Power supply lifting assembly, warehouse rack robot and warehouse system

Abstract

A power supply lifting assembly, a warehouse rack robot and a warehouse system. The power supply lifting assembly comprises vertical rods (100), lifting seats (200) and driving modules (300), wherein each driving module (300) comprises an electric motor (310) and a lifting mechanism (320); the lifting seats (200) are movably arranged on the vertical rods (100) and are connected to the lifting mechanisms (320); and the electric motors (310) are used for driving the lifting mechanisms (320) to drive the lifting seats (200) to move along the vertical rods (100). The power supply lifting assembly further comprises a battery holder (400), wherein batteries (1) are detachably provided inside the battery holder (400); and the battery holder (400) electrically connects electrodes of the batteries (1) to a power supply input end of the electric motor (310).

Description

Power supply lifting assembly, shelf robot and warehouse system

[0001] The present application claims priority to the Chinese patent application No. 202422587956.8, filed on October 24, 2024, and entitled "Power supply lifting assembly, shelf robot and warehouse system", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of warehouse equipment, in particular, to a power supply lifting assembly for a shelf robot, a shelf robot comprising the power supply lifting assembly and a warehouse system comprising the shelf robot. BACKGROUND

[0003] With the iteration of intelligent warehouse systems and the increase of shelf height, shelf robots are increasingly widely used in the field of warehouse equipment. The shelf robot is directly arranged on the side of the shelf and bears the weight of the execution device and goods through horizontal and vertical guide rail structures, which can adapt to shelves of different heights. Compared with box-type warehouse robots, the shelf robot requires less space between shelves and does not need to set up a complex slide guide and lifting module to adapt to the height of the shelf, which can significantly reduce the material cost and scheduling cost of the warehouse system and improve the utilization rate of the warehouse space.

[0004] However, the existing shelf robot has high manufacturing cost, especially when arranging the shelf robot on a large-size and high-layer shelf, a large amount of material cost and maintenance cost is often consumed. Therefore, how to provide a shelf robot structure with low cost has become a technical problem to be solved in the field. SUMMARY

[0005] The present application aims to solve one of the technical problems in the related art to some extent. To this end, the present application provides a power supply lifting assembly for a shelf robot, a shelf robot comprising the power supply lifting assembly and a warehouse system comprising the shelf robot, which is powered by a battery and can effectively reduce the manufacturing and maintenance cost of the shelf robot.

[0006] To achieve the above-mentioned purpose, as one aspect of the present application, a power supply lifting assembly for a shelf robot is provided, comprising a vertical rod, a lifting seat and a driving module, the driving module comprising a motor and a lifting mechanism, the lifting seat being movably arranged on the vertical rod and connected with the lifting mechanism, the motor being used to drive the lifting mechanism to drive the lifting seat to move along the vertical rod, the power supply lifting assembly further comprising a battery seat, the battery seat being detachably provided with a battery, and the battery seat electrically connecting the electrodes of the battery with the power supply input end of the motor.

[0007] Optionally, the battery holder comprises a power supply compartment, power supply contacts and a power supply wire, the power supply compartment is fixedly arranged at a position opposite to the vertical rod, the power supply contacts are arranged in the power supply compartment and used for electrically contacting the electrodes of the battery, and the power supply wire is electrically connected between the power supply contacts and the power input end of the motor.

[0008] Optionally, the battery is arranged in the power supply compartment, and the electrodes of the battery are electrically contacted with the power supply contacts.

[0009] Optionally, the battery holder further comprises a protective cover, and the power supply compartment is arranged in the protective cover.

[0010] Optionally, the power supply compartment comprises a plurality of battery boxes, and the power supply contacts are arranged in the battery boxes.

[0011] Optionally, the battery holder further comprises a battery support, the battery support is fixedly arranged at a position opposite to the motor, and the plurality of battery boxes are fixedly arranged on the battery support.

[0012] Optionally, the power supply and lifting assembly further comprises a charging structure, the charging structure comprises a charging support, a charging wire, a plurality of charging contacts and a plurality of charging connectors, the charging support is fixedly arranged on the vertical rod, the plurality of charging contacts are arranged on the charging support, the plurality of charging connectors are electrically connected with the plurality of charging contacts one by one, and the charging wire is connected between the charging connectors and the power supply contacts.

[0013] Optionally, the charging support comprises a vertical plate, a side plate and a flat plate, the vertical plate is fixedly arranged on one side of the vertical rod, one end of the side plate is fixedly connected with the vertical plate, the other end of the side plate extends away from the vertical rod and is fixedly connected with the flat plate, the flat plate is formed with a wire passing hole, the charging contacts are fixedly arranged on one side of the flat plate, the charging connectors are located on the other side of the flat plate, and the end portions of the charging connectors pass through the wire passing hole and are electrically connected with the charging contacts.

[0014] Optionally, the power supply and lifting assembly further comprises a support base and at least one support wheel, the support base is fixedly connected with the end portion of the vertical rod, the motor and the battery holder are fixedly arranged on the support base, and the support wheel is arranged on the side of the support base away from the vertical rod.

[0015] Optionally, the battery support is fixedly arranged on the support base.

[0016] Optionally, the motor is a rotary motor, the lifting mechanism comprises a driving wheel, a driven wheel and a transmission belt, the driving wheel and the driven wheel are arranged along the length direction of the vertical rod, the transmission belt is arranged around the driving wheel and the driven wheel, the lifting seat is fixedly connected with the transmission belt, and the motor can drive the driving wheel to rotate so as to drive the transmission belt to drive the lifting seat to move along the vertical rod.

[0017] Optionally, the vertical rods are arranged in pairs in parallel and are spaced apart, and each vertical rod is provided with the driving module correspondingly.

[0018] As a second aspect of the present application, a shelf robot is provided, which comprises a walking assembly, an execution assembly and the power supply and lifting assembly provided by the present application, the walking assembly is arranged on the vertical rod, and the walking assembly can drive the vertical rod to drive the power supply and lifting assembly to move along the transverse guide rail intersecting with the vertical rod, the execution assembly is connected with the lifting seat of the power supply and lifting assembly, and the battery seat of the power supply and lifting assembly further electrically connects the electrode of the battery with the power supply input end of the walking assembly and the power supply input end of the execution assembly.

[0019] As a third aspect of the present application, a warehouse system is provided, which comprises a shelf and the shelf robot provided by the present application, and the transverse guide rail is arranged on one side of the shelf.

[0020] Optionally, the power supply and lifting assembly further comprises a charging structure, and the shelf is fixedly provided with a charging seat, the charging seat comprises a plurality of sliding contacts extending along the length direction of the transverse guide rail, and the charging contact of the charging structure can move along the vertical rod to contact the sliding contact.

[0021] Optionally, the charging seat further comprises a charging frame, the charging frame is fixedly arranged on the shelf, the top of the charging frame has a positioning surface extending in the horizontal direction, and the sliding contact is fixedly arranged on the positioning surface.

[0022] In the power supply and lifting assembly, the shelf robot and the warehouse system provided by the present application, the power supply and lifting assembly comprises a battery seat, the battery seat is provided with a detachable battery, the battery can be electrically connected with the motor through the battery seat, so that the battery arranged on the power supply and lifting assembly and capable of moving together with the power supply and lifting assembly is used to supply power to the motor and other power consumption modules, thereby it is not necessary to arrange a slide wire and other conductive structures with high cost on the transverse guide rail, and the material cost of manufacturing the shelf robot is reduced.

[0023] And when the battery has a service life caused by the power supply efficiency problem or battery damage, etc. Occurs, the battery can be directly taken out from the battery seat for replacement, compared with the scheme of the prior art which needs to overhaul the whole slide wire, the maintenance and repair cost of the shelf robot can be effectively reduced, and the maintenance efficiency of the shelf robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and serve to explain the principles of the application, and do not limit the application in any way.

[0025] Fig. 1 is a structural schematic diagram of a shelf robot provided by an embodiment of the application;

[0026] Fig. 2 is a partial enlarged schematic diagram of the structure in area A in Fig. 1;

[0027] Fig. 3 is a partial enlarged schematic diagram of the structure in area B in Fig. 1 in a first embodiment;

[0028] Fig. 4 is a partial enlarged schematic diagram of the structure in area B in Fig. 1 in a second embodiment;

[0029] Fig. 5 is a structural schematic diagram of a warehouse system provided by an embodiment of the application;

[0030] Fig. 6 is a partial structural schematic diagram of a charging structure of a power supply lifting assembly of a warehouse system provided by an embodiment of the application in a state of contact with a charging seat on a shelf;

[0031] Fig. 7 is a partial enlarged schematic diagram of the structure in area C in Fig. 6;

[0032] Fig. 8 is a partial enlarged schematic diagram of the structure in area D in Fig. 6;

[0033] Fig. 9 is a structural schematic diagram of the connection of the charging seat and the shelf in Fig. 8.

[0034] Legend: vertical rod 100; lifting seat 200; driving module 300; motor 310; lifting mechanism 320; battery seat 400; power supply compartment 410; battery box 411; external wire joint 412; protective cover 420; battery support 430; charging structure 500; charging support 510; vertical plate 511; side plate 512; flat plate 513; charging contact 520; electrode 521; charging joint 530; support base 600; support wheel 610; walking assembly 700; transverse guide rail 710; shelf 10; charging seat 20; sliding contact 21; charging rack 22; mounting portion 221; fixed portion 222; first muscle plate 223; second muscle plate 224; charging cabinet 30; battery 1. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions, and advantages of the present application clearer, the present application is further described in detail below with reference to the drawings and examples. Obviously, the described examples are only some of the examples of the present application, rather than all the examples. Based on the examples in the present application, all other examples obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0036] In this specification, "one embodiment" or "an embodiment" or "example" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the disclosure. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0037] The shelf robot generally comprises an execution assembly, a power supply and lifting assembly arranged vertically, and a transversely arranged guide rail structure, wherein the execution assembly is used to take and place goods or containers, the power supply and lifting assembly can drive the execution assembly to move up and down, and the power supply and lifting assembly can slide along the transverse guide rail, so as to realize the transportation of the execution assembly to each storage position of each layer of the shelf, and the execution assembly can take out the goods or containers in the storage position and deliver the goods or containers out when located at a delivery position (for example, when interacting with a transport trolley or a temporary shelf on the ground).

[0038] In the existing shelf robot structure, in order to facilitate the power supply to the moving power supply and lifting assembly and the execution assembly, a slide wire is generally arranged on the transversely arranged guide rail structure, so that the electrode on the power supply and lifting assembly is kept in electrical connection with the slide wire, thereby realizing uninterrupted power supply. However, the material cost and maintenance cost of the slide wire are high, especially when applied to a large-size and large-height shelf, which will result in huge material cost.

[0039] To solve the above technical problems, as one aspect of the present application, a power supply and lifting assembly for a shelf robot is provided, as shown in FIGS. 1, 2 and 5, the power supply and lifting assembly comprises a vertical rod 100, a lifting seat 200 and a driving module 300, the driving module 300 comprises a motor 310 and a lifting mechanism 320, the lifting seat 200 is movably arranged on the vertical rod 100 and connected with the lifting mechanism 320, the motor 310 is used to drive the lifting mechanism 320 to drive the lifting seat 200 to move along the vertical rod 100, the power supply and lifting assembly further comprises a battery seat 400, a battery 1 is detachably arranged in the battery seat 400, and the battery seat 400 electrically connects the electrode of the battery 1 with the power supply input end of the motor 310.

[0040] It can be understood that the power supply lifting assembly provided by the application can be matched with the execution assembly and the walking assembly 700 when applied to the shelf robot. The execution assembly is arranged on the lifting seat 200, the whole power supply lifting assembly is driven to move in the horizontal direction by the walking assembly 700, and the lifting seat 200 drives the execution assembly to move up and down by the driving module 300, so as to realize the operation of transferring the execution assembly to different storage positions at different heights to take and place goods and boxes. The execution assembly and the walking assembly 700 can also be powered by the battery 1 in the battery seat 400.

[0041] The power supply lifting assembly provided by the application comprises a battery seat 400, and the battery seat 400 is arranged with a detachable battery 1. The battery 1 can be electrically connected to the motor 310 through the battery seat 400, so as to supply power to the motor 310 and other power consumption modules by using the battery 1 arranged on the power supply lifting assembly and capable of moving together with the power supply lifting assembly. Therefore, it is not necessary to arrange a slide wire and other conductive structures with high cost on the transverse guide rail 710, thereby reducing the material cost of the shelf robot.

[0042] In addition, when the battery 1 has a power supply efficiency problem caused by the service life or is damaged, the battery 1 can be directly taken out from the battery seat 400 for replacement. Compared with the scheme in the prior art that the whole slide wire needs to be overhauled, the maintenance and overhaul cost of the shelf robot can be effectively reduced, and the maintenance efficiency of the shelf robot can be improved.

[0043] As an optional embodiment of the application, as shown in FIGS. 1 and 2, the battery seat 400 comprises a power supply compartment 410, power supply contacts (not shown in the figure) and a power supply wire (not shown in the figure). The position of the power supply compartment 410 is fixed relative to the position of the vertical rod 100. The power supply contacts are arranged in the power supply compartment 410 and are used to electrically contact the electrodes of the battery. The power supply wire is electrically connected between the power supply contacts and the power supply input end of the motor 310.

[0044] As a preferred embodiment of the application, as shown in FIGS. 6 and 7, the battery seat 400 further comprises a protective cover 420, and the power supply compartment 410 is accommodated in the protective cover 420. Therefore, the battery seat 400 and the battery arranged therein are protected by the protective cover 420, so as to prevent them from being impacted by external objects and ensure the stability of the battery in supplying power to the related power consumption modules (for example, the driving module 300, the execution assembly, the walking assembly 700 and the like), thereby ensuring the stability of the shelf robot in operation.

[0045] As an optional embodiment of the present application, as shown in FIG. 2, the power supply compartment 410 includes a plurality of battery boxes 411, which are distributed along the length direction of the vertical rod 100, and the power supply contacts are arranged in the battery boxes 411, that is, the power supply compartment 410 can accommodate multiple batteries 1 at the same time, so as to realize the change of the power supply voltage by connecting the batteries in series in different numbers, and improve the adaptability of the shelf robot to the power demand of different power modules.

[0046] Specifically, as shown in FIG. 2, the battery box 411 is further provided with an external wire joint 412 connected with the power supply contact, which is used to electrically connect the battery 1 inside the battery box 411 with the charging device outside the battery box 411, so that the charging device can charge the battery 1, thereby ensuring the stability of the power supply to the related power modules on the power supply lifting assembly. Specifically, the above-mentioned charging device can be an independent charging pile, or a charging structure 500 in the embodiment of the present application, which will be described in detail later.

[0047] As an optional embodiment of the present application, as shown in FIG. 2, the battery seat 400 further includes a battery support 430, the position of which is fixed relative to the position of the motor 310, and the plurality of battery boxes 411 are fixedly arranged on the battery support 430.

[0048] Optionally, the battery support 430 and the battery box 411 and other structures are connected by fasteners.

[0049] In order to facilitate the charging of the batteries in the battery seat 400, as a preferred embodiment of the present application, as shown in FIG. 1 and FIG. 3, the power supply lifting assembly further includes a charging structure 500, which includes a charging support 510, a charging wire (not shown in the figure), a plurality of charging contacts 520 and a plurality of charging joints 530. The charging support 510 is fixedly arranged on the vertical rod 100, the plurality of charging contacts 520 are arranged on the charging support 510, the plurality of charging joints 530 are electrically connected with the plurality of charging contacts 520 one by one, the charging wire is connected between the charging joint 530 and the power supply contact, and specifically, the charging wire is connected with the power supply contact through the external wire joint 412.

[0050] In the embodiment of the present application, as shown in FIG. 1, FIG. 3, FIG. 6 and FIG. 8, the charging structure 500 is fixedly arranged on the vertical rod 100, the charging structure 500 has the charging contacts 520, the charging contacts 520 can contact the contact pieces of the charging seat 20 fixed on the shelf 10 and other fixed structures, and supply power to the battery seat 400 through the charging joint 530 and the charging wire, so that the power supply lifting assembly can be parked at the charging seat 20 position for charging during the non-working period, thereby maintaining the battery capacity and ensuring the stability of the power supply to the related power modules on the power supply lifting assembly.

[0051] As an optional embodiment of the present application, as shown in FIG. 3, the charging support 510 includes a vertical plate 511, a side plate 512 and a flat plate 513, the vertical plate 511 is fixedly arranged on one side of the vertical rod 100, one end of the side plate 512 is fixedly connected with the vertical plate 511, the other end of the side plate 512 extends away from the vertical rod 100 and is fixedly connected with the flat plate 513, the flat plate 513 is formed with a wire passing hole, the charging contact 520 is fixedly arranged on one side of the flat plate 513, and the charging connector 530 is located on the other side of the flat plate 513, and the end of the charging connector 530 passes through the wire passing hole and is electrically connected with the charging contact 520.

[0052] As an optional embodiment of the present application, as shown in FIG. 4, the charging contact 520 is further provided with an electrode 521, which is used to contact with the contact sheet of the charging base 20, so as to electrically connect the charging structure 500 and the charging base 20.

[0053] As an optional embodiment of the present application, as shown in FIG. 1 and FIG. 2, the power supply lifting assembly further includes a support base 600 and at least one support wheel 610, the support base 600 is fixedly connected with the end of the vertical rod 100, the motor 310 and the battery holder 400 are both fixedly arranged on the support base 600, and the support wheel 610 is arranged on the side of the support base 600 away from the vertical rod 100.

[0054] In the embodiment of the present application, the bottom of the power supply lifting assembly is provided with the support base 600, the support base 600 is in rolling contact with the ground through the support wheel 610, so that the power supply lifting assembly can be supported by the ground, the gravity load exerted by the power supply lifting assembly on the shelf is reduced, and the overall stability of the warehouse system is ensured.

[0055] As an optional embodiment of the present application, as shown in FIG. 1 and FIG. 2, the battery holder 430 is fixedly arranged on the support base 600.

[0056] As an optional embodiment of the present application, the driving module 300 can be a belt pulley transmission structure, specifically, the motor 310 is a rotary motor, the lifting mechanism 320 includes a driving wheel, a driven wheel and a transmission belt, the driving wheel and the driven wheel are arranged in the length direction of the vertical rod 100, the transmission belt is wound around the driving wheel and the driven wheel, and the lifting seat 200 is fixedly connected with the transmission belt, the motor 310 can drive the driving wheel to rotate to drive the transmission belt to drive the lifting seat 200 to move along the vertical rod 100.

[0057] Alternatively, the driving module 300 can also be a lead screw transmission structure, and the motor 310 is also a rotary motor 310, the motor 310 can drive the vertically arranged lead screw to rotate to drive the lifting seat 200 in threaded connection with the lead screw to feed along the vertical rod 100.

[0058] Alternatively, in other embodiments of the present application, the motor 310 can also be a linear motor.

[0059] As an optional embodiment of the present application, as shown in FIG. 1 and FIG. 5, the vertical rods 100 are arranged in pairs in parallel and spaced apart, and each vertical rod 100 is provided with a driving module 300 correspondingly.

[0060] As a second aspect of the present application, a shelf robot is provided, as shown in FIG. 5, which comprises a walking assembly 700, an execution assembly (not shown in the figure) and the power supply and lifting assembly provided by the present application. The walking assembly 700 is arranged on the vertical rod 100, and the walking assembly 700 can drive the vertical rod 100 to move the power supply and lifting assembly along the transverse guide rail 710 intersecting the vertical rod 100. The execution assembly is connected with the lifting seat 200 of the power supply and lifting assembly, and the execution assembly is used to take out the bin (or goods) from the shelf or put the bin into the shelf, and place the taken-out bin on other bearing structures (such as the buffer position at the bottom of the shelf, the AGV trolley, the temporary shelf or the conveyor belt beside the shelf) or obtain the bin to be stored from other bearing structures. The battery seat 400 of the power supply and lifting assembly also electrically connects the electrode of the battery 1 with the power supply input end of the walking assembly 700 and the power supply input end of the execution assembly.

[0061] In the shelf robot provided by the present application, the power supply and lifting assembly comprises a battery seat 400, and the battery seat 400 is provided with a detachable battery 1. The battery 1 can be electrically connected with the motor 310 through the battery seat 400, so as to supply power to the motor 310, the walking assembly 700, the execution assembly and other power-consuming modules by using the battery 1 arranged on the power supply and lifting assembly and capable of moving together with the power supply and lifting assembly. Therefore, it is not necessary to arrange the expensive slide wire and other conductive structures on the transverse guide rail 710, thereby reducing the material cost of manufacturing the shelf robot.

[0062] In addition, when the battery 1 has problems of power supply efficiency caused by life or is damaged, the battery 1 can be directly taken out from the battery seat 400 for replacement. Compared with the scheme of the prior art which needs to overhaul the whole slide wire, the maintenance and overhaul cost of the shelf robot can be effectively reduced, and the maintenance efficiency of the shelf robot can be improved.

[0063] It can be understood that the battery seat 400 can be fixedly arranged on the driving module 300 (i.e. fixedly arranged relative to the position of the motor 310), and electrically connected with the power module (such as the motor) of the walking assembly 700 through the drag chain or the slide wire arranged on the vertical rod 100 and other structures.

[0064] It can be understood that, in addition to the execution assembly, the motor 310 of the driving module 300, and the power module of the walking assembly 700, the battery seat 400 can also be electrically connected with other power-consuming modules to realize power supply to these power-consuming modules. Optionally, the other power-consuming modules of the shelf robot can also include a signal receiver for receiving a control scheduling signal, a control module for controlling the driving module 300, the walking assembly 700, and the execution assembly to perform corresponding actions according to the control scheduling signal, and an interactive function module such as an indicator light, a display, a touch screen, and the like.

[0065] As an optional embodiment of the present application, as shown in FIG. 5, the shelf robot further includes at least one transverse guide rail 710 extending in a direction intersecting the vertical rod 100.

[0066] In some embodiments of the present application, the battery seat 400 can also be fixedly connected with the walking assembly 700 and electrically connected with the power supply input end of the motor 310 through a drag chain or a slide wire structure provided on the vertical rod 100.

[0067] As a third aspect of the present application, a warehouse system is provided, as shown in FIG. 5, the warehouse system includes a shelf 10 and a shelf robot provided by the present application, and the transverse guide rail 710 is arranged on one side of the shelf 10.

[0068] In the warehouse system provided by the present application, the power supply lifting assembly of the shelf robot is provided with a detachable battery 1, and the battery 1 can be electrically connected with the motor 310 through the battery seat 400, so as to supply power to the motor 310 and other power-consuming modules by using the battery 1 arranged on the power supply lifting assembly and capable of moving together with the power supply lifting assembly, thereby not having to arrange a slide wire and other conductive structures on the transverse guide rail 710, and reducing the material cost of manufacturing the shelf robot.

[0069] Moreover, when the battery 1 has a power supply efficiency problem caused by life or is damaged, the battery 1 can be directly taken out from the battery seat 400 for replacement, compared with the scheme of the prior art that needs to overhaul the entire slide wire, the maintenance and overhaul cost of the shelf robot can be effectively reduced, and the maintenance efficiency of the shelf robot is improved.

[0070] In order to facilitate charging of the battery in the battery seat 400, as a preferred embodiment of the present application, as shown in FIGS. 1, 3, and 4, the power supply lifting assembly further includes a charging structure 500, as shown in FIGS. 6, 8, and 9, the shelf 10 is fixedly provided with a charging seat 20, the charging seat 20 includes a plurality of slide contacts 21 extending along the length direction of the transverse guide rail 710, and the charging contact 520 of the charging structure 500 can move along the vertical rod 100 to contact the slide contact 21 along the transverse guide rail 710.

[0071] In the embodiment of the present application, the vertical rod 100 is fixedly provided with a charging structure 500, and the shelf 10 is fixedly provided with a charging seat 20. The charging structure 500 has a charging contact 520, which can be in contact with a sliding contact 21 of the charging seat 20 fixed on the shelf 10. The charging seat 20 supplies power to the battery holder 400 through the charging structure 500, so that the power supply lifting assembly can be parked at the charging seat 20 for charging during the non-working period, thereby maintaining the battery power and ensuring the stability of power supply to the power consumption modules (such as the driving module 300, the execution assembly, the walking assembly 700, etc.) of the shelf robot.

[0072] As an optional embodiment of the present application, as shown in FIGS. 6, 8 and 9, the charging seat 20 is fixed on the column of the shelf 10. When charging is needed, the power supply lifting assembly can be moved to the end of the transverse guide rail 710, so that the charging structure 500 and the charging seat 20 correspond to each other, the electrode 521 of the charging contact 520 is in contact with the sliding contact 21 of the charging seat 20, so as to charge.

[0073] The sliding contact 21 of the charging seat 20 is used to be electrically connected with an external power source, so that the external power source charges the battery 1 through the sliding contact 21 and the charging structure 500.

[0074] Specifically, the external power source can be a charging device independently arranged beside the shelf 10, or a charging cabinet 30 fixed on the shelf 10 as shown in FIG. 5. The charging cabinet 30 is electrically connected with the sliding contact 21 of the charging seat 20, and charges the battery 1 through the sliding contact 21 and the charging structure 500.

[0075] As an optional embodiment of the present application, as shown in FIGS. 8 and 9, the charging seat 20 further comprises a charging frame 22, which is fixedly arranged on the shelf 10. The top of the charging frame 22 has a positioning surface extending in the horizontal direction, and the sliding contact 21 is fixedly arranged on the positioning surface.

[0076] As an optional embodiment of the present application, as shown in FIGS. 8 and 9, the charging frame 22 comprises a mounting portion 221 and a fixing portion 222. The mounting portion 221 is fixed at the top end of the fixing portion 222, and the sliding contact 21 is fixedly arranged on the positioning surface at the top of the mounting portion 221. The fixing portion 222 is an L-shaped fixing piece, the vertical surface of which is threadedly connected with the column of the shelf 10, and the horizontal surface of which is provided with the mounting portion 221. In order to improve the stability of the installation of the charging seat 20, a first rib plate 223 is arranged between the vertical surface and the horizontal surface of the fixing portion 222, and a second rib plate 224 is arranged between the mounting portion 221 and the first rib plate.

[0077] The above description is only a preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A power supply lifting assembly for a shelf robot, comprising a vertical pole, a lifting seat and a driving module, the driving module comprising a motor and a lifting mechanism, the lifting seat being movably arranged on the vertical pole and connected with the lifting mechanism, the motor being used to drive the lifting mechanism to drive the lifting seat to move along the vertical pole, characterized in that, The power supply lifting assembly further comprises a battery holder, a battery is detachably arranged in the battery holder, and the battery holder electrically connects the electrodes of the battery with the power supply input end of the motor.

2. The power and lift assembly of claim 1, wherein, The battery holder comprises a power supply bin, power supply contacts and a power supply wire, the power supply bin is fixedly arranged at a position opposite to the vertical rod, the power supply contacts are arranged in the power supply bin and used for electrically contacting the electrodes of the battery, and the power supply wire is electrically connected between the power supply contacts and the power supply input end of the motor.

3. The power and lift assembly of claim 1, wherein, The battery holder further comprises a protective cover, and the power supply bin is arranged in the protective cover.

4. The power and lift assembly of claim 1, wherein, The power supply bin comprises a plurality of battery boxes, the battery boxes are arranged along the length direction of the vertical rod, and the power supply contacts are arranged in the battery boxes.

5. The power lift assembly of any one of claims 1-4, wherein, The power supply lifting assembly further comprises a charging structure, the charging structure comprises a charging support, a charging wire, a plurality of charging contacts and a plurality of charging connectors, the charging support is fixedly arranged on the vertical rod, the charging contacts are arranged on the charging support, the charging connectors are electrically connected with the charging contacts one by one, and the charging wire is connected between the charging connectors and the power supply contacts.

6. The power and lift assembly of any of claims 1-4, wherein, The power supply lifting assembly further comprises a support base and at least one support wheel, the support base is fixedly connected with the end of the vertical rod, the motor and the battery holder are fixedly arranged on the support base, and the support wheel is arranged on the side of the support base away from the vertical rod.

7. The power lift assembly of any one of claims 1-4, wherein, The motor is a rotary motor, the lifting mechanism comprises a driving wheel, a driven wheel and a transmission belt, the driving wheel and the driven wheel are arranged at intervals along the length direction of the vertical rod, the transmission belt is arranged around the driving wheel and the driven wheel, the lifting seat is fixedly connected with the transmission belt, and the motor can drive the driving wheel to rotate to drive the transmission belt to move the lifting seat along the vertical rod.

8. A shelf robot, characterized in that, The shelf robot comprises a walking assembly, an execution assembly and the power supply lifting assembly of any one of claims 1 to 7, the walking assembly is arranged on the vertical rod, the walking assembly can drive the vertical rod to move the power supply lifting assembly along the transverse guide rail intersecting with the vertical rod, the execution assembly is connected with the lifting seat of the power supply lifting assembly, and the battery holder of the power supply lifting assembly further electrically connects the electrodes of the battery with the power supply input end of the walking assembly and the power supply input end of the execution assembly.

9. A warehousing system characterized by, The warehouse system comprises a shelf and the shelf robot of claim 8, and the transverse guide rail is arranged on one side of the shelf.

10. The warehousing system according to claim 9, characterized in that, The power supply lifting assembly further comprises a charging structure, a charging seat is fixedly arranged on the shelf, the charging seat comprises a plurality of sliding contacts extending along the length direction of the transverse guide rail, and the charging contacts of the charging structure can move along the transverse guide rail to contact the sliding contacts.

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