Climbing robot and warehousing system

Abstract

The utility model provides a climbing robot and a warehousing system, relates to the technical field of intelligent warehousing, and is used for solving the technical problem that the climbing robot deviates from a corresponding storage location. The climbing robot comprises a robot body, two climbing units and a horizontal pushing mechanism, and the two climbing units are arranged on the same side of the robot body; the first electrodes are arranged at intervals along a first direction; the horizontal pushing mechanism is fixed to the robot body and arranged between the two climbing units. The two climbing units are configured to be in butt joint with the two adjacent guide rails in the at least two guide rails so that the two climbing units can climb along the two adjacent guide rails, and the horizontal pushing mechanisms drive the corresponding climbing units to move relative to the robot body. The position precision between the climbing robot and the goods shelf during two-way goods picking and placing is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent warehousing, and in particular, to a climbing robot and a warehousing system. Background Art

[0002] With the rapid development of artificial intelligence technology, automation technology, and information technology, intelligent warehousing is an important part of modern logistics. The application of intelligent warehousing ensures the speed and accuracy of data input in all aspects of goods warehouse management.

[0003] In related technologies, intelligent warehousing includes a shelf for placing goods and a climbing robot. One side of the shelf has a guide rail that the climbing robot can climb. The climbing robot includes a climbing unit. The climbing robot can climb on the shelf along the guide rail through the climbing unit and realize two-way picking and placing of goods on the shelves on both sides of the aisle.

[0004] However, in related technologies, when the climbing robot realizes two-way picking and placing of goods on the shelves on both sides of the aisle, there is a technical problem that there is an offset between the climbing robot and the storage locations corresponding to the picking and placing, resulting in the goods or the climbing robot may collide with the columns on both sides of the corresponding storage locations on the shelf. Summary of the Utility Model

[0005] In view of the above problems, the embodiments of the present disclosure provide a climbing robot and a warehousing system. The climbing robot can avoid the problem of collision between the goods and the shelves on both sides due to offset, thereby improving the safety of the climbing robot during two-way picking and placing of goods.

[0006] To achieve the above object, the embodiments of the present disclosure provide the following technical solutions:

[0007] The first aspect of the embodiments of the present disclosure provides a climbing robot for climbing on a shelf and picking and placing goods. The shelf has at least two guide rails that are spaced apart along a first direction; the climbing robot includes: a robot body, two climbing units, and a flat pushing mechanism. The two climbing units are arranged on the same side of the robot body and are spaced apart along the first direction; the flat pushing mechanism is fixedly installed on the robot body and is at least partially arranged between the two climbing units; the two climbing units are respectively configured to be docked with two adjacent guide rails among the at least two guide rails, so that the two climbing units climb along the two adjacent guide rails; the flat pushing mechanism includes two sets of driving mechanisms, and each set of the two sets of driving mechanisms includes a driving motor and a transmission component. The two sets of driving mechanisms are respectively used to connect with the two climbing units, and each set of driving mechanisms drives the corresponding climbing unit to move relative to the robot body through the driving motor and the transmission component therein.

[0008] In some embodiments, the transmission assembly includes a driving wheel, a driven wheel, and a flexible member. The driving wheel and the driven wheel are disposed at intervals in the width direction of the climbing robot between the two climbing units. The flexible member is wound around the driving wheel and the driven wheel. The driving motor is connected to the driving wheel to drive the flexible member through the driving wheel, and the flexible member is connected to the corresponding climbing unit.

[0009] In some embodiments, each climbing unit has a first sliding portion, and the robot body has a second sliding portion at a position facing the first sliding portion. The first sliding portion is slidably connected to the second sliding portion.

[0010] In some embodiments, the first sliding portion includes one of a slide rail or a slide groove, and the second sliding portion includes the other of the slide rail or the slide groove.

[0011] In some embodiments, the flexible member is one of a synchronous belt, an ordinary flat belt, and a transmission chain.

[0012] In some embodiments, the transmission assembly further includes a first connecting member. The first connecting member is fixedly connected to the flexible member, and the first connecting member is fixedly connected to the corresponding climbing unit.

[0013] In some embodiments, each set of the driving mechanisms further includes a second connecting member. The two sets of driving mechanisms are connected to each other through the two second connecting members, and the driven wheel in each set of the driving mechanisms is rotatably connected to the second connecting member in this set.

[0014] In some embodiments, the second connecting member includes a connecting frame, and the driven wheel and the connecting frame in each set of the driving mechanisms are rotatably connected.

[0015] A second aspect of the embodiments of the present disclosure provides a warehousing system, including a shelf and the climbing robot provided in the above embodiments. The climbing robot is used to climb on the shelf and pick up and place goods.

[0016] A third aspect of the embodiments of the present disclosure provides a warehousing system, including: a first shelf, a second shelf, and a climbing robot. The first shelf and the second shelf are oppositely arranged and have a deviation in a first direction. A lane for the climbing robot to pick up and place goods is formed between the first shelf and the second shelf. At least two guide rails are provided on the side of the first shelf facing the second shelf, and a first storage location for storing goods is provided between two adjacent guide rails; a second storage location opposite to the first storage location is provided on the side of the second shelf facing the first shelf, and the first storage location and the second storage location have a deviation in the first direction; the climbing robot includes a robot body, two climbing units, and a horizontal pushing mechanism. The two climbing units are movably arranged on the robot body, the horizontal pushing mechanism is arranged between the two climbing units, the two climbing units are respectively docked with two of the at least two guide rails, and climb or descend along the extending direction of the guide rails; the horizontal pushing mechanism is configured to drive relative movement between the two climbing units and the robot body in the extending direction of the lane so that the relative position of the robot body in the first direction with respect to the first storage location and / or the second storage location can be adjusted when the two climbing units remain docked with two adjacent guide rails among the at least two guide rails.

[0017] In the embodiments of the present disclosure, by designing a horizontal pushing mechanism and arranging the horizontal pushing mechanism between two climbing units, the two climbing units are arranged on the same side of the robot body and are spaced apart along the width direction of the robot body, the horizontal pushing mechanism is fixedly connected to the robot body, and the two climbing units are respectively docked with two adjacent guide rails among at least two guide rails on the shelf, so that the climbing units can climb along the guide rails; and the horizontal pushing mechanism includes two sets of driving mechanisms, the two sets of driving mechanisms are respectively used to connect with the two climbing units, and the driving motors in each set of driving components drive the corresponding climbing units to move relative to the robot body through transmission components, so that the robot body moves in the first direction when the two climbing units remain docked with two adjacent guide rails among at least two guide rails, to adjust the position between the robot body and the storage location on the shelf corresponding to its current position, and to avoid excessive deviation between the robot body and the storage location corresponding to picking up and placing goods, thereby improving the position accuracy between the climbing robot and the corresponding storage location when picking up and placing goods, and further improving the safety and reliability of the climbing robot when picking up and placing goods.

[0018] The warehousing system provided by the embodiments of the present disclosure has the same beneficial effects as the climbing robot provided by the above embodiments, and will not be elaborated here.

[0019] In addition to the technical problems solved by the embodiments of the present disclosure described above, the technical features constituting the technical solutions, and the beneficial effects brought by the technical features of these technical solutions, other technical problems that can be solved by the climbing robot and the warehousing system provided by the embodiments of the present disclosure, other technical features included in the technical solutions, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 A schematic diagram of a state of the climbing robot and the shelf provided by an embodiment of the present disclosure;

[0022] Figure 2 A schematic side projection diagram of the structure of the climbing robot provided by an embodiment of the present disclosure;

[0023] Figure 3 A schematic diagram of a state after the lifting mechanism of the climbing robot provided by an embodiment of the present disclosure is lifted;

[0024] Figure 4 A schematic diagram of a state of the climbing robot in the warehousing system provided by an embodiment of the present disclosure;

[0025] Figure 5 A schematic diagram of the structure of another perspective of the climbing robot provided by an embodiment of the present disclosure;

[0026] Figure 6 A schematic diagram of the structure of the horizontal pushing mechanism in the climbing robot provided by an embodiment of the present disclosure;

[0027] Figure 7 A partial structure schematic diagram of the climbing robot provided by an embodiment of the present disclosure.

[0028] Reference Signs:

[0029] 100 - Climbing robot;

[0030] 110 - Robot body; 111 - Second sliding part; 112 - Moving base; 113 - Lifting mechanism; 114 - Mounting seat; 115 - Fork assembly;

[0031] 120 - Climbing unit; 121 - First sliding part; 122 - First climbing tooth;

[0032] 130 - Flat - pushing mechanism; 130a - Driving mechanism;

[0033] 131 - Driving motor;

[0034] 132 - Transmission assembly;

[0035] 1321 - Driving wheel;

[0036] 1322 - Driven wheel;

[0037] 1323 - Flexible member;

[0038] 1324 - First connecting member;

[0039] 1325 - Second connecting member;

[0040] 200 - Shelf; 201 - Guide rail;

[0041] 210 - First shelf; 211 - First storage location; 212 - First column;

[0042] 220 - Second shelf; 221 - Second storage location; 222 - Second column;

[0043] 230 - Aisle. Detailed implementation manner

[0044] With the rapid development of artificial intelligence technology, automation technology, and information technology, intelligent warehousing is an important part of modern logistics. The application of intelligent warehousing ensures the speed and accuracy of data input in all aspects of goods warehouse management. In related technologies, intelligent warehousing includes shelves for placing goods and climbing robots. One side of the shelves has guide rails that the climbing robots can climb. The climbing robots include climbing units and can climb along the guide rails on the shelves to take out goods at different height positions on the shelves or place goods at different heights on the shelves. In order to improve the efficiency of picking and placing goods, usually, the climbing robots climb along one side of the shelves in the aisles between two adjacent shelves and achieve two - way picking and placing of goods on the shelves on both sides of the aisle. However, in related technologies, when the climbing robots achieve two - way picking and placing of goods on the shelves on both sides of the aisle, there is a problem that there is an offset between the climbing robots and the storage locations corresponding to picking and placing, resulting in the possibility that the goods or the climbing robots may collide with the columns on both sides of the corresponding storage locations on the shelves.

[0045] To solve the above problems, embodiments of the present disclosure provide a climbing robot and a warehousing system. By designing a flat-pushing mechanism and arranging the flat-pushing mechanism between two climbing units, the two climbing units are arranged on the same side of the robot body and are spaced apart along the width direction of the robot body, and the flat-pushing mechanism is fixedly connected to the robot body. The two climbing units are respectively docked with two adjacent ones of at least two guide rails on the shelf, so that the climbing units can climb along the guide rails. The flat-pushing mechanism includes two sets of driving mechanisms, and the two sets of driving mechanisms are respectively used to connect with the two climbing units. The driving motors in each set of driving components drive the corresponding climbing units to move relative to the robot body through transmission components, so that the robot body moves in a first direction when the two climbing units are kept docked with two adjacent ones of at least two guide rails, to adjust the relative position between the robot body and the storage location on the shelf corresponding to its current position, avoid deviation between the robot body and the target storage location during picking and placing goods, thereby improving the position accuracy between the climbing robot and the corresponding storage location during picking and placing goods, and further improving the safety and reliability of the climbing robot during picking and placing goods.

[0046] In order to make the above objects, features, and advantages of the embodiments of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0047] Please refer to Figure 1 As shown, embodiments of the present disclosure provide a climbing robot 100 for climbing on a shelf 200 and picking and placing goods. The shelf 200 has at least two guide rails 201, and the at least two guide rails 201 are available for the climbing robot 100 to climb, so that the climbing robot 100 can climb along the guide rails 201 on the shelf 200 to different heights of the shelf 200, so as to facilitate placing goods on the shelf 200 or taking out the goods on the shelf 200.

[0048] In some embodiments, as shown in FIGS. 2 and Figure 3 As shown, the climbing robot 100 includes a robot body 110 and two climbing units 120. The two climbing units 120 are arranged on the same side of the robot body 110 and are spaced apart along the width (e.g., the first direction) direction of the robot body 110 on the same side of the robot body 110. The two climbing units 120 are respectively docked with two adjacent ones of at least two guide rails 201 on the shelf 200. Among them, one climbing unit 120 is docked with one guide rail 201, so that the climbing unit 120 can climb or descend along the guide rail 201 on the shelf 200 to pick and place goods.

[0049] Please continue to refer to Figure 3-4 As shown, the robot body 110 includes a moving base 112, a lifting mechanism 113, a mounting base 114, and a fork assembly 115. The mounting base 114 is mounted on the moving base 112 through the lifting mechanism 113, and the lifting mechanism 113 is connected between the moving base 112 and the mounting base 114. The fork assembly 115 is disposed on the mounting base 114, and the lifting mechanism 113 can drive the mounting base 114 to move up and down relative to the moving base 112 in the second direction, so that the height of the climbing robot 100 in the second direction is adjustable. The climbing unit 120 is connected to the end of the mounting base 114, that is, the climbing unit 120 is mounted on one side of the mounting base 114.

[0050] Exemplarily, by providing a lifting mechanism 113 between the moving base 112 and the mounting base 114, the mounting base 114 can move up and down relative to the moving base 112 in the second direction. In a specific implementation, since the guide rail 201 is at a certain distance from the ground where the shelf 200 is located, when the climbing robot 100 needs to climb the shelf 200, the mounting base 114 can be first lifted by the lifting mechanism 113 so that the climbing unit 120 is docked with the guide rail 201 on the shelf 200. Then, the moving base 112 is contracted by the lifting mechanism 113, so that the climbing robot 100 climbs on the shelf 200. When the climbing unit 120 needs to be undocked from the guide rail 201, the climbing unit 120 first descends along the guide rail 201 to the lowest position of the guide rail 201, and then through the lifting function of the lifting mechanism 113, the moving base 112 extends toward the ground side so that the moving base 112 contacts the ground. Then, the height of the mounting base 114 is further reduced by the lifting mechanism 113 to release the docking between the climbing unit 120 and the guide rail 201, so that the climbing robot 100 lands safely. It should be noted that during the climbing process of the climbing unit 120, the lifting mechanism 113 may also keep the height of the climbing robot 100 at the height when it is docked with the guide rail 201 without contracting the moving base 112.

[0051] Among them, the lifting mechanism 113 can be a Figure 3 scissor-link structure as shown, or a telescopic hydraulic mechanism, etc., which is not limited here.

[0052] In addition, the mounting base 114 can provide a support and mounting foundation for the fork assembly 115 and the climbing unit 120. The fork assembly 115 can include two telescopic arms and a pick-and-place member disposed at the end of the telescopic arms. The two telescopic arms are respectively docked with the goods through the pick-and-place member on both sides of the goods, so as to push and pull the goods. The fork assembly 115 can also include a telescopic arm and a pick-and-place member located at the end of the telescopic arm. The pick-and-place member is used to dock with the goods from the front, top or bottom of the goods to pick up and place the goods.

[0053] Exemplarily, the pick-and-place member is, for example, a suction cup, a pick-and-place hook finger, a fixture for clamping goods, etc. For details, reference can be made to the related art, and no limitation is imposed herein.

[0054] It can be understood that the climbing unit 120 includes a driving unit and a first climbing gear 122 provided on the climbing unit 120. The guide rail 201 has a second climbing gear that matches the first climbing gear 122. In this way, under the driving force of the driving unit, the first climbing gear 122 meshes with the second climbing gear and transmits power through the gear teeth, so that the climbing unit 120 can climb along the extending direction of the guide rail 201. For details, reference can be made to the related art, and no further elaboration is provided herein.

[0055] In addition, the driving unit can be a flexible transmission assembly 132, a gear transmission assembly 132, etc., as long as it can drive the climbing unit 120 to move relative to the guide rail 201, and no limitation is imposed herein.

[0056] In some embodiments, as Figure 4 shown, there are multiple shelves 200 in the warehousing system. An aisle 230 is formed between two adjacent shelves 200. The climbing robot 100 is located in the aisle 230 and docks with and climbs on the shelf 200 on one side of the aisle 230, enabling the robot to climb unidirectionally (i.e., climb along the shelf 200 on one side of the aisle 230) to achieve two-way pick-and-place of goods (i.e., pick and place goods on the shelves 200 on both sides of the aisle 230 through the climbing robot 100), so as to improve the pick-and-place efficiency of the climbing robot 100. As Figure 1 and 4 shown, the direction along the extension of the aisle 230 is the first direction, the direction along the extension of the guide rail on the shelf (i.e., the vertical direction) is the second direction, and the third direction is perpendicular to the first direction and the second direction.

[0057] Exemplarily, for ease of description, the two shelves 200 forming the roadway 230 are respectively represented by a first shelf 210 and a second shelf 220. At least two guide rails 201 are provided on the side of the first shelf 210 facing the second shelf 220. There is a first storage location 211 between two adjacent guide rails 201 on the first shelf 210. Correspondingly, there is a second storage location 221 on the second shelf 220 corresponding to the first storage location 211. Guide rails 201 may not be provided on the second shelf 220. When the climbing robot 100 docks and climbs along the guide rails 201 on the first shelf 210 and picks up and places goods on the first shelf 210 respectively, since the climbing robot 100 docks with the first shelf 210, the symmetry line of the robot body 110 in the third direction coincides with the symmetry line of the two climbing units 120 in the third direction in the first direction, that is, the robot body 110 picks up and places goods with the symmetry center of two adjacent guide rails 201 as the symmetry center. Therefore, there is basically no problem of offset when the robot body 110 picks up and places goods on the first shelf 210. However, due to various reasons such as construction errors and ground settlement, the second shelf 220 and the first shelf 210 may be offset in the first direction, resulting in a problem that when the climbing robot 100 picks up and places goods on the second shelf 220, the robot body 110 or the goods may collide with the columns on both sides of the second storage location 221 on the second shelf 220.

[0058] In view of the above problems, in the embodiments of the present disclosure, please refer to Figure 5-6 As shown, the climbing robot 100 further includes a flat-pushing mechanism 130. The flat-pushing mechanism 130 is fixedly installed on the robot body 110 and is disposed between the two climbing units 120. The flat-pushing mechanism 130 includes two driving mechanisms 130a. The two driving mechanisms 130a respectively drive the two climbing units 120 to move relative to the robot body 110. Among them, one driving mechanism 130a drives one climbing unit 120 to move the robot body 110 in the first direction when the two climbing units 120 are kept docked with two adjacent guide rails 201 among at least two guide rails 201, so as to adjust the relative position between the robot body 110 and the target storage location on the second shelf 220, avoid the deviation between the robot body 110 and the target storage location, thereby improving the position accuracy between the climbing robot 100 and the corresponding storage location when picking up and placing goods, and further improving the safety and reliability of the climbing robot 100 when picking up and placing goods.

[0059] In an exemplary example, the climbing robot 100 is in the roadway 230 formed by the first shelf 210 and the second shelf 220 and is docked with two adjacent guide rails 201 on the first shelf 210, as Figure 4As shown. The deviation between the first shelf 210 and the second shelf 220 in the first direction is denoted by D, for example. For instance, the deviation between the first upright post 212 on the first shelf 210 and the second upright post 222 on the second shelf 220 in the first direction is D. When the climbing robot 100 maintains docking with two adjacent guide rails 201 on the first shelf 210 and before picking up and placing goods at the second storage location 221 on the second shelf 220, the robot body 110 is driven to move relative to the two climbing units 120 in the first direction by the horizontal pushing mechanism 130 to adjust the relative position between the robot body 110 and the second storage location 221 on the second shelf 220, so as to prevent the problem that the robot body 110 or the goods collide with the second upright post 222 on the second shelf 220 due to a deviation between them and the second storage location 221 during picking up and placing goods, achieving the purpose that the climbing robot 100 climbs along one side of the first shelf 210 and can pick up and place goods bidirectionally on the first shelf 210 and the second shelf 220, and improving the safety and reliability of the robot body 110 when picking up and placing goods on the second shelf 220. In some embodiments, please refer to Figure 6 As shown, the horizontal pushing mechanism 130 includes two sets of driving mechanisms 130a, and the two sets of driving mechanisms 130a are arranged along the first direction. Each of the two sets of driving mechanisms 130a includes a driving motor 131 and a transmission assembly 132. The two sets of driving mechanisms 130a are respectively used to connect with the two climbing units 120. The driving motor 131 in each set of driving mechanisms 130a drives the corresponding climbing unit 120 to move relative to the robot body 110 through the transmission assembly 132, so that the robot body 110 moves in the first direction when the two climbing units 120 maintain docking with two adjacent guide rails 201 among at least two guide rails 201, to adjust the relative position between the robot body 110 and the storage location on the shelf 200 in the first direction, so as to align the climbing robot 100 with the storage location where goods are to be picked up and placed. Additionally, when the climbing robot 100 docks with the shelf 200, the climbing robot 100 may deviate due to uneven ground or other reasons and is not located at the center of two adjacent guide rails 201 on the shelf 200. At this time, the two sets of driving mechanisms 130a of the horizontal pushing mechanism 130 can be controlled to drive the two climbing units 120 to extend different distances respectively so that the two climbing units 120 dock with two adjacent guide rails 201. Further, after the climbing robot 100 successfully docks with the shelf 200, the relative position between the robot body 110 and the target storage location on the shelf 200 in the first direction can be adjusted according to the above method, so as to align the climbing robot 100 with the target storage location where goods are to be picked up and placed.

[0060] In some embodiments, please continue to refer to Figure 6As shown, the transmission assembly 132 includes a driving wheel 1321, a driven wheel 1322, and a flexible member 1323. The driving wheel 1321 and the driven wheel 1322 are mounted on the robot body 110. The driving wheel 1321 and the driven wheel 1322 are arranged at intervals in the width direction of the climbing robot 100 between the two climbing units 120. For example, in Figure 6 the driving wheel 1321 and the driven wheel 1322 are arranged at intervals in the first direction, and the flexible member 1323 is wound around the driving wheel 1321 and the driven wheel 1322. The driving motor 131 is connected to the driving wheel 1321 to drive the flexible member 1323 through the driving wheel 1321. The climbing unit 120 is connected to its corresponding flexible member 1323, and the climbing unit 120 is movably connected to the robot body 110. For example, the climbing unit 120 is slidably connected to the robot body 110. In this way, when the climbing unit 120 is docked with the guide rail 201, the flexible member 1323 moves, so that the robot body 110 can move relative to the climbing unit 120 in the first direction, so that the relative position between the robot body 110 and the storage location in the first direction is adjustable.

[0061] Exemplarily, the flexible member 1323 is one of a synchronous belt, an ordinary flat belt, and a transmission chain. Figure 6 An example where the flexible member 1323 is a synchronous belt is shown.

[0062] It should be noted that the fact that the flat push mechanism 130 is fixedly installed on the robot body 110 does not mean that all components in the flat push mechanism 130 are fixedly immovable relative to the robot body 110. For example, the transmission assembly 132 in the flat push mechanism 130 can still rotate relative to the robot body 10. The installation positions of the driving motor 131 and the driving wheel 1321 and the driven wheel 1322 in the flat push mechanism 130 on the robot body 110 remain unchanged, which means that the flat push mechanism 130 is fixedly installed on the robot body 110.

[0063] In some embodiments, such as Figure 3 and Figure 4 shown, two transmission assemblies 132 are arranged and connected in sequence in the first direction, and the two climbing units 120 are respectively connected to the flexible members 1323 in the two transmission assemblies 132. In this way, when the two climbing units 120 are kept docked with the corresponding guide rails 201, the two driving motors 131 respectively drive the robot body 110 and the two climbing units 120 to move relative to each other in the first direction through the two transmission assemblies 132, so as to improve the relative position between the robot body 110 and the storage location where goods are to be picked up and placed.

[0064] In some embodiments, please refer to Figure 5 and Figure 7As shown, each climbing unit 120 has a first sliding part 121, and at the position of the robot body 110 facing the first sliding part 121, there is a second sliding part 111. The first sliding part 121 is slidably connected to the second sliding part 111. Two driving motors 131 respectively drive the robot body 110 to slide relative to the two climbing units 120 in the first direction through corresponding transmission components 132, that is, drive the relative sliding between the first sliding part 121 and the second sliding part 111, so as to adjust the relative position between the robot body 110 and the storage location where goods are to be picked up or placed in the first direction.

[0065] Exemplarily, the first sliding part 121 includes one of a slide rail or a chute, and the second sliding part 111 includes the other of the slide rail or the chute. Exemplarily, in Figure 5 and Figure 7 the first sliding part 121 includes a skateboard, on which a chute is arranged, and the second sliding part 111 includes a slide rail matching the chute. The slide rail is located in the chute, and under the action of force, the slide rail and the chute slide relative to each other, so that the robot body 110 and the climbing unit 120 move relative to each other in the first direction.

[0066] In some embodiments, please refer to Figure 6 As shown, the transmission component 132 further includes a first connecting part 1324. The first connecting part 1324 is fixedly connected to the flexible part 1323 and is connected to the first sliding part 121, and the first sliding part 121 is connected to the climbing unit 120. Exemplarily, the first connecting part 1324 can be structures such as a connecting plate or a connecting seat. The first connecting part 1324 can be fixedly installed on the flexible part 1323 through threaded connectors, etc., and then the first connecting part 1324 is fixedly connected to the first sliding part 121. In this way, when the flexible part 1323 moves, it can drive the relative movement between the climbing unit 120 and the robot body 110 in the first direction through the first sliding part 121 and the second sliding part 111.

[0067] In some embodiments, please continue to refer to Figure 6 As shown, each set of driving mechanisms 130a further includes a second connecting part 1325. The second connecting part 1325 can be connected to the robot body 110, and the two sets of driving mechanisms 130a are connected to each other through two second connecting parts 1325. For example, in Figure 6 the two sets of transmission components 132 in the two sets of driving mechanisms 130a are connected to each other back to back through two second connecting parts 1325, and the driven wheels 1322 in each set of transmission components 132 are rotatably connected to the corresponding second connecting parts 1325, so that the driven wheels 1322 can rotate around their own axes. By providing the second connecting part 1325, a support basis can be provided for each set of transmission components 132.

[0068] Exemplarily, as Figure 6As shown, the second connecting member 1325 is, for example, a connecting frame, and the driven wheel 1322 is rotatably connected to its corresponding connecting frame.

[0069] An embodiment of the present disclosure further provides a warehousing system, including a shelf 200 and a climbing robot 100 provided as in the above embodiment. The climbing robot 100 is configured to climb on the shelf 200 and pick up and place goods.

[0070] Among them, the structure and operation of the climbing robot 100 have been elaborated in detail in the above embodiment, and will not be repeated here.

[0071] Please refer to Figures 4 to 6 As shown, an embodiment of the present disclosure further provides a warehousing system, including: a first shelf 210, a second shelf 220, and a climbing robot 100. The first shelf 210 and the second shelf 220 are oppositely arranged and have a deviation in the first direction. A lane 230 for the climbing robot 100 to pick up and place goods is formed between the first shelf 210 and the second shelf 220. The side of the first shelf 210 facing the second shelf 220 has at least two guide rails 201, and a first storage location 211 for storing goods is provided between two adjacent guide rails 201; the side of the second shelf 220 facing the first shelf 210 has a second storage location 221 oppositely arranged with the first storage location 211, and the first storage location 211 and the second storage location 221 have a deviation in the first direction; the climbing robot 100 includes a robot body 110, two climbing units 120, and a horizontal pushing mechanism 130. The two climbing units 120 are movably arranged on the robot body 110, and the horizontal pushing mechanism 130 is arranged between the two climbing units 120. The two climbing units 120 are respectively docked with the two guide rails 201 and climb or descend along the extension direction of the guide rails 201; the horizontal pushing mechanism 130 is configured to drive the relative movement between the two climbing units 120 and the robot body 110 in the extension direction of the lane 230 so that the relative position of the robot body 110 in the first direction with respect to the first storage location 211 and / or the second storage location 221 can be adjusted when the two climbing units 120 remain docked with two adjacent guide rails 201 among the at least two guide rails 201.

[0072] Exemplarily, the climbing robot 100 is in the lane 230 formed by the first shelf 210 and the second shelf 220 and is docked with two adjacent guide rails 201 on the first shelf 210, as Figure 4As shown in the figure. The deviation of the first shelf 210 and the second shelf 220 in the first direction is represented by D, for example. When the climbing robot 100 climbs along two adjacent guide rails 201 on the first shelf 210 and maintains docking, and before picking up and placing goods at the second storage location 221 on the second shelf 220, the robot body 110 is driven to move relative to the two climbing units 120 in the first direction through the horizontal pushing mechanism 130, so as to adjust the relative position between the robot body 110 and the second storage location 221 on the second shelf 220, and compensate for the deviation of the first shelf 210 and the second shelf 220 in the first direction. Before the robot body 110 picks up and places goods at the second storage location 221, it is first aligned with the center of the second storage location 221 on the second shelf 220 and then picks up and places goods, thereby improving the safety and reliability of the robot body 110 when picking up and placing goods on the second shelf 220, and avoiding the problem of collision with the second shelf 220 when picking up and placing goods.

[0073] In the embodiment of the present disclosure, by designing a horizontal pushing mechanism 130 and arranging the horizontal pushing mechanism 130 between the two climbing units 120, the two climbing units 120 are arranged on the same side of the robot body 110 and are spaced apart along the width direction of the robot body 110. The horizontal pushing mechanism 130 is fixedly connected to the robot body 110, and the two climbing units 120 are respectively docked with two adjacent guide rails 201 among at least two guide rails 201 on the shelf 200, so that the climbing units 120 can climb along the guide rails 201; and the horizontal pushing mechanism 130 includes two sets of driving mechanisms 130a, and the two sets of driving mechanisms 130a are respectively used to connect with the two climbing units 120. The driving motors 131 in each set of driving components drive the corresponding climbing units 120 to move relative to the robot body 110 through the transmission components 132, so that the robot body 110 moves in the first direction when the two climbing units 120 maintain docking with two adjacent guide rails 201 among at least two guide rails 201, so as to adjust the position between the robot body 110 and the storage location on the shelf 200 corresponding to its current position, and avoid the deviation between the robot body 110 and the storage location corresponding to picking up and placing goods, thereby improving the position accuracy between the climbing robot 100 and the corresponding storage location when picking up and placing goods, and further improving the safety and reliability of the climbing robot 100 when picking up and placing goods.

[0074] In summary, in the embodiments of the present disclosure, a flat-pushing mechanism is designed and disposed between two climbing units. The two climbing units are disposed on the same side of the robot body and spaced apart along the width direction of the robot body. The flat-pushing mechanism is fixedly connected to the robot body. The two climbing units are respectively docked with two adjacent rails among at least two rails on the shelf, so that the climbing units can climb along the rails. The flat-pushing mechanism includes two sets of driving mechanisms, and the two sets of driving mechanisms are respectively used to connect with the two climbing units. The driving motors in each set of driving components drive the corresponding climbing units to move relative to the robot body through transmission components, so that the robot body moves in the first direction when the two climbing units remain docked with two adjacent rails among at least two rails, to adjust the position between the robot body and the storage location on the shelf corresponding to its current position, avoiding deviation between the robot body and the storage location corresponding to picking and placing goods, thereby improving the position accuracy between the climbing robot and the corresponding storage location during picking and placing goods, and further improving the safety and reliability of the climbing robot during picking and placing goods.

[0075] The embodiments or implementation manners in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0076] In the description of this specification, the descriptions with reference to the terms "one implementation manner", "some implementation manners", "illustrative implementation manner", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the implementation manner or example are included in at least one implementation manner or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same implementation manner or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more implementation manners or examples. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments or can be combined at least in the manner shown in the drawings.

[0077] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this disclosure belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this disclosure; the terms "including" and "having" and any variations thereof in the specification and claims of this disclosure and the above drawings are intended to cover non-exclusive inclusion.

[0078] In the description of the embodiments of the present disclosure, technical terms such as "first" and "second" are only used to distinguish different objects, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity, specific order, or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise specifically defined.

[0079] In the description of the embodiments of the present disclosure, technical terms "install" and "connect" have the same meaning and can be used interchangeably. Unless otherwise clearly specified and limited, "install" and "connect" can be a fixed connection (for example, a detachable fixed connection, welding, or integral molding), or a movable connection; they can be directly connected without an intermediate medium, or indirectly connected through an intermediate medium.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, and are not intended to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A climbing robot, used for climbing on a shelf (200) and picking up and placing goods, wherein the shelf (200) has at least two guide rails (201), and the at least two guide rails (201) are arranged at intervals along a first direction; characterized in that: The climbing robot (100) comprises: a robot body (110), two climbing units (120), and a horizontal pushing mechanism (130); the two climbing units (120) are arranged on the same side of the robot body (110) and are arranged at intervals along a first direction; the horizontal pushing mechanism (130) is fixedly mounted on the robot body (110) and is at least partially arranged between the two climbing units (120); The two climbing units (120) are respectively configured to dock with two adjacent guide rails (201) of the at least two guide rails, so that the two climbing units (120) climb along the two adjacent guide rails (201); The horizontal push mechanism (130) comprises two groups of drive mechanisms (130a), each of the two groups of drive mechanisms (130a) comprises a drive motor (131) and a transmission assembly (132), and the two groups of drive mechanisms (130a) are respectively used to connect with the two climbing units (120), and each group of the drive mechanisms (130a) drives the corresponding climbing unit (120) to move relative to the robot body (110) through the drive motor (131) and the transmission assembly (132) therein.

2. The climbing robot according to claim 1, characterized in that: The transmission assembly (132) comprises a driving wheel (1321), a driven wheel (1322) and a flexible member (1323); the driving wheel (1321) and the driven wheel (1322) are arranged between the two climbing units (120) along the width direction of the climbing robot (100); the flexible member (1323) is wound around the driving wheel (1321) and the driven wheel (1322); the driving motor (131) is connected to the driving wheel (1321) to drive the flexible member (1323) through the driving wheel (1321); and the flexible member (1323) is connected to the corresponding climbing unit (120).

3. The climbing robot according to claim 2, characterized in that: Each climbing unit (120) has a first sliding portion (121), and the robot body (110) has a second sliding portion (111) at a position facing the first sliding portion (121), and the first sliding portion (121) is slidably connected to the second sliding portion (111).

4. The climbing robot according to claim 3, characterized in that: The first sliding portion (121) includes one of a sliding rail or a sliding groove, and the second sliding portion (111) includes the other of the sliding rail or the sliding groove.

5. The climbing robot according to any one of claims 2 to 4, characterized in that: The flexible member (1323) is one of a synchronous belt, a common flat belt, and a transmission chain.

6. The climbing robot according to any one of claims 2 to 4, characterized in that: The transmission assembly (132) further comprises a first connecting member (1324), wherein the first connecting member (1324) is fixedly connected to the flexible member (1323), and the first connecting member (1324) is fixedly connected to the corresponding climbing unit (120).

7. The climbing robot according to any one of claims 2 to 4, characterized in that: Each group of the driving mechanisms further comprises a second connecting member (1325), the two groups of driving mechanisms are connected to each other via two of the second connecting members (1325), and the driven wheel (1322) in each group of the driving mechanisms is rotationally connected to the second connecting member (1325) in the group.

8. The climbing robot according to claim 7, characterized in that: The second connecting member (1325) comprises a connecting frame, and the driven wheel (1322) in each group of the driving mechanism is rotatably connected to the connecting frame.

9. A storage system, characterized in that: It comprises a shelf (200) and a climbing robot (100) as described in any one of claims 1 to 8, wherein the climbing robot (100) is used for climbing on the shelf (200) and picking up and placing goods.

10. A storage system, characterized in that: include: A first shelf (210), a second shelf (220) and a climbing robot (100), wherein the first shelf (210) and the second shelf (220) are arranged opposite to each other and have a deviation in a first direction, a lane (230) is formed between the first shelf (210) and the second shelf (220) for the climbing robot (100) to pick up and place goods, the first shelf (210) has at least two guide rails (201) on one side facing the second shelf (220), and a first storage position (211) for storing goods is provided between two adjacent guide rails (201); the second shelf (220) has a second storage position (221) arranged opposite to the first storage position on one side facing the first shelf (210), and the first storage position (211) and the second storage position (221) have a deviation in the first direction; The climbing robot comprises a robot body (110), two climbing units (120) and a horizontal push mechanism (130); the two climbing units (120) are movably arranged on the robot body (110); the horizontal push mechanism (130) is arranged between the two climbing units (120); the two climbing units (120) are respectively connected to the two guide rails (201) and climb or descend along the extension direction of the guide rails (201); The horizontal push mechanism (130) is configured to drive the two climbing units (120) and the robot body (110) to move relative to each other in the extension direction of the lane (230) so that the relative position of the robot body (110) and the first storage location (211) and / or the second storage location (221) in the first direction can be adjusted when the two climbing units (120) are docked with two adjacent guide rails of the at least two guide rails.

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