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 a climbing unit on the climbing robot and a guide rail on a goods shelf are prone to deviation, the climbing robot comprises a robot body and the climbing unit, and the climbing unit is arranged on one side of the robot body; the climbing unit comprises a base, a climbing assembly and a first guide limiting assembly, the climbing assembly and the first guide limiting assembly are both arranged on the base, and the climbing assembly is configured to climb along the guide rail; the first guiding and limiting assembly defines a limiting space, and the first guiding and limiting assembly is constructed to swing relative to the base, so that the climbing unit is in butt joint with the guide rail, and the guide rail is limited in the limiting space; an included angle is formed between the first direction and the extending direction of the guide rail. According to the invention, the climbing unit can automatically adapt to the error of the guide rail, so that the climbing reliability of the climbing robot on the goods shelf is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent warehousing, and particularly 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, an intelligent warehouse includes a shelf for placing goods and a climbing robot. One side of the shelf has a guide rail for the climbing robot to climb. The climbing robot includes a climbing unit, and the climbing robot can climb on the shelf along the guide rail through the climbing unit to take out goods at different height positions on the shelf or place goods at different heights on the shelf.

[0004] However, in related technologies, the docking accuracy requirement between the climbing unit and the guide rail is high, the docking is difficult, and it is easy to deviate after docking, resulting in technical problems such as jamming or inability to climb when the climbing robot climbs. Summary of the Utility Model

[0005] In view of the above problems, embodiments of the present disclosure provide a climbing robot and a warehousing system, which are used to at least partially solve one of the technical problems that the docking accuracy requirement between the climbing unit and the guide rail is high, the docking is difficult, and it is easy to deviate after docking, resulting in jamming or inability to climb when the climbing robot climbs.

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

[0007] A first aspect of an embodiment of the present disclosure provides a climbing robot for climbing on a shelf and picking up and placing goods. The shelf has a guide rail for the climbing robot to climb. The climbing robot includes: a robot body and a climbing unit. The climbing unit is disposed on one side of the robot body. The climbing unit includes a base, a climbing component, and a first guiding and limiting component. The climbing component and the first guiding and limiting component are both disposed on the base. The climbing component is configured to climb along the guide rail. The first guiding and limiting component defines a limiting space, and the first guiding and limiting component is configured to swing relative to the base so that the climbing unit is docked with the guide rail and the guide rail is limited in the limiting space.

[0008] In some embodiments, the first guiding and limiting assembly includes a first connecting member and two first limiting structures oppositely disposed on opposite sides of the first connecting member. A limiting space is defined between the two first limiting structures. The first connecting member is configured to swing relative to the base about a first rotation axis; wherein, the first rotation axis is consistent with the extending direction of the guide rail.

[0009] In some embodiments, the first limiting structure includes at least one first guiding wheel. The first guiding wheel is rotatably connected to the first connecting member so that the first guiding wheel can rotate about its own axis. Wherein, the central axis of the first guiding wheel and the first rotation axis are arranged in a staggered manner.

[0010] In some embodiments, the climbing unit further includes a second guiding and limiting assembly. The second guiding and limiting assembly and the first guiding and limiting assembly are spaced apart along the extending direction of the base on the base;

[0011] The second guiding and limiting assembly includes a second connecting member and two second limiting structures disposed at opposite ends of the second connecting member. The second connecting member is configured to swing relative to the base about a second rotation axis. The two sides of the side of the guide rail facing the climbing unit have flanges. The flanges have a first surface so that the two second limiting structures respectively abut against the first surfaces of the corresponding flanges;

[0012] Wherein, the extending direction of the second rotation axis is consistent with the extending direction of the base.

[0013] In some embodiments, the second limiting structure includes at least one second guiding wheel. The second guiding wheel is rotatably connected to the second connecting member so that the second guiding wheel can rotate about its own axis. Wherein, the central axis of the second guiding wheel and the second rotation axis are arranged in a staggered manner.

[0014] In some embodiments, the climbing unit further includes a third guiding and limiting assembly. The third guiding and limiting assembly is disposed on the base and is located between the first guiding and limiting assembly and the second guiding and limiting assembly;

[0015] The third guiding and limiting assembly includes two third limiting structures; the two third limiting structures are respectively oppositely disposed on opposite sides of the base; the flanges have second surfaces opposite to the first surfaces, and the two third limiting structures are configured to abut against the second surfaces of the corresponding flanges.

[0016] In some embodiments, the third guiding and limiting assembly further includes two third connecting members. The two third limiting structures are respectively connected to the base through the two third connecting members.

[0017] In some embodiments, the third limiting structure includes at least one third guide wheel, and the third guide wheel is configured to be rotatably connected to its corresponding third connecting member, so that the third guide wheel can rotate around its own axis, and the central axis of the third guide wheel forms an angle with the extending direction of the base.

[0018] In some embodiments, the first guiding and limiting assembly is disposed near the top of the base; the second guiding and limiting assembly is disposed near the bottom of the base.

[0019] In some embodiments, the guide rail has two side walls disposed opposite to each other, and a climbing area for the climbing unit to climb is formed between the two side walls, and the two side walls are located between two first limiting structures disposed opposite to each other.

[0020] In some embodiments, the guide rail has a flange connected to the side wall, and the flange has a second surface facing away from the climbing unit; the two first limiting structures are configured to abut against the second surface.

[0021] In some embodiments, the climbing unit further includes a fourth guide wheel, and the fourth guide wheel is located between two first limiting structures disposed opposite to each other and is rotatably connected to the base, so that the fourth guide wheel can rotate around its own axis, and the fourth guide wheel is in rolling contact with at least one side of the climbing area and its corresponding side wall.

[0022] In some embodiments, the climbing unit further includes a fifth guide wheel, and the fifth guide wheel and the fourth guide wheel are spaced apart in a second direction, and the fifth guide wheel can rotate around its own axis and is in rolling contact with at least one side of the climbing area on the guide rail and its corresponding side wall.

[0023] In some embodiments, the fifth guide wheel is disposed near the bottom of the base and is rotatably connected to the base, and the fourth guide wheel is disposed near the top of the base.

[0024] In some embodiments, the climbing unit further includes a support member; the climbing assembly includes a driving motor and a transmission structure, the transmission structure includes a driving wheel, a driven wheel and a flexible member, the driving wheel and the driven wheel are spaced apart in a second direction, the driving motor is configured to be connected to the driving wheel, and the flexible member is wound around the driving wheel and the driven wheel; the flexible member defines an annular area, the support member is disposed in the annular area and is connected to the base, and the support member is configured to support the flexible member on one side close to the guide rail.

[0025] In some embodiments, the fifth guide wheel is rotatably connected to the support member. The support member has avoidance notches on both opposite sides in the first direction. Partial structures on both opposite sides of the fifth guide wheel are in rolling contact with the side walls on both sides of the climbing area through the avoidance notches.

[0026] In some embodiments, two buffer members are provided on one side of both ends of the first connecting member close to the base, and are arranged oppositely. When the first connecting member rotates, the buffer members are configured to be in elastic contact with the base.

[0027] In some embodiments, the climbing unit further includes a falling prevention member. The falling prevention member is movably arranged on the base and is configured to move between a first position and a second position. The guide rail has fourth limiting structures arranged at intervals in the extending direction of the guide rail.

[0028] When the climbing assembly drives the climbing robot to climb upward along the guide rail, the falling prevention member is located at the first position, and there is a gap between the falling prevention member and the fourth limiting structure in the third direction.

[0029] When the climbing robot descends relative to the guide rail, when the acceleration of the falling of the climbing robot is greater than a preset threshold, the falling prevention member moves from the first position to the second position, and the falling prevention member and the fourth limiting structure interfere with each other in the third direction.

[0030] In some embodiments, the climbing unit further includes an elastic member. The elastic member is arranged between the falling prevention member and the base, and is configured to drive the falling prevention member to move from the first position to the second position by its own elastic force when the acceleration of the descending of the climbing robot is greater than a preset threshold.

[0031] In some embodiments, the elastic member is a torsion spring.

[0032] In some embodiments, the guide rail has a plurality of first climbing teeth. The plurality of first climbing teeth are arranged at intervals in the extending direction of the guide rail. The first climbing teeth form the fourth limiting structure. The climbing assembly has a plurality of second climbing teeth arranged at intervals in the second direction. The second climbing teeth are engaged with the first climbing teeth to drive the climbing robot to climb along the guide rail.

[0033] In some embodiments, the tooth surfaces of the first climbing teeth and the second climbing teeth both have an inclined angle with the second direction.

[0034] In some embodiments, the climbing robot includes two such climbing units. The two climbing units are arranged at intervals in the first direction on the same side of the robot body.

[0035] In some embodiments, the robot body includes a mobile base, a lifting mechanism, a mounting seat, and a fork assembly. The lifting mechanism and the mounting seat are both disposed on the mobile base, and the lifting mechanism is connected between the mobile base and the mounting seat. The fork assembly is disposed on the mounting seat. The lifting mechanism can drive the mounting seat to move up and down relative to the mobile base in a second direction, so that the height of the climbing robot in the second direction is adjustable; the climbing unit is connected to the end of the mounting seat.

[0036] 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; a guide rail for the climbing robot to climb is provided on the shelf. The guide rail is at a first distance from the ground, and the climbing robot docks with the guide rail from the bottom of the guide rail.

[0037] The climbing robot provided by the embodiments of the present disclosure includes a robot body and a climbing unit. The climbing unit is disposed on one side of the robot body; the climbing unit includes a base, a climbing assembly, and a first guiding and limiting assembly. The climbing assembly and the first guiding and limiting assembly are both disposed on the base. The first guiding and limiting assembly defines a limiting space, and the first guiding and limiting assembly can swing relative to the base so that the climbing unit docks with the guide rail and limits the guide rail in the limiting space. The climbing assembly climbs along the guide rail under the action of a force to place goods on storage locations at different heights on the shelf or take out goods from storage locations at different heights on the shelf; thus, by setting the first guiding and limiting assembly to be swingable relative to the base, for example, it can swing along with the position of the guide rail. In this way, the first guiding and limiting assembly can adapt to the error of the guide rail so as to limit the guide rail in the limiting space, reduce the requirement for the docking accuracy between the climbing unit and the guide rail, reduce the docking difficulty, and avoid the problem that the climbing unit is prone to deviation after docking with the guide rail, resulting in jamming or inability to climb when the climbing unit climbs along the guide rail, so as to facilitate the docking of the climbing unit with the guide rail, improve the adaptability between the climbing robot and the guide rail on the shelf, and improve the reliability and smoothness of the climbing robot when climbing along the guide rail.

[0038] The warehousing system provided by the embodiments of the present disclosure has the same beneficial effects as the climbing robot provided in the above embodiments, and will not be elaborated here.

[0039] 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 these technical features of the 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. Description of the Drawings

[0040] To more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, other accompanying drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 A schematic diagram of a state of the climbing robot and the shelf provided by the embodiment of the present disclosure;

[0042] Figure 2 A schematic diagram of the structure of the climbing robot provided by the embodiment of the present disclosure;

[0043] Figure 3 A schematic diagram of the structure of the climbing unit in the climbing robot provided by the embodiment of the present disclosure;

[0044] Figure 4 A schematic diagram of a state of the climbing unit and the guide rail in the climbing robot provided by the embodiment of the present disclosure;

[0045] Figure 5 A partial schematic diagram of the first guiding and limiting assembly and the base in the climbing robot provided by the embodiment of the present disclosure;

[0046] Figure 6 A side view schematic diagram of a state of the climbing unit and the guide rail in the climbing robot provided by the embodiment of the present disclosure;

[0047] Figure 7 A partial schematic diagram of the climbing unit in the climbing robot provided by the embodiment of the present disclosure;

[0048] Figure 8 A schematic diagram of the anti-falling member, the elastic member and a part of the base in the climbing robot provided by the embodiment of the present disclosure;

[0049] Figure 9 A schematic diagram of a state of the climbing robot provided by the embodiment of the present disclosure;

[0050] Figure 10 A schematic diagram of the structure of the guide rail in the embodiment of the present disclosure.

[0051] Reference numerals:

[0052] 10 - Climbing robot;

[0053] 100 - Robot body; 110 - Mobile base; 120 - Lifting mechanism; 130 - Mounting seat; 140 - Fork assembly;

[0054] 200 - Climbing unit;

[0055] 210 - Base; 211 - First rotating shaft; 212 - Second rotating shaft; 213 - First seat body; 214 - Second seat body; 215 - Support member; 2151 - Avoidance notch;

[0056] 220 - Climbing assembly; 221 - Driving motor; 222 - Transmission structure; 2221 - Driving wheel; 2222 - Driven wheel; 2223 - Flexible member; 2224 - Second climbing gear teeth;

[0057] 230 - First guiding and limiting assembly; 231 - Limiting space; 232 - First connecting member;

[0058] 2321 - Buffer member;

[0059] 233 - First limiting structure; 2331 - First guiding wheel;

[0060] 240 - Second guiding and limiting assembly; 241 - Second connecting member; 242 - Second limiting structure; 2421 - Second guiding wheel;

[0061] 250 - Third guiding and limiting assembly; 251 - Third connecting member; 252 - Third limiting structure; 2521 - Third guiding wheel;

[0062] 260 - Anti - falling member; 270 - Elastic member;

[0063] 280 - Fourth guiding wheel; 290 - Fifth guiding wheel;

[0064] 300 - Shelf; 310 - Guide rail; 311 - First climbing gear teeth; 312 - Flange; 3121 - First surface;

[0065] 3122 - Second surface; 313 - Fourth limiting structure; 314 - Side wall; 315 - Climbing area. Detailed implementation mode

[0066] 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 a shelf for placing goods and a climbing robot. One side of the shelf has a guide rail that can be climbed by the climbing robot. The climbing robot includes a climbing unit, and the climbing robot can climb along the guide rail on the shelf through the climbing unit to take out goods at different height positions on the shelf or place goods at different heights on the shelf. However, in related technologies, the docking accuracy requirement between the climbing unit and the guide rail is high, the docking is difficult, and it is easy to be misaligned after docking, resulting in technical problems such as jamming or inability to climb when the climbing robot climbs.

[0067] To solve the above problems, the present disclosure provides a climbing robot and a warehousing system. In this climbing robot, by setting the first guiding and limiting component to be swingable relative to the base in the first direction, for example, it can swing along with the position of the guide rail. In this way, the requirement for the docking accuracy between the climbing unit and the guide rail can be reduced, and the docking difficulty can be decreased. Moreover, the first guiding and limiting component can adapt to the error of the guide rail so as to limit the guide rail in the limiting space, avoiding the problem that the climbing unit is prone to deviation after docking with the guide rail, which may cause jamming or inability to climb when the climbing unit climbs along the guide rail. This facilitates the docking between the climbing unit and the guide rail, improves the compatibility between the climbing robot and the guide rail on the shelf, and enhances the reliability and smoothness of the climbing robot when climbing along the guide rail.

[0068] 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 making creative efforts shall fall within the protection scope of the present disclosure.

[0069] Please refer to Figure 1 As shown, the embodiment of the present disclosure provides a climbing robot 10 for climbing on a shelf 300 and picking up and placing goods. The shelf 300 is provided with a guide rail 310 for the climbing robot 10 to climb. The climbing robot 10 can climb along the guide rail 310 to different heights of the shelf 300 to facilitate placing goods on the shelf 300 or taking out the goods on the shelf 300.

[0070] Please refer to Figure 2 As shown, the climbing robot 10 includes a robot body 100 and a climbing unit 200. The climbing unit 200 is arranged on one side of the robot body 100 to dock with the guide rail 310 through the climbing unit 200 and drive the robot body 100 to climb on the shelf 300 along the guide rail 310.

[0071] In some embodiments, please continue to refer to Figure 2 and Figure 3 As shown, the climbing unit 200 includes a base 210 and a climbing component 220. The climbing component 220 is arranged on the base 210. The base 210 is connected to the robot body 100. The climbing component 220 is used to dock with the guide rail 310 on the shelf 300. In this way, the climbing component 220 drives the robot body 100 to climb on the shelf 300 along the guide rail 310 under the action of a driving force.

[0072] Among them, the guide rail 310 extends along the height direction of the shelf 300. For example, in Figure 1 , the guide rail 310 is installed at one end of the shelf 300 and extends along the second direction; the base 210 is arranged on the side of the robot body 100 facing the guide rail. The base 210 can be a plate-like structure, a shell-like structure, etc. with the same extension direction as the guide rail 310. The climbing assembly 220 is arranged on the base. The robot body 100 climbs along the extension direction of the guide rail 310 through the climbing assembly 220.

[0073] Specifically, please refer to Figure 2 . The extension direction of the climbing assembly 220 is the same as that of the base 210. The base 210 is integrally in a long strip shape with a groove, and the groove extends along the length direction of the base 210. Part of the climbing assembly 220 is arranged in the groove and part is arranged outside the groove. The climbing assembly 220 includes an annular closed flexible member 2223, a driving wheel 2221 and a driven wheel 2222. The flexible member 2223 includes but is not limited to a synchronous belt. The driving wheel 2221 and the driven wheel 2222 can be synchronous wheels respectively matching the synchronous belt. The two synchronous wheels are rotatably arranged on the base 210. One of the synchronous wheels is a driving wheel and the other is a driven wheel. The annular closed synchronous belt is arranged outside the two synchronous wheels. The synchronous belt is driven by the synchronous wheels to rotate. A plurality of second climbing teeth 2224 are arranged at intervals on the synchronous belt. The plurality of second climbing teeth 2224 are used to mesh with the corresponding first climbing teeth 311 on the guide rail, so that the climbing assembly can climb along the guide rail.

[0074] Due to possible manufacturing errors, installation errors, etc. of the guide rail 310, there may be a problem that the climbing assembly 220 is offset when docking with the guide rail 310, resulting in the inability of the climbing assembly 220 to dock with the guide rail 310 or problems such as jamming and inability to climb during climbing after docking.

[0075] Based on the above problems, please refer to Figure 2 and Figure 3 . As shown, in the embodiment of the present disclosure, the climbing unit 200 further includes a first guiding and limiting assembly 230. The first guiding and limiting assembly 230 is movably arranged on the base 210, so that the first guiding and limiting assembly 230 can swing relative to the base 210, and the first guiding and limiting assembly 230 defines a limiting space 231, so that the limiting space 231 makes an adaptive swinging adjustment according to the error of the guide rail 310, so as to limit the guide rail 310 in the limiting space 231 and enable the climbing assembly 220 to dock with the guide rail 310, so as to climb along the guide rail 310 on the shelf 300 under the action of the driving force.

[0076] In some embodiments, such as Figure 2 , Figure 3 and Figure 5As shown in , the base 210 includes a first base body 213 and a second base body 214, and the second base body 214 is located below the first base body 213; illustratively, as Figure 5 As shown, the first guide limit assembly 230 can be rotatably connected to the first seat body 213 through the first rotating shaft 211, so that the first guide limit assembly 230 swings in the first direction with the axis of the first rotating shaft 211 as the rotation center, wherein the axial direction of the first rotating shaft 211 is, for example, the same as the extension direction of the guide rail 310 (such as the vertical direction), and there is an angle between the first direction and the axis of the first rotating shaft 211. The swinging trajectory of the first guide limit assembly 230 around the first rotating shaft 211 in the first direction can be a straight line or an arc, as long as the guide rail 310 can be limited in the limiting space 231, and there is no limitation here.

[0077] It can be seen that in the embodiment of the present disclosure, by designing the first guide limit assembly 230 in the climbing unit 200, the first guide limit assembly 230 defines a limit space 231, and the first guide limit assembly 230 is movably set on the base 210 and swings relative to the base 210, so that the first guide limit assembly 230 can adapt to the error of the guide rail 310, so as to limit the guide rail 310 in the limit space 231. In this way, after the climbing assembly 220 is docked with the guide rail 310, the robot body 100 can be driven by the driving force to climb along the extension direction of the guide rail 310 on the shelf 300, thereby avoiding the problem of the climbing unit 200 being stuck or unable to climb when climbing along the guide rail 310 due to the offset between the climbing unit 200 and the guide rail 310, thereby improving the adaptability between the climbing robot 10 and the guide rail 310 on the shelf 300, and improving the reliability of the climbing robot 10 when climbing along the guide rail 310.

[0078] In some embodiments, please refer to Figure 3As shown, the first guiding and limiting component 230 includes a first connecting member 232 and two first limiting structures 233 oppositely arranged on opposite sides of the first connecting member 232. For example, the two first limiting structures 233 are spaced apart along the first direction at both ends of the first connecting member 232. A limiting space 231 is defined between the two first limiting structures 233. The first connecting member 232 is configured to rotate about a first rotation axis so that the first connecting member 232 swings relative to the base 210 in the first direction (i.e., the first connecting member 232 swings relative to the base 210 towards the first direction), so that the first connecting member 232 can drive the two first limiting structures 233 to make adaptive adjustments according to the error of the guide rail 310, so as to facilitate limiting the guide rail 310 in the limiting space 231, that is, the guide rail 310 is located between the two relatively arranged first limiting structures 233. In this way, when the climbing component 220 climbs along the guide rail 310 under the driving force, the two relatively arranged first limiting structures 233 and the guide rail 310 are mutually limited and guided, so that the climbing robot 10 can climb along the extending direction of the guide rail 310, so as to facilitate the climbing robot 10 to pick up and place goods.

[0079] Wherein, the first rotation axis is consistent with the extending direction of the guide rail 310; for example, when the first connecting member 232 is rotatably connected to the base 210 through a first rotating shaft 211, the first rotation axis is the axis of the first rotating shaft 211.

[0080] In some embodiments, please refer to Figure 2 and Figure 3 As shown, the first limiting structure 233 includes at least one first guiding wheel 2331. The first guiding wheel 2331 is rotatably connected to the first connecting member 232 so that the first guiding wheel 2331 can rotate about its own axis. In this way, when the first guiding wheel 2331 and the guide rail 310 move relative to each other, the first guiding wheel 2331 can rotate relative to the guide rail 310 about its own axis to prevent jamming between the first guiding wheel 2331 and the guide rail 310 during relative movement, thereby improving the smoothness of the relative movement between the first guiding wheel 2331 and the guide rail 310. Wherein, the central axis of the first guiding wheel 2331 and the first rotation axis are arranged in a staggered manner.

[0081] In some embodiments, each first limiting structure 233 includes two or more first guiding wheels 2331 arranged in sequence along the second direction (i.e., the extending direction of the guide rail 310). Exemplarily, as Figure 2 and Figure 3 shown, each first limiting structure 233 includes two first guiding wheels 2331 arranged in sequence along the second direction; in this way, the size of the limiting space 231 in the second direction can be increased, thereby improving the reliability of the mutual limitation and guidance between the first limiting structure 233 and the guide rail 310.

[0082] In some other embodiments, the first limiting structure 233 may also include at least one spherical structure such as a ball, and the ball can rotate around its own center. When the guide rail 310 is limited in the limiting space 231, the ball can be in rolling contact with the surface of the guide rail 310. When there is relative movement between the guide rail 310 and the ball, the ball can rotate to prevent jamming.

[0083] In some embodiments, the first guiding and limiting assembly 230 is disposed at a position near the top of the base 210, and the climbing assembly 220 is disposed below the first guiding and limiting assembly 230 on the base 210. For example, in Figure 2 the first guiding and limiting assembly 230 is disposed on the first seat body 213. The first connecting member 232 is rotatably connected to the first seat body 213 through the first rotating shaft 211, and the first connecting member 232 is disposed below the first seat body 213.

[0084] In the embodiment of the present application, by disposing the first guiding and limiting assembly 230 at a position near the top of the base 210, in this way, in addition to guiding the climbing unit 200 during climbing through the first limiting structure 233, interference between the climbing assembly 220 and the first guiding and limiting assembly 230 can be avoided.

[0085] In some embodiments, please refer to Figure 2 and Figure 3 As shown, the climbing unit 200 further includes a second guiding and limiting assembly 240. The second guiding and limiting assembly 240 and the first guiding and limiting assembly 230 are spaced apart along a second direction on the base 210; exemplarily, along the second direction, the first guiding and limiting assembly 230 is disposed above the second guiding and limiting assembly 240.

[0086] In some embodiments, please refer to Figure 2 and Figure 3As shown, the second guiding and limiting component 240 includes a second connecting member 241 and two second limiting structures 242 disposed at opposite ends of the second connecting member 241. The second connecting member 241 is disposed on the base 210 and is movably connected to the base 210, so that the second connecting member 241 can drive the two second limiting structures 242 to rotate relative to the base 210 about the second rotation axis, so that the second guiding and limiting component 240 swings in the first direction. Wherein, the direction of the second rotation axis is, for example, the same as the extending direction of the first rotation axis. In addition, flanges 312 are provided on both sides of the guide rail 310 facing the climbing unit 200. The flange 312 has a first surface 3121, and the first surface 3121 is, for example, the side facing the robot body 100. When the second connecting member 241 drives the two second limiting structures 242 to swing in the first direction about the second rotation axis, the two second limiting structures 242 respectively abut against the first surface 3121 of the corresponding flange 312 of the guide rail 310 (as shown in Figure 4 ). The abutment of the two second limiting structures 242 against the first surface 3121 of the flange 312 of the guide rail 310 can limit the movement of the guide rail 310 and the climbing unit 200 in the third direction, so as to improve the reliability of the relative position between the climbing unit 200 and the guide rail 310 in the third direction; wherein, the third direction is perpendicular to the first direction and the second direction respectively.

[0087] In some embodiments, the flange 312 can be perpendicularly connected to the side wall 314. The flange 312, the side wall 314 and the bottom wall between the two side walls 314 can form a Ω-shaped guide rail. The first climbing gear teeth 311 are installed in the climbing area 315 formed by the Ω-shaped guide rail.

[0088] Exemplarily, as shown in Figure 3 , the second connecting member 241 can be rotatably connected to the base 210 through a second rotating shaft 212. The two second limiting structures 242 are respectively disposed at opposite ends of the second connecting member 241 along the first direction. The second connecting member 241 can drive the two second limiting structures 242 to rotate relative to the base 210 through the second rotating shaft 212 under the action of a force, so as to swing in the first direction, so as to adjust the positions between the two second limiting structures 242 and the flanges 312 on both sides of the guide rail 310, so that the second limiting structures 242 respectively abut against the first surface 3121 of the corresponding flange 312.

[0089] In some embodiments, the second limiting structure 242 includes at least one second guiding wheel 2421. Exemplarily, as shown in Figure 3 and Figure 4As shown in the figure, the second limiting structure 242 includes a second guide wheel 2421, and the second guide wheel 2421 is rotatably connected to the second connecting member 241 so that the second guide wheel 2421 can rotate around its own axis. Among them, the central axis of the second guide wheel 2421 and the second rotation axis are arranged in an intersecting manner. In this way, when the climbing unit 200 climbs along the guide rail 310 on the shelf 300, the second guide wheel 2421 abuts against the first surface 3121 of the corresponding flanging 312, and during the climbing process, the second guide wheel 2421 rotates around its own axis to avoid jamming between the second guide wheel 2421 and the first surface 3121 of the flanging 312.

[0090] In some other embodiments, the second limiting structure 242 can also be a structure such as a ball. As long as the climbing robot 10 climbs along the guide rail 310 on the shelf 300, the structure such as a ball can rotate around its own axis and rollingly contact the first surface 3121 of the flanging 312 to prevent jamming, and no further description will be made here.

[0091] In some embodiments, the second guiding and limiting assembly 240 is disposed at a position near the bottom of the base 210. For example, in Figure 2 the second guiding and limiting assembly 240 is disposed at one end of the second seat body 214 away from the first seat body 213, so as to further guide and limit the climbing unit 200 during climbing through the second guiding and limiting assembly 240, and at the same time, it can avoid mutual interference between the second guiding and limiting assembly 240 and the climbing assembly 220; it can be understood that the climbing assembly 220 is located between the second guiding and limiting assembly 240 and the first guiding and limiting assembly 230.

[0092] In order to further improve the reliability of the guiding and limiting between the climbing unit 200 and the guide rail 310 and prevent the climbing unit 200 from jamming during climbing, in the embodiments of the present disclosure, please continue to refer to Figure 2 and Figure 3 As shown in the figure, the climbing unit 200 further includes a third guiding and limiting assembly 250. Along the second direction, the third guiding and limiting assembly 250 is movably disposed on the base 210 and is located between the first guiding and limiting assembly 230 and the second guiding and limiting assembly 240. The third guiding and limiting assembly 250 and the second guiding and limiting assembly 240 jointly limit the climbing unit 200 in the third direction.

[0093] In some embodiments, please continue to refer to Figure 3As shown, the third guiding and limiting component 250 includes two third connecting members 251 and two third limiting structures 252. The two third limiting structures 252 are respectively disposed oppositely on both sides of the base 210 and are respectively connected to the base 210 through the two third connecting members 251. In addition, the flanges 312 on the opposite sides of the guide rail 310 facing the robot body 100 both have a second surface 3122. Among them, the second surface 3122 and the first surface 3121 are respectively two surfaces of the flange 312 oppositely disposed in the third direction. The two third limiting structures 252 are respectively abutted against the second surface 3122 of the corresponding flange 312 (as Figure 4 shown in), and the two second limiting structures 242 are respectively abutted against the first surface 3121 on both sides of the flange 312 to limit the climbing unit 200 and the guide rail 310 in the third direction.

[0094] In some embodiments, the third limiting structure 252 includes at least one third guiding wheel 2521. As Figure 3 shown in, the third limiting structure 252 includes a third guiding wheel 2521. The third guiding wheel 2521 is configured to be rotatably connected to the third connecting member 251 so that the third guiding wheel 2521 can rotate around its own axis. The central axis of the third guiding wheel 2521 has an included angle with the extending direction of the guide rail 310. For example, the central axis of the third guiding wheel 2521 is the same as the first direction. In this way, when the climbing unit 200 is docked with the guide rail 310 and climbs along the second direction, the third guiding wheel 2521 is in rolling contact with the second surface 3122 of the corresponding flange 312, and the third guiding wheel 2521 rotates around its own axis to prevent the phenomenon of jamming when the climbing unit 200 drives the robot body 100 to climb along the guide rail 310. Of course, the third limiting structure 252 can also be a structure such as a ball, as long as the phenomenon of jamming when the climbing unit 200 drives the robot body 100 to climb along the guide rail 310 can be avoided, and no limitation is made here.

[0095] In some embodiments, as Figure 3 and Figure 4 shown in, the guide rail 310 has a flange 312 connected to the side wall. The flange 312 has a second surface 3122 facing away from the climbing unit 200. The two first limiting structures 233 are configured to be abutted against the second surface 3122 to limit the first limiting structure in the direction perpendicular to the second surface 3122.

[0096] In some embodiments, as Figure 4As shown, the first guide wheel 2331 of the first limit structure 233 can be set to rollingly contact the second surface 3122 of the flanging 312, that is, the first guide wheel 2331 can roll on the second surface 3122. When the first guide wheel 2331 rotates relative to the first connecting member 232, it can prevent the climbing unit 200 from jamming when driving the robot body 100 to climb along the guide rail 310.

[0097] As Figure 4 shown, the first guide wheel 2331 and the third guide wheel 2521 rollingly abut against the second surface 3122 of the flanging 312, and the climbing assembly 220 climbs vertically in the climbing area 315 along the guide rail 310. The second surface 3122 plays a role in supporting and limiting the first guide wheel 2331 and the third guide wheel 2521 in the third direction. Such a setting can ensure the stability of the climbing robot 10 when climbing on the guide rail 310 and prevent the robot body 100 from falling off the guide rail 310. In some embodiments, the third guide and limit assembly 250 can be omitted.

[0098] In some embodiments, please refer to Figure 3 shown, the first connecting member 232 is arranged at a position near the top of the base 210, the second connecting member 241 is arranged at a position near the bottom of the base 210, and the third connecting member 251 is arranged at a position near the middle of the base.

[0099] In some embodiments, as Figure 5 shown, two buffer members 2321 are arranged on both sides of the first connecting member 232 and are oppositely arranged. When the first connecting member 232 swings in the first direction, the buffer members 2321 can elastically contact the base 210 to avoid the problem of rigid collision between the first connecting member 232 and the base 210 when the first connecting member 232 rotates around the first rotation axis.

[0100] That is to say, by arranging two buffer members 2321 at the opposite ends of the first connecting member 232 in the first direction, the buffer members 2321 can absorb the impact force generated by the collision between the first connecting member 232 and the base 210 when rotating.

[0101] In some embodiments, the buffer members 2321 can be buffer pads, buffer columns and other structures made of elastic materials such as rubber and silica gel, so as to reduce the noise of rigid collision between the first connecting member 232 and the base 210 when rotating, thereby improving the use experience.

[0102] In some embodiments, as Figure 4As shown, the guide rail 310 has two oppositely arranged side walls 314. A climbing area 315 for the climbing unit 200 to climb is formed between the two side walls 314. The two side walls 314 are located between two oppositely arranged first limiting structures 233 and are in movable contact with the corresponding first limiting structures 233, so as to limit the climbing unit 200 in the first direction and guide the movement in the second direction through the two oppositely arranged first limiting structures 233.

[0103] In some embodiments, please refer to Figure 2 - Figure 3 As shown, the climbing unit 200 further includes a fourth guide wheel 280. The fourth guide wheel 280 is located between two oppositely arranged first limiting structures 233 and is rotatably connected to the base 210, so that the fourth guide wheel 280 can rotate around its own axis. The fourth guide wheel 280 is in rolling contact with at least one side wall 314 of the climbing area 315. In this way, the fourth guide wheel 280 and the first limiting structure 233 jointly limit the climbing unit 200 in the first direction and guide it in the second direction.

[0104] It should be noted that the present application does not limit the number of the fourth guide wheels 280. There can be 1 fourth guide wheel 280, or at least 2 fourth guide wheels 280. For example, the climbing unit 200 can include 2 fourth guide wheels 280. The two fourth guide wheels 280 are arranged at intervals in the first direction and can roll on the corresponding side walls 314 on both sides of the climbing area 315 respectively.

[0105] In some embodiments, the climbing unit 200 further includes a fifth guide wheel 290. The fifth guide wheel 290 and the fourth guide wheel 280 are arranged at intervals in the second direction. The fifth guide wheel 290 can rotate around its own axis and is in rolling contact with at least one side wall 314 of the climbing area 315 on the guide rail 310. In this way, the fourth guide wheel 280, the fifth guide wheel 290 and the first limiting structure 233 jointly limit the climbing unit 200 in the first direction and guide it in the second direction.

[0106] In some embodiments, along the second direction, the fifth guide wheel 290 is arranged near the bottom of the base 210 and is rotatably connected to the base 210. As Figure 3 shown, as long as there is an installation space at the position of the base 210 near the outside of the driving wheel 2221, the fifth guide wheel 290 can be arranged near the driving wheel 2221 and is rotatably connected to the base 210. The fifth guide wheel 290 is configured to be in rolling contact with the corresponding side walls 314 on both sides of the climbing area 315.

[0107] Please continue to refer to Figure 3 and Figure 6As shown, the climbing unit 200 further includes a support member 215; the climbing assembly 220 includes a drive motor 221 and a transmission structure 222. The transmission structure 222 includes a driving wheel 2221, a driven wheel 2222, and a flexible member 2223. The driving wheel 2221 and the driven wheel 2222 are spaced apart along the second direction. The drive motor 221 is configured to be connected to the driving wheel 2221, and the flexible member 2223 is wound around the driving wheel 2221 and the driven wheel 2222. The flexible member 2223 defines an annular region, and the support member 215 is disposed within the annular region and connected to both side walls of the base 210. The support member 215 is configured to support the flexible member 2223 on the side close to the guide rail 310, so as to prevent the flexible member 2223 on the side close to the guide rail 310 from bending or deforming toward the side away from the guide rail 310 when moving along the second direction, thereby improving the reliability of the meshing transmission between the second climbing teeth 2224 on the flexible member 2223 and the first climbing teeth 311 on the guide rail.

[0108] Wherein, the support member 215 can be a strip-shaped structure, a block-shaped structure, a plate-shaped structure, etc. extending along the second direction, as long as it can provide a support basis for the flexible member 2223, and no specific limitation is made here.

[0109] In some other embodiments, as Figure 3 and Figure 6 shown in, the fifth guide wheel 290 is rotatably connected to the support member 215. Along the first direction, both opposite sides of the support member 215 have avoidance notches 2151. Part of the structures on both opposite sides of the fifth guide wheel 290 are in rolling contact with the side walls 314 on both sides of the climbing area 315 through the avoidance notches 2151, so as to limit the climbing unit 200 in the first direction and guide it in the second direction through the fourth guide wheel 280, the fifth guide wheel 290, and the first limiting structure 233 together.

[0110] It can be seen that in the above embodiments, by providing the first guiding and limiting assembly 230, the fourth guide wheel 280, and the fifth guide wheel 290, the guide rail 310 is limited in the first direction, and the movement of the guide rail 310 and the climbing unit 200 in the second direction is guided. By providing the second guiding and limiting assembly 240 and the third guiding and limiting assembly 250, the climbing unit 200 and the guide rail 310 are limited in the third direction, so as to improve the reliability of the relative position between the climbing unit 200 and the guide rail 310. In addition, through the swinging of the first guiding and limiting assembly 230, the second guiding and limiting assembly 240, and the third guiding and limiting assembly 250 in the first direction respectively, the first guiding and limiting assembly 230, the second guiding and limiting assembly 240, and the third guiding and limiting assembly 250 can be adaptively adjusted according to the error of the guide rail 310 respectively, avoiding the problem that the climbing unit 200 and the guide rail 310 cannot be docked due to misalignment, thereby improving the applicable range of the climbing robot 10.

[0111] In some embodiments, referring to Figure 5 and Figure 6 as shown, the climbing unit 200 further includes a falling prevention member 260. The falling prevention member 260 is movably arranged on the base 210 and is configured to move between a first position and a second position under the action of a force. For example, the falling prevention member 260 can swing relative to the base 210 about a fourth rotation axis in a second direction. In the second direction, the first position is below the second position. The guide rail 310 is provided with fourth limiting structures 313 that are sequentially spaced along the extending direction of the guide rail 310. When the climbing assembly 220 drives the climbing robot 10 to climb upward along the guide rail 310, the falling prevention member 260 is in the first position, and there is a gap between the falling prevention member 260 and the fourth limiting structure 313 in a third direction (as shown in Figure 6 ). The gap between the falling prevention member 260 and the fourth limiting structure 313 in the third direction when the falling prevention member 260 is in the first position is represented by D for example. At this time, there is no interference between the falling prevention member 260 and the fourth limiting structure 313. When the climbing robot 10 descends relative to the guide rail 310 and the acceleration of the falling of the climbing robot 10 is greater than a preset threshold, for example, the climbing robot 10 is in a free-fall state with an acceleration of g, the falling prevention member 260 moves from the first position to the second position. The falling prevention member 260 is located on the fourth limiting structure 313 and abuts against the fourth limiting structure 313. In this way, the fourth limiting structure 313 can limit the downward movement of the falling prevention member 260 in the second direction, and can avoid the problem of the climbing robot 10 continuing to fall and causing casualties or equipment damage, thereby improving the safety and reliability of the climbing robot 10 when climbing on the shelf 300.

[0112] In some embodiments, as shown in Figure 6 the fourth limiting structure 313 may be a first climbing gear tooth 311.

[0113] In some embodiments, referring to Figure 7 and Figure 8 as shown, the climbing unit 200 further includes an elastic member 270. The elastic member 270 is arranged between the falling prevention member 260 and the base 210 and is configured to drive the falling prevention member 260 to move from the first position to the second position by its own elastic force when the acceleration of the descending climbing robot 10 is greater than a preset threshold. For example, when the climbing robot 10 is in a free-fall state with an acceleration of g, at this time, the elastic member 270 can drive the falling prevention member 260 to move from the first position to the second position through the fourth limiting structure 313 provided on the guide rail 310 to limit the falling prevention member 260 and prevent the climbing robot 10 from continuing to fall.

[0114] Exemplarily, the elastic member 270 includes but is not limited to a torsion spring. As shown in Figure 8As shown, the elastic member 270 is a torsion spring, which is connected between the anti-falling member 260 and the base 210. When the acceleration of the climbing robot 10 is g, 0.5g, etc., the torsion spring can drive the anti-falling member 260 to the second position through its own elastic force, so that at least part of the projections of the fourth limiting structure 313 and the anti-falling member 260 overlap in the second direction, so as to limit the anti-falling member 260 in the second direction through the fourth limiting structure 313, preventing the problem that the climbing robot 10 continues to fall downward, and improving the safety and reliability of the climbing robot 10 climbing on the shelf 300.

[0115] In some embodiments, please refer to Figure 10 As shown, the guide rail 310 has a plurality of first climbing teeth 311, and the plurality of first climbing teeth 311 are arranged at intervals along the extending direction of the guide rail 310. The first climbing teeth 311 can be climbed by the climbing unit 200. Among them, the first climbing teeth 311 can be formed as the fourth limiting structure 313, that is to say, the first climbing teeth 311 and the fourth limiting structure 313 are the same structure physically. The first climbing teeth 311 can not only be climbed by the climbing unit 200, but also prevent the climbing unit 200 from falling downward when the climbing unit 200 is in a free-fall state, etc. In this way, the structure of the guide rail 310 can be simplified and the cost can be reduced.

[0116] In some embodiments, please refer back to Figure 3 As shown, the flexible member 2223 has a plurality of second climbing teeth 2224 arranged at intervals. The second climbing teeth 2224 are engaged with the first climbing teeth 311. The drive motor 221 can drive the driving wheel 2221 to rotate, and the driving wheel 2221 drives the flexible member 2223 sleeved on the driving wheel 2221 and the driven wheel 2222 to move, so that the second climbing teeth 2224 on the flexible member 2223 are engaged with the first climbing teeth 311 for transmission, so as to drive the climbing robot 10 to climb along the guide rail 310.

[0117] Exemplarily, the flexible member 2223 is, for example, one of a transmission belt and a transmission chain, and the transmission belt is, for example, an ordinary flat belt or a synchronous belt, etc.

[0118] In some embodiments, as Figure 3 shown, both the tooth surfaces of the first climbing teeth 311 and the second climbing teeth 2224 have an inclined angle with the second direction, that is, the first climbing teeth are inclined surface teeth, and the second climbing teeth 2224 are inclined surface teeth matching the first climbing teeth 311. In this way, the problem that the first climbing teeth and the second climbing teeth 2224 cannot be engaged with each other can be avoided.

[0119] In some embodiments, please refer to Figure 2As shown, the climbing robot 10 includes two climbing units 200. The two climbing units 200 are arranged at intervals in the first direction on one side of the robot body 100 facing the guide rail 310. In this way, the two climbing units 200 are respectively docked with the guide rails 310 on both sides of the shelf 300 and climb along the guide rail 310 under the action of driving force. It can be understood that by setting two climbing units 200, the robot body 100 can climb on the shelf 300 through the two climbing units 200, which can improve the climbing reliability of the climbing robot 10 on the shelf 300.

[0120] In some embodiments, please refer to Figure 2 and 9 As shown, the robot body 100 includes a moving base 110, a lifting mechanism 120, a mounting seat 130, and a fork assembly 140. The mounting seat 130 is installed on the moving base 110 through the lifting mechanism 120, and the lifting mechanism 120 is connected between the moving base 110 and the mounting seat 130. The fork assembly 140 is arranged on the mounting seat 130. The lifting mechanism 120 can drive the mounting seat 130 to move up and down relative to the moving base 110 in the second direction, so that the height of the climbing robot 10 in the second direction is adjustable. The climbing unit 200 is connected to the end of the mounting seat 130, that is, the climbing unit 200 is installed at one end of the mounting seat 130.

[0121] Exemplarily, by arranging a lifting mechanism 120 between the moving base 110 and the mounting seat 130, the mounting seat 130 can move up and down relative to the moving base 110 in the second direction. In a specific implementation, since the guide rail 310 is usually at a certain height from the ground where the shelf 300 is located, when the climbing robot 10 needs to climb the shelf 300, the mounting seat 130 can be first lifted by the lifting mechanism 120 so that the climbing unit 200 is docked with the guide rail 310 on the shelf 300, and then the moving base 110 is contracted by the lifting mechanism 120, so that the climbing robot 10 climbs on the shelf 300. When the climbing unit 200 needs to be undocked from the guide rail 310, the climbing unit 200 first descends along the guide rail 310 to the lowest position of the guide rail 310, and then through the lifting and lowering function of the lifting mechanism 120, the moving base 110 extends toward the ground side so that the moving base 110 contacts the ground, and then the docking between the climbing unit 200 and the guide rail 310 is released, so that the climbing robot 10 lands safely. It should be understood that in some embodiments, during the process of the climbing robot 10 ascending along the guide rail 310, the lifting mechanism 120 may not contract the moving base 110 either.

[0122] Among them, the present application does not limit the specific structure of the lifting mechanism 120, as long as the lifting mechanism 120 can play the role of lifting the mounting seat 130. In some embodiments, such as Figure 9As shown, the lifting mechanism 120 is a scissor-link structure. In some other embodiments, the lifting mechanism 120 can also be a telescopic hydraulic mechanism or the like.

[0123] In addition, the mounting base 130 can provide support and a mounting foundation for the fork assembly 140 and the climbing unit 200. The fork assembly 140 can be a telescopic fork. For example, the fork assembly 140 can include a telescopic arm and a picking and placing member located at the end of the telescopic arm, and the picking and placing member is used for picking and placing goods.

[0124] Exemplarily, the picking and placing member is, for example, a suction cup, a picking and placing hook finger, a fixture for clamping goods, etc., and specific reference can be made to the related art, which is not limited herein.

[0125] Please refer to Figure 1 As shown, the embodiment of the present application further provides a warehousing system, including a shelf 300 and the climbing robot 10 provided in the above embodiment. A guide rail 310 for the climbing robot 10 to climb is provided on the shelf 300. The guide rail 310 has a first distance from the ground, and the climbing robot 10 docks with the guide rail 310 from the bottom of the guide rail 310.

[0126] Among them, the structure and principle of the climbing robot 10 have been introduced in detail in the above embodiment and will not be elaborated herein.

[0127] Exemplarily, as Figure 1 shown, the shelf 300 has a plurality of storage locations stacked in sequence in the vertical direction. Guide rails 310 are provided on both sides of the storage locations, and the climbing robot 10 can climb along the guide rails 310 to place goods on storage locations at different heights or take out goods from storage locations at different heights.

[0128] Of course, the shelf 300 also has a plurality of storage locations in the first direction. In order to pick and place goods on different storage locations, guide rails 310 are provided on both sides of any storage location to facilitate the climbing of the climbing robot 10.

[0129] It should be noted that in addition to climbing on the guide rail by using the synchronous belt in the above embodiment, the climbing assembly 220 can also alternatively or additionally climb on the guide rail through gears. For example, one gear is respectively provided for each of the two climbing assemblies 220, and a rack or a chain is provided on the guide rail of the shelf, and the gears climb on the chain or the rack.

[0130] In summary, in the embodiment of the present application, by setting the first guiding and limiting component to be swingable relative to the base in the first direction (for example, swing towards the first direction), for example, it can swing along with the position of the guide rail. In this way, the first guiding and limiting component can adapt to the error of the guide rail, so as to limit the guide rail in the limiting space, avoiding the problem that the climbing unit jams or cannot climb along the guide rail due to deviation between the climbing unit and the guide rail, thereby improving the adaptability between the climbing robot and the guide rail on the shelf and enhancing the reliability of the climbing robot when climbing along the guide rail.

[0131] The embodiments or implementation manners in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other.

[0132] In the description of this specification, the description with reference to terms such as "one implementation manner", "some implementation manners", "illustrative implementation manner", "example", "specific example", or "some examples" means 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.

[0133] 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 application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the description of the specification, claims, and above-mentioned drawings of this application are intended to cover non-exclusive inclusion.

[0134] 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 two or more, unless otherwise specifically and clearly defined.

[0135] Referring to "embodiment" herein means that the specific features, structures, or characteristics described in connection with the embodiment can be included in at least one embodiment of this application. The appearance of this phrase in various positions in the specification 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 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.

[0136] In the description of the embodiments of the present application, the technical terms "installation" and "connection" have the same meaning and are used interchangeably. Unless otherwise clearly specified and defined, "installation" and "connection" can be a fixed connection (for example, a detachable fixed connection, welding, or integrally formed), or a movable connection; they can be directly connected without an intermediate medium, or indirectly connected through an intermediate medium.

[0137] 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 recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions 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 (300) and picking up and placing goods, the shelf (300) having a guide rail (310) for the climbing robot (10) to climb, characterized in that: The climbing robot (10) comprises: a robot body (100) and a climbing unit (200), wherein the climbing unit (200) is arranged on one side of the robot body (100); The climbing unit (200) comprises a base (210), a climbing component (220) and a first guide and limit assembly (230); the climbing component (220) and the first guide and limit assembly (230) are both arranged on the base (210); the climbing component (220) is configured to climb along the guide rail (310); the first guide and limit assembly (230) defines a limit space (231); the first guide and limit assembly (230) is configured to swing relative to the base (210) so that the climbing unit (200) is docked with the guide rail (310) and the guide rail (310) is limited in the limit space (231).

2. The climbing robot according to claim 1, characterized in that: The first guide limit assembly (230) comprises a first connecting member (232) and two first limit structures (233) arranged on opposite sides of the first connecting member (232), wherein the limit space (231) is defined between the two first limit structures (233), and the first connecting member (232) is configured to swing around a first rotation axis relative to the base (210); wherein the first rotation axis is consistent with an extension direction of the guide rail (310).

3. The climbing robot according to claim 2, characterized in that: The first limiting structure (233) includes at least one first guide wheel (2331), and the first guide wheel (2331) is rotatably connected to the first connecting member (232) so that the first guide wheel (2331) can rotate around its own axis, wherein the central axis of the first guide wheel (2331) and the first rotation axis are arranged in an interlaced manner.

4. The climbing robot according to claim 2, characterized in that: The climbing unit (200) further comprises a second guide and limit assembly (240), wherein the second guide and limit assembly (240) and the first guide and limit assembly (230) are arranged on the base (210) at intervals along an extension direction of the base (210); The second guide and limiting assembly (240) comprises a second connecting member (241) and two second limiting structures (242) arranged at opposite ends of the second connecting member (241), the second connecting member (241) being configured to swing relative to the base (210) around a second rotation axis, and the two sides of the guide rail (310) facing the climbing unit (200) are provided with flanges (312), and the flanges (312) have a first surface (3121), so that the two second limiting structures (242) are respectively in contact with the first surfaces (3121) of the corresponding flanges (312); Wherein, the extension direction of the second rotation axis is consistent with the extension direction of the base (210).

5. The climbing robot according to claim 4, characterized in that: The second limiting structure (242) includes at least one second guide wheel (2421), and the second guide wheel (2421) is rotatably connected to the second connecting member (241) so that the second guide wheel (2421) can rotate around its own axis, wherein the central axis of the second guide wheel (2421) and the second rotation axis are arranged in an interlaced manner.

6. The climbing robot according to claim 4, characterized in that: The climbing unit (200) further comprises a third guide and limit assembly (250), wherein the third guide and limit assembly (250) is arranged on the base (210) and is located between the first guide and limit assembly (230) and the second guide and limit assembly (240); The third guide limiting assembly (250) comprises two third limiting structures (252); the two third limiting structures (252) are respectively arranged on opposite sides of the base (210); the flange (312) has a second surface (3122) arranged opposite to the first surface (3121), and the two third limiting structures (252) are configured to abut against the second surface (3122) of the corresponding flange (312).

7. The climbing robot according to claim 6, characterized in that: The third guide limiting assembly (250) further comprises two third connecting members (251), and the two third limiting structures (252) are respectively connected to the base (210) via the two third connecting members (251).

8. The climbing robot according to claim 7, characterized in that: The third limiting structure (252) includes at least one third guide wheel (2521), and the third guide wheel (2521) is configured to be rotatably connected to the corresponding third connecting member (251) so that the third guide wheel (2521) can rotate around its own axis, and the central axis of the third guide wheel (2521) has an angle with the extension direction of the base (210).

9. The climbing robot according to any one of claims 4 to 8, characterized in that: The first guide and limit assembly (230) is arranged close to the top of the base (210); and the second guide and limit assembly (240) is arranged close to the bottom of the base (210).

10. The climbing robot according to claim 3, characterized in that: The guide rail (310) has two side walls (314) arranged opposite to each other, a climbing area (315) for the climbing unit (200) to climb is formed between the two side walls (314), and the two side walls (314) are located between two first limiting structures (233) arranged opposite to each other.

11. The climbing robot according to claim 10, characterized in that: The guide rail (310) has a flange (312) connected to the side wall (314), and the flange (312) has a second surface (3122) facing away from the climbing unit (200); The two first limiting structures (233) are configured to abut against the second surface (3122).

12. The climbing robot according to claim 10, characterized in that: The climbing unit (200) further comprises a fourth guide wheel (280), wherein the fourth guide wheel (280) is located between two oppositely arranged first limiting structures (233) and is rotatably connected to the base (210), so that the fourth guide wheel (280) can rotate around its own axis, and the fourth guide wheel (280) is in rolling contact with the side wall (314) on at least one side of the climbing area (315).

13. The climbing robot according to claim 12, characterized in that: The climbing unit (200) further comprises a fifth guide wheel (290), wherein the fifth guide wheel (290) and the fourth guide wheel (280) are arranged at intervals in the second direction, and the fifth guide wheel (290) can rotate around its own axis and is in rolling contact with the side wall (314) on at least one side of the climbing area (315) on the guide rail (310).

14. The climbing robot according to claim 13, characterized in that: The fifth guide wheel (290) is arranged near the bottom of the base (210) and is rotatably connected to the base, and the fourth guide wheel (280) is arranged near the top of the base (210).

15. The climbing robot according to claim 13, characterized in that: The climbing unit (200) further includes a support member (215); The climbing assembly (220) comprises a driving motor (221) and a transmission structure (222); the transmission structure (222) comprises a driving wheel (2221), a driven wheel (2222) and a flexible member (2223); the driving wheel (2221) and the driven wheel (2222) are arranged at intervals along the second direction; the driving motor (221) is configured to be connected to the driving wheel (2221); and the flexible member (2223) is wound around the driving wheel (2221) and the driven wheel (2222); The flexible member (2223) defines an annular area, the support member (215) is disposed in the annular area and connected to the base (210), and the support member (215) is configured to support the flexible member (2223) on a side close to the guide rail (310).

16. The climbing robot according to claim 15, characterized in that: The fifth guide wheel (290) is rotatably connected to the support member (215); the support member (215) has avoidance gaps (2151) on opposite sides along the first direction; and partial structures on opposite sides of the fifth guide wheel (290) are in rolling contact with the side walls (314) on both sides of the climbing area (315) via the avoidance gaps (2151).

17. The climbing robot according to claim 9, characterized in that: Two ends of the first connecting member (232) are provided with two buffer members (2321) arranged opposite to each other on one side close to the base (210); when the first connecting member (232) rotates, the buffer members (2321) are configured to elastically contact with the base (210).

18. The climbing robot according to any one of claims 1 to 8, characterized in that: The climbing unit (200) further comprises an anti-falling component (260), the anti-falling component (260) being movably arranged on the base (210), and the anti-falling component (260) being configured to move between a first position and a second position; the guide rail (310) is provided with fourth limiting structures (313) arranged in sequence and at intervals along an extension direction of the guide rail (310); When the climbing component (220) drives the climbing robot (10) to climb upward along the guide rail (310), the anti-falling component (260) is located at the first position, and there is a gap between the anti-falling component (260) and the fourth limiting structure (313) in the third direction; When the climbing robot (10) descends relative to the guide rail (310), and the falling acceleration of the climbing robot (10) is greater than a preset threshold, the anti-falling component (260) moves from the first position to the second position, and the anti-falling component (260) interferes with the fourth limiting structure (313) in the third direction.

19. The climbing robot according to claim 18, characterized in that: The climbing unit (200) further comprises an elastic member (270), wherein the elastic member (270) is arranged between the anti-falling member (260) and the base (210), and the elastic member (270) is configured to drive the anti-falling member (260) to move from the first position to the second position by its own elastic force when the acceleration of the descent of the climbing robot (10) is greater than a preset threshold.

20. The climbing robot according to claim 19, characterized in that: The elastic member (270) is a torsion spring.

21. The climbing robot according to claim 18, characterized in that: The guide rail (310) is provided with a plurality of first climbing gear teeth (311), the plurality of first climbing gear teeth (311) are arranged at intervals along the extension direction of the guide rail (310), and the first climbing gear teeth (311) form the fourth limiting structure (313); The climbing component (220) has a plurality of second climbing gear teeth (2224) arranged at intervals along the second direction, and the second climbing gear teeth (2224) are meshed with the first climbing gear teeth (311) to drive the climbing robot (10) to climb along the guide rail (310).

22. The climbing robot according to any one of claims 1 to 8, characterized in that: The climbing robot (10) comprises two climbing units (200), and the two climbing units (200) are arranged at intervals along a first direction on the same side of the robot body (100).

23. The climbing robot according to claim 22, characterized in that: The robot body (100) comprises a mobile base (110), a lifting mechanism (120), a mounting seat (130) and a fork assembly (140); the lifting mechanism (120) and the mounting seat (130) are both arranged on the mobile base (110), and the lifting mechanism (120) is connected between the mobile base (110) and the mounting seat (130); the fork assembly (140) is arranged on the mounting seat (130); the lifting mechanism (120) can drive the mounting seat (130) to rise and fall in a second direction relative to the mobile base (110), so that the height of the climbing robot (10) in the second direction is adjustable; the climbing unit (200) is connected to the end of the mounting seat (130).

24. A storage system, characterized in that: It comprises a shelf (300) and a climbing robot (10) as described in any one of claims 1 to 23; the shelf (300) is provided with a guide rail (310) for the climbing robot (10) to climb, the guide rail (310) is at a first distance from the ground, and the climbing robot (10) docks with the guide rail (310) from the bottom of the guide rail (310).

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