Climbing track, climbing assembly and warehousing system
By using internal and external track structures and metal sheet forming technology, the cost of climbing tracks has been reduced, solving the problem of high track costs in climbing robot storage systems and increasing the storage density of the storage system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-11
- Publication Date
- 2026-03-24
AI Technical Summary
In existing climbing robot warehousing systems, the high cost of climbing tracks such as gear transmission, sprocket transmission, and synchronous belt transmission has hindered the development of warehousing systems.
It adopts an inner and outer track structure. The inner track has holes arranged along the height direction. The sprocket teeth of the climbing robot are inserted into the holes. The outer track provides guidance. It is formed by stamping or bending metal sheets to reduce costs.
The climbing track structure is simple, compact, and low-cost, which is conducive to the development of warehousing systems and increases the storage density of material bins inside the storage system's shelves.
Smart Images
Figure CN224029866U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of climbing tracks, in particular to a climbing track, a climbing assembly and a storage system. BACKGROUND
[0002] In recent years, climbing robots in the scenario of material box storage have attracted much attention. The climbing mechanism mainly includes gear transmission, chain wheel transmission and synchronous belt transmission. However, the cost of the track arranged on the shelf is high, which restricts the development of this form of storage system. CONTENT OF THE UTILITY MODEL
[0003] The present application provides a climbing track with low cost, a climbing assembly and a storage system.
[0004] The present application provides a climbing track for a climbing robot, which comprises an outer track and an inner track. The outer track comprises a first side wall and a pair of second side walls fixed at opposite ends of the first side wall. The first side wall and the pair of second side walls form a receiving space. The inner track is located in the receiving space and comprises a first side wall and a pair of second side walls fixed at opposite ends of the first side wall. The pair of second side walls are fixed to the pair of second side walls, respectively. The first side wall is arranged opposite to the first side wall. The first side wall is provided with a plurality of holes arranged in sequence along the height direction of the first side wall. When a chain wheel of the climbing robot climbs along the climbing track, the teeth of the chain wheel are inserted into the holes.
[0005] Further, the outer track comprises a pair of third side walls fixed to the pair of second side walls, respectively. The pair of third side walls are located outside the pair of second side walls, respectively. When the chain wheel climbs along the climbing track, a pair of first guide wheels of the chain wheel are in rolling contact with the back surfaces of the pair of third side walls, respectively, which are away from the chain wheel; and / or,
[0006] The pair of rollers of the chain wheel are in rolling contact with the front surfaces of the pair of third side walls, respectively, which face the chain wheel.
[0007] Further, the first side wall and the pair of second side walls form a guide groove. When the chain wheel climbs along the climbing track, a second guide wheel of the chain wheel moves along the guide groove. The second guide wheel is in rolling contact with the inner surfaces of the third side walls.
[0008] Further, the inner track is formed by stamping a metal plate; and / or,
[0009] The outer track is formed by stamping a metal plate.
[0010] Further, the inner track is formed by bending a metal plate; and / or,
[0011] The outer track is formed by bending a metal plate.
[0012] Further, the second side wall is provided with a plurality of first holes arranged along the height direction thereof, the second side wall is provided with a plurality of second holes arranged along the height direction thereof, and the climbing track comprises a plurality of fixing members assembled to the first holes and the second holes to fix the inner track and the outer track.
[0013] The climbing assembly provided by the embodiment of the present application comprises a climbing robot and the climbing track.
[0014] Further, the chain wheel comprises a pair of first fixing portions, a gear rotatably connected to the pair of first fixing portions, a pair of rollers, and a pair of first guide wheels, the teeth are arranged on the gear, and the gear is located between the pair of rollers.
[0015] Further, the chain wheel comprises a second fixing portion fixed to the pair of first fixing portions and a second guide wheel rotatably connected to the second fixing portion.
[0016] The warehouse system provided by the embodiment of the present application comprises the climbing assembly.
[0017] The climbing track provided by the embodiment of the present application comprises an inner track and an outer track fixed together, the inner track is provided with a plurality of holes arranged along the height direction thereof in sequence, when the chain wheel of the climbing robot climbs along the inner track, the teeth of the chain wheel are inserted into the holes, the climbing track is simple in structure, compact in size, and low in cost, and is conducive to the development of the warehouse system. BRIEF DESCRIPTION OF DRAWINGS
[0018] Figure 1 The schematic diagram of the climbing assembly provided by the embodiment of the present application is shown, wherein the second fixing portion and the second guide wheel of the chain wheel of the climbing robot are not shown;
[0019] Figure 2 The schematic diagram of the climbing track of the climbing assembly provided by the embodiment of the present application is shown; Figure 1 The enlarged view of the circular portion at A of the climbing track of the climbing assembly provided by the embodiment of the present application is shown;
[0020] Figure 3 The schematic diagram of the climbing track of the climbing assembly provided by the embodiment of the present application is shown; Figure 1 The schematic diagram of the climbing track of the climbing assembly provided by the embodiment of the present application is shown;
[0021] Figure 4 The schematic diagram of the climbing track of the climbing assembly provided by the embodiment of the present application is shown; Figure 3 The enlarged view of the circular portion at B of the climbing track of the climbing assembly provided by the embodiment of the present application is shown;
[0022] Figure 5 The schematic diagram of the outer track of the climbing track of the climbing assembly provided by the embodiment of the present application is shown; Figure 3 The schematic diagram of the outer track of the climbing track of the climbing assembly provided by the embodiment of the present application is shown;
[0023] Figure 6 It shows Figure 5 An enlarged view of the circled portion at point C on the outer track shown;
[0024] Figure 7 It shows Figure 3 A schematic diagram of the inner track of the climbing track shown;
[0025] Figure 8 It shows Figure 7 A schematic diagram of the inner track from another perspective;
[0026] Figure 9 It shows Figure 1 A schematic diagram of the sprocket of the climbing robot shown in the climbing component;
[0027] Figure 10 It shows Figure 1 The diagram shows another perspective of the climbing assembly, in which the sprocket is equipped with a second fixing part and a second guide wheel;
[0028] Figure 11 It shows Figure 10 An enlarged view of the circled portion at point D of the climbing component shown;
[0029] Figure 12 It shows Figure 10 A schematic diagram of the climbing component from another perspective;
[0030] Figure 13 It shows Figure 12 An enlarged view of the circled portion at point E of the climbing component shown. Detailed Implementation
[0031] The technical solutions in the embodiments (or "implementations") of this application will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.
[0032] If the embodiments of this application contain terms relating to directional indications or positional relationships (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movements between components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.
[0033] An embodiment of the present application provides a warehousing system, which optimizes the utilization rate of warehousing space, operation efficiency and inventory accuracy through modular design, automation technology and data driving, and is widely used in fields such as manufacturing, e-commerce, medicine, and third-party logistics.
[0034] Refer to Figure 1 , the warehousing system includes a climbing component 100. The climbing component 100 includes a climbing track 1 and a climbing robot (not shown). The climbing track 1 is arranged on the shelf (not shown) of the warehousing system for the climbing robot to climb.
[0035] In some embodiments, the warehousing system includes a plurality of the climbing tracks 1, and the plurality of climbing tracks 1 are respectively fixed at different positions of the shelf.
[0036] The climbing robot is a vertical handling expert in the warehousing system, designed specifically for high-density three-dimensional shelves, and realizes precise access and cross-layer handling of bins by autonomously climbing the shelves.
[0037] Refer to Figures 3 to 6 , in some embodiments, the climbing track 1 includes an outer track 11 and an inner track 12 fixed to the outer track 11.
[0038] In some embodiments, the outer track 11 is fixed to the shelf, for example, it can be fixed by welding or screw fixing.
[0039] The outer track 11 includes a first side wall 111 and a pair of second side walls 112 fixed to opposite ends of the first side wall 111. The first side wall 111 and the pair of second side walls 112 enclose a receiving space 1121.
[0040] In some embodiments, the outer track 11 further includes a pair of third side walls 113 respectively fixed to the pair of second side walls 112, and the pair of third side walls 113 are respectively located outside the pair of second side walls 112.
[0041] In some embodiments, the cross-section of the outer track 11 is generally in a U shape, the height of the first side wall 111, the height of the pair of second side walls 112 and the height of the receiving space 1121 are the same, and the depth of the receiving space 1121 is the same as the width of the second side wall 112.
[0042] In some embodiments, the second side wall 112 is provided with a plurality of first holes 1122.
[0043] In some embodiments, the plurality of first holes 1122 are arranged along the height direction of the second side wall 112.
[0044] In some embodiments, the outer rail 11 is formed by punching a metal plate, which has a simple structure and is low in cost, especially in mass production, and is highly replicable in batches.
[0045] In some embodiments, the outer rail 11 is formed by bending a metal plate, which has a simple structure and is low in cost, especially in mass production, and is highly replicable in batches.
[0046] Referring to FIG. 1, the inner rail 12 is located in the receiving space 1121. The inner rail 12 includes a first side wall 121 and a pair of second side walls 122 fixed at opposite ends of the first side wall 121. The pair of second side walls 122 are respectively fixed to the pair of second side walls 112. Figures 3 to 4 Figures 7 to 8 The inner rail 12 includes a first side wall 121 and a pair of second side walls 122 fixed at opposite ends of the first side wall 121. The pair of second side walls 122 are respectively fixed to the pair of second side walls 112.
[0047] In some embodiments, the second side wall 122 is provided with a plurality of second holes 1222.
[0048] In some embodiments, the plurality of second holes 1222 are arranged along the height direction of the second side wall 122, and the climbing rail 1 includes a plurality of fixing members 3. The fixing members 3 are assembled to the first holes 1122 and the second holes 1222 to fix the inner rail 12 and the outer rail 11, facilitating assembly and disassembly of the inner rail 12 and the outer rail 11.
[0049] The fixing member 3 can be a bolt, a screw, a pin, or the like.
[0050] In other embodiments, the second side wall 112 and the second side wall 122 can be fixed by buckling or welding.
[0051] The first side wall 121 is arranged opposite to the first side wall 111. The first side wall 121 is provided with a plurality of holes 1211 arranged in sequence along the height direction thereof. The first side wall 121 is further provided with a plurality of tongues 123 extending from the first side wall 121 into the space between the pair of second side walls 122. The plurality of tongues 123 are respectively arranged corresponding to the plurality of holes 1211 and are respectively located at the bottom of the plurality of holes 1211.
[0052] In some embodiments, the holes 1211 are formed after the tongues 123 are punched and bent on the first side wall 121, facilitating processing and forming.
[0053] In some embodiments, the length of the tongue 123 extending into the space between the pair of second side walls 122 is less than the width of the second side wall 122.
[0054] In some embodiments, the inner rail 12 has a U-shaped cross section, and the first side wall 121 has the same height as the pair of second side walls 122 and the receiving space 1121.
[0055] The second side wall 122 has a width smaller than the depth of the receiving space 1121 and the width of the second side wall 112.
[0056] In some embodiments, the first side wall 121 and the pair of second side walls 112 enclose a guide slot 1212.
[0057] In some embodiments, the inner rail 12 is formed by stamping a metal plate, which has a simple forming structure, especially when mass production, the cost is lower, and has strong batch replicability.
[0058] In some embodiments, the inner rail 12 is formed by bending a metal plate, which has a simple forming structure, especially when mass production, the cost is lower, and has strong batch replicability.
[0059] Referring to Figure 9 The climbing robot comprises a chain wheel 2. The chain wheel 2 comprises a pair of first fixed parts 21, a second fixed part 22 fixed with the pair of first fixed parts 21, a gear 23 rotationally connected with the pair of first fixed parts 21, a pair of rollers 24 and a pair of first guide wheels 25, and a second guide wheel 26 rotationally connected with the second fixed part 22. The gear 23 is located between the pair of rollers 24. The gear 23 is provided with a plurality of teeth 231 arranged along the circumferential direction thereof.
[0060] In some embodiments, the gear 23 and the pair of rollers 24 are located between and axially connected with the pair of first fixed parts 21.
[0061] In some embodiments, the second fixed part 22 is located above the pair of first fixed parts 21. In other embodiments, the second fixed part 22 can also be located below the pair of first fixed parts 21.
[0062] The second guide wheel 26 and the centers of the pair of first guide wheels 25 form a triangle, and the second guide wheel 26 is located directly above or below the gear 23 to increase the stability of the movement of the chain wheel 2.
[0063] Referring to Figure 2 and Figures 10 to 13When the sprocket 2 of the climbing robot climbs along the climbing track 1, the teeth 231 of the sprocket 2 are inserted into the holes 1211 of the inner track 12. When the sprocket 2 rolls, the tongue 123 can support the teeth 231. A pair of rollers 24 respectively roll in contact with the front faces 1131 of a pair of third sidewalls 113 facing the sprocket 2, so as to move along the third sidewalls 113. The second guide wheel 26 moves along the guide groove 1212, and the second guide wheel 26 rolls in contact with the inner side of the third sidewall 113. A pair of first guide wheels 25 respectively roll in contact with the back faces 1132 of a pair of third sidewalls 113 of the outer track 11, so as to move along the third sidewalls 113. The first guide wheels 25 and the rollers 24 are located on opposite sides of the third sidewalls 113.
[0064] When the sprocket 2 of the climbing robot climbs along the climbing track 1, the second guide wheel 26 rolls into contact with the inner side of the second side wall 112; the first guide wheel 25 rolls into contact with the back side 1132 of the third side wall 113.
[0065] The first guide wheel 25, the roller 24 and the second guide wheel 26 may be selectively provided with one or more of them, or they may be provided simultaneously.
[0066] The outer rail 11 serves to support the inner rail 12 and also to connect with the shelf as a whole; at the same time, the Z-shaped overall shape of the outer rail 11 provides a contact surface for the inner and outer guides and longitudinal guides of the sprocket 2.
[0067] The climbing track 1 of this application includes an inner track 12 and an outer track 11 fixed together. The inner track 12 is provided with a plurality of holes 1211 arranged sequentially along its height direction. When the sprocket 2 of the climbing robot climbs along the inner track 12, the teeth 231 of the sprocket 2 are inserted into the holes 1211. The climbing track 1 is simple in structure and compact in size while adapting to the transmission of the sprocket 2, and has a low cost, which is conducive to the development of warehousing systems. At the same time, the inner track 12 and the outer track 11 can be mass-produced.
[0068] The climbing component 100 in this embodiment adopts a sprocket drive structure, which has good inherent strength and can achieve greater torque transmission within a small size. Therefore, the width of the climbing track 1 can be significantly narrowed, increasing the storage density of the bins within the storage system's shelf. Experimental tests showed that the gap between the bins within the shelf was reduced by 43%.
[0069] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of the present application is not limited to the precise structure described in the above embodiments and shown in the accompanying drawings; any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.
Claims
1. A climbing track for a climbing robot to climb, characterized in that, The climbing track includes: The outer track includes a first sidewall and a pair of second sidewalls fixed at opposite ends to the first sidewall, the first sidewall and the pair of second sidewalls forming a receiving space; The inner track is located within the receiving space and includes a first side wall and a pair of second side walls fixed at opposite ends to the first side wall. The pair of second side walls are respectively fixed to the pair of second side walls. The first side wall is arranged opposite to the first side wall. The first side wall has a plurality of holes arranged sequentially along its height direction. When the sprocket of the climbing robot climbs along the climbing track, the teeth of the sprocket are inserted into the holes.
2. The climbing track according to claim 1, characterized in that, The outer track includes a pair of third sidewalls fixed to a pair of second sidewalls respectively. The pair of third sidewalls are located outside the pair of second sidewalls respectively. When the sprocket climbs along the climbing track, a pair of first guide wheels of the sprocket respectively make rolling contact with the back of the pair of third sidewalls opposite to the sprocket. And / or, A pair of rollers of the sprocket respectively make rolling contact with the front faces of the pair of third sidewalls facing the sprocket.
3. The climbing track according to claim 2, characterized in that, The first sidewall and a pair of second sidewalls form a guide groove. When the sprocket climbs along the climbing track, the second guide wheel of the sprocket moves along the guide groove, and the second guide wheel makes rolling contact with the inner surface of the third sidewall.
4. The climbing track according to claim 1, characterized in that, The inner track is formed by stamping metal sheet; and / or, The outer track is formed by stamping metal sheet.
5. The climbing track according to claim 1, characterized in that, The inner track is formed by bending metal sheet; and / or, The outer track is formed by bending metal sheets.
6. The climbing track according to any one of claims 1 to 5, characterized in that, The second sidewall has a plurality of first holes arranged along its height direction, and the second sidewall has a plurality of second holes arranged along its height direction. The climbing track includes a plurality of fasteners, which are assembled to the first holes and the second holes to fix the inner track and the outer track.
7. A climbing component, characterized in that, Includes a climbing robot and a climbing track as described in any one of claims 1 to 6, wherein the climbing robot includes a sprocket.
8. The climbing assembly according to claim 7, characterized in that, The sprocket includes a pair of first fixed parts, a gear rotatably connected to the pair of first fixed parts, a pair of rollers, and a pair of first guide wheels. The gears are disposed on the gears and the gears are located between the pair of rollers.
9. The climbing assembly according to claim 8, characterized in that, The sprocket is fixed to a second fixing part that is fixed to a pair of first fixing parts and a second guide wheel that is rotatably connected to the second fixing parts.
10. A warehousing system, characterized in that, Includes the climbing component as described in any one of claims 7 to 9.