Goods shelf docking mechanism, transfer robot and warehousing system

Abstract

The embodiment of the utility model provides a goods shelf docking mechanism, transfer robot and warehousing system.The goods shelf docking mechanism comprises a first guiding and limiting mechanism, a second guiding and limiting mechanism and an inner supporting frame, the first guiding and limiting mechanism comprises a mounting plate, and the two opposite sides of the mounting plate extend in the height direction to form a pair of first guiding and limiting plates; the second guide limiting mechanism comprises a pair of second guide limiting plates; the pair of second guide limiting plates is vertically installed on the installation plate of the first guide limiting mechanism and extends in the height direction. The pair of first guide limiting plates and the pair of second guide limiting plates are matched to support and limit the material box with the first size. And the inner supporting frame and the pair of second guide limiting plates are matched to support and limit the material box with the second size, so that the goods shelf butt-joint mechanism can be in butt joint with the material boxes with the two sizes on the goods shelf comb teeth, the number of needed carrying robots of the warehousing system can be reduced, and the carrying efficiency of the warehousing system can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing logistics, in particular to a shelf docking mechanism, a handling robot and a warehousing system. Background Art

[0002] A comb-shaped adapter frame is installed on the lifting mechanism of a handling robot such as an AGV (Automated Guided Vehicle). The comb-shaped adapter frame can be docked with the comb-shaped buffer shelf in the warehouse, so as to complete the handling and docking work of the bin.

[0003] Wherein, a circle of upward convex enclosures are fixed around the comb-shaped adapter frame to facilitate the restraint of the movement of the four sides of the bin and improve the stability of the bin during the handling process. However, more than one size of bins are usually used on the buffer shelf, and the comb-shaped adapter frame with the above structure can only meet the handling of bins of one size, and the application scenario is relatively single. Summary of the Utility Model

[0004] The purpose of the embodiments of the utility model is to provide a shelf docking mechanism, a handling robot and a warehousing system, so as to make it applicable to bins of more sizes. The specific technical solutions are as follows:

[0005] To achieve the above object, a shelf docking mechanism proposed by the first aspect embodiment of the present application of the utility model includes:

[0006] A first guiding and limiting mechanism, including a mounting plate, and opposite sides of the mounting plate extend in the height direction to form a pair of first guiding and limiting plates for guiding and limiting bins of a first size;

[0007] A second guiding and limiting mechanism, including a pair of second guiding and limiting plates; the pair of second guiding and limiting plates are vertically installed on the mounting plate of the first guiding and limiting mechanism and extend in the height direction for guiding and limiting bins of a second size and supporting the bins of the first size;

[0008] An inner support frame is installed on the mounting plate, located between the pair of second guiding and limiting plates, and extends in the height direction for at least supporting the bins of the second size; there is a spacing distance between the inner support frame and each adjacent second guiding and limiting plate, and between each second guiding and limiting plate and its adjacent first guiding and limiting plate for docking with the comb teeth of the shelf.

[0009] According to an embodiment of the present application of the utility model, the first guiding and limiting plate includes: a first limiting plate and a first guiding plate, the first limiting plate extends from the side of the mounting plate in the height direction, and the first guiding plate is connected to the first limiting plate and is inclined towards the outside of the shelf docking mechanism;

[0010] The second guiding and limiting plate includes: a second limiting plate and a second guiding plate. The second limiting plate extends from the top surface of the mounting plate in the height direction. The second guiding plate is connected to the second limiting plate and is inclined towards the outside of the shelf docking mechanism. Among them, the height of the second guiding plate is lower than that of the first guiding plate.

[0011] According to an embodiment of the present utility model application, opposite sides of the inner support frame extend in the height direction to form a pair of first guiding and limiting structures for guiding and limiting a bin of a first size.

[0012] According to an embodiment of the present utility model application, the first guiding and limiting structure includes a first guiding and limiting edge, and at least part of the first guiding and limiting edge is inclined towards the outside of the shelf docking mechanism.

[0013] According to an embodiment of the present utility model application, the middle of the inner support frame has a first supporting edge for supporting a bin of a second size;

[0014] Both sides of the inner support frame have second supporting edges, and the height of the second supporting edges is higher than that of the first supporting edge for supporting a bin of the first size.

[0015] According to an embodiment of the present utility model application, a pair of second guiding and limiting structures are formed on both sides of the first supporting edge for guiding and limiting a bin of a second size.

[0016] According to an embodiment of the present utility model application, the second guiding and limiting structure includes second guiding and limiting edges respectively connecting the first supporting edge and the second supporting edge, and at least part of the second guiding and limiting edges is inclined towards the outside of the shelf docking mechanism.

[0017] According to an embodiment of the present utility model application, the inner support frame is an integral structure.

[0018] According to an embodiment of the present utility model application, the pair of first guiding and limiting plates and the mounting plate are an integral structure.

[0019] To achieve the above object, a handling robot proposed in the second aspect embodiment of the present utility model application includes:

[0020] A vehicle body;

[0021] A lifting mechanism disposed on the vehicle body;

[0022] The above-mentioned shelf docking mechanism, and the mounting plate is disposed on the lifting mechanism.

[0023] To achieve the above object, a storage system proposed in the third aspect embodiment of the present utility model application includes:

[0024] A shelf having comb teeth;

[0025] The above-mentioned handling robot.

[0026] The shelf docking mechanism, handling robot and storage system provided by the embodiments of the present utility model, the shelf docking mechanism includes a first guiding and limiting mechanism, a second guiding and limiting mechanism and an inner support frame. The first guiding and limiting mechanism includes a mounting plate, and opposite sides of the mounting plate extend in the height direction to form a pair of first guiding and limiting plates; the second guiding and limiting mechanism includes a pair of second guiding and limiting plates; the pair of second guiding and limiting plates are vertically mounted on the mounting plate of the first guiding and limiting mechanism and extend in the height direction. The pair of first guiding and limiting plates and the pair of second guiding and limiting plates cooperate to support and limit a bin of the first size. The inner support frame is mounted on the mounting plate, located between the pair of second guiding and limiting plates and extends in the height direction. The inner support frame and the pair of second guiding and limiting plates cooperate to support and limit a bin of the second size. There is a spacing distance between the inner support frame and each adjacent second guiding and limiting plate, and between each second guiding and limiting plate and its adjacent first guiding and limiting plate, for docking with the comb teeth of the shelf. Therefore, the shelf docking mechanism can dock bins of two sizes on the shelf comb teeth, thereby saving the number of handling robots required for the storage system and being beneficial to improving the handling efficiency of the storage system.

[0027] Of course, implementing any product of the present utility model does not necessarily need to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model, and those of ordinary skill in the art can also obtain other drawings based on these drawings.

[0029] Figure 1 It is a schematic structural diagram of a shelf docking mechanism according to an embodiment of the present application;

[0030] Figure 2 For Figure 1 The front view structural diagram of the shelf docking mechanism of the shown embodiment;

[0031] Figure 3 For Figure 1 The schematic structural diagram of the shelf docking mechanism of the shown embodiment carrying a bin of the first size;

[0032] Figure 4For Figure 1 Front view structural schematic diagram of the shelf docking mechanism of the illustrated embodiment carrying a bin of the first size;

[0033] Figure 5 For Figure 1 Left view structural schematic diagram of the shelf docking mechanism of the illustrated embodiment carrying a bin of the first size;

[0034] Figure 6 For Figure 1 Top view structural schematic diagram of the shelf docking mechanism of the illustrated embodiment carrying a bin of the first size;

[0035] Figure 7 For Figure 1 Structural schematic diagram of the shelf docking mechanism of the illustrated embodiment carrying a bin of the second size;

[0036] Figure 8 For Figure 1 Front view structural schematic diagram of the shelf docking mechanism of the illustrated embodiment carrying a bin of the second size;

[0037] Figure 9 For Figure 1 Left view structural schematic diagram of the shelf docking mechanism of the illustrated embodiment carrying a bin of the second size;

[0038] Figure 10 For Figure 1 Top view structural schematic diagram of the shelf docking mechanism of the illustrated embodiment carrying a bin of the second size;

[0039] Figure 11 Structural schematic diagram of a handling robot according to an embodiment of the present application;

[0040] Reference numerals are as follows:

[0041] The first guiding and limiting mechanism 10, mounting plate 11, first guiding and limiting plate 12, first limiting plate 121, first guiding plate 122, second guiding and limiting mechanism 20, second guiding and limiting plate 21, second limiting plate 211, second guiding plate 212, inner support frame 30, first guiding and limiting structure 31, first guiding and limiting edge 311, top of the first guiding and limiting edge 3111, bottom of the first guiding and limiting edge 3112, first supporting edge 32, second supporting edge 33, second guiding and limiting structure 34, second guiding and limiting edge 341;

[0042] Vehicle body 100, lifting mechanism 200, shelf docking mechanism 300;

[0043] Bin A1 of the first size, bin A2 of the second size;

[0044] First direction X, second direction Y, height direction Z. Detailed implementation manners

[0045] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application belong to the protection scope of the present utility model.

[0046] As described in the background art, in the related art, the comb-type transfer rack can only adapt to one size of the storage bin. Therefore, a handling robot can only handle storage bins of one size, and the applicable application scenarios are relatively single, and a large number of handling robots are required for the warehousing system.

[0047] The main purpose of the embodiments of this solution is to provide a shelf docking mechanism, a handling robot, and a warehousing system, so as to make it applicable to storage bins of more sizes.

[0048] To this end, this application proposes a shelf docking mechanism, a handling robot, and a warehousing system.

[0049] Specifically, a shelf docking mechanism, a handling robot, and a warehousing system according to an embodiment of this application will be described below with reference to the accompanying drawings.

[0050] Figure 1 It is a schematic structural diagram of a shelf docking mechanism according to an embodiment of this application. Figure 2 For Figure 1 The front view structural diagram of the shelf docking mechanism of the illustrated embodiment. The shelf docking mechanism provided by the embodiment of this application can be installed on the lifting mechanism of the handling robot and dock with the comb teeth of the shelf to complete the docking mechanism for handling the storage bin. The shelf docking mechanism can adapt to two different sizes of storage bins, so as to obtain the storage bin of the first size or the storage bin of the second size carried on the comb tooth carrier.

[0051] As Figure 1 And Figure 2 As shown, the shelf docking mechanism includes: a first guiding and limiting mechanism 10, a second guiding and limiting mechanism 20, and an inner support frame 30.

[0052] The first guiding and limiting mechanism 10 includes a mounting plate 11. Two opposite sides of the mounting plate 11 extend in the height direction Z to form a pair of first guiding and limiting plates 12 for guiding and limiting a bin of the first size; the second guiding and limiting mechanism 20 includes a pair of second guiding and limiting plates 21; the pair of second guiding and limiting plates 21 are vertically mounted on the mounting plate 11 of the first guiding and limiting mechanism 10 and extend in the height direction Z for guiding and limiting a bin of the second size and supporting the bin of the first size; the inner support frame 30 is mounted on the mounting plate 11, located between the pair of second guiding and limiting plates 21 and extends in the height direction Z for at least supporting the bin of the second size; there is a spacing distance between the inner support frame 30 and each adjacent second guiding and limiting plate 21, and between each second guiding and limiting plate 21 and each adjacent first guiding and limiting plate 12 for docking with the comb teeth of the shelf.

[0053] In the scenario where the shelf docking mechanism transports a bin of the first size, Figure 3 is Figure 1 a schematic structural view of the shelf docking mechanism of the illustrated embodiment carrying a bin of the first size; Figure 4 is Figure 1 a front view structural schematic of the shelf docking mechanism of the illustrated embodiment carrying a bin of the first size; Figure 5 is Figure 1 a left view structural schematic of the shelf docking mechanism of the illustrated embodiment carrying a bin of the first size; Figure 6 is Figure 1 a top view structural schematic of the shelf docking mechanism of the illustrated embodiment carrying a bin of the first size; as Figure 3 , Figure 4 , Figure 5 and Figure 6 shown, a pair of second guiding and limiting plates 21 support the bottom of the bin A1 of the first size, and a pair of first guiding and limiting plates 12 guide and limit both sides of the bin A1 of the first size, forming the carrying of the bin A1 of the first size.

[0054] In the scenario where the shelf docking mechanism transports a bin of the second size, Figure 7 is Figure 1 a schematic structural view of the shelf docking mechanism of the illustrated embodiment carrying a bin of the second size; Figure 8 is Figure 1 a front view structural schematic of the shelf docking mechanism of the illustrated embodiment carrying a bin of the second size; Figure 9 is Figure 1 a left view structural schematic of the shelf docking mechanism of the illustrated embodiment carrying a bin of the second size; Figure 10 is Figure 1 a top view structural schematic of the shelf docking mechanism of the illustrated embodiment carrying a bin of the second size; as Figure 7 , Figure 8 , Figure 9and Figure 10 As shown in Figure 10 , the inner support frame 30 supports the bottom of the bin A2 of the second size, and a pair of second guiding and limiting plates 21 guide and limit both sides of the bin A2 of the second size, forming the bearing of the bin A2 of the second size.

[0055] Figure 11 The structural schematic diagram of a handling robot according to an embodiment of the present application is as shown in Figure 11 As shown in Figure 11 , in the embodiment where the shelf docking mechanism is applied to the handling robot, the mounting plate 11 can be mounted on the lifting mechanism of the handling robot. The process of the shelf docking mechanism docking with the comb teeth of the shelf to obtain the bins cached on the comb teeth of the shelf is generally as follows:

[0056] Step 1: The lifting mechanism is in the lowered position, and the handling robot travels to below the comb teeth of the shelf;

[0057] Step 2: The lifting mechanism changes from the lowered position to the raised position, and the first guiding and limiting plate 12, the second guiding and limiting plate 21, the inner support frame 30 and the comb teeth of the shelf are inserted. The comb teeth of the shelf extend into the intervals between the inner support frame 30 and each adjacent second guiding and limiting plate 21, and between each second guiding and limiting plate 21 and the adjacent first guiding and limiting plate 12; if the bin cached on the comb teeth of the shelf is of the first size, the shelf docking mechanism then forms the bearing of the bin of the first size. For details, refer to Figure 3 、 Figure 4 、 Figure 5 and Figure 6 . If the bin cached on the comb teeth of the shelf is of the second size, the shelf docking mechanism then forms the bearing of the bin of the second size. For details, refer to as shown in Figure 7 、 Figure 8 、 Figure 9 and Figure 10 .

[0058] Step 3: The handling robot travels in the direction away from the comb teeth of the shelf. After the shelf docking mechanism is separated from the comb teeth of the shelf, the lifting mechanism can change from the raised position to the lowered position.

[0059] The shelf docking mechanism provided by the embodiment of the present application can dock with the comb teeth of the shelf for bins of two sizes, so as to improve the ability of the shelf docking mechanism to meet the handling requirements of more size bins. As shown in combination with Figure 11 Figure 11 , a pair of first guiding and limiting plates 12 can limit the bin of the first size in the direction on both sides of the handling robot, and a pair of second guiding and limiting plates 21 can limit the bin of the second size in the direction on both sides of the handling robot.

[0060] The bins of the first size and the bins of the second size are usually rectangular boxes with open tops and spaces inside for placing materials. When the shelf docking mechanism carries the rectangular box, a pair of first guiding and limiting plates 12 and a pair of second guiding and limiting plates 21 limit the two sides of the rectangular box.

[0061] The bins of the first size and the bins of the second size have different dimensions. For example, the length and width of the bins of the first size are 650 mm × 450 mm, and the length and width of the bins of the second size are 600 mm × 400 mm.

[0062] To further improve the limiting stability of the shelf docking mechanism for the bins of the first size, as Figure 1 shown, the opposite sides of the inner support frame 30 extend in the height direction Z to form a pair of first guiding and limiting structures 31 for guiding and limiting the bins of the first size. The pair of first guiding and limiting structures 31 can limit the bins of the first size in the front-back direction of the handling robot. Thus, during the process of the handling robot carrying the bins of the first size and traveling, the pair of first guiding and limiting plates 12 and the pair of first guiding and limiting structures 31 cooperate to achieve the limiting of the four sides of the bins of the first size, improving the stability of the handling robot carrying the bins of the first size.

[0063] In a specific implementation, the first guiding and limiting plate 12 includes: a first limiting plate 121 and a first guiding plate 122. The first limiting plate 121 extends from the side of the mounting plate 11 in the height direction Z, and the first guiding plate 122 is connected to the first limiting plate 121 and is inclined towards the outside of the shelf docking mechanism; the first guiding and limiting structure 31 includes a first guiding and limiting edge 311, and at least part of the first guiding and limiting edge 311 is inclined towards the outside of the shelf docking mechanism.

[0064] During the process of the lifting mechanism of the handling robot rising to obtain the bins of the first size cached on the comb teeth of the shelf, since it is difficult for the shelf docking mechanism to accurately align with the bins of the first size in the height direction Z, there is likely to be a deviation. When there is a deviation between the bins of the first size and the shelf docking mechanism in the height direction Z, the first guiding plate 122 and the first guiding and limiting edge 311 inclined towards the outside of the shelf docking mechanism form a flared shape, which can first contact the bottom of the bins of the first size. As the lifting mechanism continues to rise, the first guiding plate 122 and the first guiding and limiting edge 311 can guide the bins of the first size and the shelf docking mechanism to be aligned. Finally, when the bins of the first size are supported on the pair of second guiding and limiting plates 21, the bottom of the first guiding and limiting edge 311 and the first limiting plate 121 can achieve the limiting of the four sides of the bins of the first size.

[0065] In some embodiments, the top 3111 of the first guiding and limiting edge 311 can be inclined towards the outside of the shelf docking mechanism. The bottom 3112 of the first guiding and limiting edge 311 can extend along the height direction Z without being inclined towards the outside of the shelf docking mechanism, so as to form good limiting for the bin of the first size.

[0066] In some embodiments, a first supporting edge 32 is provided in the middle of the inner support frame 30 for supporting the bin of the second size; second supporting edges 33 are provided on both sides of the inner support frame 30, and the height of the second supporting edges 33 is higher than that of the first supporting edge 32 for supporting the bin of the first size. When the shelf docking mechanism carries the bin of the first size, a pair of second guiding and limiting plates 21 and the inner support frame 30 can jointly support the bin of the first size, which can further improve the supporting stability of the shelf docking mechanism for the bin of the first size.

[0067] To further improve the limiting stability of the shelf docking mechanism for the bin of the second size, as Figure 1 shown, a pair of second guiding and limiting structures 34 are formed on both sides of the first supporting edge 32 for guiding and limiting the bin of the second size. A pair of second guiding and limiting structures 34 can limit the bin of the second size in the front-back direction of the handling robot, so that during the process of the handling robot carrying the bin of the second size and traveling, a pair of second guiding and limiting plates 21 and a pair of second guiding and limiting structures 34 cooperate to realize the limiting of the four sides of the bin of the second size, and improve the stability of the handling robot carrying the bin of the second size.

[0068] In a specific implementation, the second guiding and limiting plate 21 includes: a second limiting plate 211 and a second guiding plate 212. The second limiting plate 211 extends from the top surface of the mounting plate 11 in the height direction Z. The second guiding plate 212 is connected to the second limiting plate 211 and is inclined towards the outside of the shelf docking mechanism. Among them, the height of the second guiding plate 212 is lower than that of the first guiding plate 122. The second guiding and limiting structure 34 includes a second guiding and limiting edge 341. The second guiding and limiting edge 341 is respectively connected to the first supporting edge 32 and the second supporting edge 33, and at least part of the second guiding and limiting edge 341 is inclined towards the outside of the shelf docking mechanism.

[0069] During the process of the lifting mechanism of the handling robot ascending to obtain the bin of the second size cached on the comb teeth of the shelf, similar to the case of obtaining the bin of the first size, the shelf docking mechanism and the bin of the second size are accurately aligned in the height direction Z. When there is a deviation between the bin of the second size and the shelf docking mechanism in the height direction Z, the second guiding plate 212 and the second guiding limiting edge 341 that are inclined outward toward the shelf docking mechanism form a flared shape, and can first contact the bottom of the bin of the second size. As the lifting mechanism continues to ascend, the second guiding plate 212 and the second guiding limiting edge 341 can guide the bin of the second size and the shelf docking mechanism to be aligned. Finally, when the bin of the second size is supported on the inner support frame 30, the bottom of the second guiding limiting edge 341 and the second limiting plate 211 can limit the periphery of the bin of the second size.

[0070] In some embodiments, the bottom of the second guiding limiting edge 341 can extend along the height direction Z without being inclined outward toward the shelf docking mechanism, so as to form a good limit for the bin of the second size.

[0071] The second guiding limiting plate 21 can be arranged on the mounting plate 11 by means of welding, splicing, or installation with fasteners.

[0072] In specific implementations, the inner support frame 30 is an integral structure. For example, the inner support frame 30 can be prepared from a metal sheet, or cast from a metal material such as aluminum alloy, or injection molded from plastic by an injection molding process. The inner support frame 30, the first guiding limiting plate 12, and the second guiding limiting plate 21 all extend along the first direction X. The inner support frame 30, the first guiding limiting plate 12, and the second guiding limiting plate 21 are spaced apart from each other along the second direction Y in pairs. The first direction X and the second direction Y are perpendicular, and the first direction X and the second direction Y are respectively perpendicular to the height direction Z.

[0073] The number of the inner support frames 30 is not limited to one and can be multiple. The multiple inner support frames 30 are spaced apart along the second direction Y.

[0074] The inner support frame 30 can be arranged on the mounting plate 11 by means of welding, splicing, or installation with fasteners.

[0075] A pair of the first guiding limiting plates 12 and the mounting plate 11 are an integral structure. For example, a pair of the first guiding limiting plates 12 and the mounting plate 11 can be formed by bending a metal sheet, or cast from a metal material such as aluminum alloy, or injection molded from plastic by an injection molding process. Compared with the split mounting structure of the first guiding limiting plate 12 and the mounting plate 11, the integral first guiding limiting mechanism 10 has higher integrity, is not easily damaged, and has lower production costs.

[0076] Figure 11The structural schematic diagram of a handling robot according to an embodiment of the present application is as follows. Figure 11 As shown, a handling robot includes: a vehicle body 100, a lifting mechanism 200, and the above-mentioned shelf docking mechanism 300. The lifting mechanism 200 is arranged on the vehicle body 100; a mounting plate is arranged on the lifting mechanism 200. The lifting mechanism 200 has a rising position and a falling position, so as to drive the rising and falling of the shelf docking mechanism 300, so as to facilitate the comb docking of the shelf docking mechanism 300 and the shelf.

[0077] A storage system includes: a shelf and the above-mentioned handling robot. The shelf has combs. The combs may include a cross bar and a plurality of tooth bars. The cross bar extends along the second direction, and the plurality of tooth bars extend along the first direction and are arranged on the cross bar at intervals.

[0078] Above the plurality of tooth bars is used for placing bins. When the shelf docking mechanism is docked with the combs of the shelf, the inner support frame, the first guiding and limiting plate, and the second guiding and limiting plate are inserted into the plurality of tooth bars.

[0079] The above are only the preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A shelf docking mechanism, characterized in that: include: A first guide and limit mechanism (10) comprises a mounting plate (11), wherein opposite sides of the mounting plate (11) extend in a height direction (Z) to form a pair of first guide and limit plates (12) for guiding and limiting a material box (A1) of a first size; A second guide and limit mechanism (20) comprising a pair of second guide and limit plates (21); the pair of second guide and limit plates (21) are vertically mounted on the mounting plate (11) of the first guide and limit mechanism (10), extend in the height direction (Z), and are used for guiding and limiting the material box (A2) of the second size, and supporting the material box (A1) of the first size; An inner support frame (30) is mounted on the mounting plate (11), located between a pair of second guide limit plates (21), extending in the height direction (Z), and is used to support at least a material box (A2) of the second size; there is a spacing distance between the inner support frame (30) and each second guide limit plate (21) adjacent thereto, and between each second guide limit plate (21) and the first guide limit plate (12) adjacent thereto, so as to be connected with the comb teeth of the shelf.

2. The shelf docking mechanism according to claim 1, characterized in that: The first guide and limiting plate (12) comprises: a first limiting plate (121) and a first guide plate (122); the first limiting plate (121) extends from a side edge of the mounting plate (11) toward the height direction (Z); the first guide plate (122) is connected to the first limiting plate (121) and is inclined toward the outer side of the shelf docking mechanism; The second guide and limiting plate (21) comprises: a second limiting plate (211) and a second guide plate (212); the second limiting plate (211) extends from the top surface of the mounting plate (11) toward the height direction (Z); the second guide plate (212) is connected to the second limiting plate (211) and is inclined toward the outer side of the shelf docking mechanism; wherein the height of the second guide plate (212) is lower than the height of the first guide plate (122).

3. The shelf docking mechanism according to claim 1, characterized in that: The opposite sides of the inner support frame (30) extend in the height direction (Z) to form a pair of first guiding and limiting structures (31) for guiding and limiting a material box (A1) of a first size.

4. The shelf docking mechanism according to claim 3, characterized in that: The first guide and limit structure (31) comprises a first guide and limit edge (311), and the first guide and limit edge (311) is at least partially inclined toward the outside of the shelf docking mechanism.

5. The shelf docking mechanism according to claim 1, characterized in that: The inner support frame (30) has a first support edge (32) in the middle thereof, which is used to support the material box (A2) of the second size; The inner support frame (30) has second support edges (33) on both sides, the height of the second support edges (33) is higher than the height of the first support edges (32), and is used to support the material box (A1) of the first size.

6. The shelf docking mechanism according to claim 5, characterized in that: A pair of second guiding and limiting structures (34) are formed on both sides of the first supporting edge (32) for guiding and limiting a material box (A2) of a second size.

7. The shelf docking mechanism according to claim 6, characterized in that: The second guide and limit structure (34) comprises a second guide and limit edge (341) respectively connected to the first support edge (32) and the second support edge (33); the second guide and limit edge (341) is at least partially inclined toward the outside of the shelf docking mechanism.

8. The shelf docking mechanism according to any one of claims 1 to 7, characterized in that: The inner support frame (30) is an integrated structure; and / or, The pair of first guide limit plates (12) and the mounting plate (11) are an integral structure.

9. A transport robot, characterized in that: include: Vehicle body (100); A lifting mechanism (200) is arranged on the vehicle body (100); In the shelf docking mechanism (300) described in any one of claims 1 to 8, the mounting plate (11) is arranged on the lifting mechanism (200).

10. A storage system, characterized in that: include: Shelves, with comb teeth; The handling robot as described in claim 9 above.

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