Warehousing system and transfer robot

Abstract

The embodiment of the utility model provides a warehousing system and a transfer robot. The warehousing system comprises a plurality of carriers, and carrier stand columns of the adjacent carriers are oppositely arranged at intervals; the transfer robot comprises a vehicle body, a walking mechanism and a climbing mechanism, the walking mechanism is arranged on the vehicle body, and the walking mechanism is configured to drive the vehicle body to walk in the first direction; the climbing mechanism is arranged at a first part of the vehicle body and can stretch out and draw back relative to the vehicle body from the two sides of the vehicle body in the radial direction of the vehicle body; the climbing mechanism is configured to be matched with carrier stand columns of two adjacent carriers on the two sides of the vehicle body so as to drive the vehicle body to ascend and descend along the carrier stand columns. Wherein the first direction intersects with the extending direction of the carrier stand column. The number of meshing structures arranged on the goods shelf stand column can be reduced, and the requirement for the installation precision of the goods shelf stand column is lowered.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of warehouse equipment, and particularly relates to a warehouse system and a transfer robot. BACKGROUND

[0002] In the warehouse system, in order to take or place a target object from or on a multi-layer shelf, a taking-and-placing mechanism is usually arranged on a portal, which can be arranged on a shelf or a robot chassis, and the portal moves along the transverse direction of the shelf to drive the taking-and-placing mechanism to move to any column, and the taking-and-placing mechanism moves along the longitudinal direction of the portal to any layer of the shelf. A transfer robot is arranged on the ground of the warehouse system, and the transfer robot places the target object on a buffer position at the bottom of the shelf, and the taking-and-placing mechanism transfers the target object from the buffer position to the shelf; or, the taking-and-placing mechanism transfers the target object from the shelf to the buffer position, and the transfer robot transfers the target object from the buffer position. In this way, the taking-and-placing mechanism, the buffer position and the transfer robot will restrict each other's efficiency, resulting in low transfer efficiency of the target object in the warehouse system.

[0003] In the related art, a climbing mechanism is arranged at each of the four corners of the vehicle body of the transfer robot, and after the transfer robot walks to the aisle between adjacent shelves, the climbing mechanism extends from the vehicle body to cooperate with a rack arranged on a shelf column, so as to climb along the shelf column, and the taking-and-placing mechanism on the transfer robot directly transfers the target object with the storage location. In this way, the buffer position can be omitted, and the transfer efficiency of the target object is improved.

[0004] However, in the related art, a rack needs to be arranged on each of the shelf columns, resulting in high installation precision requirement for the shelf columns. CONTENT OF THE UTILITY MODEL

[0005] The embodiments of the application provide a warehouse system and a transfer robot, which can reduce the number of engagement structures arranged on the shelf columns and reduce the installation precision requirement for the shelf columns.

[0006] In one aspect, the embodiments of the application provide a warehouse system, which comprises:

[0007] A plurality of carriers, carrier columns of adjacent carriers are arranged at a relative interval;

[0008] A transfer robot, comprising a vehicle body, a walking mechanism and a climbing mechanism, the walking mechanism is arranged on the vehicle body and is configured to drive the vehicle body to walk in a first direction; the climbing mechanism is arranged on a first part of the vehicle body and is arranged along the radial direction of the vehicle body, and the climbing mechanism can extend or retract relative to the vehicle body from both sides of the vehicle body; the climbing mechanism is configured to cooperate with carrier columns of two adjacent carriers on both sides of the vehicle body to drive the vehicle body to ascend or descend along the carrier columns; and the first direction intersects with the extension direction of the carrier columns.

[0009] In an implementation, the plurality of carriers includes a first carrier and a second carrier, and the first carrier and the second carrier are oppositely arranged;

[0010] The climbing mechanism includes:

[0011] The first climbing mechanism is configured to extend towards one of the first carrier and the second carrier and to cooperate with a carrier column of the one of the first carrier and the second carrier along a radial direction of the vehicle body.

[0012] The second climbing mechanism is configured to extend towards the other of the first carrier and the second carrier and to cooperate with a carrier column of the other of the first carrier and the second carrier along a radial direction of the vehicle body.

[0013] In an implementation, the first part is located at an end of one end of the vehicle body.

[0014] In an implementation, the carrier column is provided with a guide opening on a side of the carrier column facing the adjacent carrier column, and the guide opening extends along an extension direction of the carrier column.

[0015] At least a part of the climbing mechanism can extend into the guide opening and move along the extension direction of the guide opening.

[0016] In an implementation, the climbing mechanism includes:

[0017] The mounting bracket is arranged on the vehicle body and can extend out of the vehicle body or retract into the vehicle body along a radial direction of the vehicle body.

[0018] The guide member is arranged on the mounting bracket and at least a part of the guide member can extend into the guide opening.

[0019] In an implementation, the carrier column is provided with an engagement structure extending along an extension direction of the carrier column, and the climbing mechanism further includes:

[0020] The climbing wheel set is arranged on the mounting bracket of the climbing mechanism and is rotatably connected to the mounting bracket, and the climbing wheel set is configured to engage with the engagement structure to drive the vehicle body to ascend or descend along the carrier column.

[0021] In an implementation, the carrier column is provided with a plurality of engagement holes on a side wall of the carrier column facing the adjacent carrier column, and the plurality of engagement holes are arranged at intervals along the extension direction of the carrier column; the plurality of engagement holes form the engagement structure, and the climbing wheel set is configured to engage with the engagement holes to drive the vehicle body to ascend or descend along the carrier column.

[0022] In an implementation, the engagement structure includes one of a rack or a chain.

[0023] In an implementation, the carrier column is provided with a first guide wall and a second guide wall on a side of the carrier column adjacent to the neighboring carrier column, the first guide wall is located on one side of the guide opening, and the second guide wall is located on the other side of the guide opening; the guide member can extend into the space between the first guide wall and the second guide wall.

[0024] The climbing wheel set of the climbing mechanism comprises:

[0025] The first climbing gear is located on one side of the guide member, and the first climbing gear is located on the side of the first guide wall away from the second guide wall;

[0026] The second climbing gear is located on the other side of the guide member, and the second climbing gear is located on the side of the second guide wall away from the first guide wall.

[0027] In an implementation, the mounting bracket of the climbing mechanism is provided with a rotating shaft, and the first climbing gear and the second climbing gear of the climbing mechanism are arranged side by side along the axial direction of the rotating shaft;

[0028] A roller is arranged between the first climbing gear and the second climbing gear, and the roller is arranged on the rotating shaft; the roller can extend into the space between the first guide wall and the second guide wall; the guide member of the climbing mechanism comprises the roller.

[0029] In an implementation, the climbing wheel set is provided with a plurality of groups, and the plurality of groups of climbing wheel sets are arranged at intervals along the extension direction of the carrier column.

[0030] In an implementation, the vehicle body is provided with a carrying area configured to carry target objects; the transfer robot further comprises:

[0031] A telescopic structure is arranged on the vehicle body, and the telescopic structure can be telescopically extended relative to the vehicle body from both sides of the vehicle body;

[0032] A taking and placing mechanism is connected to the telescopic structure, and the telescopic structure drives the taking and placing mechanism to move relative to the vehicle body when the telescopic structure is telescopically extended relative to the vehicle body; the taking and placing mechanism is configured to act on the target objects to transfer the target objects between the carrying area and the storage locations of the carrier.

[0033] In an implementation, the telescopic structure is arranged on the carrying area, and the taking and placing mechanism is configured to act on the front end surface of the target objects to transfer the target objects, the front end surface of the target objects being the end surface of the target objects on the side facing the taking and placing mechanism.

[0034] In an implementation, the telescopic structure is arranged on the outside of the carrying area, and the taking and placing mechanism comprises:

[0035] A first finger is rotatably arranged on the third part of the telescopic structure;

[0036] The second finger is rotatably arranged at a fourth position of the telescopic structure; the third position and the fourth position are two positions opposite in the telescopic direction of the telescopic structure.

[0037] Any one of the first finger and the second finger is configured to act on a rear end surface of the target object to transfer the target object from the storage location to the carrying area; and the first finger and the second finger are configured to act on a front end surface of the target object to transfer the target object from the carrying area to the storage location.

[0038] In an implementation, the telescopic structure is arranged on a side of the carrying area away from the climbing mechanism.

[0039] In an implementation, in the case that any one of the first finger and the second finger acts on the end surface of the target object, the end surface of the target object has a first size along the length direction of any one of the first finger and the second finger.

[0040] The length of any one of the first finger and the second finger is greater than or equal to half of the first size.

[0041] In an implementation, the vehicle body is provided with a first guide protrusion and a second guide protrusion, the first guide protrusion and the second guide protrusion extend along the telescopic direction of the telescopic structure, the first guide protrusion and the second guide protrusion are arranged at intervals, and the carrying area is formed between the first guide protrusion and the second guide protrusion.

[0042] In an implementation, along the telescopic direction of the telescopic structure, both ends of the carrying area have an entrance and an exit; the entrance and the exit are configured to be docked with the storage locations on both sides of the transfer robot.

[0043] In an implementation, the vehicle body is provided with an obstacle avoidance radar, and the obstacle avoidance radar is configured to detect obstacles on the walking path of the vehicle body.

[0044] In an implementation, the carrier is provided with multiple layers of storage locations in the height direction, and at least part of the bottom of the carrier is provided with a passage, and the passage is configured to allow the transfer robot to pass through.

[0045] In another aspect, the embodiments of the present application provide a transfer robot, comprising:

[0046] a vehicle body;

[0047] a walking mechanism arranged on the vehicle body and configured to drive the vehicle body to walk in a first direction;

[0048] a climbing mechanism arranged at a first position of the vehicle body and arranged to be telescopic relative to the vehicle body from both sides of the vehicle body along the landscape of the vehicle body; the climbing mechanism is configured to cooperate with the carrier column of two adjacent carriers on both sides of the vehicle body to drive the vehicle body to ascend and descend along the carrier column, wherein the first direction intersects with the extension direction of the carrier column.

[0049] In an implementation, the climbing mechanism comprises:

[0050] a first climbing mechanism configured to extend towards the column of the vehicle at one side of the vehicle body and to engage with the column of the vehicle;

[0051] a second climbing mechanism configured to extend towards the column of the vehicle at the other side of the vehicle body and to engage with the column of the vehicle.

[0052] In an implementation, the first part is located at one end of the vehicle body.

[0053] In an implementation, the climbing mechanism comprises:

[0054] a mounting bracket arranged on the vehicle body and configured to extend out of the vehicle body or to retract into the vehicle body along a radial direction of the vehicle body;

[0055] a guide arranged on the mounting bracket and configured to extend into a guide opening of the column of the vehicle.

[0056] In an implementation, the climbing mechanism further comprises:

[0057] a climbing wheel set arranged on the mounting bracket of the climbing mechanism and configured to engage with the engagement structure on the column of the vehicle to drive the vehicle body to ascend or descend along the column of the vehicle.

[0058] In an implementation, the climbing wheel set of the climbing mechanism comprises:

[0059] a first climbing gear arranged at one side of the guide and located at a side of the first guide wall of the column of the vehicle away from the second guide wall of the column of the vehicle;

[0060] a second climbing gear arranged at the other side of the guide and located at a side of the second guide wall away from the first guide wall.

[0061] In an implementation, the mounting bracket of the climbing mechanism is provided with an axis of rotation, and the first climbing gear and the second climbing gear are arranged side by side along an axial direction of the axis of rotation.

[0062] A roller is arranged between the first climbing gear and the second climbing gear and arranged on the axis of rotation, the roller is configured to extend into a space between the first guide wall and the second guide wall, and the guide comprises the roller.

[0063] In an implementation, the climbing wheel set of the climbing mechanism comprises two sets of climbing wheel sets, and the two sets of climbing wheel sets are arranged at intervals along an extension direction of the column of the vehicle.

[0064] In an implementation, the vehicle body is provided with a carrying area configured to carry the target article; the transfer robot further comprises:

[0065] a telescopic structure provided on the vehicle body, the telescopic structure being capable of telescoping relative to the vehicle body from two sides of the vehicle body;

[0066] a pick-and-place mechanism connected to the telescopic structure, the pick-and-place mechanism being capable of moving relative to the vehicle body along with the telescopic structure when the telescopic structure telescopes relative to the vehicle body; the pick-and-place mechanism being configured to act on the target article to transfer the target article between the carrying area and the storage location of the carrier.

[0067] In an implementation, the telescopic structure is provided on the carrying area, the pick-and-place mechanism is configured to act on a front end surface of the target article to transfer the target article, the front end surface of the target article being an end surface of the target article facing the pick-and-place mechanism.

[0068] In an implementation, the telescopic structure is provided on an outer side of the carrying area, the pick-and-place mechanism comprises:

[0069] a first finger rotatably provided at a third position of the telescopic structure;

[0070] a second finger rotatably provided at a fourth position of the telescopic structure; the third position and the fourth position being two positions opposite to each other along a telescoping direction of the telescopic structure;

[0071] any one of the first finger and the second finger being configured to act on a rear end surface of the target article to transfer the target article from the storage location to the carrying area; and the first finger and the second finger being configured to act on the front end surface of the target article to transfer the target article from the carrying area to the storage location.

[0072] In an implementation, the telescopic structure is provided on a side of the carrying area away from the climbing mechanism.

[0073] In an implementation, when any one of the first finger and the second finger acts on the end surface of the target article, the end surface of the target article has a first dimension along a length direction of the any one of the first finger and the second finger.

[0074] The length of the any one of the first finger and the second finger is greater than or equal to half of the first dimension.

[0075] In an implementation, the vehicle body is provided with a first guide protrusion and a second guide protrusion, the first guide protrusion and the second guide protrusion extending along a telescoping direction of the telescopic structure, the first guide protrusion and the second guide protrusion being arranged in a spaced manner, and a carrying area being formed between the first guide protrusion and the second guide protrusion.

[0076] In an implementation manner, the carrying area has an inlet and an outlet at each end along the telescopic direction of the telescopic structure; the inlet and the outlet are configured to be docked with the storage spaces on both sides of the transfer robot.

[0077] In an implementation manner, the vehicle body is provided with an obstacle avoidance radar configured to detect obstacles on the walking path of the vehicle body.

[0078] The warehouse system and the warehouse robot provided by the embodiments of the present application can fully utilize the space of the warehouse system and improve the storage density of the warehouse system by arranging a plurality of carriers in the warehouse system. The carrier uprights of adjacent carriers are arranged in relative spacing, so that a lane can be formed between the adjacent carriers, facilitating the movement and transfer of the target articles by the transfer robot in the lane. The transfer robot is arranged, and a walking mechanism is arranged on the vehicle body of the transfer robot. The walking mechanism can drive the vehicle body to walk in the first direction. Thus, the walking mechanism can drive the vehicle body and the target articles on the vehicle body to move in the warehouse system, thereby transferring the target articles. A climbing mechanism is arranged at the first part of the vehicle body. Along the radial direction of the vehicle body, the climbing mechanism can be extended or retracted relative to the vehicle body from both sides of the vehicle body. Thus, when the walking mechanism drives the vehicle body to walk into the spacing between the carrier uprights of adjacent carriers (i.e., the lane between the adjacent carriers), the climbing mechanism can be extended from both sides of the vehicle body and cooperate with the two carrier uprights adjacent to both sides of the vehicle body. The climbing mechanism can drive the vehicle body to ascend along the carrier uprights. Thus, the transfer robot can climb to any storage layer of the carrier by the climbing mechanism to take or place the target articles. Compared with the related art, the transfer efficiency of the target articles can be improved without being limited by the transfer robot, the taking or placing mechanism, and the buffer position.

[0079] In addition, in the embodiments of the present application, the climbing mechanism is arranged at the first part of the vehicle body. The climbing mechanism can be extended or retracted relative to the vehicle body from both sides of the vehicle body. Thus, there are only two climbing points on the vehicle body, i.e., one climbing point on one side of the vehicle body and one climbing point at the opposite position on the other side of the vehicle body. That is, the vehicle body can ascend along the carrier uprights only by the two climbing points. Compared with the related art in which the climbing mechanisms are arranged at the four corners of the vehicle body, the number of climbing points on the vehicle body is reduced. Thus, the number of carrier uprights that need to cooperate with the climbing mechanisms, i.e., the number of carrier uprights that need to be provided with meshing structures to cooperate with the climbing mechanisms, is reduced. Since only two climbing mechanisms need to be cooperated, the installation precision of the two opposite carrier uprights is reduced, and the layout cost of the warehouse system is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0080] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and serve to explain the present application. In the drawings:

[0081] Figure 1 is a structural schematic diagram of a warehouse system provided by some embodiments of the present application;

[0082] Figure 2 is another structural schematic diagram of a warehouse system provided by some embodiments of the present application;

[0083] Figure 3 is a structural schematic diagram of a transfer robot in a warehouse system provided by some embodiments of the present application;

[0084] Figure 4 is a partial structural schematic diagram of a transfer robot cooperating with a carrier in a warehouse system provided by some embodiments of the present application;

[0085] Figure 5 is a partial structural schematic diagram of a transfer robot cooperating with a carrier in a warehouse system provided by some embodiments of the present application; Figure 4 is a partial enlarged view of A in FIG. 17;

[0086] Figure 6 is another partial structural schematic diagram of a transfer robot cooperating with a carrier in a warehouse system provided by some embodiments of the present application;

[0087] Figure 7 is a front view of a transfer robot cooperating with a carrier in a warehouse system provided by some embodiments of the present application;

[0088] Figure 8 is a partial enlarged view of B in FIG. 18; Figure 7

[0089] Figure 9 is a front view of a climbing mechanism in a warehouse system provided by some embodiments of the present application;

[0090] Figure 10 is a front view of an internal structure of a climbing mechanism in a warehouse system provided by some embodiments of the present application;

[0091] Figure 11 is a top view of an internal structure of a climbing mechanism in a warehouse system provided by some embodiments of the present application;

[0092] Figure 12 is a structural schematic diagram of an internal structure of a climbing mechanism in a warehouse system provided by some embodiments of the present application;

[0093] Figure 13 is another structural schematic diagram of an internal structure of a climbing mechanism in a warehouse system provided by some embodiments of the present application.

[0094] Legend of reference signs:

[0095] 10 - carrier; 20 - transfer robot;

[0096] ​110-carrier column; 120-first carrier; 130-second carrier; 140-first support beam; 150-passageway; 210-car body; 220-traveling mechanism; 230-climbing mechanism; 240-telescopic structure; 250-taking and placing mechanism;

[0097] 101-tunnel; 111-guiding opening; 112-engaging structure; 113-first guiding wall; 114-second guiding wall; 211-first part; 212-carrying area; 213-first guiding protrusion; 214-second guiding protrusion; 215-obstacle avoidance radar; 231-first climbing mechanism; 232-second climbing mechanism; 251-first prong; 252-second prong;

[0098] 1121-engaging hole; 2121-inlet and outlet; 2301-mounting bracket; 2302-guiding member; 2303-climbing wheel set; 2304-rotation shaft; 2305-roller; 2306-third gear; 2307-first driving assembly; 2308-power steering assembly; 2309-sliding assembly;

[0099] 2303a-first climbing gear; 2303b-second climbing gear; 23071-power output shaft; 23072-first driving member; 23073-fourth gear; 23074-worm; 23075-fifth gear; 23076-sixth gear; 23081-first helical gear; 23082-second helical gear; 23091-sliding rail; 23092-sliding block. DETAILED DESCRIPTION

[0100] In order to make the personnel in the technical field better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0101] It should be noted that in the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0102] In the description of the present application, it needs to be understood that the terms "upper", "lower", "horizontal", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium.

[0103] In the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. However, it is noted that direct connection means that the connection between the two main bodies does not form a connection relationship through an excessive structure, but is connected only through the connection structure to form a whole. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0104] In the present application, the description related to "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features.

[0105] In the warehouse system, in order to improve the space utilization of the warehouse system and improve the storage density of the warehouse system, a carrier is usually provided in the warehouse system.

[0106] In some examples, the carrier can be a shelf. For example, the carrier can be a fixed shelf, or the carrier can be a movable shelf.

[0107] In some examples, the carrier can be a seeding wall of a picking station.

[0108] In some examples, in order to fully utilize the longitudinal space of the warehouse system, the longitudinal carrier can be provided with multiple layers of storage layers. Each layer of storage layer can be provided with multiple storage locations.

[0109] In some examples, in order to place the target object to the storage location or take the target object out of the storage location. A taking and placing mechanism is usually provided on the gantry. The target object can be a container. The container can be an empty container. The container can be a container storing an object. The target object can be a packaging box, a packaging box or an object itself.

[0110] In some examples, the gantry can be arranged on the carrier. In some examples, the gantry can also be referred to as a stand. The gantry can move along the transverse direction of the carrier, thereby driving the taking and placing mechanism to move along the transverse direction to any column of storage locations of the carrier.

[0111] In some examples, the taking and placing mechanism can move along the longitudinal direction of the gantry, thereby moving to any layer of the multi-layer storage layer. In this way, the taking and placing mechanism can take the target item from the storage location; or the taking and placing mechanism can place the target item on the storage location.

[0112] In some examples, after the taking and placing mechanism takes the target item from the storage location, the taking and placing mechanism descends along the gantry to the bottom of the carrier and places the target item on the buffer location at the bottom of the carrier.

[0113] In some examples, the transfer robot in the warehouse system takes the target item from the buffer location and transfers the target item to other locations in the warehouse system.

[0114] In some examples, the transfer robot in the warehouse system can transfer the target item from other locations in the warehouse system to the buffer location, the taking and placing mechanism takes the target item from the buffer location, and the taking and placing mechanism moves along the longitudinal direction of the gantry.

[0115] The taking and placing mechanism places the target item in the target storage location after moving to the storage layer where the target storage location is located.

[0116] As can be seen, in the process of transferring the target item, the target item needs to pass through the taking and placing mechanism, the buffer location, and the transfer of the transfer robot, and there is an efficiency constraint between the taking and placing mechanism, the buffer location, and the transfer robot.

[0117] In some examples, the gantry can be arranged on the transfer robot, and the taking and placing mechanism moves along the gantry. The transfer robot can move into the aisle between adjacent racks, the taking and placing mechanism moves along the longitudinal direction to the target storage location, and the taking and placing mechanism takes and places the target item.

[0118] In some examples, since the gantry is arranged on the transfer robot, the height of the gantry is high, which causes the center of gravity of the transfer robot to be high. In order to maintain the stability of the transfer robot, the moving speed of the transfer robot is slow, which restricts the efficiency of the transfer of the target item.

[0119] In some examples, the taking and placing mechanism can place the target item on the buffer location after taking the target item, and the transfer robot without the gantry can transfer the target item from the buffer location. In this way, there is still an efficiency constraint between the taking and placing mechanism, the buffer location, and the transfer robot without the gantry, which affects the transfer efficiency of the target item in the warehouse system.

[0120] In some examples, in order to improve the transfer efficiency of the target item in the warehouse system, a climbing mechanism is arranged at the four corners of the transfer robot body.

[0121] In some examples, after the transfer robot walks into the aisle between adjacent shelves, the climbing mechanism extends from the vehicle body and cooperates with the shelf column. For example, a rack is arranged on the shelf column, and the climbing mechanism is engaged with the rack to drive the vehicle body to climb along the shelf column. In this way, the transfer robot can directly climb to the target storage location to transfer the target item, and the constraints of the buffer location and the taking and placing mechanism can be eliminated, thereby improving the transfer efficiency of the target item.

[0122] However, in order to facilitate the climbing of the transfer robot, a rack needs to be arranged on each of the shelf columns, which requires precise alignment of the relative shelf columns and high installation precision of the shelf columns.

[0123] Figure 1 FIG. 1 is a structural schematic diagram of a warehouse system provided by some embodiments of the present application. Figure 2 FIG. 2 is another structural schematic diagram of a warehouse system provided by some embodiments of the present application.

[0124] In some examples, referring to FIGS. 1 and 2, a warehouse system is provided by embodiments of the present application. The warehouse system can include a plurality of vehicles 10. In some examples of embodiments of the present application, two vehicles 10 are taken as examples for illustration. It can be understood that in some examples of embodiments of the present application, the vehicles 10 can include more vehicles 10, for example, three vehicles 10, four vehicles 10, or five vehicles 10, etc. The present application does not limit the number of vehicles 10. Figure 1 Figure 2 In some examples, referring to FIGS. 1 and 2, a warehouse system is provided by embodiments of the present application. The warehouse system can include a plurality of vehicles 10. In some examples of embodiments of the present application, two vehicles 10 are taken as examples for illustration. It can be understood that in some examples of embodiments of the present application, the vehicles 10 can include more vehicles 10, for example, three vehicles 10, four vehicles 10, or five vehicles 10, etc. The present application does not limit the number of vehicles 10. Figure 1 Figure 2 In some examples, referring to FIGS. 1 and 2, a warehouse system is provided by embodiments of the present application. The warehouse system can include a plurality of vehicles 10. In some examples of embodiments of the present application, two vehicles 10 are taken as examples for illustration. It can be understood that in some examples of embodiments of the present application, the vehicles 10 can include more vehicles 10, for example, three vehicles 10, four vehicles 10, or five vehicles 10, etc. The present application does not limit the number of vehicles 10.

[0125] In some examples, referring to FIGS. 1 and 2, a warehouse system is provided by embodiments of the present application. The warehouse system can include a plurality of vehicles 10. In some examples of embodiments of the present application, two vehicles 10 are taken as examples for illustration. It can be understood that in some examples of embodiments of the present application, the vehicles 10 can include more vehicles 10, for example, three vehicles 10, four vehicles 10, or five vehicles 10, etc. The present application does not limit the number of vehicles 10. Figure 1 Figure 2 In some examples, referring to FIGS. 1 and 2, a warehouse system is provided by embodiments of the present application. The warehouse system can include a plurality of vehicles 10. In some examples of embodiments of the present application, two vehicles 10 are taken as examples for illustration. It can be understood that in some examples of embodiments of the present application, the vehicles 10 can include more vehicles 10, for example, three vehicles 10, four vehicles 10, or five vehicles 10, etc. The present application does not limit the number of vehicles 10.

[0126] In some examples, referring to FIGS. 1 and 2, a warehouse system is provided by embodiments of the present application. The warehouse system can include a plurality of vehicles 10. In some examples of embodiments of the present application, two vehicles 10 are taken as examples for illustration. It can be understood that in some examples of embodiments of the present application, the vehicles 10 can include more vehicles 10, for example, three vehicles 10, four vehicles 10, or five vehicles 10, etc. The present application does not limit the number of vehicles 10. Figure 1 In some examples, referring to FIGS. 1 and 2, a warehouse system is provided by embodiments of the present application. The warehouse system can include a plurality of vehicles 10. In some examples of embodiments of the present application, two vehicles 10 are taken as examples for illustration. It can be understood that in some examples of embodiments of the present application, the vehicles 10 can include more vehicles 10, for example, three vehicles 10, four vehicles 10, or five vehicles 10, etc. The present application does not limit the number of vehicles 10. Figure 1 In some examples, referring to FIGS. 1 and 2, a warehouse system is provided by embodiments of the present application. The warehouse system can include a plurality of vehicles 10. In some examples of embodiments of the present application, two vehicles 10 are taken as examples for illustration. It can be understood that in some examples of embodiments of the present application, the vehicles 10 can include more vehicles 10, for example, three vehicles 10, four vehicles 10, or five vehicles 10, etc. The present application does not limit the number of vehicles 10.

[0127] In some examples, referring to FIGS. 1 and 2, a warehouse system is provided by embodiments of the present application. The warehouse system can include a plurality of vehicles 10. In some examples of embodiments of the present application, two vehicles 10 are taken as examples for illustration. It can be understood that in some examples of embodiments of the present application, the vehicles 10 can include more vehicles 10, for example, three vehicles 10, four vehicles 10, or five vehicles 10, etc. The present application does not limit the number of vehicles 10.

[0128] Figure 1 In some examples, referring to FIGS. 1 and 2, a warehouse system is provided by embodiments of the present application. The warehouse system can include a plurality of vehicles 10. In some examples of embodiments of the present application, two vehicles 10 are taken as examples for illustration. It can be understood that in some examples of embodiments of the present application, the vehicles 10 can include more vehicles 10, for example, three vehicles 10, four vehicles 10, or five vehicles 10, etc. The present application does not limit the number of vehicles 10. Figure 2 ​​​​As shown, the warehouse system can include a transfer robot 20.

[0129] Figure 3 FIG. 1 is a structural schematic diagram of a transfer robot in a warehouse system according to some embodiments of the present application.

[0130] In some examples, referring to Figure 3 As shown, the transfer robot 20 can include a vehicle body 210. The vehicle body 210 can be a load-bearing main body of the transfer robot 20.

[0131] In some examples, the vehicle body 210 can be made of metal materials such as stainless steel, aluminum alloy, cast iron, etc. So as to carry and transfer target objects with relatively large weight.

[0132] In some examples, the vehicle body 210 can be made of hard non-metallic materials such as engineering plastics. In some examples of the embodiments of the present application, the material of the vehicle body 210 is not limited.

[0133] In some examples, referring to Figure 3 As shown, the transfer robot 20 can include a walking mechanism 220. The walking mechanism 220 can be arranged on the vehicle body 210. The walking mechanism 220 can be configured to drive the vehicle body 210 to walk in a first direction.

[0134] In some examples, the first direction can intersect with the extension direction of the carrier column 110.

[0135] In some examples, the first direction can be a horizontal direction. For example, the walking mechanism 220 drives the vehicle body 210 to walk on the ground or the support platform of the warehouse system.

[0136] In some examples, the first direction can be a direction at an angle with the horizontal direction. For example, a slope arranged on the ground or the support platform of the warehouse system, the walking mechanism 220 can drive the vehicle body 210 to walk on the slope.

[0137] In some examples, the transfer robot 20 can include a rotating rudder (not shown in the figure). The rotating rudder can be arranged on the vehicle body 210. The rotating rudder can be connected with the walking mechanism 220.

[0138] In some examples, the rotating rudder can be configured to drive the walking mechanism 220 to rotate relative to the vehicle body 210, so as to make the walking mechanism 220 drive the vehicle body 210 to walk in different directions in the warehouse system. This improves the flexibility of the transfer robot walking in the warehouse system, and facilitates the transfer robot to transfer target objects in different directions.

[0139] In some examples, referring to Figure 3 As shown, the transfer robot 20 can include a climbing mechanism 230. The climbing mechanism 230 can be arranged on the first part 211 of the vehicle body 210.

[0140] In some examples, the first part 211 can be any part of the vehicle body 210. For example, see reference... Figure 3 As shown, along Figure 3 In the direction indicated by the y-axis, the first part 211 can be any part of the vehicle body 210.

[0141] In some examples, the first part 211 can be the middle part of the vehicle body 210. For example, with Figure 3 As an example, along Figure 3 In the direction indicated by the y-axis, the first part 211 can be the middle part of the vehicle body 210. Thus, along... Figure 3 As shown by the y-axis, the vehicle body 210 located on one side of the first part 211 can dock with the cargo space on one side of the carrier column 110, and the vehicle body 210 located on the other side of the first part 211 can dock with the cargo space on the other side of the carrier column 110. That is, the transfer robot 20 climbs along a pair of opposing carrier columns 110 via the climbing mechanism 230, docking with the cargo spaces on both sides of the carrier column 110, and transferring the target items between the cargo spaces on both sides of the carrier column 110 (e.g., placing the target items on the cargo spaces, or removing the target items from the cargo spaces and transferring them to the vehicle body 210). Thus, along... Figure 1 The vehicle columns 110 arranged in the x-direction can be equipped with a meshing structure 112 that cooperates with the climbing mechanism 230 at intervals, which reduces the number of vehicle columns 110 that need to be equipped with meshing structures 112 and reduces the production and processing cost of the vehicle 10.

[0142] In some examples, along the radial direction of the vehicle body 210 (e.g.) Figure 3 (in the direction of the plane containing the x-axis or y-axis), the climbing mechanism 230 can extend from both sides of the vehicle body 210 relative to the vehicle body 210. For example, refer to... Figure 3 As shown, the climbing mechanism 230 can climb along... Figure 3 The direction shown by the x-axis extends to both sides of the vehicle body 210.

[0143] In some examples, the climbing mechanism 230 can be retracted radially within the vehicle body 210.

[0144] In some application scenarios, the transfer robot 20 can walk on the ground or support platform in the warehouse space and transfer target items.

[0145] In some examples, the transfer robot 20 can carry the target item. The transfer robot 20 moves into the alleyway 101 between adjacent vehicles 10. For example, see... Figure 1 As shown, the transfer robot 20 can move along... Figure 1The transfer robot 20 moves into the aisle 101 between the adjacent carriers 10 in the direction indicated by the x-axis, and moves between the carrier uprights 110. Then, the climbing mechanism 230 extends the vehicle body 210 in the direction indicated by the x-axis, and cooperates with the two carrier uprights 110 adjacent to both sides of the vehicle body 210. The climbing mechanism 230 drives the vehicle body 210 to climb along the carrier uprights 110, thereby carrying the target goods to the respective layer positions of the carriers 10. Figure 1 The transfer robot 20 moves into the aisle 101 between the adjacent carriers 10 in the direction indicated by the x-axis, and moves between the carrier uprights 110. Then, the climbing mechanism 230 extends the vehicle body 210 in the direction indicated by the x-axis, and cooperates with the two carrier uprights 110 adjacent to both sides of the vehicle body 210. The climbing mechanism 230 drives the vehicle body 210 to climb along the carrier uprights 110, thereby carrying the target goods to the respective layer positions of the carriers 10.

[0146] In some examples, the carrier uprights 110 can be provided with engagement structures 112 cooperating with the climbing mechanism 230. After the climbing mechanism 230 cooperates with the engagement structures, the climbing mechanism 230 climbs along the carrier uprights 110.

[0147] In some examples, a belt, a timing belt or a transmission belt can be arranged on the carrier uprights 110 along the extension direction of the carrier uprights 110. A clamping hole is arranged on the belt, the timing belt or the transmission belt. After the climbing mechanism 230 extends the vehicle body 210, the climbing mechanism 230 can be inserted into the clamping hole.

[0148] In some examples, after the climbing mechanism 230 is inserted into the clamping hole, the belt, the timing belt or the transmission belt can be started and rotated along the extension direction of the carrier uprights 110, thereby driving the transfer robot 20 to move along the carrier uprights 110.

[0149] In some examples, a chain can be arranged on the carrier uprights 110 and connected along the extension direction of the carrier uprights 110. After the climbing mechanism 230 extends the vehicle body 210, the climbing mechanism 230 can be inserted into the hole of the chain, thereby realizing the cooperation between the climbing mechanism 230 and the uprights.

[0150] In some examples, after the climbing mechanism 230 is inserted into the hole of the chain, the chain can be started and rotated along the extension direction of the carrier uprights 110, thereby driving the transfer robot 20 to move along the carrier uprights 110.

[0151] In some examples, after the transfer robot 20 moves to the target storage layer along the carrier uprights 110, the transfer robot 20 can transfer the target goods between the target position and the goods position.

[0152] In some examples, a taking and placing mechanism 250 can be arranged on the transfer robot 20. The taking and placing mechanism 250 transfers the target goods to the goods position, or the taking and placing mechanism 250 transfers the target goods from the goods position to the transfer robot 20.

[0153] In some examples, a taking and placing mechanism 250 can be arranged on the carrier 10. The taking and placing mechanism 250 can transfer the target goods from the transfer robot 20 to the goods position, or the taking and placing mechanism 250 can transfer the target goods from the goods position to the transfer robot 20.

[0154] The warehousing system provided in this application embodiment, by setting multiple carriers 10 in the warehousing system, can make full use of the space of the warehousing system and improve the storage density of the warehousing system; the carrier columns 110 of adjacent carriers 10 are arranged at relative intervals, so that aisles 101 can be formed between adjacent carriers 10, which facilitates the movement of the transfer robot 20 in the aisles 101 and the transfer of target items; by setting the transfer robot 20, a walking mechanism 220 is set on the vehicle body 210 of the transfer robot 20, which can drive the vehicle body 210 to move along a first direction, so that the walking mechanism 220 can drive the vehicle body 210 and the target items on the vehicle body 210 to move within the warehousing system, thereby transferring the target items; a climbing mechanism 230 is set on the first part 211 of the vehicle body 210, along the vehicle body 210... In the radial direction of 10, the climbing mechanism 230 can extend and retract from both sides of the vehicle body 210 relative to the vehicle body 210. Thus, when the walking mechanism 220 drives the vehicle body 210 to move into the interval between the vehicle pillars 110 of the adjacent vehicle body 10 (i.e., the alley 101 between adjacent vehicles 10), the climbing mechanism 230 can extend from both sides of the vehicle body 210 and cooperate with the two adjacent vehicle pillars 110 on both sides of the vehicle body 210. The climbing mechanism 230 can drive the vehicle body 210 to rise and fall along the vehicle pillars 110. In this way, the transfer robot 20 can climb to any storage layer of the vehicle body 10 to pick up and place target items through the climbing mechanism 230. Compared with related technologies, it is not limited by the constraints of the transfer robot 20, the pick-up and place mechanism 250 and the buffer position, which can improve the transfer efficiency of target items.

[0155] In addition, in this embodiment, a climbing mechanism 230 is provided at the first part 211 of the vehicle body 210. The climbing mechanism 230 can extend or retract relative to both sides of the vehicle body 210. Thus, there are only two climbing points on the vehicle body 210, that is, there is one climbing point on one side of the vehicle body 210 and another climbing point at a corresponding position on the other side of the vehicle body 210. In other words, the vehicle body 210 can climb along the vehicle column 110 using only these two climbing points. Compared to related technologies that set climbing mechanisms 230 at the four corners of the vehicle body 210, the lifting mechanism reduces the number of climbing points on the vehicle body 210. This reduces the number of vehicle columns 110 that need to cooperate with the climbing mechanisms 230, i.e., reduces the number of vehicle columns 110 that need to be equipped with meshing structures 112 to cooperate with the climbing mechanisms 230. Since it only needs to cooperate with two climbing mechanisms 230, the installation accuracy of the two relative vehicle columns 110 is reduced, thus reducing the layout cost of the storage system.

[0156] In some examples, refer to Figure 1 and Figure 2 As shown, the plurality of vehicles 10 may include a first vehicle 120. The first vehicle 120 may be mounted on the ground or a support platform of the storage system.

[0157] In some examples, the plurality of carriers 10 can include a second carrier 130. The second carrier 130 can be disposed on the ground or a support platform of the warehousing system. The second carrier 130 can be disposed opposite to the first carrier 120. Referring to Figure 1 and Figure 2 , the second carrier 130 and the first carrier 120 can be disposed side by side.

[0158] In some examples, the second carrier 130 is disposed apart from the first carrier 120, such that a lane 101 is formed between the second carrier 130 and the first carrier 120.

[0159] In some examples, referring to Figure 2 and Figure 3 , the climbing mechanism 230 can include a first climbing mechanism 231. In the radial direction of the vehicle body 210, the first climbing mechanism 231 can be configured to extend toward one of the first carrier 120 and the second carrier 130.

[0160] In some examples, the first climbing mechanism 231 extending toward the first carrier 120 is taken as a specific example for illustration. The first climbing mechanism 231 cooperates with the carrier column 110 of the first carrier 120.

[0161] In some examples, the climbing mechanism 230 can include a second climbing mechanism 232. In the radial direction of the vehicle body 210, the second climbing mechanism 232 can be configured to extend toward the other of the first carrier 120 and the second carrier 130.

[0162] In some examples, in the case where the first climbing mechanism 231 extends toward the first carrier 120, the second climbing mechanism 232 can extend toward the second carrier 130 and cooperate with the carrier column 110 of the second carrier 130.

[0163] In some examples, referring to Figure 3 , the extending directions of the first climbing mechanism 231 and the second climbing mechanism 232 can be opposite. For example, the first climbing mechanism 231 can extend in the negative direction of the x-axis in Figure 3 , and the second climbing mechanism 232 can extend in the positive direction of the x-axis in Figure 3 .

[0164] In some examples, the first climbing mechanism 231 can extend toward the second carrier 130 and cooperate with the carrier column 110 of the second carrier 130. The second climbing mechanism 232 can extend toward the first carrier 120 and cooperate with the carrier column 110 of the first carrier 120. In some examples of embodiments of this application, the first climbing mechanism 231 of the climbing mechanism 230 is configured to extend toward one of the first carrier 120 and the second carrier 130, and the second climbing mechanism 232 of the climbing mechanism 230 extends toward the other of the first carrier 120 and the second carrier 130. In this way, the transfer robot 20 can enter the tunnel 101 in any direction without special restrictions on the direction in which the transfer robot 20 enters the tunnel 101, improving the flexibility of the transfer robot 20 entering the tunnel 101, thereby improving the flexibility of the transfer robot 20 cooperating with the carrier column 110.

[0165] In some examples, refer to Figure 3 As shown, the first part 211 can be located at one end of the vehicle body 210. It should be noted that in this embodiment, "one end" of the vehicle body 210 does not specifically refer to the endpoint of one end of the vehicle body 210, but rather emphasizes that the first part 211 is not located in the middle of the vehicle body 210. Here, "end" can be the endpoint of one end of the vehicle body 210, or it can be a middle part located at a predetermined distance from the endpoint of the vehicle body 210. In this embodiment, the specific location of the "end" is not limited.

[0166] In some examples, refer to Figure 3 As shown, along Figure 3 In the direction indicated by the y-axis, the first part 211 can be the end of the vehicle body 210 along the positive y-axis direction. In this way, the part of the vehicle body 210 located at the first part 211 facing the negative y-axis direction can dock with the cargo position on one side of the carrier column 110, while the part located on the side of the first part 211 facing the positive y-axis direction does not have the vehicle body 210. This can reduce the size of the vehicle body 210 along the direction indicated by the y-axis. That is, by setting the first part 211 at one end of the vehicle body 210, the volume of the vehicle body 210 can be reduced, which can improve the flexibility of the transfer robot 20 in walking and turning in the storage space.

[0167] In some examples, when the transfer robot 20 needs to dock with a cargo location on the other side of the carrier column 110, the transfer robot 20 can turn its entire direction to dock with the cargo location on the other side of the carrier column 110. For example, the first climbing mechanism 231 extends towards the first carrier 120, and the second climbing mechanism 232 extends towards the second carrier 130. In this case, the transfer robot 20 can dock with a cargo location on one side of the carrier column 110. After the transfer robot 20 turns its entire direction, the first climbing mechanism 231 extends towards the second carrier 130, and the second climbing mechanism 232 extends towards the first carrier 120. In this case, the transfer robot 20 can dock with a cargo location on the other side of the carrier column 110. This reduces the number of carrier columns 110 that require the meshing structure 112, thus reducing the manufacturing cost of the carrier 10.

[0168] Figure 4 This is a partial structural diagram of a transfer robot and a carrier cooperating in a warehousing system provided in some embodiments of this application. Figure 5 yes Figure 4 A magnified view of a portion of point A in the middle.

[0169] In some examples, refer to Figure 4 and Figure 5 As shown, the vehicle column 110 may have a guide opening 111 on the side facing the adjacent vehicle 10, and the guide opening 111 may extend along the extension direction of the vehicle column 110.

[0170] In some examples, refer to Figure 1 and Figure 2 As shown, the vehicle 10 may include a first support beam 140. The first support beam 140 may be connected between two adjacent vehicle columns 110 along a second direction.

[0171] In some examples, refer to Figure 1 As shown, the first support beam 140 can be along... Figure 1 The direction shown by the y-axis connects the two adjacent vehicle columns 110.

[0172] In some examples, the first support beam 140 can be a transverse support beam.

[0173] In some examples, vehicle 10 may include a second support beam (not shown) that connects two adjacent vehicle columns 110 along a third direction. The third direction may intersect with the second direction.

[0174] In some examples, the second support beam can be an inclined support beam.

[0175] In some examples, the second and third directions can coincide with the direction in which the target item enters or exits the storage location. For example, refer to... Figure 1As shown, the target article can enter or exit the storage location along Figure 1 The second direction and the third direction can be located in a plane formed by the y-axis and the z-axis, or the second direction and the third direction can be parallel or approximately parallel to the plane formed by the y-axis and the z-axis. That is, the second support beam does not block the target article from entering or exiting the storage location. Figure 1

[0176] In some examples, the first support beam 140 and the second support beam can be connected to the closed side of the carrier column 110 away from the adjacent shelf.

[0177] In some examples, the closed side of the carrier column 110 can be provided with a connecting plate (not shown in the figure), and the first support beam 140 and the second support beam can be connected to the closed side of the carrier column 110 through the connecting plate.

[0178] In some examples of the embodiment, by providing the guide opening 111 on the side of the carrier column 110 facing the adjacent carrier 10, the guide opening 111 extends along the extension direction of the carrier column 110. In this way, after the climbing mechanism 230 extends out of the vehicle body 210, at least part of the climbing mechanism 230 can be inserted into the guide opening 111, and during the climbing of the climbing mechanism 230 along the carrier column 110, at least part of the climbing mechanism 230 can move along the extension direction of the guide opening 111. In this way, the movement direction of the climbing mechanism 230 can be guided through the guide, and the stability of the vehicle body 210 moving along the carrier column 110 driven by the climbing mechanism 230 is improved.

[0179] In addition, after at least part of the climbing mechanism 230 is inserted into the guide opening 111, the two side walls of the guide opening 111 can limit the climbing mechanism 230, avoiding the rotation of the climbing mechanism 230 in the guide opening 111. That is, the guide opening 111 can limit the vehicle body 210 through the climbing mechanism 230, so that the carrying surface of the vehicle body 210 carrying the target article remains in a horizontal or approximately horizontal state, ensuring the stability of the target article on the vehicle body 210 and improving the safety of the target article transfer.

[0180] In some examples, the guide opening 111 can be an opening on the carrier column 110 in the related art for mounting the first support beam 140 and the second support beam. That is, in some examples of the embodiment, the carrier column 110 in the related art can be installed reversely, with the side having the opening facing the adjacent carrier 10, and the closed side away from the adjacent carrier 10. In this way, the existing opening on the carrier column 110 in the related art can be directly used as the guide opening 111, which can reduce the processing of the carrier column 110 and reduce the processing and production cost of the carrier 10. ​

[0181] In some examples, referring to FIG. 2, the first climbing mechanism 231 and the second climbing mechanism 232 can each include a mounting bracket 2301. The mounting bracket 2301 can be disposed on the vehicle body 210. Figure 3

[0182] In some examples, the mounting bracket 2301 can be telescopic relative to the vehicle body 210 along a radial direction of the vehicle body 210.

[0183] In some examples, at least a portion of the mounting bracket 2301 can extend out of the vehicle body 210 along a radial direction of the vehicle body 210.

[0184] In some examples, the mounting bracket 2301 can be telescopic into the vehicle body 210 along a radial direction of the vehicle body 210.

[0185] In some examples, the mounting bracket 2301 can include a multi-stage telescopic plate. The multi-stage telescopic plate can be movably connected, and the telescoping of the mounting bracket 2301 relative to the vehicle body 210 can be achieved by a motor and a transmission belt.

[0186] In some examples, the first climbing mechanism 231 and the second climbing mechanism 232 can each include a guide 2302. The guide 2302 can be disposed on the mounting bracket 2301.

[0187] In some examples, the guide 2302 can be disposed on an end of the mounting bracket 2301 that extends out of the vehicle body 210.

[0188] In some examples, at least a portion of the guide 2302 can extend into the guide opening 111 when the first climbing mechanism 231 or the second climbing mechanism 232 is engaged with the carrier column 110. Thus, the climbing direction of the first climbing mechanism 231 or the second climbing mechanism 232 can be guided by the cooperation of the guide 2302 and the guide opening 111.

[0189] In some examples of the present application, the mounting bracket 2301 can extend out of the vehicle body 210 or telescope into the vehicle body 210 along a radial direction of the vehicle body 210. Thus, the first climbing mechanism 231 and the second climbing mechanism 232 can be telescopic relative to the vehicle body 210. The guide 2302 can be disposed on the mounting bracket 2301, and at least a portion of the guide 2302 can extend into the guide opening 111. Thus, the guide 2302 can be cooperated with the guide opening 111, and the climbing direction of the first climbing mechanism 231 and the second climbing mechanism 232 can be guided.

[0190] Figure 6 ​This is a partial structural diagram of the cooperation between the transfer robot and the carrier in a warehousing system provided in some embodiments of this application. Figure 7 This is a front view of the transfer robot and the vehicle working together in a warehousing system provided in some embodiments of this application. Figure 8 yes Figure 7 A magnified view of a portion of point B in the middle.

[0191] In some examples, refer to Figure 6-8 As shown, a meshing structure 112 may be provided on the vehicle column 110. The meshing structure 112 may extend along the extension direction of the vehicle column 110.

[0192] In some examples, the meshing structure 112 may include chains, timing belts, belts, etc., as described in detail in the foregoing embodiments of this application.

[0193] In some examples, either the first climbing mechanism 231 or the second climbing mechanism 232 may include a climbing wheel assembly 2303. The climbing wheel assembly 2303 may be mounted on the mounting bracket 2301.

[0194] In some examples, the lifting wheel assembly 2303 can be rotatably connected to the mounting bracket 2301. The lifting wheel assembly 2303 can be located at the end of the mounting bracket 2301 that extends outside the vehicle body 210. Thus, when the mounting bracket 2301 extends outside the vehicle body 210, the mounting bracket 2301 can drive the lifting wheel assembly 2303 to extend outside the vehicle body 210, so that the lifting wheel assembly 2303 can engage with the meshing structure 112 on the vehicle column 110.

[0195] In some examples, the lifting wheel assembly 2303 can be configured to engage with the engagement structure 112 to drive the vehicle body 210 up and down along the vehicle column 110. For example, at least a portion of the lifting wheel assembly 2303 can be inserted into engagement holes 1121 provided on a belt or timing belt. When the belt or timing belt rotates along the extension direction of the vehicle column 110, the engagement holes 1121 of the belt and timing belt drive the lifting wheel assembly 2303 to move, and the lifting wheel assembly 2303 drives the vehicle body 210 to move via the mounting bracket 2301.

[0196] In some examples, the climbing wheel assembly 2303 can engage with the chain described in detail in the foregoing embodiments of this application. When the climbing wheel assembly 2303 rotates, it can move along the extension direction of the chain, thereby driving the vehicle body 210 to move along the vehicle column 110 through the mounting bracket 2301.

[0197] In some examples of the embodiments of the present application, the engaging structure 112 is arranged in the extension direction of the carrier column 110, and the climbing wheel set 2303 is arranged on the mounting bracket 2301 of any one of the first climbing mechanism 231 and the second climbing mechanism 232, so that the climbing wheel set 2303 is engaged with the carrier column 110 through the engaging structure 112, and the vehicle body 210 is driven to climb along the carrier column 110 by the climbing mechanism 230.

[0198] In some examples, referring to FIG. 11, the carrier column 110 can be provided with a first guide wall 113 on the side facing the adjacent carrier column 110. The first guide wall 113 can be located on one side of the guide opening 111. That is, the first guide wall 113 can be arranged on the edge of the one side of the guide opening 111. The first guide wall 113 can extend towards the adjacent carrier column 110. Figure 8 In some examples, referring to FIG. 11, the carrier column 110 can be provided with a second guide wall 114 on the side facing the adjacent carrier column 110. The second guide wall 114 can be located on the other side of the guide opening 111. That is, the second guide wall 114 can be arranged on the edge of the other side of the guide opening 111. The second guide wall 114 and the first guide wall 113 can be oppositely arranged.

[0199] Figure 8 In some examples, the guide 2302 can extend into the space between the first guide wall 113 and the second guide wall 114.

[0200] In some examples, referring to FIG. 11, the climbing wheel set 2303 can include a first climbing gear 2303a. The first climbing gear 2303a can be located on one side of the guide 2302.

[0201] In some examples, referring to FIG. 11, the first climbing gear 2303a can be located on the side of the first guide wall 113 away from the second guide wall 114. That is, after the climbing mechanism 230 is extended and engaged with the carrier column 110, the first guide wall 113 can be located between the first climbing gear 2303a and the guide 2302. Figure 3 Figure 6 In some examples, in the case where the first climbing gear 2303a is combined with the engaging structure 112, the end surface of the first climbing gear 2303a in the axial direction can abut against the side of the first guide wall 113 away from the second guide wall 114.

[0202] In some examples, referring to FIG. 11, the first climbing gear 2303a can be located on the side of the first guide wall 113 away from the second guide wall 114. That is, after the climbing mechanism 230 is extended and engaged with the carrier column 110, the first guide wall 113 can be located between the first climbing gear 2303a and the guide 2302.

[0203] In some examples, referring to FIG. 11, the first climbing gear 2303a can be located on the side of the first guide wall 113 away from the second guide wall 114. That is, after the climbing mechanism 230 is extended and engaged with the carrier column 110, the first guide wall 113 can be located between the first climbing gear 2303a and the guide 2302.

[0204] In some examples, referring to FIG. 11, the first climbing gear 2303a can be located on the side of the first guide wall 113 away from the second guide wall 114. That is, after the climbing mechanism 230 is extended and engaged with the carrier column 110, the first guide wall 113 can be located between the first climbing gear 2303a and the guide 2302. Figure 3 Figure 6 ​​​As shown, the climbing wheel set 2303 can include a second climbing gear 2303b. The second climbing gear 2303b can be located on the other side of the guide 2302. That is, the first climbing gear 2303a and the second climbing gear 2303b can be located on opposite sides of the guide 2302. After the climbing mechanism 230 is extended and cooperates with the carrier column 110, the second guide wall 114 can be located between the second climbing gear 2303b and the guide 2302.

[0205] In some examples, when the second climbing gear 2303b is engaged with the adjacent structure, the end surface of the second climbing gear 2303b in the axial direction can abut against the side of the second guide wall 114 away from the first guide wall 113.

[0206] In some examples of the embodiments of the present application, by arranging the first guide wall 113 and the second guide wall 114 on the side of the carrier column 110 facing the adjacent carrier column 110, the first guide wall 113 is located on one side of the guide opening 111, and the second guide wall 114 is located on the other side of the guide opening 111. In this way, when the guide 2302 is inserted into the guide opening 111, the guide 2302 can be located between the first guide wall 113 and the second guide wall 114. When the guide 2302 guides the climbing mechanism 230, the guide 2302 can contact the first guide wall 113 and the second guide wall 114, increasing the guide contact area when the guide 2302 is guided, and improving the stability of the guide 2302 guiding the climbing mechanism 230.

[0207] In addition, by arranging the first climbing gear 2303a on one side of the guide 2302 and the second climbing gear 2303b on the other side of the guide 2302, the vehicle body 210 can be driven to move along the carrier column 110 by the first climbing gear 2303a and the second climbing gear 2303b, which can improve the stability of the transfer robot 20 ascending and descending along the carrier column 110. The first climbing gear 2303a is located on the side of the first guide wall 113 away from the second guide wall 114, and the second climbing gear 2303b is located on the side of the second guide wall 114 away from the first guide wall 113. In this way, the end surface of the first climbing gear 2303a can cooperate with the first guide wall 113, and the end surface of the second climbing gear 2303b can cooperate with the second guide wall 114, which can prevent the vehicle body 210 from being twisted downward on the carrier column 110, and improve the installation of the target object transfer.

[0208] In some examples, referring to Figure 3 and Figure 6 As shown, the mounting bracket 2301 can be provided with a rotating shaft 2304. The rotating shaft 2304 can be arranged at the end of the mounting bracket 2301 extending out of the vehicle body 210.

[0209] In some examples, the first climbing gear 2303a and the second climbing gear 2303b can be arranged side by side along the axial direction of the rotating shaft 2304. The first climbing gear 2303a and the second climbing gear 2303b can be arranged on the rotating shaft 2304.

[0210] In some examples, referring to FIG. 11, the first climbing gear 2303a and the second climbing gear 2303b can be arranged side by side along the axial direction of the rotating shaft 2304. Figure 3 and Figure 6 As shown in FIG. 11, a roller 2305 can be arranged between the first climbing gear 2303a and the second climbing gear 2303b. The roller 2305 can be arranged on the rotating shaft 2304.

[0211] In some examples, when the climbing mechanism 230 is extended to cooperate with the carrier column 110, the roller 2305 can be extended into the space between the first guide wall 113 and the second guide wall 114. That is, the roller 2305 can serve as the guide 2302.

[0212] In some examples of the embodiments of the present application, the first climbing gear 2303a and the second climbing gear 2303b are arranged side by side along the axial direction of the rotating shaft 2304 by arranging the rotating shaft 2304 on the mounting bracket 2301. In this way, by connecting the first climbing gear 2303a and the second climbing gear 2303b through the rotating shaft 2304, the first climbing gear 2303a and the second climbing gear 2303b can be rotated synchronously, which can improve the stability of the movement of the climbing mechanism 230 along the carrier column 110.

[0213] In addition, the roller 2305 is arranged on the rotating shaft 2304, and the roller 2305 is extended into the space between the first guide wall 113 and the second guide wall 114 as the guide 2302. In this way, the guide 2302 can rotate with the rotating shaft 2304, that is, the guide 2302 can rotate with the first climbing gear 2303a and the second climbing gear 2303b, which facilitates the movement of the guide 2302 along the guide opening 111 and improves the stability of the guidance of the climbing mechanism 230 by the guide 2302.

[0214] In some examples, referring to FIG. 11, the carrier column 110 can be provided with a plurality of engagement holes 1121 on the side wall facing the adjacent carrier column 110. The plurality of engagement holes 1121 can be arranged at intervals along the extension direction of the carrier column 110. Figure 8

[0215] In some examples, the plurality of engagement holes 1121 form the engagement structure 112 described in the foregoing embodiments of the present application. The climbing wheel set 2303 can engage with the engagement holes 1121 to drive the vehicle body 210 to ascend or descend along the carrier column 110.

[0216] ​In some examples of the embodiments of the present application, the plurality of engagement holes 1121 are arranged on the carrier column 110 at intervals along the extension direction of the carrier column 110, and the plurality of engagement holes 1121 are constructed to form the engagement structure 112. In this way, the engagement structure 112 does not need to be provided with other components (such as the chain, belt or synchronous belt described in detail in the foregoing embodiments of the present application) as the engagement structure 112, which simplifies the structure of the carrier column 110 and reduces the production and processing cost of the carrier column 110.

[0217] In some examples, the engagement holes 1121 can be mounting holes on the carrier column 110 in the related art for mounting the first support beam 140 and the second support beam. That is, in some examples of the embodiments of the present application, the mounting holes on the carrier column 110 in the related art are mounted reversely, and the mounting holes on the carrier column 110 face the adjacent carrier 10. In this way, after the climbing mechanism 230 extends out of the vehicle body 210, the first climbing gear 2303a and the second climbing gear 2303b can directly engage with the mounting holes. In this way, the existing mounting holes on the carrier column 110 in the related art can be directly used as the engagement holes 1121, which can reduce the processing of the carrier column 110 and reduce the production and processing cost of the carrier 10.

[0218] In some examples, the engagement structure 112 can include a rack. The rack can extend along the extension direction of the carrier column 110.

[0219] In some examples, the engagement structure 112 can include a single chain. The single chain extends along the extension direction of the carrier column 110. It should be noted that in the case where the engagement structure 112 is a single chain, the chain is arranged on the carrier column 110 without forming a ring, and the chain is fixed on the carrier column 110 and cannot rotate. At this time, after the climbing mechanism 230 engages with the chain, the first climbing gear 2303a and the second climbing gear 2303b rotate to drive the vehicle body 210 to move along the chain.

[0220] In some examples of the embodiments of the present application, the engagement structure 112 is constructed by a rack or a chain, so that the engagement structure 112 is fixed on the carrier column 110 and does not move, which can improve the stability of the climbing mechanism 230 driving the vehicle body 210 to climb.

[0221] In some examples, referring to FIGS. 1, 2 and 3, the climbing wheel set 2303 can be provided with a plurality of groups, and the plurality of groups of climbing wheel sets 2303 can be arranged at intervals along the extension direction of the carrier column 110. Figure 3 Figure 6 In some examples, taking the case where the climbing wheel set 2303 is provided with two groups as an example, the two groups of climbing wheel sets 2303 can be arranged at intervals along the extension direction of the carrier column 110.

[0222] In some examples, taking the case where the climbing wheel set 2303 is provided with two groups as an example, the two groups of climbing wheel sets 2303 can be arranged at intervals along the extension direction of the carrier column 110.

[0223] ​Figure 9 is a front view of a climbing mechanism in a warehouse system provided by some embodiments of the present application. Figure 10 is a front view of an internal structure of a climbing mechanism in a warehouse system provided by some embodiments of the present application. Figure 11 is a top view of an internal structure of a climbing mechanism in a warehouse system provided by some embodiments of the present application. Figure 12 is a schematic view of an internal structure of a climbing mechanism in a warehouse system provided by some embodiments of the present application. Figure 13 is another schematic view of an internal structure of a climbing mechanism in a warehouse system provided by some embodiments of the present application.

[0224] In some examples, the two groups of climbing wheel sets 2303 can rotate synchronously. To drive the two groups of climbing wheel sets 2303 to rotate synchronously, referring to Figure 10-13 , a third gear 2306 can be arranged on the mounting bracket 2301. The third gear 2306 can be rotatably connected with the mounting bracket 2301.

[0225] In some examples, a rotating shaft can be arranged on the mounting bracket 2301, and the third gear 2306 can be sleeved on the rotating shaft.

[0226] In some examples, the third gear 2306 can mesh with the first gears of the two groups of climbing wheel sets 2303. In this way, when the third gear 2306 rotates, the first gears of the two groups of climbing wheel sets 2303 can be driven to rotate synchronously.

[0227] In some examples, when the first gear rotates, the second gear can be driven to rotate through the rotating shaft 2304.

[0228] In some examples, the third gear 2306 can mesh with the second gears of the two groups of climbing wheel sets 2303. In this way, when the third gear 2306 rotates, the second gears of the two groups of climbing wheel sets 2303 can be driven to rotate synchronously.

[0229] In some examples, when the second gear rotates, the second gear can be driven to rotate through the rotating shaft 2304.

[0230] In some examples, the rollers 2305 can be arranged as gears. The third gear 2306 can mesh with the rollers 2305 of the two groups of climbing wheel sets 2303. In this way, when the third gear 2306 rotates, the rollers 2305 of the two groups of climbing wheel sets 2303 can be driven to rotate. When the rollers 2305 rotate, the first gear and the second gear can be driven to rotate through the rotating shaft 2304, so that the first gear and the second gear walk along the meshing structure 112.

[0231] In some examples, referring to Figure 10-13 , the climbing mechanism 230 can include a first driving assembly 2307. The first driving assembly 2307 can be arranged on the vehicle body 210.

[0232] In some examples, referring to FIG. 23A, the power output shaft 23071 of the first driving assembly 2307 can pass through the mounting bracket 2301. The power output shaft 23071 can be in driving connection with the third gear 2306. In this way, the power output shaft 23071 can drive the third gear 2306 to rotate, and thus drive the two groups of climbing wheels 2303 to rotate through the third gear 2306. Figure 9

[0233] In some examples, along the circumferential direction of the power output shaft 23071, the power output shaft 23071 can be movably connected with the mounting bracket 2301. That is, when the power output shaft 23071 rotates, the mounting bracket 2301 can be stationary relative to the vehicle body 210.

[0234] In some examples, the power output shaft 23071 can include a universal transmission shaft. When the climbing mechanism 230 is retracted into the vehicle body 210, the power output shaft 23071 can be folded and turned through the universal joint. Facilitating the retraction of the climbing mechanism 230.

[0235] In some examples, when the climbing mechanism 230 is extended out of the vehicle body 210, the power output shaft 23071 can be stretched through the universal joint, thereby driving the third gear 2306.

[0236] In some examples, referring to FIG. 23A, the power output shaft 23071 can include a straight shaft. Figure 10-13

[0237] In some examples, along the axial direction of the power output shaft 23071, the power output shaft 23071 can be limitingly connected with the mounting bracket 2301. That is, along the axial direction of the power output shaft 23071, the positions of the power output shaft 23071 and the mounting bracket 2301 can be relatively fixed.

[0238] In some examples, the power output shaft 23071 and the mounting bracket 2301 can be limited in the axial direction of the power output shaft 23071 by a snap spring.

[0239] In some examples, the power output shaft 23071 1351 can be rotatably connected with the mounting bracket 2301 133 through a bearing. The inner ring of the bearing can be relatively fixed with the power output shaft 23071, and the outer ring of the bearing can be relatively fixed with the mounting bracket 2301. Thus, the power output shaft 23071 and the mounting bracket 2301 are limited in the axial direction of the power output shaft 23071.

[0240] ​​In some examples, when the climbing mechanism 230 extends outward from the vehicle body 210, the mounting bracket 2301 can drive the power output shaft 23071 to extend outward from the vehicle body 210 together; when the climbing mechanism 230 retracts inward from the vehicle body 210, the mounting bracket 2301 can drive the power output shaft 23071 to retract inward from the vehicle body 210 together. In this way, the relative position between the power output shaft 23071 and the third gear 2306 can remain unchanged, which facilitates the stable transmission of power from the power output shaft 23071 to the third gear 2306.

[0241] In some examples, refer to Figure 10-13 As shown, the axis i of the power output shaft 23071 intersects the rotation axis 2304 line i1 of the third gear 2306. For example, the axis of the power output shaft 23071 can be aligned with the radial direction of the vehicle body 210. This facilitates the extension or retraction of the power output shaft 23071 into the vehicle body 210.

[0242] In some examples, refer to Figure 12 and Figure 13 As shown. To facilitate the meshing of the two sets of climbing wheel sets 2303 with the third gear 2306, the axis i1 of the third gear 2306 can be parallel or approximately parallel to the axis of the climbing wheel set 2303.

[0243] In some examples, to facilitate the transmission of power output from the power take-off shaft 23071 to the third gear 2306, so that the third gear 2306 can drive the climbing wheel assembly 2303 to rotate. (See reference...) Figure 10-13 As shown, the climbing mechanism 230 may include a power steering assembly 2308. The power steering assembly 2308 may be located between the power output shaft 23071 and the third gear 2306. The power steering assembly 2308 may be configured to steer the power from the power output shaft 23071 and transmit it to the third gear 2306.

[0244] In some examples, the power steering assembly 2308 may include a universal joint. One end of the universal joint may be connected to the power take-off shaft 23071. The other end of the universal joint may be connected to the third gear 2306. Thus, when the power take-off shaft 23071 rotates, the power on the power take-off shaft 23071 can be steered through the universal joint and transmitted to the third gear 2306.

[0245] In some examples of embodiments of this application, a power steering assembly 2308 is provided between the power output shaft 23071 and the third gear 2306. The power steering assembly 2308 can redirect the power output from the power output shaft 23071 and transmit it to the third gear 2306. This facilitates the power output from the power output shaft 23071 and facilitates the driving of the third gear 2306.

[0246] In some examples, refer toFigure 10-13 As shown, the power steering assembly 2308 may include a first helical gear 23081. The first helical gear 23081 may be disposed on the power output shaft 23071.

[0247] In some examples, the first helical gear 23081 can be referred to as a bevel gear. The first helical gear 23081 can be coaxially arranged with the power output shaft 23071. The first helical gear 23081 and the power output shaft 23071 can be fixedly connected. That is, when the power output shaft 23071 rotates, it can drive the first helical gear 23081 to rotate synchronously.

[0248] In some examples, the first helical gear 23081 may be located at one end of the power output shaft 23071 near the third gear 2306.

[0249] In some examples, continue to refer to Figure 10-13 As shown, the power steering assembly 2308 may include a second helical gear 23082. The second helical gear 23082 may be coaxially arranged with the third gear 2306. For example, the second helical gear 23082 may be disposed on the rotation shaft 2304 of the third gear 2306.

[0250] In some examples, the second helical gear 23082 and the third gear 2306 can be fixed relative to each other. For example, the second helical gear 23082 can be fixedly connected to the rotating shaft 2304, and the third gear 2306 can be fixedly connected to the rotating shaft 2304, thereby making the second helical gear 23082 and the third gear 2306 fixedly connected.

[0251] In some examples, the second helical gear 23082 can mesh with the first helical gear 23081. The rotational surface of the second helical gear 23082 can intersect with the rotational surface of the first helical gear 23081. Thus, when the power output shaft 23071 drives the first helical gear 23081 to rotate, the first helical gear 23081 can drive the second helical gear 23082 to rotate, thereby driving the third gear 2306 to rotate, directing and transmitting power to the third gear 2306.

[0252] In some examples, refer to Figure 12 As shown, along the power output shaft 23071 Figure 12 When rotating in the direction indicated by the middle arrow a, the power output shaft 23071 drives the first helical gear 23081 along... Figure 12 Rotate in the direction indicated by the middle arrow a. The first helical gear 23081 meshes with the second helical gear 23082. The second helical gear 23082 rotates under the drive of the first helical gear 23081. The second helical gear 23082 drives the third gear 2306 to rotate, and the third gear 2306 drives the climbing wheel assembly 2303 to rotate along... Figure 12 Rotate in the direction indicated by the middle arrow b.

[0253] In some examples, along the power output shaft 230711351 Figure 12 When rotating in the opposite direction of the middle arrow a, the first gear and the second gear rotate along... Figure 12 Rotate in the opposite direction of the middle arrow b.

[0254] In some examples of embodiments of this application, a first helical gear 23081 is provided on the power output shaft 23071, and a second helical gear 23082 is coaxially provided on the third gear 2306; the second helical gear 23082 meshes with the first helical gear 23081. In this way, the power output from the power output shaft 23071 can be redirected and transmitted to the third helical gear, which facilitates the redirection and transmission of power and simplifies the structure of the climbing mechanism 230.

[0255] In some examples, refer to Figure 12 and Figure 13 As shown, the first drive assembly 2307 may include a first drive member 23072. The first drive member 23072 may be disposed on the vehicle body 210.

[0256] In some examples, the first drive element 23072 can be a motor capable of both forward and reverse rotation. For example, the first drive element 23072 can be any of a servo motor, a stepper motor, or a synchronous motor.

[0257] In some examples, the first drive component 23072 may be fixedly connected to the vehicle body 210.

[0258] In some examples, the first drive assembly 2307 may include a fourth gear 23073. The fourth gear 23073 may be driveably connected to the first drive member 23072. The first drive member 23072 may drive the fourth gear 23073 to rotate.

[0259] In some examples, the fourth gear 23073 can be fitted onto the power output shaft 23071. Along the circumference of the power output shaft 23071, the fourth gear 23073 can be in a limiting connection with the power output shaft 23071. That is, in the circumference of the power output shaft 23071, the rotation of the fourth gear 23073 drives the power output shaft 23071 to rotate synchronously. The first drive member 23072 transmits power to the power output shaft 23071 through the fourth gear 23073.

[0260] In some examples, the fourth gear 23073 can be circumferentially limited to the power output shaft 23071 via a spline.

[0261] In some examples of the embodiments of the present application, the fourth gear 23073 is sleeved on the power output shaft 23071, and the fourth gear 23073 is in limiting connection with the power output shaft 23071 in the axial direction of the power output shaft 23071. In this way, the first driving member 23072 arranged on the vehicle body 210 can drive the fourth gear 23073 to transmit power to the power output shaft 23071, so as to drive the first gear and the second gear, facilitating the transmission of power of the first driving member 23072.

[0262] In some examples, the power output shaft 23071 is movably connected with the fourth gear 23073 in the axial direction of the power output shaft 23071. That is, the fourth gear 23073 has a degree of freedom in the axial direction with the power output shaft 23071. The power output shaft 23071 can move relative to the fourth gear 23073 in the axial direction.

[0263] In some examples, a spline can be arranged on the peripheral wall of the power output shaft 23071 in the axial direction of the power output shaft 23071. The spline extends in the axial direction of the power output shaft 23071. The spline limits the fourth gear 23073 in the circumferential direction, and the fourth gear 23073 can slide relative to the spline in the axial direction.

[0264] In some examples, the fourth gear 23073 can be relatively fixedly arranged on the vehicle body 210.

[0265] In some examples, when the climbing mechanism 230 extends out of the vehicle body 210, the first driving member 23072 and the fourth gear 23073 can remain stationary relative to the vehicle body 210. The power output shaft 23071 can slide relative to the fourth gear 23073 in the axial direction, so as to realize the extension of the climbing mechanism 230 and transmit power through the fourth gear 23073.

[0266] In some examples, when the climbing mechanism 230 retracts into the vehicle body 210, the power output shaft 23071 can slide relative to the fourth gear 23073 in the axial direction, so as to realize the retraction of the climbing mechanism 230.

[0267] In some examples of the embodiments of the present application, the power output shaft 23071 is movably connected with the fourth gear 23073 in the axial direction of the power output shaft 23071. In this way, the extension and retraction of the power output shaft 23071 are facilitated, and the structure of the climbing mechanism 230 is simplified.

[0268] In some examples, the output shaft of the first driving member 23072 can be in transmission connection with the fourth gear 23073, so as to transmit power to the fourth gear 23073, and the fourth gear 23073 rotates to drive the power output shaft 23071 to rotate.

[0269] In some examples, the output shaft of the first driving member 23072 can be engaged with the fourth gear 23073 through a gear, so as to be in driving connection with the fourth gear 23073.

[0270] In some examples, the output shaft of the first driving member 23072 can be in driving connection with the fourth gear 23073 through a transmission member such as a belt, a synchronous belt or a chain.

[0271] In some examples, as shown in Figure 12 and Figure 13 , the first driving assembly 2307 can include a worm 23074. The worm 23074 can be located between the first driving member 23072 and the fourth gear 23073.

[0272] In some examples, the worm 23074 can be in driving connection with the first driving member 23072. The fourth gear 23073 can be a worm wheel. The worm 23074 can be engaged with the worm wheel.

[0273] In some examples, as shown in Figure 12 and Figure 13 , the output shaft of the first driving member 23072 can be provided with a fifth gear 23075. One end of the worm 23074 can be provided with a sixth gear 23076. The fifth gear 23075 can be engaged with the sixth gear 23076.

[0274] In some examples, the power of the first driving member 23072 can be transmitted to the worm 23074 through the fifth gear 23075 and the sixth gear 23076, the worm 23074 drives the fourth gear 23073 to rotate, the fourth gear 23073 drives the power output shaft 23071 to rotate, so as to transmit the power to the first gear and the second gear through the first bevel gear 23081, the second bevel gear 23082 and the third gear 2306.

[0275] In some examples of the present application, by arranging the worm 23074 between the first driving member 23072 and the fourth gear 23073, the worm 23074 is in driving connection with the first driving member 23072. The worm 23074 is engaged with the fourth gear 23073. In this way, the power output by the first driving member 23072 can change the torque of the power output through the gear ratio between the worm 23074 and the worm wheel, so as to provide a larger output torque with a smaller power first driving member 23072, which facilitates the transfer of a target object with a larger weight through a smaller power first driving member 23072, and saves the production and processing cost of the transfer robot 20.

[0276] In some examples, as shown in Figure 9As shown, the mounting bracket 2301 is telescopic relative to the vehicle body 210 for facilitating installation. The transfer robot 20 can comprise a sliding assembly 2309. Part of the sliding assembly 2309 can be connected with the vehicle body 210. Another part of the sliding assembly 2309 can be connected with the mounting bracket 2301.

[0277] In some examples, the transfer robot 20 can comprise a second driving member (not shown in the figure). The second driving member can be arranged on the vehicle body 210. The second driving member can be configured to drive the mounting bracket 2301 to be telescopic relative to the vehicle body 210.

[0278] In some examples, the second driving member can comprise a telescopic cylinder, a piston cylinder, a linear motor or a lead screw, etc.

[0279] In some examples, the fixed end of the telescopic cylinder can be arranged on the vehicle body 210. The free end of the telescopic cylinder can be connected with the mounting bracket 2301. In the case where the mounting bracket 2301 needs to be extended out of the vehicle body 210, the free end of the telescopic cylinder can be extended relative to the fixed end, thereby driving the mounting bracket 2301 to be extended out of the vehicle body 210. The mounting bracket 2301 slides relative to the vehicle body 210 through the sliding assembly 2309 and is extended out of the vehicle body 210. In the case where the mounting bracket 2301 needs to be retracted into the vehicle body 210, the free end of the telescopic cylinder can be retracted relative to the fixed end, thereby driving the mounting bracket 2301 to be retracted into the vehicle body 210 through the sliding assembly 2309.

[0280] It can be understood that, in the case where the second driving member is a piston cylinder or a linear motor, the driving mode of the second driving member to the mounting bracket 2301 can be similar to the telescopic cylinder in the foregoing embodiments of the present application. For details, reference can be made to the detailed description of the foregoing embodiments of the present application, which will not be described herein again.

[0281] In some examples, the lead screw can be arranged along the moving direction of the mounting bracket 2301. The mounting bracket 2301 can be connected with a lead screw nut. The lead screw can be driven to rotate by a motor, thereby driving the lead screw nut to move along the axial direction of the lead screw. The movement of the lead screw nut drives the mounting bracket 2301 to be extended out of the vehicle body 210. Alternatively, the lead screw nut drives the mounting bracket 2301 to be retracted into the vehicle body 210.

[0282] In some examples, the second driving member can comprise a motor and a transmission belt combination. For example, the transmission belt can be sleeved on two transmission wheels. The mounting bracket 2301 is connected with the transmission belt. The motor drives the transmission belt to rotate around the transmission wheels, thereby driving the mounting bracket 2301 to be movable relative to the vehicle body 210.

[0283] In some examples of the embodiments of the present application, part of the sliding assembly 2309 is arranged on the vehicle body 210, and another part of the sliding assembly 2309 is arranged on the mounting bracket 2301. In this way, the second driving member arranged on the vehicle body 210 can conveniently drive the mounting bracket 2301 to move relative to the vehicle body 210, so as to drive the climbing mechanism 230 to move relative to the vehicle body 210.

[0284] In some examples, referring to FIG. 1, the vehicle body 210 can be provided with a carrying area 212. The carrying area 212 can be arranged on the top of the vehicle body 210. Figure 3

[0285] In some examples, the carrying area 212 can be configured to carry target objects.

[0286] In some examples, the transfer robot 20 can include a telescopic structure 240. The telescopic structure 240 can be arranged on the vehicle body 210. The telescopic structure 240 can be telescoped relative to the vehicle body 210 from both sides of the vehicle body 210.

[0287] In some examples, the telescoping direction of the telescopic structure 240 can be consistent with the telescoping direction of the climbing mechanism 230. That is, the telescoping direction of the telescopic structure 240 can be parallel or approximately parallel to the telescoping direction of the climbing mechanism 230.

[0288] In some examples, the transfer robot 20 can include a taking and placing mechanism 250. The taking and placing mechanism 250 can be connected to the telescopic structure 240.

[0289] In some examples, when the telescopic structure 240 is telescoped relative to the vehicle body 210, the telescopic structure 240 can drive the taking and placing mechanism 250 to move relative to the vehicle body 210.

[0290] In some examples, the taking and placing mechanism 250 can act on the target objects and exert a force on the target objects, so as to transfer the target objects between the carrying area 212 and the storage locations of the carrier 10.

[0291] In some examples, the taking and placing mechanism 250 can exert a force on the target objects towards the carrier 10, so as to transfer the target objects from the carrying area 212 to the storage locations. For example, the transfer robot 20 can transfer the target objects from other positions (which can be a picking station) of the storage system to the aisle 101 of the carrier 10. When the climbing mechanism 230 is extended relative to the vehicle body 210 in the aisle 101 and cooperates with the carrier column 110, the climbing mechanism 230 drives the vehicle body 210 and the target objects to ascend along the carrier column 110. When the vehicle body 210 ascends to a target position of a storage layer, the taking and placing mechanism 250 exerts a force on the target objects towards the carrier 10, so as to move the target objects to the storage locations.

[0292] ​In some examples, the taking and placing mechanism 250 can apply a force to the target object towards the aisle 101, so as to move the target object from the storage location to the carrying area 212. For example, in a case where the target object needs to be taken out from the carrier 10, the transfer robot 20 can move into the aisle 101, the climbing mechanism 230 extends to cooperate with the carrier column 110, and climbs along the carrier column 110 to the storage layer where the target object is located; at this time, the telescopic structure 240 extends, and the taking and placing mechanism 250 extends towards the carrier 10, the taking and placing mechanism 250 applies a force to the target object towards the aisle 101, so as to move the target object to the carrying area 212. The climbing mechanism 230 drives the vehicle body 210 to descend along the carrier column 110 to the ground or a support platform, and the walking mechanism 220 drives the vehicle body 210 and the target object in the carrying area 212 to move to other positions of the warehouse system.

[0293] In some examples of the embodiments of the present application, by arranging the telescopic structure 240 and the taking and placing mechanism 250 on the vehicle body 210, the taking and placing mechanism 250 is connected with the telescopic structure 240, the telescopic structure 240 drives the taking and placing mechanism 250 to extend or retract relative to the vehicle body 210, and the taking and placing mechanism 250 acts on the target object, so as to transfer the target object between the carrying area 212 and the storage location of the carrier 10. In this way, the target object can be conveniently transferred between the storage location of the carrier 10 and the carrying area 212, and the transfer efficiency of the target object in the warehouse system is improved.

[0294] In some examples, the telescopic structure 240 can be arranged in the carrying area 212. The taking and placing mechanism 250 can be configured to act on the front end surface of the target object to transfer the target object. The front end surface of the target object can be the end surface of the target object on the side facing the taking and placing mechanism 250.

[0295] In some examples, the telescopic structure 240 can include a scissor fork structure.

[0296] In some examples, the telescopic structure 240 can include a gas cylinder or a piston cylinder.

[0297] In some examples, the telescopic structure 240 can include a linear motor.

[0298] It can be understood that in some examples of the embodiments of the present application, the specific structure of the telescopic structure 240 is only shown as some specific examples, and is not limited to the specific structure of the telescopic structure 240. In some examples, the telescopic structure 240 can also be other types of structures.

[0299] In some examples, the taking and placing mechanism 250 can include a suction cup. After the taking and placing mechanism 250 contacts the front end surface of the target object, a vacuum pump can be used to vacuum the suction cup, so as to apply a suction force to the front end surface of the target object.

[0300] In some examples, the taking-and-placing mechanism 250 can include an electromagnet. A metal piece that can be attracted by the electromagnet can be arranged on the front end surface of the target article. After the taking-and-placing mechanism 250 contacts the front end surface of the target article, the electromagnet can be powered on, so that the taking-and-placing mechanism 250 provides a force to the target article.

[0301] In some examples, the taking-and-placing mechanism 250 can include a hook claw, and a clamping hole can be arranged on the front end surface of the target article. The hook claw can be hooked into the clamping hole to provide a force to the target article.

[0302] In some examples of the embodiments of the present application, the telescopic structure 240 is arranged in the carrying area 212, and the taking-and-placing mechanism 250 acts on the front end surface of the target article to transfer the target article. In this way, the distance that the telescopic structure 240 needs to be telescoped can be shortened, and the transfer efficiency of the target article can be improved.

[0303] In some examples, as shown in Figure 3 , the telescopic structure 240 can be arranged outside the carrying area 212.

[0304] In some examples, the telescopic structure 240 can include the telescopic cylinder, the piston cylinder, or the linear motor described in the foregoing embodiments of the present application.

[0305] In some examples, the telescopic structure 240 can include a multi-stage telescopic plate, and adjacent two telescopic plates in the multi-stage telescopic plate are slidingly connected. The multi-stage telescopic plate can be connected by a chain, a synchronous belt, or a belt, and the multi-stage telescopic plate can be driven to telescope by the chain, the belt, or the synchronous belt.

[0306] In some examples, as shown in Figure 3 , the taking-and-placing mechanism 250 can include a first prong 251. The first prong 251 can be rotatably arranged at a third position of the telescopic structure 240.

[0307] In some examples, the third position can be an end of one end of the telescopic structure 240.

[0308] In some examples, when the telescopic structure 240 is in the telescoped state, the first prong 251 can be located outside the carrying area 212.

[0309] In some examples, when the target article needs to be taken out from the storage location, the telescopic structure 240 can drive the first prong 251 to extend into the storage location until the first prong 251 is located at the rear end surface of the target article. At this time, the first prong 251 can be rotated toward the side of the telescopic structure 240 toward the carrying area 212 and the target article, so that the first prong 251 is rotated to the rear end surface of the target article. During the telescoping process of the telescopic structure 240, the first prong 251 acts on the rear end surface of the target article, so that the target article is moved from the storage location to the carrying area 212.

[0310] In some examples, the taking and placing mechanism 250 can include a second poking finger 252. The second poking finger 252 can be rotatably arranged at a fourth position of the telescopic structure 240. The fourth position and the third position can be two positions opposite to each other along the telescopic direction of the telescopic structure 240.

[0311] In some examples, the second poking finger 252 can transfer the target object on another carrier 10 to the carrying area 212 from the other side of the carrying area 212. The process of the second poking finger 252 transferring the target object to the carrying area 212 is the same, similar or analogous to that of the first poking finger 251. For details, reference can be made to the foregoing description of the first poking finger 251 in the foregoing embodiments of the present application, which will not be repeated here.

[0312] In some examples, when it is required to transfer the target object from the carrying area 212 to the storage location, the second poking finger 252 can be rotated to the side of the telescopic structure 240 facing the carrying area 212. During the process of the telescopic structure 240 extending towards the carrier 10, the second poking finger 252 can act on the front end surface of the target object, thereby pushing the target object towards the storage location of the carrier 10.

[0313] In some examples, the process of the first poking finger 251 transferring the target object to the storage location of the carrier 10 can be the same, similar or analogous to that of the second poking finger 252. For details, reference can be made to the foregoing description of the second poking finger 252 in the foregoing embodiments of the present application, which will not be repeated here.

[0314] In some examples, as shown in Figure 3 The telescopic structure 240 can be arranged at the side of the carrying area 212 away from the climbing mechanism 230. That is, the climbing mechanism 230 can be located at one side of the carrying area 212, and the telescopic structure 240 can be located at the other side of the carrying area 212. In this way, the climbing mechanism 230 and the telescopic structure 240 are staggered by utilizing the different positions of the two sides of the carrying area 212, and there is no need to provide staggered positions for the climbing mechanism 230 and the telescopic structure 240 at the same side of the carrying area 212, which can reduce the size of the vehicle body 210 and improve the flexibility of the transfer robot 20 in the warehouse system.

[0315] In some examples, when any one of the first poking finger 251 and the second poking finger 252 acts on the end surface of the target object, the end surface of the target object has a first size along the length direction of any one of the first poking finger 251 and the second poking finger 252; the length of any one of the first poking finger 251 and the second poking finger 252 is greater than or equal to half of the first size.

[0316] It can be understood that, as shown in Figure 3 The first size can be equal to or approximately equal to the length of the carrying area 212 along the telescopic direction of the telescopic structure 240. Figure 3The length of the first and second prongs 251 and 252 can be greater than or equal to half of the size of the target object in the direction indicated by the y-axis. Figure 3 The length of the first and second prongs 251 and 252 can be greater than or equal to half of the size of the target object in the direction indicated by the y-axis. Figure 3 In this way, the first and second prongs 251 and 252 can provide a balanced and stable force to the target object, and the target object can be prevented from rotating under the action of the first and second prongs 251 and 252, so as to facilitate the target object to enter the loading area 212 or the storage location.

[0317] In some examples, as shown in Figure 3 The vehicle body 210 is provided with a first guide protrusion 213 and a second guide protrusion 214, which extend along the extension direction of the telescopic structure 240, are arranged at intervals, and form the loading area 212 therebetween.

[0318] In some examples, as shown in Figure 3 The first and second guide protrusions 213 and 214 can be arranged at intervals in the direction indicated by the y-axis. Figure 3

[0319] In some examples, along the extension direction of the telescopic structure 240, the first and second guide protrusions 213 and 214 can be continuous convex ridges or convex strips.

[0320] In some examples, along the extension direction of the telescopic structure 240, the first and second guide protrusions 213 and 214 can be discontinuous convex blocks, and a plurality of convex blocks form the first and second guide protrusions 213 and 214.

[0321] In some examples of the present application, the first and second guide protrusions 213 and 214 are arranged at intervals on the vehicle body 210, and the loading area 212 is formed between the first and second guide protrusions 213 and 214. In this way, during the movement of the target object driven by the taking and placing mechanism 250, the first and second guide protrusions 213 and 214 can guide the movement direction of the target object, so as to ensure that the target object moves accurately to the loading area 212.

[0322] In some examples, as shown in Figure 3 After the first and second guide protrusions 213 and 214 are arranged on the vehicle body 210, a first guide protrusion 213 and a second guide protrusion 214 are arranged on the vehicle body 210, and the first and second guide protrusions 213 and 214 are arranged at intervals along the extension direction of the telescopic structure 240 (for example​Figure 3 (In the direction shown by the x-axis), the first guide protrusion 213 and the second guide protrusion 214 can both form inlets and outlets 2121 at both ends of the carrying area 212. The inlets and outlets 2121 can dock with the storage positions on both sides of the transfer robot 20. That is to say, the target item can enter and exit from the inlets and outlets 2121 on both sides of the carrying area 212, so that the target item can be quickly placed on two adjacent carriers 10, or the target item can be quickly removed from two adjacent carriers 10.

[0323] In some examples, refer to Figure 3 As shown, the vehicle body 210 may be equipped with an obstacle avoidance radar 215, which can be configured to detect obstacles on the side kick walking path.

[0324] In some examples, obstacle avoidance radar 215 may include millimeter-wave radar.

[0325] In some examples, obstacle avoidance radar 215 may include ultrasonic radar.

[0326] In some examples, obstacle avoidance radar 215 may include lidar.

[0327] In some examples of embodiments of this application, by setting an obstacle avoidance radar 215 on the vehicle body 210, obstacles on the walking path of the transfer robot 20 can be detected in a timely manner, which facilitates the advance planning of the walking route of the transfer robot 20 and can improve the safety and efficiency of transferring target items.

[0328] In some examples, refer to Figure 1 As shown, the vehicle 10 can be equipped with multiple cargo bays along the height direction.

[0329] In some examples, at least a portion of the bottom of the vehicle 10 may be provided with a passageway. The passageway 150 can be configured to allow the transfer robot 20 to pass through. For example, see reference... Figure 1 As shown, when the transfer robot 20 is in Figure 1 In the case of position a, the transfer robot 20 can move along... Figure 1 The direction indicated by the middle arrow a1 leads from the passageway 150 into the alleyway 101, eliminating the need to detour around the end of the vehicle 10. This shortens the travel path of the transfer robot 20 and improves the efficiency of transferring the target item.

[0330] In some examples, some of the cargo spaces in the first layer of storage at the bottom of vehicle 10 can be removed to create a passageway 150.

[0331] In some examples, the first storage compartment at the bottom of vehicle 10 can be completely removed to form passageway 150.

[0332] The above embodiments are merely specific embodiments of the present application and are not intended to limit the protection scope of the present application, and any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the present application shall be included in the protection scope of the present application.

Claims

1. A warehousing system, characterized in that, include: Multiple vehicles (10), with vehicle columns (110) of adjacent vehicles (10) arranged at relative intervals; The transfer robot (20) includes a vehicle body (210), a walking mechanism (220), and a climbing mechanism (230). The walking mechanism (220) is located on the vehicle body (210) and is configured to drive the vehicle body (210) to walk along a first direction. The climbing mechanism (230) is located at a first part (211) of the vehicle body (210) and can extend and retract relative to the vehicle body (210) from both sides along the radial direction of the vehicle body (210). The climbing mechanism (230) is configured to cooperate with the vehicle columns (110) of two adjacent vehicles (10) on both sides of the vehicle body (210) to drive the vehicle body (210) to rise and fall along the vehicle columns (110). The first direction intersects with the extension direction of the vehicle columns (110).

2. The warehousing system according to claim 1, characterized in that, The plurality of said vehicles (10) include a first vehicle (120) and a second vehicle (130), the first vehicle (120) and the second vehicle (130) being arranged opposite to each other; The climbing mechanism (230) includes: A first climbing mechanism (231) is configured to extend toward one of the first vehicle (120) and the second vehicle (130) along the radial direction of the vehicle body (210) and to cooperate with the vehicle column (110) of one of the first vehicle (120) and the second vehicle (130); The second climbing mechanism (232), along the radial direction of the vehicle body (210), is configured to extend toward the other of the first vehicle (120) and the second vehicle (130) and cooperate with the vehicle column (110) of the other of the first vehicle (120) and the second vehicle (130).

3. The warehousing system according to claim 1 or 2, characterized in that, The first part (211) is located at one end of the vehicle body (210).

4. The warehousing system according to claim 1, characterized in that, The vehicle column (110) has a guide opening (111) on the side facing the adjacent vehicle (10), and the guide opening (111) extends along the extension direction of the vehicle column (110). At least a portion of the climbing mechanism (230) can extend into the guide opening (111) and move along the extension direction of the guide opening (111).

5. The warehousing system according to claim 4, characterized in that, The climbing mechanism (230) includes: Mounting bracket (2301) is provided on the vehicle body (210). Along the radial direction of the vehicle body (210), the mounting bracket (2301) can extend out of the vehicle body (210) or retract into the vehicle body (210). A guide (2302) is provided on the mounting bracket (2301), at least a portion of which can extend into the guide opening (111).

6. The warehousing system according to claim 4, characterized in that, The vehicle column (110) is provided with an engagement structure (112), which extends along the extension direction of the vehicle column (110). The climbing mechanism (230) further includes: A climbing wheel assembly (2303) is provided on the mounting bracket (2301) of the climbing mechanism (230). The climbing wheel assembly (2303) is rotatably connected to the mounting bracket (2301). The climbing wheel assembly (2303) is configured to engage with the meshing structure (112) to drive the vehicle body (210) to rise and fall along the vehicle column (110).

7. The warehousing system according to claim 6, characterized in that, The vehicle column (110) has a plurality of engagement holes (1121) on the side wall facing the adjacent vehicle column (110). The plurality of engagement holes (1121) are arranged at intervals along the extension direction of the vehicle column (110). The plurality of engagement holes (1121) form the engagement structure (112). The climbing wheel assembly (2303) is configured to engage with the engagement holes (1121) to drive the vehicle body (210) to rise and fall along the vehicle column (110).

8. The warehousing system according to claim 6, characterized in that, The meshing structure (112) includes either a rack or a chain.

9. The warehousing system according to claim 5, characterized in that, The vehicle column (110) has a first guide wall (113) and a second guide wall (114) on one side facing the adjacent vehicle column (110). The first guide wall (113) is located on one side of the guide opening (111), and the second guide wall (114) is located on the other side of the guide opening (111). The guide member (2302) can extend between the first guide wall (113) and the second guide wall (114). The climbing wheel assembly (2303) of the climbing mechanism (230) includes: The first climbing gear (2303a) is located on one side of the guide (2302), and the first climbing gear (2303a) is located on the side of the first guide wall (113) away from the second guide wall (114); The second climbing gear (2303b) is located on the other side of the guide (2302), and the second climbing gear (2303b) is located on the side of the second guide wall (114) away from the first guide wall (113).

10. The warehousing system according to claim 4, characterized in that, The climbing mechanism (230) has a rotating shaft (2304) on its mounting bracket (2301), and the first climbing gear (2303a) and the second climbing gear (2303b) of the climbing mechanism (230) are arranged side by side along the axial direction of the rotating shaft (2304). A roller (2305) is provided between the first climbing gear (2303a) and the second climbing gear (2303b), and the roller (2305) is located on the rotating shaft (2304); the roller (2305) can extend into the space between the first guide wall (113) and the second guide wall (114) on the carrier column (110); the guide member (2302) of the climbing mechanism (230) includes the roller (2305).

11. The warehousing system according to any one of claims 6-8, characterized in that, The climbing wheel assembly (2303) is provided in multiple sets, and the multiple sets of climbing wheel assemblies (2303) are arranged at intervals along the extension direction of the vehicle column (110).

12. The warehousing system according to any one of claims 4-10, characterized in that, The vehicle body (210) is provided with a carrying area (212), which is configured to carry the target item; the transfer robot (20) also includes: A telescopic structure (240) is provided on the vehicle body (210), and the telescopic structure (240) can extend and retract relative to the vehicle body (210) from both sides; The pick-and-place mechanism (250) is connected to the telescopic structure (240). When the telescopic structure (240) extends or retracts relative to the vehicle body (210), the telescopic structure (240) drives the pick-and-place mechanism (250) to move relative to the vehicle body (210). The pick-and-place mechanism (250) is configured to act on the target item to transfer the target item between the carrying area (212) and the cargo position of the vehicle (10).

13. The warehousing system according to claim 12, characterized in that, The telescopic structure (240) is located in the bearing area (212), and the pick-and-place mechanism (250) is configured to act on the front end face of the target item to transfer the target item. The front end face of the target item is the end face of the target item facing the pick-and-place mechanism (250).

14. The warehousing system according to claim 12, characterized in that, The telescopic structure (240) is located on the outside of the bearing area (212), and the picking and placing mechanism (250) includes: The first finger (251) is rotatably disposed at the third part of the telescopic structure (240); The second finger (252) is rotatably disposed at the fourth part of the telescopic structure (240); the third part and the fourth part are two parts opposite to each other along the telescopic direction of the telescopic structure (240); Either the first finger (251) or the second finger (252) is configured to act on the rear end face of the target item to transfer the target item from the storage location to the carrying area (212); and the first finger (251) and the second finger (252) are configured to act on the front end face of the target item to transfer the target item from the carrying area (212) to the storage location.

15. The warehousing system according to claim 14, characterized in that, The telescopic structure (240) is located on the side of the bearing area (212) away from the climbing mechanism (230).

16. The warehousing system according to claim 15, characterized in that, When either the first finger (251) or the second finger (252) interacts with the end face of the target item, the end face of the target item has a first dimension along the length direction of either the first finger (251) or the second finger (252). The length of either the first finger (251) or the second finger (252) is greater than or equal to half of the first dimension.

17. The warehousing system according to any one of claims 13-16, characterized in that, The vehicle body (210) is provided with a first guide protrusion (213) and a second guide protrusion (214). The first guide protrusion (213) and the second guide protrusion (214) extend along the telescopic direction of the telescopic structure (240). The first guide protrusion (213) and the second guide protrusion (214) are arranged at intervals, and the bearing area (212) is formed between the first guide protrusion (213) and the second guide protrusion (214).

18. The warehousing system according to any one of claims 13-16, characterized in that, Along the telescopic direction of the telescopic structure (240), both ends of the bearing area (212) have inlets and outlets (2121); the inlets and outlets (2121) are configured to dock with the cargo positions on both sides of the transfer robot (20).

19. The warehousing system according to claim 1, characterized in that, The vehicle body (210) is equipped with an obstacle avoidance radar (215), which is configured to detect obstacles on the travel path of the vehicle body (210).

20. The warehousing system according to claim 1, characterized in that, The vehicle (10) has multiple cargo positions along the height direction, and at least a portion of the bottom of the vehicle (10) has a passageway (150) configured for the transfer robot (20) to pass through.

21. A transfer robot, characterized in that, include: Car body (210); A walking mechanism (220) is provided on the vehicle body (210), and the walking mechanism (220) is configured to drive the vehicle body (210) to move along a first direction; A climbing mechanism (230) is provided at a first part (211) of the vehicle body (210). Along the view of the vehicle body (210), the climbing mechanism (230) can extend and retract relative to the vehicle body (210) from both sides. The climbing mechanism (230) is configured to cooperate with the vehicle columns (110) of two adjacent vehicles (10) on both sides of the vehicle body (210) to drive the vehicle body (210) to rise and fall along the vehicle columns (110), wherein the first direction intersects with the extension direction of the vehicle columns (110).

22. The transfer robot according to claim 21, characterized in that, The climbing mechanism (230) includes: A first climbing mechanism (231) is configured to extend toward the vehicle (10) on one side of the vehicle body (210) along the radial direction of the vehicle body (210) and to cooperate with the vehicle column (110). The second climbing mechanism (232) is arranged to extend toward the vehicle (10) on the other side of the vehicle body (210) along the radial direction of the vehicle body (210) and to cooperate with the vehicle column (110).

23. The transfer robot according to claim 21 or 22, characterized in that, The first part (211) is located at one end of the vehicle body (210).

24. The transfer robot according to claim 21, characterized in that, The climbing mechanism (230) includes: Mounting bracket (2301) is provided on the vehicle body (210). Along the radial direction of the vehicle body (210), the mounting bracket (2301) can extend out of the vehicle body (210) or retract into the vehicle body (210). A guide (2302) is provided on the mounting bracket (2301), at least a portion of which can extend into the guide opening (111) of the vehicle column (110).

25. The transfer robot according to claim 21, characterized in that, The climbing mechanism (230) also includes: A climbing wheel assembly (2303) is provided on the mounting bracket (2301) of the climbing mechanism (230). The climbing wheel assembly (2303) is rotatably connected to the mounting bracket (2301). The climbing wheel assembly (2303) is configured to engage with the meshing structure (112) on the vehicle column (110) to drive the vehicle body (210) to rise and fall along the vehicle column (110).

26. The transfer robot according to claim 21, characterized in that, The climbing wheel assembly (2303) of the climbing mechanism (230) includes: The first climbing gear (2303a) is located on one side of the guide (2302) of the climbing mechanism (230), and the first climbing gear (2303a) is located on the side of the first guide wall (113) of the vehicle column (110) away from the second guide wall (114) of the vehicle column (110); The second climbing gear (2303b) is located on the other side of the guide (2302), and the second climbing gear (2303b) is located on the side of the second guide wall (114) away from the first guide wall (113).

27. The transfer robot according to claim 24, characterized in that, The climbing mechanism (230) has a rotating shaft (2304) on its mounting bracket (2301), and the first climbing gear (2303a) and the second climbing gear (2303b) of the climbing mechanism (230) are arranged side by side along the axial direction of the rotating shaft (2304). A roller (2305) is provided between the first climbing gear (2303a) and the second climbing gear (2303b), and the roller (2305) is located on the rotating shaft (2304); the roller (2305) can extend into the space between the first guide wall (113) and the second guide wall (114) on the carrier column (110); the guide member (2302) includes the roller (2305).

28. The transfer robot according to any one of claims 25-27, characterized in that, The climbing mechanism (230) has two sets of climbing wheel sets (2303), which are arranged at intervals along the extension direction of the vehicle column (110).

29. The transfer robot according to any one of claims 25-27, characterized in that, The vehicle body (210) is provided with a carrying area (212), which is configured to carry the target item; the transfer robot (20) also includes: A telescopic structure (240) is provided on the vehicle body (210), and the telescopic structure (240) can extend and retract relative to the vehicle body (210) from both sides; The pick-and-place mechanism (250) is connected to the telescopic structure (240). When the telescopic structure (240) extends or retracts relative to the vehicle body (210), the telescopic structure (240) drives the pick-and-place mechanism (250) to move relative to the vehicle body (210). The pick-and-place mechanism (250) is configured to act on a target item to transfer the target item between the carrying area (212) and the cargo position of the vehicle (10).

30. The transfer robot according to claim 29, characterized in that, The telescopic structure (240) is located in the bearing area (212), and the pick-and-place mechanism (250) is configured to act on the front end face of the target item to transfer the target item. The front end face of the target item is the end face of the target item facing the pick-and-place mechanism (250).

31. The transfer robot according to claim 29, characterized in that, The telescopic structure (240) is located on the outside of the bearing area (212), and the picking and placing mechanism (250) includes: The first finger (251) is rotatably disposed at the third part of the telescopic structure (240); The second finger (252) is rotatably disposed at the fourth part of the telescopic structure (240); the third part and the fourth part are two parts opposite to each other along the telescopic direction of the telescopic structure (240); Either the first finger (251) or the second finger (252) is configured to act on the rear end face of the target item to transfer the target item from the storage location to the carrying area (212); and the first finger (251) and the second finger (252) are configured to act on the front end face of the target item to transfer the target item from the carrying area (212) to the storage location.

32. The transfer robot according to claim 31, characterized in that, The telescopic structure (240) is located on the side of the bearing area (212) away from the climbing mechanism (230).

33. The transfer robot according to claim 32, characterized in that, When either the first finger (251) or the second finger (252) interacts with the end face of the target item, the end face of the target item has a first dimension along the length direction of either the first finger (251) or the second finger (252). The length of either the first finger (251) or the second finger (252) is greater than or equal to half of the first dimension.

34. The transfer robot according to claim 29, characterized in that, The vehicle body (210) is provided with a first guide protrusion (213) and a second guide protrusion (214). The first guide protrusion (213) and the second guide protrusion (214) extend along the telescopic direction of the telescopic structure (240). The first guide protrusion (213) and the second guide protrusion (214) are arranged at intervals, and the bearing area (212) is formed between the first guide protrusion (213) and the second guide protrusion (214).

35. The transfer robot according to claim 29, characterized in that, Along the telescopic direction of the telescopic structure (240), both ends of the bearing area (212) have inlets and outlets (2121); the inlets and outlets (2121) are configured to dock with the cargo positions on both sides of the transfer robot (20).

36. The transfer robot according to claim 21, characterized in that, The vehicle body (210) is equipped with an obstacle avoidance radar (215), which is configured to detect obstacles on the travel path of the vehicle body (210).

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