A warehousing system

Abstract

The application provides a warehouse system, which comprises a carrier, a stand, a taking and placing assembly, and a walking assembly. The carrier is provided with a track. The taking and placing assembly is arranged on the stand and is lifted along the stand, and is used for interfacing with the carrier to take and place articles. The walking assembly is arranged on the stand and comprises a walking wheel, a first guide mechanism, and a first pre-tightening mechanism. The walking wheel walks along the track to drive the stand to move relative to the track. The first pre-tightening mechanism cooperates with the walking wheel to apply a first pre-tightening force to the walking wheel towards the track. The first guide mechanism cooperates with the first pre-tightening mechanism, and at least part of the first guide mechanism moves in a first pre-tightening direction relative to the stand. The first pre-tightening mechanism is configured to move in the first pre-tightening direction under the action of the first guide mechanism.

Description

Technical Field

[0001] This application belongs to the field of warehousing and logistics equipment technology, and particularly relates to a warehousing system. Background Technology

[0002] In a warehousing system, to improve space utilization, a traveling mechanism and a picking / placing mechanism are installed on the shelves via uprights. The traveling mechanism moves along the length of the shelf along a track, driving the uprights and the picking / placing mechanism to move along the length of the shelf. The picking / placing mechanism is vertically mounted on the uprights. Thus, when goods need to be retrieved or placed at a specific location on the shelf, the traveling mechanism first moves the uprights and the picking / placing mechanism along the track to the horizontal position of that location. Then, the picking / placing mechanism is raised or lowered along the uprights to the corresponding height position on the shelf, and then the goods can be retrieved or placed at that location using the picking / placing mechanism.

[0003] However, the walking mechanism in the relevant technology often experiences walking difficulties during the walking process, which seriously affects the efficiency of picking up and placing goods. Utility Model Content

[0004] This application provides a storage system that ensures that the wheels can travel smoothly along the track, thereby ensuring the efficiency of picking up and putting down items in the storage system.

[0005] According to an embodiment of this application, a storage system is provided, comprising: a carrier having a track formed thereon; a stand; a pick-and-place assembly disposed on the stand and moving up and down along the stand, the pick-and-place assembly being used to dock with the carrier to retrieve and return items; and a traveling assembly disposed on the stand, the traveling assembly including a traveling wheel, a first guide mechanism, and a first pretensioning mechanism, the traveling wheel traveling along the track to drive the stand to move relative to the track; the first pretensioning mechanism cooperating with the traveling wheel to apply a first pretensioning force toward the track to the traveling wheel; the first guide mechanism cooperating with the first pretensioning mechanism, at least a portion of the first guide mechanism moving relative to the stand in a first pretensioning direction; the first pretensioning mechanism being configured to move along the first pretensioning direction under the action of the first guide mechanism.

[0006] Through the above technical solution, in this application, the first pre-tightening mechanism can apply a first pre-tightening force towards the track to the traveling wheel, so that the traveling wheel contacts the track surface and has a certain friction under the action of the first pre-tightening force. In this way, under the action of the friction, the traveling wheel can travel along the track surface, thereby realizing the normal retrieval and placement of items in the storage system. Among them, the first guiding mechanism can constrain the pre-tightening direction of the first pre-tightening mechanism, that is, it can constrain the direction of action of the first pre-tightening force, so that when the first pre-tightening mechanism applies the first pre-tightening force to the traveling wheel, the direction of action of the first pre-tightening force is always towards the track. In this way, it can avoid poor pre-tightening effect or even pre-tightening failure caused by the skew of the force direction during the pre-tightening process, which would cause the traveling wheel to spin freely, slip, or get stuck when traveling on the track. Therefore, by having the first pre-tensioning mechanism apply a first pre-tensioning force to the traveling wheel and having the first guiding mechanism constrain the direction of action of the first pre-tensioning mechanism, this application can ensure reliable pre-tensioning of the traveling wheel by the first pre-tensioning mechanism, thereby ensuring reliable contact between the traveling wheel and the track, so that the traveling wheel can travel smoothly along the track, thereby ensuring the efficiency of picking and placing items in the storage system. Attached Figure Description

[0007] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0008] Figure 1 This is a partial structural diagram of the warehousing system provided in the embodiments of this application;

[0009] Figure 2 This is a partial structural schematic diagram of the warehousing system provided in the embodiments of this application from another perspective;

[0010] Figure 3 This is a schematic diagram of the walking component and the first track provided in an embodiment of this application, wherein the cleaning component has been removed;

[0011] Figure 4 yes Figure 3 The diagram shows the structure of the corresponding walking component, in which part of the second connecting piece has been removed;

[0012] Figure 5 yes Figure 3 Another structural diagram of the corresponding walking component, in which the first connector and the cleaning component have been removed;

[0013] Figure 6 This is a schematic diagram of the walking component and the second track provided in the embodiments of this application;

[0014] Figure 7 yes Figure 6The diagram shows the structure of the corresponding walking component, in which part of the second connecting piece has been removed;

[0015] Figure 8 yes Figure 1 A magnified view of a portion at point B, showing the second track and the drive unit;

[0016] Figure 9 yes Figure 1 A magnified view of a portion at point A, showing the walking assembly, the third track, and the sliding contact line;

[0017] Figure 10 This is a schematic diagram of the cleaning component provided in an embodiment of this application;

[0018] Figure 11 yes Figure 3 The diagram shows a cross-sectional view of the corresponding walking component, in which the cleaning component has been removed.

[0019] Explanation of reference numerals in the attached figures:

[0020] 1. Carrier; 11. Track; 111-First track; 112-Second track; 113-Third track; 2. Frame; 21-First column; 22-Second column; 23-Crossbeam; 3. Pick-up and drop-off assembly; 4. Travel assembly; 41. Traveling wheel; 42. First pre-tensioning mechanism; 421. First elastic element; 43. First guide mechanism; 431. Fixed part; 432. Moving part; 433. First limiting element; 434. Second limiting element; 44. Cleaning assembly; 441. Cleaning element; 442. 4421. Second pre-tightening mechanism; 443. Second elastic element; 444. First mounting part; 445. Second mounting part; 446. Second guide mechanism; 4451. Guide element; 4452. Mating part; 45. First connecting part; 451. First mounting part; 46. Second connecting part; 461. Second mounting part; 47. Tightening mating part; 48. Drive element; 5. Sliding contact line; 51. Receiving device; 511. Receiving device body; 512. Cable; 52. Conductor; 6. Electrical appliance; 7. Barcode camera. Detailed Implementation

[0021] To facilitate the explanation of the technical solution of this application, some concepts involved in this application will be explained first below.

[0022] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0023] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0024] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In this application, unless otherwise expressly specified and limited, the first feature being "upper" or "lower" than the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0025] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two entities connected are not linked by an intermediate structure, but are simply connected to form a whole. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0026] In this application, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0027] This application provides a warehousing system, referencing... Figures 1 to 9 As shown, the system includes a carrier 1 with a track 11 formed on it. The storage system also includes a stand 2 and a pick-and-place assembly 3. The pick-and-place assembly 3 is mounted on the stand 2 and moves up and down along the stand 2 to move to target storage locations at different heights, so that the pick-and-place assembly 3 docks with the target storage location on the carrier 1 to retrieve or return items.

[0028] It should be noted that items can be bins, containers, goods, original boxes containing goods, packages, etc. There are no restrictions on the items used here.

[0029] In some examples, the carrier 1 may include, but is not limited to, shelves and pallet devices. The shelves may be fixed shelves or mobile shelves.

[0030] The warehousing system may also include a traveling component 4, which is mounted on the upright 2 and includes traveling wheels 41. The traveling wheels 41 travel along the track 11 to drive the upright 2 to move horizontally relative to the track 11, thereby causing the upright 2 to move the pick-and-place component 3 to the target storage location. To obtain the current position of the traveling component 4, a barcode scanner 7 can be installed on the traveling component 4. Simultaneously, an identification code (e.g., barcode, QR code, etc.) is set at an appropriate location on the carrier 1. Thus, during the movement of the traveling component 4, the barcode scanner 7 installed on the traveling component 4 can identify the identification code on the carrier 1 to obtain the real-time position of the traveling component 4.

[0031] The walking assembly 4 may also include a first pretensioning mechanism 42, which cooperates with the walking wheel 41 to apply a first pretensioning force toward the track 11 to the walking wheel 41.

[0032] It should be noted that the mating relationship between the first pre-tightening mechanism 42 and the traveling wheel 41 can be a connection relationship (e.g., threaded connection or welding) or a magnetic attraction relationship (e.g., electromagnetic attraction), etc. The specific choice can be made flexibly according to the actual situation, and this application does not impose any restrictions on it. In addition, the mating relationship between the two structures mentioned below is also the same.

[0033] The walking assembly 4 may also include a first guide mechanism 43, which cooperates with a first pretension mechanism 42, and at least a portion of the first guide mechanism 43 moves relative to the upright 2 in a first pretension direction; the first pretension mechanism 42 is configured to move along the first pretension direction under the action of the first guide mechanism 43 to apply a first pretension force toward the track 11 to the walking wheel 41.

[0034] In the exemplary embodiments provided in this application, the movement of at least a portion of the first guide mechanism 43 relative to the upright 2 in the first pre-tension direction includes two implementation methods:

[0035] In the first implementation, a portion of the first guide mechanism 43 moves relative to the upright 2 in a first preload direction. For example, refer to... Figure 4 , Figure 6 as well as Figure 7As shown, the first guide mechanism 43 may include a guide rail and a slider. The guide rail is connected to the upright 2 and extends along the first pre-tension direction. The slider slides along the guide rail and is connected to the traveling wheel 41. That is, in this example, the first guide mechanism 43 includes both a guide rail and a slider, and the slider in the first guide mechanism 43 moves relative to the upright 2 in the first pre-tension direction. Therefore, this example shows the implementation of the movement of a part of the first guide mechanism 43 relative to the upright 2 in the first pre-tension direction.

[0036] In the second implementation, the entire first guide mechanism 43 moves relative to the upright 2 in the first preload direction. Exemplarily, the first guide mechanism 43 may include a slider (not shown), with a guide rail cooperating with the slider formed on the upright 2 and extending along the first preload direction. The slider slides along the guide rail and is connected to the traveling wheel 41. That is, in this example, the first guide mechanism 43 only includes a slider, and the slider in the first guide mechanism 43 moves relative to the upright 2 in the first preload direction. Therefore, this example illustrates an implementation where the entire first guide mechanism 43 moves relative to the upright 2 in the first preload direction.

[0037] Through the above technical solution, in this application, the first pre-tightening mechanism 42 can apply a first pre-tightening force toward the track 11 to the walking wheel 41, so that the walking wheel 41 contacts the surface of the track 11 and has a certain friction under the action of the first pre-tightening force. In this way, under the action of the friction, the walking wheel 41 can walk along the surface of the track 11, thereby realizing the normal retrieval and placement of items in the storage system.

[0038] Furthermore, the first guiding mechanism 43 can constrain the pre-tensioning direction of the first pre-tensioning mechanism 42, that is, it can constrain the direction of the first pre-tensioning force, so that when the first pre-tensioning mechanism 42 applies the first pre-tensioning force to the traveling wheel 41, the direction of the first pre-tensioning force is always towards the track 11. This can avoid poor pre-tensioning effect or even pre-tensioning failure caused by the skewed direction of the force during the pre-tensioning process, which would cause the traveling wheel 41 to spin freely, slip, or get stuck when traveling on the track 11. Therefore, by having the first pre-tensioning mechanism 42 apply the first pre-tensioning force to the traveling wheel 41 and having the first guiding mechanism 43 constrain the direction of the first pre-tensioning mechanism 42, this application can ensure reliable pre-tensioning of the traveling wheel 41 by the first pre-tensioning mechanism 42, thereby ensuring reliable contact between the traveling wheel 41 and the track 11, so that the traveling wheel 41 can travel smoothly along the track 11, thereby ensuring the efficiency of picking and placing items in the storage system.

[0039] In the exemplary embodiments provided in this application, reference is made to Figure 4 , Figure 6 as well as Figure 7As shown, the first guide mechanism 43 may include a fixed part 431 and a movable part 432. The movable part 432 moves relative to the fixed part 431 along a first pre-tightening direction. The fixed part 431 cooperates with the upright 2, and the movable part 432 cooperates with the first pre-tightening mechanism 42. For example, the first end of the first pre-tightening mechanism 42 can be connected to the upright 2 through the fixed part 431, and the second end of the first pre-tightening mechanism 42 can be connected to the traveling wheel 41 through the movable part 432. In this way, when the first pre-tightening mechanism 42 drives the traveling wheel 41 to move slightly through the movable part 432, that is, when pre-tightening the traveling wheel 41 on the track 11, the first pre-tightening mechanism 42 can drive the movable part 432 to move relative to the fixed part 431. This can constrain the pre-tightening direction of the first pre-tightening mechanism 42 so that the pre-tightening direction is always the first pre-tightening direction, thereby ensuring that the first pre-tightening mechanism 42 can reliably pre-tighten the traveling wheel 41, and thus ensuring reliable contact between the traveling wheel 41 and the track 11.

[0040] It should be noted that the "first end" and "second end" of the first pretensioning mechanism 42 involved in this application embodiment do not specifically refer to the endpoints of the first pretensioning mechanism 42, but are intended to emphasize the relative positional relationship between the "first end" and the "second end," that is, to emphasize that the "first end" and the "second end" are not the same position of the first pretensioning mechanism 42. The "first end" and the "second end" can be the end of the first pretensioning mechanism 42, or they can be the middle part with a preset distance from the end of the first pretensioning mechanism 42. This application embodiment does not limit the specific position of the "first end" and the "second end" of the first pretensioning mechanism 42. For ease of description, the specific embodiment of this application uses the "first end" and the "second end" of the first pretensioning mechanism 42 as the end of the first pretensioning mechanism 42 as an example to illustrate the structure of the storage system.

[0041] Taking the first pre-tensioning mechanism 42 as an example, the first end of the first pre-tensioning mechanism 42 can be connected to the upright 2 via the fixed part 431, and the second end of the first pre-tensioning mechanism 42 can be connected to the traveling wheel 41 via the movable part 432. Specifically, this can be to express that the upright 2 and the traveling wheel 41 are respectively located at different positions along the length direction of the first pre-tensioning mechanism 42 via the fixed part 431 and the movable part 432. The first end of the first pre-tensioning mechanism 42 can be one end of the first pre-tensioning mechanism 42, or it can be another position along the length direction at a certain distance from that end. The second end of the first pre-tensioning mechanism 42 can be another end of the first pre-tensioning mechanism 42, or it can be another position along the length direction at a certain distance from that other end. The specific embodiments of this application are described in conjunction with the accompanying drawings, using the first end and the second end of the first pre-tensioning mechanism 42 as the ends of the first pre-tensioning mechanism 42 to illustrate the structure of the storage system.

[0042] In some examples, reference Figure 4 , Figure 6 as well as Figure 7 As shown, the first guiding mechanism 43 may include a guide rail and a slider. The guide rail is connected to the upright 2 and extends along the first pre-tightening direction. The slider slides along the guide rail and is connected to the traveling wheel 41. The guide rail serves as a fixed part 431 and the slider serves as a moving part 432.

[0043] In other examples, the fixing portion 431 can be achieved through other structures (e.g., the first connector 45 mentioned below, see reference). Figure 4 , Figure 6 as well as Figure 7 (As shown) is installed on the support frame 2.

[0044] In the above embodiments, the guide rail can be a guide rail groove (such as a V-groove, a rectangular groove, etc.), or a raised guide rail, that is, a guide rail that uses raised edges or ribs as a guide surface, or any other suitable guide rail structure. This application does not limit this, and the specific choice can be made flexibly according to the actual situation.

[0045] In the exemplary embodiments provided in this application, reference continues to be made to Figure 4 , Figure 6 as well as Figure 7 As shown, the first guide mechanism 43 may further include a first limiting member 433 and a second limiting member 434. The first limiting member 433 and the second limiting member 434 are spaced apart along the first pre-tightening direction at a first position and a second position on the fixed part 431 to limit the movement range of the moving part 432 relative to the fixed part 431. Thus, since the moving part 432 in the first guide mechanism 43 moves synchronously with the second end in the first pre-tightening mechanism 42 under the drive of the first pre-tightening mechanism 42, the movement range of the moving part 432 relative to the fixed part 431 can be limited. The range of motion of the second end of the first pre-tensioning mechanism 42 is limited by the range of motion of the first pre-tensioning mechanism 42, thereby limiting the pre-tensioning range of the first pre-tensioning mechanism 42. This allows the first pre-tensioning mechanism 42 to apply a suitable first pre-tensioning force to the traveling wheel 41, preventing excessive or insufficient frictional resistance between the traveling wheel 41 and the track 11 due to excessive or insufficient first pre-tensioning force. This would cause the traveling wheel 41 to get stuck, slip, or spin freely on the track 11. Therefore, the storage system provided by this application can ensure reliable contact between the traveling wheel 41 and the track 11, so that the traveling wheel 41 can travel smoothly along the track 11.

[0046] For example, the first limiting member 433 can be constructed as a first limiting block, the second limiting member 434 can be constructed as a second limiting block, and the fixed part 431 and the moving part 432 can be constructed as a sliding guide rail and a slider. The guide rail and slider can be configured as described above, with the guide rail extending in the first pre-tightening direction. Thus, the first and second limiting blocks can be spaced apart at different positions on the guide rail along its extension direction. When the slider moves along the guide rail toward or away from the track 11, it can be stopped and limited by the first or second limiting block positioned at the corresponding location. Of course, the first limiting member 433 and the second limiting member 434 can also be constructed as any other suitable structure; this application does not limit this, and the specific choice can be made flexibly according to the actual situation.

[0047] For example, the first limiting block can be set at a position close to the track 11 on the guide rail (i.e., the first position), and the second limiting block can be set at a position away from the track 11 on the guide rail (i.e., the second position). In this way, when the slider moves along the guide rail toward the track 11, it can be stopped by the first limiting block, thereby controlling the magnitude of the preload of the synchronously moving first preload mechanism 42, and avoiding excessive preload when the first preload mechanism 42 acts on the traveling wheel 41, which would cause the traveling wheel 41 to jam on the track 11. When the slider moves along the guide rail toward the direction away from the track 11, it can be stopped by the second limiting block, thereby controlling the magnitude of the preload of the synchronously moving first preload mechanism 42, and avoiding insufficient preload when the first preload mechanism 42 acts on the traveling wheel 41, which would cause the traveling wheel 41 to slip or spin freely on the track 11.

[0048] In the exemplary embodiments provided in this application, reference is made to Figures 3 to 6 , Figure 7 as well as Figure 9 As shown, the first pre-tensioning mechanism 42 may include a first elastic member 421, and the extension and retraction direction of the first elastic member 421 is the first pre-tensioning direction (i.e., Figure 3 (In the direction of the upward arrow in the middle), the first elastic element 421 is compressed, and the first end of the first elastic element 421 is fixed relative to the upright 2. The second end of the first elastic element 421 cooperates with the traveling wheel 41. In this way, the first elastic element 421 is always in a compressed state. Therefore, under the action of elastic potential energy, the first elastic element 421 will have the tendency to recover its deformation, thereby enabling the second end of the first elastic element 421 to continuously apply the first preload to the traveling wheel 41.

[0049] The first end of the first elastic element 421 can be fixed relative to the upright 2 by directly or indirectly connecting the first end of the first elastic element 421 to the upright 2, and the second end of the first elastic element 421 can cooperate with the traveling wheel 41 by directly or indirectly cooperating with the traveling wheel 41. To facilitate the indirect connection between the first elastic element 421 and the upright 2, other structures can be added (such as the first connecting member 45 and the first mounting part 451 mentioned below, see reference 421). Figures 3 to 7 This can be achieved as shown in the figure, but this application does not restrict this, and the specific choice can be made flexibly according to the actual situation.

[0050] Similarly, to facilitate the indirect connection between the first elastic element 421 and the traveling wheel 41, other structures can be added (such as the second connector 46 and the second mounting part 461 mentioned below, see reference 46). Figures 3 to 7 (As shown) This can be achieved, but this application does not limit this; the specific choice can be made flexibly according to the actual situation. It should be noted that the "first end" and "second end" of the first elastic member 421 involved in the embodiments of this application do not specifically refer to the endpoints of the first elastic member 421, but are intended to emphasize the relative positional relationship between the "first end" and the "second end," that is, to emphasize that the "first end" and the "second end" are not the same position of the first elastic member 421. The "first end" and the "second end" can be the end of the first elastic member 421, or they can be the middle part with a preset distance from the end of the first elastic member 421. The embodiments of this application do not limit the specific position of the "first end" and the "second end" of the first elastic member 421. For ease of description, the specific embodiments of this application use the "first end" and the "second end" of the first elastic member 421 as the end of the first elastic member 421 as an example to illustrate the structure of the storage system.

[0051] Taking the first elastic element 421 as an example, the first end of the first elastic element 421 is fixed relative to the upright 2, and the second end of the first elastic element 421 cooperates with the traveling wheel 41. Specifically, this can be to indicate that the upright 2 and the traveling wheel 41 are respectively located at different positions along the length direction of the first elastic element 421. The first end of the first elastic element 421 can be one end of the first elastic element 421, or it can be another position along the length direction at a certain distance from that end. The second end of the first elastic element 421 can be another end of the first elastic element 421, or it can be another position along the length direction at a certain distance from that other end. The specific embodiments of this application are described in conjunction with the accompanying drawings, using the first end and the second end of the first elastic element 421 as the ends of the first elastic element 421 to illustrate the structure of the storage system.

[0052] For example, the first elastic element 421 can be a spring or a rubber element, etc. In this case, the first elastic element 421 can be fixed relative to the upright 2 by abutting or connecting, and can also cooperate with the traveling wheel 41 by abutting or connecting. Here, the first elastic element 421 can be directly connected or abutted with the upright 2 and the traveling wheel 41. Of course, the first elastic element 421 can be indirectly connected or abutted with the upright 2 and the traveling wheel 41. In some examples, in order to facilitate the abutment of the first elastic element 421 with the upright 2 and the traveling wheel 41, other structures can be added (such as the first connecting member 45, the first mounting part 451, the second connecting member 46 and the second mounting part 461 mentioned below, see reference). Figures 3 to 7 This can be achieved as shown in the figure, but this application does not restrict this, and the specific choice can be made flexibly according to the actual situation.

[0053] In the exemplary embodiments provided in this application, in order to enable the support frame 2 to adapt to carriers 1 of different heights and to reliably cooperate with the carrier 1, an appropriate number of tracks 11 can be set according to the height of the carrier 1. For example, when the height of the carrier 1 is low, one track 11 can be formed on the carrier 1, and each track 11 corresponds to at least one traveling component 4. When the height of the carrier 1 is high, the number of tracks 11 can be appropriately increased according to the height of the carrier 1. That is, multiple tracks 11 can be formed on the carrier 1, and the multiple tracks 11 are spaced apart along the height direction of the carrier 1. Each track 11 corresponds to at least one traveling component 4. In order to simplify the structure, the opening orientation of the track 11 can be set to face upward or downward. In this way, the setting position of the corresponding traveling component 4 is different depending on the opening orientation of the track 11.

[0054] In some examples, when the vehicle 1 is low in height, a track 11 can be formed on the vehicle 1 with the opening of the track 11 facing upward, and the corresponding walking component 4 is located above the track 11; when the vehicle 1 is high in height, an appropriate number of tracks 11 can be set according to the height of the vehicle 1. For example, three tracks 11 can be formed on the vehicle 1, and the three tracks 11 can be arranged at intervals along the height direction of the vehicle 1, with the openings of the three tracks 11 all facing upward, and each walking component 4 is located above the corresponding track 11 of the walking component 4.

[0055] In other examples, when the vehicle 1 is low in height, a track 11 can be formed on the vehicle 1 with the opening of the track 11 facing downwards, and the corresponding walking component 4 is located below the track 11; when the vehicle 1 is high in height, an appropriate number of tracks 11 can be set according to the height of the vehicle 1. For example, three tracks 11 can be formed on the vehicle 1, and the three tracks 11 can be arranged at intervals along the height direction of the vehicle 1. The openings of the three tracks 11 all face downwards, and each walking component 4 is located below the corresponding track 11 of the walking component 4.

[0056] In yet another example, refer to Figure 1 As shown, the vehicle 1 is relatively tall and has multiple tracks 11. Some tracks 11 have their openings facing upwards, while others have their openings facing downwards. Thus, for tracks 11 with their openings facing upwards, the corresponding traveling component 4 is positioned above the corresponding track 11, while for tracks 11 with their openings facing downwards, the corresponding traveling component 4 is positioned below the corresponding track 11.

[0057] In the exemplary embodiments provided in this application, reference is made to Figure 1 As shown, the plurality of tracks 11 include a first track 111 and a second track 112, which are arranged at intervals along the height direction of the vehicle 1, and one of the first track 111 and the second track 112 has an opening facing upward, while the other of the first track 111 and the second track 112 has an opening facing downward.

[0058] Through the above technical solution, since the walking component 4 corresponding to the upward-facing track 11 is located above the track 11, and the walking wheel 41 in the walking component 4 is used to contact the track 11 to walk along the track 11, the self-weight of the walking component 4 and the first pre-tensioning force applied to the walking wheel 41 by the first pre-tensioning mechanism 42 are in the same direction. Therefore, during the walking process of the walking component 4, the self-weight of the walking component 4 and the first pre-tensioning force of the first pre-tensioning mechanism 42 will simultaneously apply a force to the walking wheel 41 towards the track 11. Under this force, the walking wheel 41 reliably contacts the track 11 and can walk along the track 11. When the track 11 moves, in other words, when the opening of the track 11 faces upward, the preload force on the traveling wheel 41 towards the track 11 comes from two aspects: one is the first preload force applied to the traveling wheel 41 by the first preload mechanism 42, and the other is the gravity of the traveling assembly 4 acting on the traveling wheel 41. Thus, when the opening of the track 11 faces upward, the weight of the traveling assembly 4 itself can be used as part of the preload force on the traveling wheel 41. At this time, the first preload force required by the first preload mechanism 42 to provide to the traveling wheel 41 is relatively small. The magnitude of the first preload force is the actual preload force required by the traveling wheel 41 minus the weight of the traveling assembly 4 itself.

[0059] Conversely, the walking component 4 corresponding to the downward-facing track 11 is located below the track 11. The walking wheel 41 in the walking component 4 is used to contact the track 11 to walk along the track 11. The direction of gravity of the walking component 4 is opposite to the direction of the first preload applied to the walking wheel 41 by the first preload mechanism 42. Therefore, during the walking process of the walking component 4, the first preload applied to the walking wheel 41 by the first preload mechanism 42 not only needs to overcome the weight of the walking component 4 itself, but also needs to ensure reliable contact between the walking wheel 41 and the track 11. Therefore, compared with the method where the track 11 is open upwards, the first preload required by the first preload mechanism 42 for the method where the track 11 is open downwards is greater.

[0060] In some examples, multiple tracks 11 include a first track 111 and a second track 112, which are spaced apart along the height of the vehicle 1. The openings of the first track 111 and the second track 112 may be opposite to each other. For example, when the first track 111 is positioned above and the second track 112 is positioned below, the opening of the first track 111 faces upward, while the opening of the second track 112 faces downward. With this arrangement, the gravity of the frame 2 can act on the first track 111, which has an upward opening and is located above, through the traveling assembly 4, thereby acting on the vehicle 1. However, this method results in a higher stress point for the vehicle 1. Therefore, in this case, it is necessary to increase the structural stiffness of the vehicle 1 to prevent deformation or even breakage when the vehicle 1 is subjected to large bending moments.

[0061] In other examples, refer to Figure 1 As shown, the multiple tracks 11 include a first track 111 and a second track 112, which are arranged at intervals along the height direction of the vehicle 1. The openings of the first track 111 and the second track 112 can also be opposite each other. For example, when the first track 111 is located above and the second track 112 is located below, the opening of the first track 111 faces downward, while the opening of the second track 112 faces upward. With this arrangement, the weight of the frame 2 can be applied to the second track 112, which has an upward opening and is located below, through the traveling assembly 4, and thus to the vehicle 1. Compared to the previous case where the openings of the tracks 11 are opposite each other, this arrangement of the tracks 11 with opposite openings can reduce the stress points of the vehicle 1, so that the vehicle 1 can avoid deformation or even breakage when bearing a large bending moment.

[0062] In the exemplary embodiments provided in this application, at least one walking component 4 includes a driving member 48, and the driving member 48 is connected to the walking wheel 41 of the walking component 4 in the following ways:

[0063] In the first case, refer to Figure 8 As shown, a walking component 4 includes a drive member 48, which is connected to the walking wheel 41 of the walking component 4. In this case, when the drive member 48 is working, it will drive the walking wheel 41 connected to the drive member 48 to rotate, thereby driving the walking wheel 41 to walk along the corresponding track 11. At the same time, the walking component 4 where the walking wheel 41 is located will also drive the upright 2 and the other walking components 4 that cooperate with the upright 2 to walk along the corresponding track 11.

[0064] In the second scenario, a portion of the walking components 4 includes a drive member 48. The walking wheel 41 of each walking component 4 including the drive member 48 is connected to the corresponding drive member 48 in a transmission connection. In this scenario, when the drive member 48 is working, it will drive the walking wheel 41 connected to the drive member 48 to rotate, thereby driving the walking wheel 41 to walk along the corresponding track 11. At the same time, the walking component 4 containing the walking wheel 41 and other walking components 4 including the drive member 48 will also walk along the corresponding track 11, and together drive the frame 2 to move relative to the carrier 1.

[0065] In the third scenario, all walking components 4 include a drive unit 48, and the walking wheel 41 of each walking component 4 is connected to the corresponding drive unit 48. In this scenario, when the drive unit 48 is working, it will drive the walking wheel 41 connected to the drive unit 48 to rotate, thereby driving the walking wheel 41 to walk along the corresponding track 11. At the same time, the walking component 4 where the walking wheel 41 is located and the walking components 4 where the other walking wheels 41 are located will also walk along the corresponding track 11 and jointly drive the frame 2 to move relative to the carrier 1.

[0066] It should be noted that in the second and third scenarios, since multiple walking components 4 include drive units 48, when the walking components 4 are walking, it is necessary to control the drive units 48 of these walking components 4 to work simultaneously.

[0067] In the exemplary embodiments provided in this application, when the opening of at least one track 11 is facing upward, the walking component 4 corresponding to the track 11 with the opening facing upward includes a drive member 48. As can be seen from the above analysis, when the opening of the track 11 is facing upward, the preload force on the walking wheel 41 of the corresponding walking component 4 comes from the first preload force of the first preload mechanism 42 on the one hand, and from the weight of the walking component 4 on the other hand. Therefore, by setting the drive member 48 on the walking component 4 corresponding to the track 11 with the opening facing upward, the weight of the walking component 4 can be further increased. In this way, the first preload force of the first preload mechanism 42 can be reduced while the preload force required for the walking wheel 41 remains unchanged, thereby reducing the requirements for setting the first preload mechanism 42.

[0068] For example, the opening of at least one track 11 facing upward can be one track 11 or multiple (e.g., two, three or four, etc.) track 11 opening upward. The specific choice can be made flexibly according to the actual situation, and this application does not limit it.

[0069] In the exemplary embodiments provided in this application, reference is made to Figure 1 As shown, the support frame 2 includes a first column 21 and a second column 22 that are spaced apart and connected to each other along its width direction. Each track 11 has two walking components 4, one of which is set on the first column 21 and the other is set on the second column 22. With this arrangement, the walking components 4 can be evenly distributed in appropriate positions on the support frame 2 so that when the walking components 4 walk along the track 11, they can evenly transmit force to the support frame 2 and drive the support frame 2 to move stably and reliably relative to the track 11.

[0070] In the exemplary embodiments provided in this application, at least one of the two walking components 4 corresponding to at least one track 11 includes a drive member 48, which is connected to the walking wheel 41 of the walking component 4 in a transmission manner. In this way, it can be ensured that the walking component 4 is powered by the drive member 48 so that the walking component 4 can walk along the track 11 under the drive of the drive member 48.

[0071] For example, depending on the height of the vehicle 1, at least one of the two traveling components 4 corresponding to at least one track 11 may include a drive element 48 in the following ways:

[0072] In the first scenario, the vehicle 1 is relatively low, and a track 11 is formed on the vehicle 1. In this case, one of the two walking components 4 corresponding to the track 11 includes a drive member 48. The drive member 48 is connected to the walking wheel 41 of the transmission component. When the drive member 48 is working, it will drive the walking wheel 41 to rotate so as to walk along the track 11. At the same time, the walking wheel 41 will drive the upright 2 that cooperates with the walking component 4 to move relative to the track 11 through the walking component 4 where the walking wheel 41 is located, and indirectly drive the other walking component 4 that cooperates with the upright 2 to walk along the track 11 through the upright 2.

[0073] In the second scenario, the vehicle 1 is relatively low, and a track 11 is formed on the vehicle 1. In this case, each of the two walking components 4 corresponding to the track 11 includes a drive component 48. Each drive component 48 is connected to the walking wheel 41 of the corresponding walking component 4. When these drive components 48 are working, they will drive the corresponding walking wheel 41 to rotate so as to walk along the track 11. At the same time, these walking wheels 41 will drive the upright 2 that cooperates with these walking components 4 to move relative to the track 11 through the walking component 4 where the corresponding walking wheel 41 is located.

[0074] In the third scenario, the vehicle 1 is relatively high, and multiple tracks 11 are formed on the vehicle 1. The multiple tracks 11 are arranged at intervals along the height direction of the vehicle 1. In this case, one of the two walking components 4 corresponding to one of the tracks 11 includes a drive member 48. The drive member 48 is connected to the walking wheel 41 of the corresponding transmission component. Thus, when the drive member 48 is working, it will drive the corresponding walking wheel 41 to rotate so as to walk along the corresponding track 11. At the same time, the walking wheel 41 will drive the upright 2 that cooperates with the walking component 4 to move relative to the track 11 through the walking component 4 where the walking wheel 41 is located, and indirectly drive the other walking components 4 that cooperate with the upright 2 to walk along their respective tracks 11 through the upright 2.

[0075] In the fourth scenario, the vehicle 1 is relatively high, and multiple tracks 11 are formed on the vehicle 1. The multiple tracks 11 are arranged at intervals along the height direction of the vehicle 1. In this case, the two walking components 4 corresponding to one of the tracks 11 each include a drive member 48. These two drive members 48 are respectively connected to the walking wheels 41 of the corresponding transmission components. Thus, when these two drive members 48 work, they will drive the corresponding walking wheels 41 to rotate so as to walk along the corresponding track 11. At the same time, these two walking wheels 41 will drive the upright 2 to move relative to the track 11 through their respective walking components 4, and indirectly drive the other walking components 4 to walk along their respective tracks 11 through the upright 2.

[0076] In the fifth scenario, the vehicle 1 is relatively high, and multiple tracks 11 are formed on the vehicle 1. The multiple tracks 11 are arranged at intervals along the height direction of the vehicle 1. In this case, some of the walking components 4 corresponding to the tracks 11 include driving components 48. These driving components 48 are respectively connected to the walking wheels 41 of the corresponding transmission components. In this way, when these driving components 48 work, they will drive the corresponding walking wheels 41 to rotate so as to walk along the corresponding track 11. At the same time, these walking wheels 41 will drive the upright 2 to move relative to the track 11 through their respective walking components 4, and indirectly drive the other walking components 4 to walk along their respective tracks 11 through the upright 2.

[0077] In the sixth scenario, the vehicle 1 is relatively high, and multiple tracks 11 are formed on the vehicle 1. The multiple tracks 11 are arranged at intervals along the height direction of the vehicle 1. In this case, each track 11 has two walking components 4, each of which includes a drive component 48. These drive components 48 are respectively connected to the walking wheels 41 of the corresponding transmission components. When these drive components 48 work, they will drive the corresponding walking wheels 41 to rotate so as to walk along the corresponding track 11. At the same time, these walking wheels 41 will drive the upright 2 to move relative to the track 11 through their respective walking components 4.

[0078] It should be noted that in the above situations, when the number of drive components 48 is greater than or equal to two, in order for these walking components 4 to simultaneously drive the upright 2 to move relative to the track 11, it is necessary to control these drive components 48 to work simultaneously.

[0079] In the exemplary embodiments provided in this application, reference is made to Figure 1 As shown, the plurality of tracks 11 includes a first track 111 and a second track 112, which are arranged at intervals along the height direction of the vehicle 1. The plurality of tracks 11 may also include a third track 113, which is disposed between the first track 111 and the second track 112. (Reference) Figure 9 As shown, the storage system also includes a sliding contact line 5, which includes a conductor 52 and a receiver 51. The conductor 52 can be a copper body wrapped in a protective sleeve. The conductor 52 is disposed on and extends along the third track 113. The conductor 52 is electrically connected to a power supply. The receiver 51 cooperates with the traveling component 4 corresponding to the third track 113. The receiver 51 is connected to an electrical appliance 6 on the track 11. The receiver 51 is configured to make electrical contact with the conductor 52 when the traveling component 4 moves, so as to supply power to the electrical appliance 6. The electrical appliance 6 includes a drive component 48 of the traveling component 4.

[0080] The above technical solution enables power supply to the electrical appliances 6, including the drive unit 48 of the walking assembly 4, so that the drive unit 48 can drive the walking assembly 4 to move normally and ensure the normal operation of other electrical appliances 6. It also reduces the number of cables 512, reduces the load of the cables 512 on the walking assembly 4, thereby reducing the impact of the cables 512 on the lifespan of the walking assembly 4 and ensuring the stable operation of the walking assembly 4. In addition, setting the third track 113 between the first track 111 and the second track 112 along the height direction can, on the one hand, raise the setting position of the third track 113, avoiding the third track 113 being too low, which would cause the sliding contact line 5 on the third track 113 to be too low and thus cause safety hazards. On the other hand, it can also avoid the third track 113 being set too high, which would cause maintenance difficulties.

[0081] In some examples, to facilitate the electrical connection between the receiver 51 and the appliance 6, the receiver 51 may be configured to include a receiver body 511 and a cable 512. The receiver body 511 cooperates with the walking component 4 corresponding to the third track 113. The receiver body 511 is electrically connected to the appliance 6 through the cable 512. The receiver body 511 is configured to make electrical contact with the conductor 52 when the walking component 4 moves, so as to supply power to the appliance 6 through the cable 512.

[0082] In other examples, to facilitate the installation of cable 512 while ensuring electrical safety, the installation methods for cable 512 can be configured in the following ways:

[0083] In the first implementation, the cable 512 may include a first cable, and a first channel is provided on the first column 21 along its own extension direction. The first cable passes through the first channel, and one end is electrically connected to the receiver body 511, and the other end is electrically connected to the corresponding electrical appliance 6 on at least one of the first track 111 and the second track 112.

[0084] In the second implementation, the cable 512 may include a first cable, and a first channel is provided on the second column 22 along its own extension direction. The first cable passes through the first channel, and one end is electrically connected to the receiver body 511, and the other end is electrically connected to the corresponding appliance 6 on at least one of the first track 111 and the second track 112.

[0085] In the third implementation, the cable 512 may include a first cable, and the first column 21 and the second column 22 are each provided with a first channel through them along their own extension direction. The first cable passes through the first channel, and one end is electrically connected to the receiver body 511, and the other end is electrically connected to the corresponding appliance 6 on at least one of the first track 111 and the second track 112.

[0086] In the fourth implementation, the cable 512 includes a second cable, the support frame 2 also includes a crossbeam 23, the first column 21 is connected to the second column 22 through the crossbeam 23, the crossbeam 23 is provided with a second channel along its own extension direction, the receiver body 511 is provided on one of the first column 21 and the second column 22, the second cable passes through the second channel, and one end is electrically connected to the receiver body 511, and the other end is electrically connected to the appliance 6 on the other of the first column 21 and the second column 22.

[0087] In the fifth implementation, the cable 512 may include a first cable. A first channel is provided through the first column 21 along its own extension direction. The first cable passes through the first channel, and one end is electrically connected to the receiver body 511, and the other end is electrically connected to the corresponding electrical appliance 6 on at least one of the first track 111 and the second track 112. Furthermore, the cable 512 includes a second cable. The frame 2 also includes a crossbeam 23. The first column 21 is connected to the second column 22 through the crossbeam 23. The crossbeam 23 is provided through the second channel along its own extension direction. The receiver body 511 is disposed on one of the first column 21 and the second column 22. The second cable passes through the second channel, and one end is electrically connected to the receiver body 511, and the other end is electrically connected to the electrical appliance 6 on the other of the first column 21 and the second column 22.

[0088] In the sixth implementation, the cable 512 may include a first cable, and a first channel is provided through the second column 22 along its own extension direction. The first cable passes through the first channel, and one end is electrically connected to the receiver body 511, and the other end is electrically connected to the corresponding electrical appliance 6 on at least one of the first track 111 and the second track 112. Furthermore, the cable 512 includes a second cable, and the frame 2 also includes a crossbeam 23. The first column 21 is connected to the second column 22 through the crossbeam 23. The crossbeam 23 is provided through the second channel along its own extension direction. The receiver body 511 is disposed on one of the first column 21 and the second column 22. The second cable passes through the second channel, and one end is electrically connected to the receiver body 511, and the other end is electrically connected to the electrical appliance 6 on the other of the first column 21 and the second column 22.

[0089] In the seventh implementation, the cable 512 may include a first cable. The first column 21 and the second column 22 are each provided with a first channel extending along their own extension direction. The first cable passes through the first channel, and one end is electrically connected to the receiver body 511, and the other end is electrically connected to the corresponding electrical appliance 6 on at least one of the first track 111 and the second track 112. Furthermore, the cable 512 may include a second cable. The frame 2 also includes a crossbeam 23. The first column 21 is connected to the second column 22 through the crossbeam 23. The crossbeam 23 is provided with a second channel extending along its own extension direction. The receiver body 511 is disposed on one of the first column 21 and the second column 22. The second cable passes through the second channel, and one end is electrically connected to the receiver body 511, and the other end is electrically connected to the electrical appliance 6 on the other of the first column 21 and the second column 22.

[0090] Through the above-mentioned implementation methods, on the one hand, the first channel set in the first column 21 or the second column 22 can be used to connect the receiving body 511 to the electrical appliances 6 set at different positions in the height direction through the first cable, so as to supply power to the electrical appliances 6 arranged in the height direction. On the other hand, the second channel set on the crossbeam 23 can be used to connect the receiving body 511 to the electrical appliances 6 arranged at different positions in the extension direction of the crossbeam 23 through the second cable, so as to supply power to the electrical appliances 6 arranged in the extension direction of the crossbeam 23. In this way, by arranging the first cable in the vertical direction and the second cable in the horizontal direction, the power supply needs of the electrical appliances 6 set at different positions on the track 11 can be met. At the same time, the setting of the first channel and the second channel can also avoid the safety hazards of the cable 512 during use, thereby ensuring electrical safety.

[0091] In the exemplary embodiments provided in this application, reference is made to Figure 4 , Figure 6 , Figure 7 , Figure 9 as well as Figure 10As shown, the storage system may also include a cleaning component 44, which is located in front of the traveling wheel 41 in the direction of travel. The cleaning component 44 is configured to clean obstacles on the track 11 located in front of the traveling wheel 41. Thus, when the traveling wheel 41 starts working, the cleaning component 44 located in front will simultaneously clean the surface of the track 11 in front. In this way, when the traveling wheel 41 travels to the section of track 11, the obstacles on the surface of the section of track 11 have been cleaned up. Therefore, the traveling wheel 41 can travel smoothly on the track 11, avoiding obstruction to the traveling wheel 41 due to obstacles on the track 11.

[0092] For example, the movement of the walking wheel 41 on the track 11 may only include unidirectional movement, for example, referring to Figure 3 and Figure 6 As shown, the traveling wheel 41 can only travel along the track 11 to the left (or right), but it can also include bidirectional travel, for example, see reference. Figure 3 and Figure 6 As shown, the walking wheel 41 can move along the track 11 to the left (or right) or to the right (or left).

[0093] In the above embodiments, for the case where the walking wheel 41 travels in one direction, only one set of cleaning components 44 is required. At this time, the cleaning components 44 are set on one side of the walking wheel 41, that is, the left (or right). For the case where the walking wheel 41 travels in two directions, either one set of cleaning components 44 or two sets of cleaning components 44 can be set. The specific choice can be made flexibly according to the actual situation, and this application does not impose any restrictions on this.

[0094] In some examples, for the bidirectional movement of the walking wheel 41, when a cleaning assembly 44 is provided, the cleaning assembly 44 can be placed on the side of the walking wheel 41 that needs to be cleaned. For example, when it is necessary to clean the track 11 on the left (or right) side of the walking wheel 41, the cleaning assembly 44 can be placed on the left (or right) side of the walking wheel 41. When two sets of cleaning assemblies 44 are provided, one of the two walking mechanisms can be placed on one side of the walking wheel 41 (e.g., the left side), and the other set can be placed on the other side of the walking wheel 41 (e.g., the right side). In this way, no matter which side the walking wheel 41 is moving towards, the cleaning assembly 44 on the corresponding side can clean the obstacles on the track 11 in a timely manner.

[0095] In the exemplary embodiments provided in this application, reference is made to Figure 4 , Figure 6 , Figure 7 , Figure 9 as well as Figure 10As shown, the cleaning assembly 44 may include a cleaning component 441 and a second pre-tensioning mechanism 442. The cleaning component 441 cooperates with the walking assembly 4 through the second pre-tensioning mechanism 442. The second pre-tensioning mechanism 442 is configured to apply a second pre-tensioning force toward the track 11 to the cleaning component 441 so that the cleaning component 441 cleans the track 11 during the movement of the walking wheel 41. In this way, under the action of the second pre-tensioning mechanism 442, the cleaning component 441 is always subjected to the action of the second pre-tensioning force, so that the cleaning component 441 and the surface of the track 11 are always in contact. Therefore, even if the surface of the cleaning component 441 is worn, the wear will be compensated in time due to the setting of the second pre-tensioning mechanism 442. In addition, since the cleaning component 441 cooperates with the walking component 4 through the second pre-tightening mechanism 442, and the walking component 4 includes the walking wheel 41, the cleaning component 441 will also move synchronously along the track 11 as the walking wheel 41 moves, thereby enabling the cleaning of the surface of the track 11 in front of the walking wheel 41 during the movement of the walking wheel 41.

[0096] For example, the cleaning component 441 can be a cleaning brush, a cleaning sponge, or other cleaning supplies, or any other suitable cleaning component 441 structure. The specific choice can be made flexibly according to the actual situation, and this application does not limit it.

[0097] In the exemplary embodiments provided in this application, reference continues to be made to Figure 4 , Figure 6 , Figure 7 , Figure 9 as well as Figure 10 As shown, the cleaning assembly 44 may further include a first mounting member 443 and a second mounting member 444, the first mounting member 443 and the second mounting member 444 being aligned along a second pre-tightening direction (i.e., Figure 6 Arranged at intervals (in the direction of the downward arrow), the first mounting member 443 cooperates with the walking assembly 4, and the second mounting member 444 cooperates with the cleaning member 441. The first mounting member 443 cooperates with the second mounting member 444 through the second pre-tightening mechanism 442. The second pre-tightening mechanism 442 is configured to apply a second pre-tightening force to the cleaning member 441 through the second mounting member 444. In this way, the arrangement of the first mounting member 443 and the second mounting member 444 facilitates the installation and connection between the walking assembly 4, the second pre-tightening mechanism 442 and the cleaning member 441.

[0098] In some examples, reference Figure 10As shown, the first mounting component 443 can be constructed as an L-shaped plate, and the second mounting component 444 can be constructed as a mounting block. The L-shaped plate includes a horizontal plate and a vertical plate connected to each other. The vertical plate can be connected to the traveling assembly 4 by means of threaded connection, welding, snap-fit, etc. The second pre-tightening mechanism 442 can be disposed between the horizontal plate and the mounting block by means of abutment, etc. Of course, the first mounting component 443 and the second mounting component 444 can also be constructed as any other suitable structure, and the specific choice can be flexibly made according to the actual situation. This application does not impose any restrictions on this.

[0099] In the exemplary embodiments provided in this application, reference continues to be made to Figure 4 , Figure 6 , Figure 7 , Figure 9 as well as Figure 10 As shown, the second pre-tightening mechanism 442 may include a second elastic element 4421. The second elastic element 4421 is compressedly disposed between the first mounting member 443 and the second mounting member 444, and the first end of the second elastic element 4421 is fixed relative to the walking assembly 4. The second end of the second elastic element 4421 cooperates with the cleaning member 441. The extension and retraction direction of the second elastic element 4421 is the second pre-tightening direction. In this way, the second elastic element 4421 is always in a compressed state. Therefore, under the action of elastic potential energy, the second elastic element 4421 will have the tendency to recover its deformation. This allows the second elastic element 4421 to continuously apply the second pre-tightening force to the cleaning member 441 so that the cleaning member 441 always keeps in contact with the surface of the track 11. In this way, even if the cleaning member 441 wears, the wear will be compensated in time under the action of the second pre-tightening mechanism 442. This ensures that the cleaning member 441 always keeps in contact with the surface of the track 11 to achieve the cleaning effect on the surface of the track 11.

[0100] For example, the second elastic member 4421 can be a spring or a rubber member, etc. In this case, the second elastic member 4421 can abut between the first mounting member 443 and the second mounting member 444 to achieve cooperation with the first mounting member 443 and the second mounting member 444.

[0101] It should be noted that the "first end" and "second end" of the second elastic element 4421 involved in this application embodiment do not specifically refer to the endpoints of the second elastic element 4421, but are intended to emphasize the relative positional relationship between the "first end" and the "second end," that is, to emphasize that the "first end" and the "second end" are not the same position of the second elastic element 4421. The "first end" and the "second end" can be the end of the second elastic element 4421, or they can be the middle part with a preset distance from the end of the second elastic element 4421. This application embodiment does not limit the specific position of the "first end" and the "second end" of the second elastic element 4421. For ease of description, the specific embodiment of this application uses the "first end" and the "second end" of the second elastic element 4421 as the end of the second elastic element 4421 as an example to illustrate the structure of the storage system.

[0102] Taking the second elastic element 4421 as an example, the first end of the second elastic element 4421 is fixed relative to the walking assembly 4, and the second end of the second elastic element 4421 cooperates with the cleaning component 441. Specifically, this can be to indicate that the walking assembly 4 and the cleaning component 441 are respectively located at different positions along the length direction of the second elastic element 4421. The first end of the second elastic element 4421 can be one end of the second elastic element 4421, or it can be another position along the length direction at a certain distance from that end. The second end of the second elastic element 4421 can be another end of the second elastic element 4421, or it can be another position along the length direction at a certain distance from that other end. The specific embodiments of this application are described in conjunction with the accompanying drawings, using the first and second ends of the second elastic element 4421 as the ends of the second elastic element 4421 to illustrate the structure of the storage system.

[0103] In the exemplary embodiments provided in this application, reference continues to be made to Figure 4 , Figure 6 , Figure 7 , Figure 9 as well as Figure 10As shown, the cleaning assembly 44 may further include a second guide mechanism 445. The first mounting member 443 cooperates with the second mounting member 444 through the second guide mechanism 445. The second pre-tightening mechanism 442 is configured to apply a second pre-tightening force toward the cleaning member 441 in the direction of the second pre-tightening under the action of the second guide mechanism 445. With this setting, the direction of action of the second pre-tightening mechanism 442 can be constrained, that is, the direction of action of the second pre-tightening force can be constrained, so that the second pre-tightening mechanism 442 always applies a force toward the track 11 to the cleaning member 441, avoiding poor pre-tightening effect or even pre-tightening failure due to the skewness of the force direction during the pre-tightening process, which would prevent the cleaning member 441 from cleaning the surface of the track 11. Therefore, by setting the second guide mechanism 445, this application can achieve reliable contact between the cleaning member 441 and the surface of the track 11, thereby ensuring that the cleaning member 441 can always have a cleaning effect on the surface of the track 11.

[0104] In the exemplary embodiments provided in this application, reference is made to Figure 10 As shown, the second guiding mechanism 445 may include a guide member 4451 and a mating member 4452. Under the action of the second pre-tightening mechanism 442, one of the guide member 4451 and the mating member 4452 moves relative to the other along the second pre-tightening direction. One of the guide member 4451 and the mating member 4452 is disposed on the first mounting member 443, and the other is disposed on the second mounting member 444. With this arrangement, the second pre-tightening mechanism 442 can drive one of the guide member 4451 and the mating member 4452 to move relative to the other. In this way, under the constraint of the guide member 4451 and the mating member 4452, the second pre-tightening mechanism 442 can ensure that the direction of the pre-tightening action (i.e., the second pre-tightening force) is always towards the track 11 while realizing the pre-tightening effect on the cleaning member 441.

[0105] For example, continue to refer to Figure 10 As shown, the guide member 4451 can be constructed as a guide post, and the mating member 4452 can be constructed as a mating hole that mates with the guide post. The mating hole is located on and passes through the first mounting member 443. The guide post is connected to the second mounting member 444 and extends in a direction away from the track 11. The second pre-tightening mechanism 442 abuts between the first mounting member 443 and the second mounting member 444. In this way, the second pre-tightening mechanism 442 will always apply a second pre-tightening force to the cleaning member 441 through the second mounting member 444. Therefore, when the cleaning member 441 is worn, the wear of the cleaning member 441 can be compensated by the pre-tightening effect of the second pre-tightening mechanism 442. At the same time, the second pre-tightening mechanism 442 will also drive the guide post to move along the mating hole through the second mounting member 444, thereby constraining the direction of the second pre-tightening force.

[0106] In some embodiments, continue to refer to Figure 10 As shown, when the second pre-tightening mechanism 442 is the second elastic element 4421 (e.g., a spring), a guide sleeve can be provided on the side of the first mounting member 443 near the second mounting member 444. The mating hole passes through the first mounting member 443 and the guide sleeve. A mounting groove is provided on the side of the second mounting member 444 near the first mounting member 443. One end of the guide post is provided in the mounting groove, and the other end extends toward the mating hole and passes through the mating hole. The second elastic element 4421 is sleeved on the guide post and the guide sleeve. At the same time, one end of the second elastic element 4421 is provided in the mounting groove and abuts against the bottom of the mounting groove, while the other end abuts against the first mounting member 443.

[0107] In other embodiments, when the second pre-tightening mechanism 442 is a second elastic member 4421 (e.g., a spring), mounting grooves can also be formed on the first mounting member 443 and the second mounting member 444, with the openings of the two mounting grooves facing each other. Thus, one end of the second elastic member 4421 can be installed in one mounting groove and abut against the bottom of that groove, while the other end is installed in the other mounting groove and abuts against the bottom of that groove. The mating hole penetrates the mounting groove of the first mounting member 443, and one end of the guide post is disposed in the mounting groove of the second mounting member 444, while the other end extends toward and through the mating hole. Of course, the implementation of the second pre-tightening mechanism 442 and the second guide mechanism 445 is not limited to the methods shown in the above embodiments; any other suitable method can be used. This application does not impose any restrictions on this, and the specific implementation can be flexibly selected according to the actual situation.

[0108] In the exemplary embodiments provided in this application, the cleaning assembly 44 may further include a third limiting member (not shown in the figure). The third limiting member is disposed on the guide member 4451 and cooperates with the mating member 4452 to stop. The third limiting member is configured to limit the range of movement of the cleaning member 441 relative to the first mounting member 443. In this way, when the cleaning member 441 is worn, the second pre-tightening mechanism 442 and the second guide mechanism 445 cooperate to compensate for the wear. However, in order to avoid excessive compensation that would affect the cleaning member... Regarding the cleaning effect of 441, this application limits the movement range of the cleaning component 441 relative to the first mounting component 443 by setting a third limiting member, that is, limiting the compensation range of the cleaning component 441, so as to avoid the cleaning component 441 being affected by excessive wear, thereby ensuring the cleaning effect of the cleaning component 441. In this way, when the third limiting member and the mating component 4452 stop, the cleaning component 441 reaches the compensation limit, at which point the cleaning component 441 can be replaced.

[0109] For example, when the guide member 4451 is constructed as a guide post and the mating member 4452 is constructed as a mating hole, the third limiting member can be constructed as a third limiting block. The third limiting block is disposed at the end of the guide member 4451 away from the second mounting member 444 and located on the side of the first mounting member 443 away from the second mounting member 444. In this way, when the guide post moves to the limit position relative to the mating hole toward the track 11, the third limiting block will be stopped on the first mounting member 443, thereby limiting the compensation range of the cleaning member 441.

[0110] In the above embodiments, the third limiting member may further include a locking part and a stopping part. The locking part may be disposed on the guide member 4451, and the stopping part may be disposed on the mating member 4452, with the locking part and the stopping part engaging in a stop-fitting relationship. For example, when the guide member 4451 is constructed as a guide post and the mating member 4452 is constructed as a mating hole, the locking part may be constructed as a locking block disposed at the end of the guide post, and the stopping part may be a stopping step formed on the inner wall of the mating hole. In this way, when the guide post moves to its limit position relative to the mating hole toward the track 11, the locking block will be stopped on the stopping step, thereby limiting the compensation range of the cleaning member 441.

[0111] In the exemplary embodiments provided in this application, for the case where the opening of the track 11 faces upward or downward as mentioned above, the first pretensioning mechanism 42 and the second pretensioning mechanism 442 in the corresponding walking assembly 4 can operate in at least the following two ways:

[0112] In the first implementation, refer to Figure 3 As shown, the track 11 opens downwards, and the traveling assembly 4 can be positioned below the track 11. In this case, the first pre-tensioning mechanism 42 applies a first pre-tension force to the traveling wheel 41 from below upwards. At this time, the first pre-tensioning mechanism 42 needs to overcome the weight of the traveling assembly 4 and provide the first pre-tension force to the traveling wheel 41. Similarly, the second pre-tensioning mechanism 442 applies a second pre-tension force to the cleaning component 441 from below upwards. At this time, the second pre-tensioning mechanism 442 needs to overcome the weight of the cleaning component 441 and provide the second pre-tension force to the cleaning component 441.

[0113] In the second implementation, refer to Figure 6 and Figure 9 As shown, the track 11 has an upward opening, and the traveling assembly 4 can be positioned above the track 11. In this case, the first pre-tensioning mechanism 42 applies a first pre-tensioning force to the traveling wheel 41 from above to below. At this time, since the weight of the traveling assembly 4 will act on the track 11 through the traveling wheel 41, the magnitude of the first pre-tensioning force applied by the first pre-tensioning mechanism 42 to the traveling wheel 41 is the magnitude of the actual required pre-tensioning force of the traveling wheel 41 minus the weight of the traveling assembly 4.

[0114] Similarly, when the opening of the track 11 faces upward and the walking component 4 is positioned above the track 11, the second pre-tightening mechanism 442 applies a second pre-tightening force to the cleaning component 441 from above to below. At this time, since the weight of the cleaning component 441 will act on the track 11, the magnitude of the second pre-tightening force applied to the cleaning component 441 by the second pre-tightening mechanism 442 is the magnitude of the actual required pre-tightening force of the cleaning component 441 minus the weight of the cleaning component 441.

[0115] In the exemplary embodiments provided in this application, reference is made to Figure 3 and Figure 4 As shown, when the opening of the track 11 faces downwards, according to the analysis of the aforementioned embodiments, the first pre-tensioning mechanism 42 needs to provide a first pre-tensioning force to the traveling wheel 41 while overcoming the weight of the traveling component 4. Therefore, the first pre-tensioning mechanism 42 can be configured to include at least two, with the at least two first pre-tensioning mechanisms 42 arranged at intervals relative to the centerline of the traveling wheel 41 in the first pre-tensioning direction. In this way, the pre-tensioning requirement of the traveling wheel 41 can be met by increasing the number of first pre-tensioning mechanisms 42, so that the traveling wheel 41 can reliably contact the surface of the track 11. Exemplarily, the first pre-tensioning mechanism 42 can include two, three, or four, etc. When there are two first pre-tensioning mechanisms 42, the two first pre-tensioning mechanisms 42 are arranged at intervals relative to the traveling wheel 41 in the first pre-tensioning direction (e.g., the centerline of the first pre-tensioning direction).

[0116] In the exemplary embodiments provided in this application, reference is made to Figures 3 to 9 As shown, the walking assembly 4 may further include a first connector 45 and a second connector 46. The first pre-tensioning mechanism 42 cooperates with the upright frame 2 through the first connector 45. The fixed part 431 of the first guide mechanism 33 is disposed on the first connector 45. The first pre-tensioning mechanism 42 cooperates with the walking wheel 41 and the moving part 432 of the first guide mechanism 43 through the second connector 46. In this way, by setting the first connector 45, the connection between the first pre-tensioning mechanism 42 and the upright frame 2 and the fixed part 431 of the first guide mechanism 33 can be facilitated. And by setting the second connector 46, the cooperation between the first pre-tensioning mechanism 42 and the walking wheel 41 and the moving part 432 of the first guide mechanism 43 can be facilitated.

[0117] In some embodiments, reference continues to be made to Figure 4 , Figure 5 as well as Figure 7 To further facilitate the connection between the first pre-tightening mechanism 42 and the first connecting member 45 and the second connecting member 46, a first mounting part 451 can be provided on the first connecting member 45, and a second mounting part 461 can be provided on the second connecting member 46. The first mounting part 451 and the second mounting part 461 are arranged at intervals along the first pre-tightening direction, and the first pre-tightening mechanism 42 is configured between the first mounting part 451 and the second mounting part 461.

[0118] For example, when the first pre-tensioning mechanism 42 is configured as a first elastic element 421 (e.g., a spring), the first connecting member 45 can be configured as a first connecting plate with a protruding first mounting groove, and the second connecting member 46 can be configured as a second connecting plate with a protruding second mounting groove. The first mounting groove and the second mounting groove are spaced apart along the first pre-tensioning direction, and the first opening of the first mounting groove is opposite to the second opening of the second mounting groove. The first elastic element 421 is disposed in the first mounting groove and extends into the second mounting groove, with one end of the first elastic element 421 abutting against the bottom of the first mounting groove and the other end abutting against the bottom of the second mounting groove. The first mounting groove serves as a first mounting portion 451, and the second mounting groove serves as a second mounting portion 461. Here, the number of the first connecting plate and the second connecting plate is not limited to one; two or more can be set according to the actual situation. This application does not impose any restrictions on this, and the specific choice can be flexibly made according to the actual situation.

[0119] In the exemplary embodiments provided in this application, the walking component 4 includes at least one, and the at least one walking component 4 further includes a driving member (not shown in the figure). The driving member is vehicularly connected to the walking wheel 41 of the walking component 4, so that the walking wheel 41 can move along the corresponding track 11 under the drive of the driving member. Here, a transmission member can also be provided between the driving member and the walking wheel 41, and the driving member drives the walking wheel 41 to move through the transmission member. The walking component 4 can include one, two or more, and can be flexibly selected according to the actual situation. This application does not limit this. When there are multiple walking components 4, the walking component 4 with the driving member is connected to the other walking components 4 through the upright 2, so that the upright 2 can drive the other walking components 4 to move together.

[0120] It should be noted that the driving component may include, but is not limited to, a motor, a drive cylinder, etc. The transmission component may include, but is not limited to, one of chain drive, gear drive, or ball screw drive. This application does not impose any restrictions on the specific structure of the driving and transmission components; they can be flexibly selected according to actual circumstances.

[0121] In the exemplary embodiments provided in this application, reference is made to Figure 11As shown, the walking assembly 4 may further include a tightening engagement portion 47, which is disposed on the first pre-tightening mechanism 42. The tightening engagement portion 47 may be configured to engage with the tightening member of the auxiliary installation tool to apply a tightening force away from the track 11 to the first pre-tightening mechanism 42, so that the first pre-tightening mechanism 42 drives the walking assembly 4 away from the track 11. Alternatively, the tightening engagement portion 47 may be configured to disengage from the tightening member of the auxiliary installation tool, so that the first tightening mechanism, under the action of the first guide mechanism 43, applies a first pre-tightening force toward the walking wheel 41 in the first pre-tightening direction. Thus, by operating the engagement or disengagement between the tightening member and the tightening engagement portion 47, the walking wheel 41 can be driven away from the track 11 or kept in contact with the track 11.

[0122] Specifically, when the walking component 4 needs to be installed, in order to avoid the track 11 interfering with the walking wheel 41, the walking wheel 41 can be moved away from the track 11 by operating the tightening member and the tightening engagement part 47 to facilitate the installation of the walking component 4; when the walking component 4 is installed and needs to work normally, the tightening member can be disengaged from the tightening engagement part 47 to ensure that the first pre-tightening mechanism 42 can apply the first pre-tightening force to the walking wheel 41 under the action of the first guide mechanism 43, so that the walking wheel 41 keeps in contact with the track 11 and the walking wheel 41 can walk normally on the track 11.

[0123] For example, the tightening engagement portion 47 can be constructed as a hollow column on the first pre-tightening mechanism 42 (e.g., the first mounting portion 451 and the second mounting portion 461), the hollow column having a thread inside, and the tightening member can be constructed as a screw that can be threadedly engaged with the tightening engagement portion 47. In this way, the traveling wheel 41 can be driven away from the track 11 by the threaded connection between the tightening member and the tightening engagement portion 47, and the first pre-tightening mechanism 42 can apply a first pre-tightening force to the traveling wheel 41 by disengaging the threaded engagement between the tightening member and the tightening engagement portion 47.

[0124] The embodiments of this application have the same or corresponding technical features as the foregoing embodiments. Therefore, they have the same or similar technical effects as the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. This will not be repeated in the embodiments of this application.

[0125] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A warehousing system, characterized in that, include: A vehicle (1) on which a track (11) is formed; Frame (2); The pick-and-place assembly (3) is mounted on the stand (2) and moves up and down along the stand (2). The pick-and-place assembly (3) is used to dock with the carrier (1) to pick up and return items. as well as A walking assembly (4) is disposed on the upright frame (2), and the walking assembly (4) includes: The walking wheels (41) travel along the track (11) to drive the upright (2) to move relative to the track (11); The first pretensioning mechanism (42) cooperates with the traveling wheel (41) to apply a first pretensioning force toward the track (11) to the traveling wheel (41); A first guide mechanism (43) cooperates with a first pre-tightening mechanism (42), at least a portion of the first guide mechanism (43) moves relative to the upright (2) in a first pre-tightening direction; the first pre-tightening mechanism (42) is configured to move along the first pre-tightening direction under the action of the first guide mechanism (43).

2. The warehousing system according to claim 1, characterized in that, The first guide mechanism (43) includes a fixed part (431) and a movable part (432). The movable part (432) moves relative to the fixed part (431) along the first pre-tightening direction. The fixed part (431) cooperates with the upright (2), and the movable part (432) cooperates with the first pre-tightening mechanism (42). The first pretensioning mechanism (42) is configured to move the moving part (432) relative to the fixed part (431) to apply a first pretensioning force toward the walking wheel (41) in the first pretensioning direction.

3. The warehousing system according to claim 2, characterized in that, The first guide mechanism (43) further includes a first limiting member (433) and a second limiting member (434), which are spaced apart along the first pre-tightening direction at a first position and a second position on the fixed part (431) to limit the range of movement of the moving part (432) relative to the fixed part (431).

4. The warehousing system according to claim 1, characterized in that, The first pre-tightening mechanism (42) includes a first elastic element (421), the first end of the first elastic element (421) is fixed relative to the upright (2), the second end of the first elastic element (421) cooperates with the walking wheel (41), and the extension and retraction direction of the first elastic element (421) is the first pre-tightening direction.

5. The warehousing system according to claim 4, characterized in that, The walking assembly (4) further includes a first connector (45) and a second connector (46). The first end of the first elastic member (421) cooperates with the upright (2) through the first connector (45). The fixed part (431) of the first guide mechanism (33) is disposed on the first connector (45). The second end of the first elastic member (421) cooperates with the walking wheel (41) and the moving part (432) of the first guide mechanism (43) through the second connector (46).

6. The warehousing system according to claim 1, characterized in that, One or more tracks (11) are formed on the vehicle (1), each track (11) corresponding to at least one walking component (4), and when the opening of the one or more tracks (11) faces upward, the walking component (4) is located above the track (11); and / or, When the opening of one or more tracks (11) is facing downwards, the walking component (4) is located below the track (11).

7. The warehousing system according to claim 6, characterized in that, When the opening of one or more tracks (11) faces downward, the first pretensioning mechanism (42) of the walking assembly (4) includes at least two, and the at least two first pretensioning mechanisms (42) are arranged at intervals relative to the first pretensioning direction of the walking wheel (41).

8. The warehousing system according to claim 6, characterized in that, The plurality of tracks (11) includes a first track (111) and a second track (112), the first track (111) and the second track (112) being arranged at intervals along the height direction of the vehicle (1), and one of the first track (111) and the second track (112) having an opening facing upwards, and the other of the first track (111) and the second track (112) having an opening facing downwards.

9. The warehousing system according to claim 8, characterized in that, in, The opening of the first track (111) is opposite to the opening of the second track (112).

10. The warehousing system according to claim 6, characterized in that, At least one of the walking components (4) includes a drive member (48) which is connected to the walking wheel (41) of the walking component (4).

11. The warehousing system according to claim 10, characterized in that, When at least one of the tracks (11) has its opening facing upward, the walking assembly (4) corresponding to the track (11) with its opening facing upward includes the drive member (48).

12. The warehousing system according to claim 11, characterized in that, The support frame (2) includes a first column (21) and a second column (22) that are spaced apart and connected to each other along its width direction. Each track (11) has two walking components (4), one of which is located on the first column (21) and the other is located on the second column (22).

13. The warehousing system according to claim 12, characterized in that, At least one of the two walking components (4) corresponding to at least one of the tracks (11) includes the drive member (48), which is connected to the walking wheel (41) of the walking component (4).

14. The warehousing system according to claim 12, characterized in that, The plurality of tracks (11) includes a first track (111) and a second track (112), the first track (111) and the second track (112) being arranged at intervals along the height direction of the vehicle (1), and the plurality of tracks (11) further includes a third track (113), the third track (113) being disposed between the first track (111) and the second track (112); The storage system also includes a sliding contact line (5), which includes a conductor (52) and a receiver (51). The conductor (52) is disposed on the third track (113) and extends along the third track (113). The conductor (52) is electrically connected to a power supply. The receiver (51) cooperates with a walking component (4) corresponding to the third track (113). The receiver (51) is connected to an electrical appliance (6) on the track (11). The receiver (51) is configured to make electrical contact with the conductor (52) when the walking component (4) moves, so as to supply power to the electrical appliance (6). The electrical appliance (6) includes a drive component (48) of the walking component (4).

15. The warehousing system according to claim 14, characterized in that, The receiver (51) includes a receiver body (511) and a cable (512). The receiver body (511) cooperates with the walking component (4) corresponding to the third track (113). The receiver body (511) is electrically connected to the appliance (6) through the cable (512). The receiver body (511) is configured to make electrical contact with the conductor (52) when the walking component (4) moves, so as to supply power to the appliance (6) through the cable (512).

16. The warehousing system according to claim 15, characterized in that, The cable (512) includes a first cable, and a first channel is provided through the first post (21) and / or the second post (22) along its own extension direction. The first cable passes through the first channel, and one end is electrically connected to the receiver body (511), and the other end is electrically connected to the corresponding appliance (6) on at least one of the first track (111) and the second track (112); and / or, The cable (512) includes a second cable, and the support frame (2) also includes a crossbeam (23). The first column (21) is connected to the second column (22) through the crossbeam (23). The crossbeam (23) has a second channel extending through it. The receiver body (511) is disposed on one of the first column (21) and the second column (22). The second cable passes through the second channel, and one end is electrically connected to the receiver body (511), and the other end is electrically connected to the appliance (6) on the other of the first column (21) and the second column (22).

17. The warehousing system according to claim 1, characterized in that, The storage system also includes a cleaning assembly (44) disposed in front of the traveling wheel (41) in the direction of travel, and the cleaning assembly (44) is configured to clean obstacles on the track (11) located in front of the traveling wheel (41).

18. The warehousing system according to claim 17, characterized in that, The cleaning assembly (44) includes a cleaning component (441) and a second pre-tensioning mechanism (442). The cleaning component (441) cooperates with the walking assembly (4) through the second pre-tensioning mechanism (442). The second pre-tensioning mechanism (442) is configured to apply a second pre-tensioning force toward the track (11) to the cleaning component (441) so that the cleaning component (441) cleans the track (11) during the movement of the walking wheel (41).

19. The warehousing system according to claim 18, characterized in that, The cleaning assembly (44) further includes a first mounting member (443) and a second mounting member (444), the first mounting member (443) and the second mounting member (444) being arranged at a distance along a second pre-tightening direction, the first mounting member (443) cooperating with the walking assembly (4), the second mounting member (444) cooperating with the cleaning member (441), the first mounting member (443) cooperating with the second mounting member (444) through a second pre-tightening mechanism (442), the second pre-tightening mechanism (442) being configured to apply the second pre-tightening force to the cleaning member (441) through the second mounting member (444).

20. The warehousing system according to claim 19, characterized in that, The second pre-tightening mechanism (442) includes a second elastic member (4421), the first end of which is fixed relative to the walking assembly (4), the second end of which cooperates with the cleaning member (441), and the extension and retraction direction of the second elastic member (4421) is the second pre-tightening direction.

21. The warehousing system according to claim 19, characterized in that, The cleaning assembly (44) further includes a second guide mechanism (445), the first mounting member (443) cooperates with the second mounting member (444) through the second guide mechanism (445), and the second pre-tightening mechanism (442) is configured to apply a second pre-tightening force toward the cleaning member (441) in the direction of the second pre-tightening under the action of the second guide mechanism (445).

22. The warehousing system according to claim 21, characterized in that, The second guiding mechanism (445) includes a guide member (4451) and a mating member (4452). Under the action of the second pre-tightening mechanism (442), one of the guide member (4451) and the mating member (4452) moves relative to the other along the second pre-tightening direction. One of the guide member (4451) and the mating member (4452) is disposed on the first mounting member (443), and the other is disposed on the second mounting member (444).

23. The warehousing system according to claim 22, characterized in that, The cleaning assembly (44) further includes a third limiting member disposed on the guide member (4451) and engaging with the mating member (4452) to stop. The third limiting member is configured to limit the range of movement of the cleaning member (441) relative to the first mounting member (443).

24. The warehousing system according to any one of claims 1-23, characterized in that, The walking assembly (4) further includes a tightening fitting part (47), which is disposed on the first pre-tightening mechanism (42). The tightening engagement part (47) is configured to engage with the tightening member of the auxiliary installation tool to apply a tightening force away from the track (11) to the first pre-tightening mechanism (42), so that the first pre-tightening mechanism (42) drives the walking assembly (4) away from the track (11); or, the tightening engagement part (47) is configured to disengage from the tightening member of the auxiliary installation tool, so that the first pre-tightening mechanism (42) applies a first pre-tightening force toward the walking wheel (41) in the first pre-tightening direction under the action of the first guide mechanism (43).

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