. The climbing device according to claim 1, characterized in that: The motor includes an encoder.

7. A climbing robot, characterized in that: The climbing robot comprises a climbing device as described in any one of claims 1-6.

8. The climbing robot according to claim 7, characterized in that: The climbing robot also includes a reducer, which is used to change the rotation speed output by the motor.

9. A storage system, characterized in that: The storage system comprises a shelf and the climbing robot as claimed in claim 7, wherein the shelf comprises a shelf rail, and the plurality of engaging parts of the climbing robot are used to engage with the shelf rail.

10. The storage system according to claim 9, characterized in that: The engaging portion is a protrusion, and the shelf track has a plurality of slots arranged vertically. The protrusion is used to abut against the slots when the synchronous belt rotates vertically along the shelf track, so that the climbing robot rises and falls along the shelf track.

Images