Storage shelf based on shelf robot and storage system

Abstract

The utility model relates to the technical field of logistics storage equipment, in particular to a storage shelf based on a shelf robot and a storage system. The goods shelf robot comprises at least one goods shelf assembly, each goods shelf assembly comprises a frame structure defined by longitudinal beams and front cross beams, the track assembly comprises at least one track, and the tracks are used for supporting the goods shelf robot to walk. The frame structure of the goods shelf assembly is divided into a plurality of goods layers by the front cross beams or the rails. The frame structure of the goods shelf assembly is divided into the multiple goods layers, the vertical space can be fully utilized, the overall storage capacity of a warehouse is improved, the track assembly supports the goods shelf robot to walk, goods storing and taking can be automatically operated, and the storage requirements of goods of different sizes and types are met; the track can be used for supporting the goods shelf robot to walk and can also be used as a structural front cross beam of the goods shelf assembly, and structural redundancy is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of logistics storage equipment, especially to a storage shelf and a storage system based on a shelf robot. BACKGROUND

[0002] The shelf robot is a bin-level taking and placing robot that can walk along the shelf. Compared with the traditional shuttle vehicle mode, the shelf robot can freely change layers in the aisle, which can improve the efficiency of bin-level taking and placing. The shelf for the shelf robot to walk is provided with a track for the shelf robot to walk. The current installation mode of the track is to install the track to the side of the shelf after the overall shelf is built. However, at the installation layer of the track, the track and the front crossbeam of the shelf exist at the same time, which causes waste of raw materials. SUMMARY

[0003] In order to solve the problem of insufficient bearing capacity of the shelf robot and the problem of excessive overturning force caused by uneven stress, and to reduce the installation cost of the shelf, the utility model provides a storage shelf and a storage system based on a shelf robot.

[0004] On the one hand, the utility model provides a storage shelf based on a shelf robot, which adopts the following technical scheme:

[0005] A storage shelf based on a shelf robot, comprising at least one set of shelf assemblies, each shelf assembly comprising a frame structure surrounded by longitudinal beams and front crossbeams, and a track assembly, the track assembly comprising at least one track, the track being used to support the shelf robot to walk, and the frame structure of the shelf assembly being divided into multiple shelves by the front crossbeams or the track.

[0006] By dividing the frame structure of the shelf assembly into multiple shelves, the vertical space can be fully utilized, the overall storage capacity of the warehouse can be improved, the track assembly supports the shelf robot to walk, the storage and retrieval of goods can be automatically operated, manual intervention is reduced, the work efficiency is improved, the modular design allows the number and height of shelves to be adjusted according to specific needs, and the storage needs of different sizes and types of goods are adapted, the track can be used as a structure front crossbeam of the shelf assembly as well as a support for the shelf robot to walk, and structural redundancy is avoided.

[0007] Further, the track assembly comprises an upper track and a lower track, the upper track and the lower track are connected with the longitudinal beams, and at least one of the upper track and the lower track is provided with a wire slot area for installing a slide wire.

[0008] The upper track and the lower track are connected with the longitudinal beams, providing more stable structural support, enhancing the overall load-bearing capacity and stability of the shelf system, and the wire slot area provided inside the track can provide flexible power supply for the shelf robot, reducing the use of external cables and the risk of entanglement and wear. With the built-in slide wire, the shelf robot can continuously obtain power support during walking, thereby improving the efficiency and reliability of automated operation.

[0009] Further, the track assembly further comprises at least one set of middle tracks arranged in the area between the upper track and the lower track.

[0010] The introduction of the middle track provides additional support for the entire shelf system, further enhancing the stability of the structure. Especially in the case of heavy load or high shelf height, it can effectively share the pressure of the upper track and the lower track. The presence of the middle track can provide additional guidance and stable support, reducing the risk of robot deviation from the path, thereby improving the safety of operation.

[0011] Further, each shelf is further provided with a support beam, which is connected between the front cross beam or track of the same shelf, for forming a bin storage location, at least one end of the bin storage location is an in-out bin end, and the support beam is provided with a side stop edge, which is arranged on both sides of the bin storage location.

[0012] The support beam provides strong structural support, making the bin storage location more stable and effectively bearing the weight of the bin, preventing the goods from tilting or deforming. By connecting the front cross beam or track, the rigidity of the entire shelf is further enhanced, adapting to various load conditions. The side stop edge on the support beam effectively prevents the bin from sliding out of the storage location due to inertia or vibration during operation, reducing the risk of goods falling. The double-sided side stop edge design can provide additional protection for the goods, suitable for high-speed automated handling scenarios. Designing one end of the bin storage location as an in-out bin end makes the storage and retrieval of goods more convenient and efficient, meeting the operation needs of robots or mechanical arms in automated warehouse systems. The clear in-out bin end layout simplifies path planning and improves system operation efficiency. The combination of support beam and side stop edge can be adjusted or customized according to the size of the bin, increasing the versatility of the shelf system and meeting the storage needs of bins of various specifications.

[0013] Further, the top surface of the support beam is provided with one or more sets of positioning blocks, each corresponding to one or more bins.

[0014] The positioning block can provide a clear placement position for each bin, ensuring that each bin can be accurately placed at the predetermined position, avoiding the difficulty of access caused by misplacement, and effectively preventing the bin from sliding due to vibration during transportation or storage, thereby enhancing the safety of the system, especially in automated operations, effectively avoiding accidents caused by displacement, and through clear positioning, the bin can be more quickly aligned with the target position during access, improving the efficiency of robotic or manual operation, and optimizing the entire warehouse access process.

[0015] Further, the two ends of the support beam are respectively connected with the front cross beam or the track, the front cross beam or the track is provided with a clamping groove at intervals, and the end of the support beam is provided with a clamping buckle.

[0016] The clamping design simplifies the installation process of the support beam, which can be quickly connected with the front cross beam or the track without the need for complex tools and additional fasteners, saving installation time, and the close fit of the clamping buckle and the clamping groove provides reliable mechanical connection, improving the stability and carrying capacity of the overall structure of the shelf, preventing displacement or loosening of the support beam during use.

[0017] Further, the support beam and the side retaining edge are integrally bent and formed, and the side retaining edge is a double-layer structure.

[0018] Alternatively, the support beam and the side retaining edge are a split structure, and the side retaining edge is fixedly connected to the support beam through a fastening assembly.

[0019] The side retaining edge support beam is an integral structure, and the side retaining edge is a part of the plate on the side of the support beam which is folded by sheet metal to form an upward extending vertical plate, and the side retaining edge is a single-layer structure.

[0020] The double-layer structure provides additional rigidity and strength, improves the anti-deformation ability of the side retaining edge, and is suitable for scenarios that bear larger lateral forces, the integral bending forming process reduces the number of components, reduces manufacturing complexity and cost, and ensures high manufacturing precision, and since it is integrally formed, additional fasteners are not needed, further improving the stability and reliability of the overall structure, the split design allows the side retaining edge to be replaced or adjusted independently during installation or maintenance, adapting to different use requirements or environmental changes, the split components occupy less space during transportation and storage, facilitating management and logistics arrangement, and when damaged, only the side retaining edge needs to be replaced without affecting the support beam, reducing maintenance costs, and the single-layer structure reduces the overall weight, helping to reduce material usage and manufacturing costs, and facilitating installation and operation, the vertical plate is formed by sheet metal folding, which is a relatively simple process, reducing processing steps and time, and improving production efficiency.

[0021] Further, the warehouse shelf comprises a plurality of shelf assemblies, and adjacent shelf assemblies form a lane for the movement of the shelf robot.

[0022] The lane provides a dedicated moving channel for the shelf robot, supports the free shuttling of the automated equipment in the warehouse, and improves the automation level of the warehouse and logistics operation.

[0023] Further, the top surface of the front cross beam at the warehouse-in / out end of the material box placement position is flush with the top surface of the support beam, and the front cross beam at the warehouse-in / out end facing away from the material box placement position is higher than the top surface of the support beam.

[0024] The top surface of the front cross beam at the warehouse-in / out end of the material box placement position is flush, so that the goods can smoothly slide in or out when entering or leaving the warehouse, reducing the carrying resistance and improving the operation efficiency.

[0025] On the other hand, the warehouse system based on the shelf robot adopts the following technical scheme:

[0026] A warehouse system based on a shelf robot, the shelf robot comprising a rack, a lifting cargo platform and a walking assembly, the walking assembly of the shelf robot comprising a walking wheel, the walking wheel being supported on a track of a shelf assembly.

[0027] The shelf robot moves on the track through the walking assembly, realizes automatic access of goods, improves the automation level of the entire warehouse system, and reduces manual intervention.

[0028] Further, the outer side of the track is provided with a folded edge, and the walking assembly of the shelf robot comprises a guide wheel, the guide wheels are arranged in pairs, and the pairs of guide wheels are clamped on the folded edge of the track.

[0029] The guide wheel clamps are arranged on the folded edges of the track, which ensures that the shelf robot moves stably along the predetermined track, prevents deviation from the track, improves the stability and precision of movement, the folded edge design effectively prevents the robot from falling off the track during movement, reduces the risk of accidental derailment, ensures operation safety, and the arrangement of the guide wheel enables the robot to move accurately along the track, thereby improving the accuracy of goods positioning and access and reducing operation errors.

[0030] In summary, the utility model has the following beneficial technical effects:

[0031] 1. By separating the frame structure of the shelf assembly into multiple shelves, the vertical space can be fully utilized, the overall storage capacity of the warehouse is improved, the track assembly supports the shelf robot to walk, so that the storage and retrieval of goods can be automatically operated, reducing manual intervention, improving work efficiency, the modular design allows the number and height of shelves to be adjusted according to specific needs, and adapts to the storage needs of different sizes and types of goods, the track can be used as a support for the shelf robot to walk, and also as a structural front beam of the shelf assembly, avoiding structural redundancy and reducing manufacturing costs.

[0032] 2. The upper track and the lower track are connected with the longitudinal beam, providing more stable structural support, enhancing the overall carrying capacity and stability of the shelf system, the wire slot area of the slide wire is arranged inside the track, which can provide flexible power supply mode for the shelf robot, reducing the use of external cables and reducing the risk of entanglement and wear, through the built-in slide wire, the shelf robot can continuously obtain power support during walking, thereby improving the efficiency and reliability of automated operation.

[0033] 3. The introduction of the middle track provides additional support for the entire shelf system, further enhancing the stability of the structure, especially in the case of high load or high shelf height, effectively sharing the pressure of the upper track and the lower track, the presence of the middle track can provide additional guidance and stable support, reducing the risk of robot deviation from the path, thereby improving the safety of operation.

[0034] 4、The support beam provides a firm structural support, making the bin location more stable, effectively bearing the weight of the bin, preventing the goods from tilting or deforming, by connecting the front crossbeam or track, further enhancing the rigidity of the entire goods layer, adapting to various load conditions, the two side edges on the support beam effectively prevent the bin from sliding out of the location during operation due to inertia or vibration, reducing the risk of goods falling, the double-side edge design can provide additional protection for the goods, suitable for high-speed automated handling scenarios, designing one end of the bin location as the warehouse entrance and exit end makes the storage and retrieval of goods more convenient and efficient, adapting to the operation needs of robots or mechanical arms in automated warehousing systems, the clear warehouse entrance and exit end layout simplifies path planning, improving system efficiency, the combination design of support beam and side edge can be adjusted or customized according to the size of the bin, increasing the versatility of the rack system, meeting the storage needs of various specifications of bins.

[0035] 5、The positioning block can provide a clear placement position for each bin, ensuring that each bin can be accurately placed in the predetermined position, avoiding the difficulty of storage and retrieval caused by misplacement, the positioning block effectively prevents the bin from sliding due to vibration during transportation or storage, enhancing the safety of the system, especially in automated operations, effectively avoiding accidents caused by displacement, through clear positioning, the bin can be quickly aligned with the target position during storage and retrieval, improving the efficiency of robot or manual operation, optimizing the entire warehouse entrance and exit process.

[0036] 6、The clamping design simplifies the installation process of the support beam, which can be quickly connected with the front crossbeam or track without the need for complex tools and additional fasteners, saving installation time, the tight fit of the clamping buckle and the clamping groove provides reliable mechanical connection, improving the stability and carrying capacity of the overall structure of the rack, preventing the support beam from shifting or loosening during use.

[0037] 7、The double-layer structure provides additional rigidity and strength, improving the anti-deformation ability of the side edge, suitable for scenarios that bear large lateral forces, the one-piece bending forming process reduces the number of components, reduces manufacturing complexity and cost, while ensuring high manufacturing precision, as it is integrally formed, no additional fasteners are needed, further improving the stability and reliability of the overall structure, the split design allows independent replacement or adjustment of the side edge during installation or maintenance, adapting to different usage requirements or environmental changes, the split components occupy less space during transportation and storage, facilitating management and logistics arrangement, when damaged, only the side edge needs to be replaced without affecting the support beam, reducing maintenance costs, the single-layer structure reduces the overall weight, helping to reduce material usage and manufacturing costs, while facilitating installation and operation, the sheet metal is folded to form a vertical plate, the process is relatively simple, reducing processing steps and time, improving production efficiency.

[0038] 8. The aisles provide dedicated movement channels for the rack robots, allowing automated equipment to move freely within the warehouse. This enhances the automation level of warehousing and logistics operations. The rationally designed aisle width and rack layout maximize space utilization, ensuring that more goods are stored in a limited warehouse space while guaranteeing the efficient operation of the robots. As the robots move within the aisles, they enable rapid storage, retrieval, and handling of goods, reducing human intervention, shortening operation time, and improving overall warehousing efficiency.

[0039] 9. The material box placement position is flush with the top surface of the front crossbeam at the inlet / outlet end, allowing goods to slide in or out smoothly during inlet / outlet operations, reducing handling resistance and improving operational efficiency. The front crossbeam at the inlet / outlet end, which faces away from the material box placement position, is higher than the top surface of the support beam, acting as a natural baffle to prevent goods from accidentally slipping during transportation or vibration, thus enhancing safety.

[0040] 10. The shelving robot moves on the track through its walking components, realizing automated storage and retrieval of goods, improving the automation level of the entire warehousing system, reducing human intervention, and enabling smooth movement of the wheels on the track to quickly and accurately reach the designated location for loading and unloading operations, significantly shortening operation time and improving work efficiency. The design of the lifting loading platform allows the shelving robot to handle goods of different heights, adapt to diverse storage needs, and enhance cargo handling capacity.

[0041] 11. The guide wheels are clamped on the folded edge of the track to ensure that the shelf robot moves smoothly along the predetermined track, preventing deviation from the track and improving the stability and accuracy of the movement. The folded edge design effectively prevents the robot from detaching from the track during movement, reducing the risk of accidental derailment and ensuring operational safety. The guide wheels enable the robot to move precisely along the track, thereby improving the accuracy of goods positioning and retrieval and reducing operational errors. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall installation structure of this utility model;

[0043] Figure 2 for Figure 1 A magnified view of part A;

[0044] Figure 3 for Figure 1 A magnified view of part B.

[0045] Explanation of reference numerals in the attached figures:

[0046] 1. A shelf assembly, 11, support member, 111, upright, 112, front cross beam, 113, footing, 114, rear cross beam, 12, storage member, 121, support beam, 122, side flange, 123, positioning block, 2, shelf robot, 21, rack, 211, lifting track, 212, lifting motor, 22, lifting loading platform, 221, traveling wheel, 222, moving motor, 223, traveling wheel frame, 224, guide wheel, 23, storage and retrieval member, 231, loading base plate, 232, loading side wall, 3, track assembly, 31, upper track, 311, folded edge, 312, mounting bolt, 32, lower track, 321, power track. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Figures 1-3 It should be apparent that the described embodiments are only a part of embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0048] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0049] Embodiment 1:

[0050] The embodiments of the present application disclose a warehouse shelf based on a shelf robot, referring to Figures 1-3 , comprising at least one shelf assembly 1, the shelf assembly (1) comprising a frame structure surrounded by longitudinal beams and front cross beams, the shelf robot 2 controlling the movement and installation on the shelf assembly 1, the shelf assembly 1 side being provided with a track assembly 3, the track assembly 3 comprising at least one track, the shelf robot 2 being controlled to move and install along the track assembly 3, the frame structure of the shelf assembly 1 being divided into a plurality of shelves by the front cross beam or the track;

[0051] The shelf robot 2 is provided with a lifting loading platform 22, the lifting loading platform 22 comprising traveling wheels 221 and guide wheels 224, the traveling wheels 221 being rotatably installed on the side of the shelf robot 2 facing the track assembly 3, the guide wheels 224 being arranged in pairs;

[0052] The track assembly 3 comprises an upper track 31 and a lower track 32, the upper track 31 is installed on the side of the shelf assembly 1 near the top end, and the lower track 32 is installed on the side of the shelf assembly 1 near the bottom end, the upper track 31 and the lower track 32 are directly installed on the longitudinal beam of the shelf instead of the original front beam of the shelf layer, which is used as a track and also as a front beam of the shelf assembly 1, the shelf robot 2 is slidably installed on the upper track 31 and the lower track 32 through at least one set of walking wheels 221 respectively, and one side of the upper track 31 and the lower track 32 is provided with a folded edge 311.

[0053] The walking wheels 221 are closely attached to the track assembly 3, and the guide wheels 224 arranged in pairs are clamped on both sides of the folded edge 311.

[0054] During installation, the shelf assembly 1 is spliced and installed in the logistics storage area, then the track assembly 3 is installed on the shelf assembly 1, and finally the shelf robot 2 is installed on the track assembly 3, and the running effect of the shelf robot 2 on the track assembly 3 is tested.

[0055] In use, during the warehousing process, the shelf robot 2 is placed on the shelf robot 2 by a human or a mechanical arm at the receiving end, then the shelf robot 2 drives the goods to the position on the shelf assembly 1 according to the warehousing information, and then the goods are accurately placed at the positioning position, during the delivery process, after receiving the delivery goods information, the shelf robot 2 is positioned to the goods position, then the target goods are taken out and delivered to the delivery port.

[0056] Embodiment 2:

[0057] Based on embodiment 1:

[0058] Referring to Figure 1 , the shelf assembly 1 is horizontally and transversely arranged and installed on the ground with a reserved lane at intervals, the shelf robot 2 is installed in the lane between the shelf assemblies 1 and moves along the lane, the shelf assembly 1 comprises a support member 11 and a storage member 12, the storage member 12 is installed on the support member 11 in layers and on the ground through the support member 11.

[0059] The shelf robot 2 moves along the lane in the middle of the shelf assembly 1.

[0060] Referring to Figure 1 , the support member 11 comprises a column 111, a front beam 112, a footing 113 and a rear beam 114, the column 111 is vertically installed and fixed to the ground through the footing 113, the columns 111 are connected and combined into a frame structure through the front beams 112, the rear beam 114 is installed on one side of the column 111 and connected with the columns 111 in the same row, and the rear beam 114, the upper track 31 and the lower track 32 are arranged in the vacancy of the front beam 112.

[0061] The rear cross beam 114 is folded into a zigzag plate by sheet metal to improve bending resistance.

[0062] With reference to Figure 1 The storage member 12 comprises a support beam 121, a side retaining edge 122 and a positioning block 123. The support beam 121 is transversely installed and both ends thereof are fixedly connected to the upright column 111 or the front cross beam 112. The side retaining edge 122 is arranged at the side of the support beam 121, and the positioning block 123 is arranged on the upper surface of the support beam 121. The side retaining edge 122 and the positioning block 123 are arranged around the edge of the storage position.

[0063] When the shelf robot 2 accesses the goods, the taking device moves along the support beam 121.

[0064] As a different way of arranging the support beam, the support beam 121 and the side retaining edge 122 are integrally bent and formed. The side retaining edge 122 is a double-layer structure.

[0065] Alternatively, the support beam 121 and the side retaining edge 122 are a split structure. The side retaining edge 122 is fixedly connected to the support beam 121 through a fastening assembly.

[0066] Alternatively, the side retaining edge support beam 121 is an integral structure. The side retaining edge 122 is a part of the plate in the side surface of the support beam, which is folded by sheet metal to form an upward extending vertical plate. The side retaining edge 122 is a single-layer structure.

[0067] Embodiment 3:

[0068] Based on the embodiment 2:

[0069] With reference to Figure 1 The shelf robot 2 comprises an access member 23. The access member 23 is slidably installed on the main support structure of the shelf robot 2 through the rack 21. The access member 23 slides along the rack 21 and sequentially controls the abutment with each layer of the storage member 12.

[0070] With reference to Figure 1 The access member 23 comprises a loading bottom plate 231 and a loading side wall 232. The loading side wall 232 is respectively installed on both sides of the loading bottom plate 231 to combine into an open box structure with both ends and a top surface.

[0071] With reference to Figure 1 The rack 21 comprises a lifting rail 211 and a lifting motor 212. The access member 23 is slidably installed on the lifting rail 211. The lifting rail 211 is vertically arranged. The access member 23 is drivingly connected to the lifting motor 212.

[0072] The lifting motor 212 is connected to the access member 23 through controlling a hoisting device, a pulley device or a roller screw device.

[0073] Embodiment 4:

[0074] The utility model embodiment discloses a kind of warehouse systems based on shelf robot:

[0075] A kind of warehouse systems based on shelf robot, including aforementioned shelf assembly 1 and transfer robot 2, the shelf robot 1 includes rack 21, lifting loading platform 22 and walking assembly, the walking assembly of the shelf robot 2 includes walking wheel 221, the walking wheel 221 is supported on the track of shelf assembly 1.

[0076] The track assembly 3 also includes at least one group of middle tracks, which are arranged in the area between the upper track 31 and the lower track 32.

[0077] Referring to Figures 1-3 , the shelf robot 2 body support structure is vertically placed rectangular and has a set of walking wheels 221 installed near each corner, the two sets of walking wheels 221 at the upper end are oppositely rolling installed on the upper track 31, and the two sets of walking wheels 221 at the lower end are oppositely rolling installed on the lower track 32. The walking wheels 221 are installed on the shelf robot 2 body support structure through the walking wheel frame 223, and each set of walking wheels 221 is connected and installed with a moving motor 222.

[0078] The shelf robot 2 body support structure is a rectangular frame structure, allowing goods to enter and exit on both sides of the shelf robot 2. One shelf robot 2 can simultaneously position the shelf positions on both sides.

[0079] Referring to Figures 1-3 , the upper track 31 and the lower track 32 are both formed by folding sheet metal to include a vertical mounting surface, a horizontal top surface, and a vertical folded edge 311 structure. The mounting surface and the folded edge 311 are respectively provided at the downward positions of the two side edges of the top surface.

[0080] Referring to Figures 1-3 , the upper track 31 and the lower track 32 are both installed on the side surface of the shelf assembly 1 through mounting bolts 312. The lower track 32 has a power track 321 installed at the inner edge. The shelf robot 2 power contact is in sliding contact with the power track 321.

[0081] The above content is only an example and description of the structure of the utility model. Those skilled in the art can make various modifications, supplements or substitutions using similar methods, as long as they do not deviate from the structure of the utility model or exceed the scope defined by the present claims.

Claims

1. A warehouse shelf based on a shelf robot, comprising at least one set of shelf components (1), which shelf components (1) comprise a frame structure of longitudinal beams and front cross beams, characterized in that: The rack assembly (1) is divided into multiple goods layers by the front cross beam or the track.

2. The warehouse shelving based on a robotic cart based on claim 1, characterized in that: The track assembly (3) comprises an upper track (31) and a lower track (32), both of which are connected with the longitudinal beam, and at least one of the upper track (31) and the lower track (32) is internally provided with a wire slot area for installing a trolley line.

3. The warehouse shelving based on a robotic cart based on claim 2, characterized in that: The track assembly (3) further comprises at least one set of middle tracks arranged in the area between the upper track (31) and the lower track (32).

4. The shelving robot-based warehouse of claim 1, wherein: Each goods layer is further provided with a support beam (121) connected between the front cross beam or the track of the same goods layer, for forming a bin storage location, at least one end of the bin storage location being an access end, and the support beam (121) is provided with a side stop edge (122) arranged on both sides of the bin storage location.

5. The warehouse shelving based on a robotic cart based on claim 4, characterized in that: The top surface of the support beam (121) is provided with one or more sets of positioning blocks (123) corresponding to one or more bins.

6. The shelving robot-based warehouse of claim 4, wherein: The two ends of the support beam (121) are respectively clamped with the front cross beam or the track, and the front cross beam or the track is provided with clamping grooves at intervals, and the end of the support beam (121) is provided with a clamping buckle, and the clamping buckle of the support beam (121) is inserted into the clamping groove of the front cross beam or the track for clamping.

7. A warehouse shelving based robot according to any of claims 4-6, characterized in that: The support beam (121) and the side stop edge (122) are integrally bent and formed, and the side stop edge (122) is a double-layer structure. Alternatively, the support beam (121) and the side stop edge (122) are a split structure, and the side stop edge (122) is fixedly connected to the support beam (121) by a fastening assembly. The side stop edge support beam (121) is an integral structure, and the side stop edge (122) is a part of the plate material in the side surface of the support beam which is folded by sheet metal to form an upward extending vertical plate, and the side stop edge (122) is a single-layer structure.

8. The shelving robot-based warehouse of claim 1, wherein: The warehouse rack comprises multiple rack assemblies (1), and adjacent rack assemblies (1) form a lane for the movement of the rack robot (2).

9. The shelving robot-based warehouse of claim 4, wherein: The top surface of the front cross beam at the access end of the bin placement position is flush with the top surface of the support beam (121), and the front cross beam at the access end opposite to the bin placement position is higher than the top surface of the support beam (121).

10. A warehousing system based on a shelf robot, characterized by: The warehouse rack and the rack robot according to any one of claims 1-9, wherein the rack robot (2) comprises a frame (21), a lifting loading platform (22) and a walking assembly, the walking assembly of the rack robot (2) comprises walking wheels (221) supported on the track of the rack assembly (1).

11. The warehouse system based on shelf robots according to claim 10, characterized in that: The outer side of the track is provided with a folded edge (311), and the walking assembly of the rack robot (2) comprises a guide wheel (224), the guide wheels (224) are arranged in pairs, and the pairs of guide wheels (224) are clamped on the folded edge (311) of the track.

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