Powered lifting assemblies, shelving robots, and warehouse storage systems

Abstract

This invention provides a powered lifting assembly, a shelving robot, and a warehouse storage system. The powered lifting assembly includes a vertical rod, a lifting platform, and a drive module. The drive module includes a motor and a lifting mechanism. The lifting platform is movably mounted on the vertical rod and connected to the lifting mechanism. The motor drives the lifting mechanism to move the lifting platform along the vertical rod. The powered lifting assembly further includes a battery holder in which a battery is detachably installed, and the battery holder electrically connects the battery electrodes to the power input terminals of the motor. By supplying power to power-consuming modules such as motors using a battery installed in the powered lifting assembly, this invention eliminates the need to install expensive conductive structures such as conductor rails on the lateral guide rails, reduces material costs for manufacturing the shelving robot, and allows for direct removal and replacement of the battery from the battery holder if there is a problem with the battery. Compared to the conductor rail configuration, this invention can effectively reduce maintenance costs, inspection and repair costs of the shelving robot, and improve the maintenance efficiency of the shelving robot.

Description

Technical Field

[0001] (Cross - reference to related applications) This invention claims priority based on a Chinese patent application with an application number of 202422587956.8 and a utility model title of "Power - supply type lifting assembly, shelf robot, and warehouse storage system", which was filed with the China National Intellectual Property Administration on October 24, 2024. All of its contents are incorporated into this invention by reference.

[0002] This invention relates to the field of warehouse storage devices, specifically to a power - supply type lifting assembly used in shelf robots, a shelf robot including the power - supply type lifting assembly, and a warehouse storage system including the shelf robot.

[0003] With the evolution of smart warehouse storage systems and the increase in shelf heights, shelf robots are widely used in the field of warehouse storage devices. Shelf robots are directly installed on the side of the shelves, support the weight of the traveling device and the goods by means of a lateral and vertical guide rail structure, and can adapt to shelves of different heights. Compared with case - handling robots, shelf robots have lower requirements for the working space between shelves, and there is no need to install a slide guide rail and a lifting module with a complex structure to adapt to the shelf height like a case - handling robot. Therefore, the material cost and scheduling cost of the warehouse storage system can be significantly reduced, and the utilization rate of the warehouse space can be improved.

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, conventional shelf robots have high manufacturing costs. Especially when arranging shelf robots on large - scale high - rise shelves, it is often necessary to consume a large amount of material costs and maintenance costs. Therefore, how to provide a low - cost structure of shelf robots has become an urgent technical problem to be solved in this field.

[0005] The present invention aims to solve, to some extent, one of the technical problems in related technologies. Therefore, the present invention provides a powered lifting assembly for use in a shelf robot, a shelf robot including the powered lifting assembly, and a warehouse storage system including the shelf robot. Since the powered lifting assembly is powered by a battery, the manufacturing and maintenance costs of the shelf robot can be effectively reduced. [Means for solving the problem]

[0006] To achieve the above-mentioned objectives, one aspect of the present invention provides a powered lifting assembly for use in a shelf robot, the powered lifting assembly comprising a vertical rod, a lifting platform, and a drive module, the drive module comprising a motor and a lifting mechanism, the lifting platform being movably mounted on the vertical rod and connected to the lifting mechanism, the motor driving the lifting mechanism to move the lifting platform along the vertical rod, the powered lifting assembly further comprising a battery holder for detachably mounting a battery, the battery holder electrically connecting the electrodes of the battery to the power input terminal of the motor.

[0007] Selectively, the battery holder includes a power supply chamber, power supply contacts, and a power supply line, wherein the position of the power supply chamber is fixed relative to the position of the vertical rod, the power supply contacts are installed in the power supply chamber and are for electrically contacting the electrodes of the battery, and the power supply line is electrically connected between the power supply contacts and the power supply input terminal of the motor.

[0008] A battery is selectively installed in the power supply chamber, and the electrodes of the battery are in electrical contact with the power supply contacts.

[0009] Selectively, the battery holder further comprises a protective case housing the power supply chamber.

[0010] Selectively, the power supply chamber includes a plurality of battery cases arranged along the longitudinal direction of the vertical rod, and the power supply contacts are installed inside the battery cases.

[0011] Selectively, the battery holder further includes a battery bracket, the position of which the battery bracket is fixed relative to the position of the motor, and a plurality of the battery cases are fixedly installed on the battery bracket.

[0012] Selectively, the powered lifting assembly further includes a charging structure, the charging structure includes a charging bracket, a charging wire, a plurality of charging contact terminals, and a plurality of charging contacts, wherein the charging bracket is fixedly mounted on the vertical rod, the plurality of charging contact terminals are mounted on the charging bracket, the plurality of charging contacts are electrically connected to the plurality of charging contact terminals in a one-to-one correspondence, and the charging wire is connected between the charging contacts and the power supply contacts.

[0013] Selectively, the charging bracket includes a vertical plate, a side plate, and a flat plate, the vertical plate being fixedly installed on one side of the vertical rod, one end of the side plate being fixedly connected to the vertical plate, the other end of the side plate extending away from the vertical rod and being fixedly connected to the flat plate, the flat plate having a wiring through-hole, the charging contact terminal being fixedly installed on one side of the flat plate, the charging contact being located on the other side of the flat plate and the end of the charging contact being electrically connected to the charging contact terminal by passing through the wiring through-hole.

[0014] Selectively, the powered lifting assembly further includes a support base and at least one support wheel, the support base being fixedly connected to the end of the vertical rod, the motor and the battery holder both being fixedly mounted on the support base, and the support wheel being mounted on the side of the support base opposite to the vertical rod.

[0015] The battery bracket is selectively fixed to the support base.

[0016] Selectively, the motor is a rotary motor, the lifting mechanism includes a drive wheel, a driven wheel, and a transmission belt, the drive wheel and the driven wheel are spaced apart along the longitudinal direction of the vertical rod, the transmission belt is wrapped around the drive wheel and the driven wheel, the lifting platform is fixedly connected to the transmission belt, and the motor can drive the drive wheel to rotate so that the transmission belt moves the lifting platform along the vertical rod.

[0017] Selectively, the vertical rods are installed in pairs so as to be parallel to each other and spaced apart, and each of the drive modules is installed correspondingly to each of the vertical rods.

[0018] A second aspect of the present invention provides a shelf robot comprising a traveling assembly, an execution assembly, and a powered lifting assembly according to the present invention, wherein the traveling assembly is mounted on a vertical rod and can drive the vertical rod to move the powered lifting assembly along a lateral guide rail intersecting the vertical rod, the execution assembly is connected to the lifting platform of the powered lifting assembly, and the battery holder of the powered lifting assembly electrically connects the electrodes of the battery to the power input terminal of the traveling assembly and the power input terminal of the execution assembly.

[0019] A third aspect of the present invention provides a warehouse storage system, the warehouse storage system comprising shelves and a shelf robot according to the present invention, wherein the lateral guide rail is installed on one side of the shelves.

[0020] Selectively, the powered lifting assembly further includes a charging structure, wherein a charging stand is fixedly installed on the shelf, the charging stand includes a plurality of sliding contact pieces extending along the longitudinal direction of the lateral guide rail, and the charging contact terminals of the charging structure are movable along the lateral guide rail together with the vertical rod until they contact the sliding contact pieces.

[0021] Optionally, the charging stand further includes a charging rack, the charging rack is fixedly installed on the shelf, the top of the charging rack has a positioning surface extending along the horizontal direction, and the sliding contact piece is fixedly installed on the positioning surface.

Advantages of the Invention

[0022] In the power supply type lifting and lowering assembly, shelf robot and warehouse storage system according to the present invention, the power supply type lifting and lowering assembly includes a battery holder for installing a removable battery, and the battery is electrically connected to the motor through the battery holder, so as to use the battery installed in the power supply type lifting and lowering assembly and movable together with the power supply type lifting and lowering assembly to supply power to power consumption modules such as motors. Thereby, there is no need to install an expensive conductive structure such as a conductor rail on the lateral guide rail, and the material cost for manufacturing the shelf robot can be reduced.

[0023] And when problems such as power supply efficiency due to the battery life or situations such as battery damage occur, the battery can be directly removed from the battery holder and replaced. Compared with the prior art that requires inspection and repair of the entire conductor rail, the maintenance cost, inspection and repair cost of the shelf robot can be effectively reduced, and the maintenance efficiency of the shelf robot can be improved.

Brief Description of the Drawings

[0024] The attached drawings described herein are for further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments and their descriptions of the present invention are for explaining the present invention and do not limit the present invention. [Figure 1] FIG. 1 is a schematic structural diagram of a shelf robot according to an embodiment of the present invention. [Figure 2] FIG. 2 is a partially enlarged schematic diagram of the structure of area A in FIG. 1. [Figure 3] FIG.  3 is a partially enlarged schematic diagram of the first embodiment of the structure of area B in FIG. 1. [Figure 4]FIG. 4 is a partially enlarged schematic view of a second embodiment of the structure of area B in FIG. 1. [Figure 5] FIG. 5 is a schematic structural view of a warehouse storage system according to an embodiment of the present invention. [Figure 6] FIG. 6 is a partial structural schematic view when the charging structure of the power supply type lifting assembly of the warehouse storage system according to the embodiment of the present invention is in contact with the charging stand on the shelf. [Figure 7] FIG. 7 is a partially enlarged schematic view of the structure of area C in FIG. 6. [Figure 8] FIG. 8 is a partially enlarged schematic view of the structure of area D in FIG. 6. [Figure 9] FIG. 9 is a schematic view of the structure when the charging stand and the shelf in FIG. 8 are connected.

Description of Reference Numerals

[0025] 100 vertical rod, 200 lifting platform; 300 drive module, 310 motor, 320 lifting mechanism, 400 battery holder, 410 power supply chamber, 411 battery case, 412 external wire contact, 420 protection case, 430 battery bracket, 500 charging structure, 510 charging bracket, 511 vertical plate, 512 side plate, 513 flat plate, 520 charging contact terminal, 521 electrode, 530 charging contact, 600 support pedestal, 610 support wheel, 700 traveling assembly, 710 lateral guide rail, 10 shelf, 20 charging stand, 21 sliding contact piece, 22 charging rack, 221 mounting portion, 222 fixing portion, 223 first rib plate, 224 second rib plate, 30 charging cabinet, 1 battery.

Embodiments for Carrying Out the Invention

[0026] Hereinafter, in order to more clearly explain the object, technical solution and advantages of the present invention, embodiments will be given while referring to the drawings, and the present invention will be described in more detail. Of course, the described embodiments are merely some embodiments of the present invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention shall fall within the protection scope of the present invention.

[0027] The terms “one embodiment,” “example,” or “one example” used herein mean that certain features, structures, or properties described in relation to the embodiment itself may be included in at least one embodiment disclosed herein. The phrase “in one embodiment” appearing elsewhere in this specification does not necessarily refer to the same embodiment.

[0028] Typically, a shelving robot includes an execution assembly, a vertically powered lifting assembly, and a horizontally mounted guide rail structure. Here, the execution assembly is for loading and unloading goods or containers. The powered lifting assembly can raise and lower the execution assembly and slide along the horizontal guide rail, thereby enabling the execution assembly to be transported to each storage location on each layer of the shelving system. The execution assembly can retrieve goods or containers from their storage locations and deliver them when in the outbound position (for example, when transferring them to a ground transport cart or temporary shelving).

[0029] In conventional shelving robot structures, to facilitate power supply to powered lifting and running assemblies during movement, conductor rails are typically installed on a laterally positioned guide rail structure. This allows electrodes in the powered lifting assembly to remain electrically connected to the conductor rails, ensuring uninterrupted power supply. However, conductor rails have high material and maintenance costs, and when applied to large, high-rise shelving, the material costs are enormous.

[0030] To solve the technical problems described above, one aspect of the present invention provides a powered lifting assembly for use in a shelf robot. As shown in Figures 1, 2, and 5, the powered lifting assembly includes a vertical rod 100, a lifting platform 200, and a drive module 300. The drive module 300 includes a motor 310 and a lifting mechanism 320. The lifting platform 200 is movably mounted on the vertical rod 100 and connected to the lifting mechanism 320. The motor 310 drives the lifting mechanism 320 to move the lifting platform 200 along the vertical rod 100. The powered lifting assembly further includes a battery holder 400 in which a battery 1 is detachably mounted and which electrically connects the electrodes of the battery 1 to the power input terminal of the motor 310.

[0031] The powered lifting assembly according to the present invention, when applied to a shelf robot, is understood to be used in combination with an execution assembly and a travel assembly 700. The execution assembly is mounted on a lifting platform 200. The travel assembly 700 drives the entire powered lifting assembly to move horizontally, and the drive module 300 drives the lifting platform 200 to raise and lower the execution assembly, thereby enabling the execution assembly to be moved to different storage locations at different heights to perform loading and unloading operations for cargo and containers. The execution assembly and the travel assembly 700 may be powered by a battery 1 in a battery holder 400.

[0032] The powered lifting assembly according to the present invention includes a battery holder 400 for installing a removable battery 1. By electrically connecting the battery 1 to the motor 310 via the battery holder 400, power is supplied to power-consuming modules such as the motor 310 using the battery 1, which is installed in and can move with the powered lifting assembly. This eliminates the need to place expensive conductive structures such as conductor rails on the lateral guide rails 710, thereby reducing the material costs for manufacturing the shelf robot.

[0033] Furthermore, if a problem arises with power supply efficiency due to the lifespan of battery 1 or if the battery is damaged, battery 1 can be directly removed from the battery holder 400 and replaced. Compared to conventional technologies that require inspection and repair of the entire conductor rail, the present invention can effectively reduce the maintenance costs and inspection and repair costs of the shelf robot and improve the maintenance efficiency of the shelf robot.

[0034] As one selective embodiment of the present invention, as shown in Figures 1 and 2, the battery holder 400 includes a power supply chamber 410, power supply contacts (not shown), and power supply lines (not shown). The position of the power supply chamber 410 is fixed relative to the position of the vertical rod 100. The power supply contacts are installed inside the power supply chamber 410 and are for making electrical contact with the electrodes of the battery. The power supply lines are electrically connected between the power supply contacts and the power supply input terminal of the motor 310.

[0035] In one preferred embodiment of the present invention, as shown in Figures 6 and 7, the battery holder 400 further includes a protective case 420, and the power supply chamber 410 is housed within the protective case 420. This protects the battery holder 400 and the battery installed inside it with the protective case 420, prevents collisions with external objects, ensures stable power supply from the battery to associated power consumption modules (e.g., drive module 300, execution assembly, travel assembly 700, etc.), and further ensures stable operation of the shelf robot.

[0036] As one selective embodiment of the present invention, as shown in Figure 2, the power supply chamber 410 includes a plurality of battery cases 411 arranged along the longitudinal direction of the vertical rod 100, with power supply contacts located within the battery cases 411. That is, the power supply chamber 410 can accommodate a plurality of batteries 1 simultaneously, thereby enabling changes in the supply voltage by connecting different numbers of batteries in series and increasing the shelf robot's adaptability to the power demands of different power consumption modules.

[0037] Specifically, as shown in Figure 2, the battery case 411 is further equipped with an external wire contact 412 connected to the power supply contact. The external wire contact 412 is for electrically connecting the battery 1 inside the battery case 411 to the charging device outside the battery case 411 so that the charging device can charge the battery 1. This ensures the stability of the power supply to the relevant power consumption module in the powered lifting assembly. Specifically, the charging device may be an independent charging pile or the charging structure 500 in the embodiment of the present invention, but details will be described later.

[0038] As one selective embodiment of the present invention, as shown in Figure 2, the battery holder 400 further includes a battery bracket 430. The position of the battery bracket 430 is fixed relative to the position of the motor 310. Multiple battery cases 411 are fixedly installed on the battery bracket 430.

[0039] Selectively, the battery bracket 430 and structures such as the battery case 411 are assembled and connected by fasteners.

[0040] To facilitate charging of the battery in the battery holder 400, in one preferred embodiment of the present invention, as shown in Figures 1 and 3, the powered lifting assembly further comprises a charging structure 500 including a charging bracket 510, a charging wire (not shown), a plurality of charging contact terminals 520, and a plurality of charging contacts 530. The charging bracket 510 is fixedly installed on the vertical rod 100. The plurality of charging contact terminals 520 are installed on the charging bracket 510. The plurality of charging contacts 530 are electrically connected to the plurality of charging contact terminals 520 in a one-to-one correspondence. The charging wire is connected between the charging contacts 530 and the power supply contacts. Specifically, the charging wire is connected to the power supply contacts by an external wire contact 412.

[0041] In an embodiment of the present invention, as shown in Figures 1, 3, 6, and 8, a charging structure 500 having charging contact terminals 520 is fixedly installed on a vertical rod 100. The charging contact terminals 520 can contact contact pieces of a charging stand 20 fixed to a fixed structure such as a shelf 10, and supply power to the battery holder 400 via charging contacts 530 and charging wires. Furthermore, the powered lifting assembly can remain in the position of the charging stand 20 during non-operating times to charge and maintain the battery's energy level, thereby ensuring the stability of the power supply to the associated power consumption modules in the powered lifting assembly.

[0042] As one selective embodiment of the present invention, as shown in Figure 3, the charging bracket 510 includes a vertical plate 511, a side plate 512, and a flat plate 513. The vertical plate 511 is fixedly installed on one side of the vertical rod 100. One end of the side plate 512 is fixedly connected to the vertical plate 511, and the other end of the side plate 512 extends away from the vertical rod 100 and is fixedly connected to the flat plate 513. A wiring through-hole is formed in the flat plate 513. A charging contact terminal 520 is fixedly installed on one side of the flat plate 513, and a charging contact 530 is located on the other side of the flat plate 513, with the end of the charging contact 530 being electrically connected to the charging contact terminal 520 by being inserted through the wiring through-hole.

[0043] As one selective embodiment of the present invention, as shown in Figure 4, the charging contact terminal 520 is further provided with an electrode 521, which is for contacting a contact piece of the charging stand 20 to electrically connect the charging structure 500 and the charging stand 20.

[0044] As one selective embodiment of the present invention, as shown in Figures 1 and 2, the powered lifting assembly further includes a support base 600 and at least one support wheel 610. The support base 600 is fixedly connected to the end of the vertical rod 100. Both the motor 310 and the battery holder 400 are fixedly mounted on the support base 600, and the support wheel 610 is mounted on the side of the support base 600 opposite to the vertical rod 100.

[0045] In an embodiment of the present invention, a support base 600 is installed at the bottom of the powered lifting assembly. The support base 600 rolls and makes contact with the ground via support wheels 610, thereby supporting the powered lifting assembly using the ground, reducing the gravitational load that the powered lifting assembly places on the shelves, and ensuring the overall stability of the warehouse storage system.

[0046] As one selective embodiment of the present invention, the battery bracket 430 is fixedly installed on the support base 600, as shown in Figures 1 and 2.

[0047] In one optional embodiment of the present invention, the drive module 300 may be a pulley drive structure. Specifically, the motor 310 is a rotary motor, and the lifting mechanism 320 includes a drive wheel, a driven wheel, and a transmission belt. The drive wheel and the driven wheel are spaced apart along the longitudinal direction of the vertical rod 100, and the transmission belt is wrapped around the drive wheel and the driven wheel. The lifting platform 200 is fixedly connected to the transmission belt. The motor 310 can drive the drive wheel to rotate so that the transmission belt moves the lifting platform 200 along the vertical rod 100.

[0048] Alternatively, the drive module 300 may have a screw drive structure. The motor 310 is similarly a rotary motor. The motor 310 drives a vertically mounted screw to rotate, thereby causing the lifting platform 200, which is screw-connected to the screw, to be moved along the vertical rod 100.

[0049] Alternatively, in another embodiment of the present invention, the motor 310 may be a linear motor.

[0050] As one selective embodiment of the present invention, as shown in Figures 1 and 5, the vertical rods 100 are installed in pairs parallel to each other and spaced apart, and a drive module 300 is installed corresponding to each vertical rod 100.

[0051] A second aspect of the present invention provides a shelf robot. As shown in Figure 5, the shelf robot includes a travel assembly 700, an execution assembly (not shown), and a powered lifting assembly according to the present invention. The travel assembly 700 is mounted on a vertical rod 100, and the travel assembly 700 can drive the vertical rod 100 to move the powered lifting assembly along a lateral guide rail 710 that intersects the vertical rod 100. The execution assembly is connected to the lifting platform 200 of the powered lifting assembly. The execution assembly is for taking containers (or cargo) from shelves, placing containers on shelves, placing taken containers on other support structures (e.g., buffer areas at the bottom of shelves, AGV trolleys, temporary shelves, or conveyor belts next to shelves), or retrieving containers for storage from other support structures. The battery holder 400 of the powered lifting assembly electrically connects the electrodes of a battery 1 to the power input terminals of the travel assembly 700 and the power input terminals of the execution assembly.

[0052] In the shelf robot according to the present invention, the powered lifting assembly includes a battery holder 400 for installing a removable battery 1. The battery 1 is electrically connected to the motor 310 via the battery holder 400, thereby supplying power to power-consuming modules such as the motor 310, the travel assembly 700, and the execution assembly using the battery 1, which is installed in the powered lifting assembly and can move together with the powered lifting assembly. This eliminates the need to place expensive conductive structures such as conductor rails on the lateral guide rails 710, thereby reducing the material costs for manufacturing the shelf robot.

[0053] Furthermore, if a problem arises with power supply efficiency due to the lifespan of battery 1 or if the battery is damaged, battery 1 can be directly removed from the battery holder 400 and replaced. Compared to conventional technologies that require inspection and repair of the entire conductor rail, the present invention can effectively reduce the maintenance costs and inspection and repair costs of the shelf robot and improve the maintenance efficiency of the shelf robot.

[0054] It is understood that the battery holder 400 may be fixedly installed on the drive module 300 (i.e., fixed relative to the position of the motor 310) and may be electrically connected to the power module (e.g., the motor) of the running assembly 700 by a structure such as a drag chain or a conductor rail installed on the vertical rod 100.

[0055] In addition to the execution assembly, the motor 310 of the drive module 300, and the power module of the travel assembly 700, the battery holder 400 may also be electrically connected to other power-consuming modules, and it is understood that this enables the supply of power to these power-consuming modules. Optionally, other power-consuming modules of the shelf robot may further include a signal receiver for receiving control scheduling signals, a control module for controlling the drive module 300, the travel assembly 700, and the execution assembly to perform corresponding actions based on the control scheduling signals, and interactive function modules such as pilot lamps, displays, and touchscreens.

[0056] As one selective embodiment of the present invention, as shown in Figure 5, the shelf robot further includes at least one lateral guide rail 710, the lateral guide rail 710 extending along a direction intersecting the vertical rod 100.

[0057] In some embodiments of the present invention, the battery holder 400 may be fixedly connected to the travel assembly 700 and electrically connected to the power input terminal of the motor 310 by a structure such as a drag chain or a conductor rail installed on a vertical rod 100.

[0058] A third aspect of the present invention provides a warehouse storage system. As shown in Figure 5, the warehouse storage system includes shelves 10 and a shelf robot according to the present invention, and the lateral guide rail 710 is installed on one side of the shelves 10.

[0059] In the warehouse storage system according to the present invention, a removable battery 1 is installed in the powered lifting assembly of the shelf robot. The battery 1 is electrically connected to the motor 310 via a battery holder 400, thereby supplying power to power-consuming modules such as the motor 310 using the battery 1, which is installed in the powered lifting assembly and can move together with the powered lifting assembly. This eliminates the need to place expensive conductive structures such as conductor rails on the lateral guide rails 710, thereby reducing the material costs for manufacturing the shelf robot.

[0060] Furthermore, if a problem arises with power supply efficiency due to the lifespan of battery 1 or if the battery is damaged, battery 1 can be directly removed from the battery holder 400 and replaced. Compared to conventional technologies that require inspection and repair of the entire conductor rail, the present invention can effectively reduce the maintenance costs and inspection and repair costs of the shelf robot and improve the maintenance efficiency of the shelf robot.

[0061] To facilitate charging of the batteries in the battery holder 400, in one preferred embodiment of the present invention, as shown in Figures 1, 3, and 4, the powered lifting assembly further includes a charging structure 500. As shown in Figures 6, 8, and 9, a charging stand 20 is fixedly installed on the shelf 10. The charging stand 20 includes a plurality of sliding contact pieces 21 that extend along the longitudinal direction of the lateral guide rail 710. The charging contact terminals 520 of the charging structure 500 can move along the lateral guide rail 710 together with the vertical rod 100 until they contact the sliding contact pieces 21.

[0062] In an embodiment of the present invention, a charging structure 500 is fixed to a vertical rod 100, and a charging stand 20 is fixedly installed on a shelf 10. The charging structure 500 has charging contact terminals 520. The charging contact terminals 520 can contact a sliding contact piece 21 of the charging stand 20 fixed to the shelf 10. The charging stand 20 supplies power to the battery holder 400 via the charging structure 500. Furthermore, the powered lifting assembly can remain in the position of the charging stand 20 during non-operating times to charge and maintain the battery's energy level, and furthermore, ensure the stability of the power supply to the shelf robot's power consumption modules (e.g., drive module 300, execution assembly, travel assembly 700, etc.).

[0063] As one selective embodiment of the present invention, as shown in Figures 6, 8, and 9, the charging stand 20 is fixed to a column of the shelf 10. When charging is required, the power supply lifting assembly moves to the end of the lateral guide rail 710, allowing the charging structure 500 and the charging stand 20 to be aligned vertically, and the electrodes 521 of the charging contact terminals 520 contact the sliding contact pieces 21 of the charging stand 20 to charge.

[0064] The sliding contact piece 21 of the charging stand 20 is for electrically connecting to an external power source so that the battery 1 can be charged by the sliding contact piece 21 and the charging structure 500.

[0065] Specifically, the external power source may be a charging device independently installed next to the shelf 10, or it may be a charging cabinet 30 fixed to the shelf 10 as shown in Figure 5. The charging cabinet 30 is electrically connected to the sliding contact piece 21 of the charging stand 20, thereby charging the battery 1 through the sliding contact piece 21 and the charging structure 500.

[0066] As one selective embodiment of the present invention, as shown in Figures 8 and 9, the charging stand 20 further includes a charging rack 22 which is fixedly mounted on a shelf 10, the top of which has a positioning surface extending horizontally, and a sliding contact piece 21 which is fixedly mounted on the positioning surface.

[0067] As one selective embodiment of the present invention, as shown in Figures 8 and 9, the charging rack 22 includes a mounting portion 221 and a fixing portion 222. The mounting portion 221 is fixed to the tip of the fixing portion 222, and the sliding contact piece 21 is fixedly installed on the positioning surface at the top of the mounting portion 221. The fixing portion 222 is an L-shaped fixture, its vertical surface being screw-connected to the column of the shelf 10, and the mounting portion 221 being installed on its horizontal surface. To enhance the mounting stability of the charging stand 20, a first rib plate 223 is installed between the vertical surface and the horizontal surface of the fixing portion 222, and a second rib plate 224 is installed between the mounting portion 221 and the first rib plate.

[0068] The foregoing describes only preferred embodiments of the present invention and is not intended to limit the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention shall be within the scope of protection of the invention.

Claims

1. A powered lifting assembly used in a shelf robot, It includes a vertical rod, a lifting platform, and a drive module, the drive module including a motor and a lifting mechanism, The lifting platform is movably mounted on the vertical rod and connected to the lifting mechanism. The motor is used to drive the lifting mechanism to move the lifting platform along the vertical rod. The powered lifting assembly further includes a battery holder for which a battery is removable, the battery holder electrically connects the electrodes of the battery to the power input terminal of the motor, The battery holder includes a power supply chamber, power supply contacts, and power supply lines. The position of the power supply chamber is fixed relative to the position of the vertical rod. The power supply contacts are installed in the power supply chamber and are for making electrical contact with the electrodes of the battery. The power supply line is electrically connected between the power supply contact and the power supply input terminal of the motor. A powered lifting assembly characterized by the following features.

2. The power supply type lifting assembly according to claim 1, characterized in that the battery holder further comprises a protective case for housing the power supply chamber.

3. The power supply chamber includes a plurality of battery cases arranged along the longitudinal direction of the vertical rod, The power supply contacts are located inside the battery case. The powered lifting assembly according to claim 1, characterized in that it is a powered lifting assembly.

4. The powered lifting assembly further includes a charging structure, the charging structure includes a charging bracket, a charging wire, a plurality of charging contact terminals, and a plurality of charging contacts. The charging bracket is fixedly installed on the vertical rod, the multiple charging contact terminals are installed on the charging bracket, the multiple charging contacts are electrically connected to the multiple charging contact terminals in a one-to-one correspondence, and the charging wire is connected between the charging contact and the power supply contact. The powered lifting assembly according to any one of claims 1 to 3.

5. The powered lifting assembly further includes a support base and at least one support wheel, The support base is fixedly connected to the end of the vertical rod, the motor and the battery holder are both fixedly installed on the support base, and the support wheel is installed on the side of the support base opposite to the vertical rod. The powered lifting assembly according to any one of claims 1 to 3.

6. The motor is a rotary motor, The aforementioned lifting mechanism includes a drive wheel, a driven wheel, and a transmission belt. The drive wheel and the driven wheel are installed with a gap between them along the longitudinal direction of the vertical rod. The aforementioned transmission belt is wrapped around the drive wheel and the driven wheel. The lifting platform is fixedly connected to the transmission belt. The motor drives the drive wheel to rotate so that the transmission belt moves the lifting platform along the vertical rod. The powered lifting assembly according to any one of claims 1 to 3.

7. It is a shelf robot, The assembly includes a travel assembly, an execution assembly, and a powered lifting assembly according to any one of claims 1 to 3. The travel assembly is installed on the vertical rod, and the travel assembly drives the vertical rod to move the powered lifting assembly along a lateral guide rail that intersects the vertical rod. The execution assembly is connected to the lifting platform of the powered lifting assembly, The battery holder of the powered lifting assembly electrically connects the electrodes of the battery to the power input terminal of the travel assembly and the power input terminal of the execution assembly. A shelf robot characterized by the following features.

8. A warehouse storage system, The shelf and the shelf robot described in claim 7 are included. The aforementioned lateral guide rail is installed on one side of the shelf. A warehouse storage system characterized by the following features.

9. The aforementioned powered lifting assembly further includes a charging structure, A charging stand is fixedly installed on the shelf, which includes a plurality of sliding contact pieces extending along the longitudinal direction of the lateral guide rail. The charging contact terminal of the charging structure can move along the lateral guide rail together with the vertical rod until it contacts the sliding contact piece. The warehouse storage system according to feature 8.

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