Climbing robot and warehousing system

Abstract

The present disclosure relates to the technical field of intelligent warehousing. Provided are a climbing robot and a warehousing system, which are used to solve the technical problem of a climbing unit on a climbing robot being prone to deviation from guide rails on a rack. The climbing robot comprises a robot body and a climbing unit, wherein the climbing unit is arranged on one side of the robot body. The climbing unit comprises a base, a climbing assembly and a first guiding and limiting assembly, wherein the climbing assembly and the first guiding and limiting assembly are both arranged on the base, and the climbing assembly is configured to climb along guide rails; the first guiding and limiting assembly defines a limiting space, and the first guiding and limiting assembly is configured to swing relative to the base, so as to engage the climbing unit with the guide rails and limit the guide rails within the limiting space; and there is an included angle between a first direction and the extension direction of the guide rails. The present disclosure enables the climbing unit to automatically adapt to errors of the guide rails, so as to improve the reliability of the climbing robot climbing on the rack.

Description

Climbing robots and warehousing systems

[0001] This application claims priority to Chinese Patent Application No. 202411191008.0, filed on August 27, 2024, entitled "Climbing Robot and Warehousing System", and Chinese Patent Application No. 202422092037.3, filed on August 27, 2024, entitled "Climbing Robot and Warehousing System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of intelligent warehousing technology, and in particular to a climbing robot and warehousing system. Background Technology

[0003] With the rapid development of artificial intelligence, automation, and information technology, smart warehousing is an important part of modern logistics. The application of smart warehousing ensures the speed and accuracy of data input in all aspects of warehouse management.

[0004] In related technologies, smart warehousing includes shelves for placing goods and climbing robots. One side of the shelf has a guide rail for the climbing robot to climb. The climbing robot includes a climbing unit. The climbing robot can climb along the guide rail on the shelf to retrieve goods at different heights on the shelf or place goods at different heights on the shelf.

[0005] However, in related technologies, the docking accuracy requirements between the climbing unit and the guide rail are high, docking is difficult, and misalignment is prone to occur after docking, resulting in technical problems such as jamming or inability to climb when the climbing robot is climbing. Summary of the Invention

[0006] In view of the above problems, this disclosure provides a climbing robot and a storage system to at least partially solve one of the technical problems of high precision requirements for docking between the climbing unit and the guide rail, difficulty in docking, and easy misalignment after docking, which leads to jamming or inability to climb when the climbing robot is climbing.

[0007] To achieve the above objectives, the present disclosure provides the following technical solutions:

[0008] A first aspect of this disclosure provides a climbing robot for climbing and retrieving goods on a shelf, the shelf having a guide rail for the climbing robot to climb; the climbing robot includes: a robot body and a climbing unit, the climbing unit being disposed on one side of the robot body; the climbing unit includes a base, a climbing component, and a first guide limiting component, the climbing component and the first guide limiting component being both disposed on the base, the climbing component being configured to climb along the guide rail; the first guide limiting component defining a limiting space, the first guide limiting component being configured to swing relative to the base, so that the climbing unit docks with the guide rail and confines the guide rail within the limiting space.

[0009] In some embodiments, the first guide limiting assembly includes a first connector and two first limiting structures disposed opposite to each other on opposite sides of the first connector, the two first limiting structures defining the limiting space between them, and the first connector being configured to swing relative to the base about a first rotation axis; wherein the first rotation axis is consistent with the extension direction of the guide rail.

[0010] In some embodiments, the first limiting structure includes at least one first guide wheel, which is rotatably connected to the first connector so that the first guide wheel can rotate about its own axis, wherein the central axis of the first guide wheel and the first rotation axis are intersected.

[0011] In some embodiments, the climbing unit further includes a second guide limiting component, the second guide limiting component and the first guide limiting component being spaced apart on the base along the extension direction of the base;

[0012] The second guide limiting assembly includes a second connector and two second limiting structures disposed at opposite ends of the second connector. The second connector is configured to swing relative to the base about a second rotation axis. The guide rail has flanges on both sides of the side facing the climbing unit. The flanges have first surfaces so that the two second limiting structures respectively abut against the first surfaces of their corresponding flanges.

[0013] The second rotation axis extends in the same direction as the base.

[0014] In some embodiments, the second limiting structure includes at least one second guide wheel, which is rotatably connected to the second connector so that the second guide wheel can rotate about its own axis, wherein the central axis of the second guide wheel and the second rotation axis are intersected.

[0015] In some embodiments, the climbing unit further includes a third guide limiting component, which is disposed on the base and located between the first guide limiting component and the second guide limiting component;

[0016] The third guide limiting component includes two third limiting structures; the two third limiting structures are respectively disposed opposite to each other on opposite sides of the base; the flange has a second surface disposed opposite to the first surface, and the two third limiting structures are configured to abut against the second surface of their corresponding flanges.

[0017] In some embodiments, the third guide limiting component further includes two third connectors, and the two third limiting structures are respectively connected to the base through the two third connectors.

[0018] In some embodiments, the third limiting structure includes at least one third guide wheel, which is configured to be rotatably connected to the corresponding third connector so that the third guide wheel can rotate about its own axis, and the central axis of the third guide wheel has an angle with the extension direction of the base.

[0019] In some embodiments, the first guide limiting component is disposed near the top of the base; the second guide limiting component is disposed near the bottom of the base.

[0020] In some embodiments, the guide rail has two opposing sidewalls, forming a climbing area between the two sidewalls for the climbing unit to climb, and the two sidewalls are located between two opposing first limiting structures.

[0021] In some embodiments, the guide rail has a flange connected to the sidewall, the flange having a second surface facing away from the climbing unit; the two first limiting structures are configured to abut against the second surface.

[0022] In some embodiments, the climbing unit further includes a fourth guide wheel, which is located between two opposing first limiting structures and rotatably connected to the base so that the fourth guide wheel can rotate about its own axis, and the fourth guide wheel makes rolling contact with at least one side of the climbing area and its corresponding sidewall.

[0023] In some embodiments, the climbing unit further includes a fifth guide wheel, the fifth guide wheel and the fourth guide wheel are spaced apart in a second direction, and the fifth guide wheel is rotatable about its own axis and rolls in contact with at least one side wall of the climbing area on the guide rail.

[0024] In some embodiments, the fifth guide wheel is disposed near the bottom of the base and rotatably connected to the base, and the fourth guide wheel is disposed near the top of the base.

[0025] In some embodiments, the climbing unit further includes a support member; the climbing assembly includes a drive motor and a transmission structure, the transmission structure including a driving wheel, a driven wheel, and a flexible member, the driving wheel and the driven wheel being spaced apart along a second direction, the drive motor being configured to be connected to the driving wheel, and the flexible member being wound around the driving wheel and the driven wheel; the flexible member defining an annular region, the support member being disposed within the annular region and connected to the base, and the support member being configured to support the flexible member near the guide rail side.

[0026] In some embodiments, the fifth guide wheel is rotatably connected to the support member, and the support member has clearance notches on both sides of the opposite sides along the first direction. Partial structures on both sides of the fifth guide wheel roll into contact with the sidewalls on both sides of the climbing area through the clearance notches.

[0027] In some embodiments, the first connector has two opposing buffers on the side of its two ends near the base, and the buffers are configured to elastically contact the base when the first connector rotates.

[0028] In some embodiments, the climbing unit further includes a fall arrestor movably disposed on the base and configured to move between a first position and a second position; the guide rail has fourth limiting structures arranged at intervals along the extension direction of the guide rail.

[0029] When the climbing component drives the climbing robot to climb upward along the guide rail, the fall arrestor is located in the first position, and there is a gap between the fall arrestor and the fourth limiting structure in the third direction;

[0030] When the climbing robot descends relative to the guide rail, if the acceleration of the climbing robot's descent exceeds a preset threshold, the fall arrestor moves from the first position to the second position, and the fall arrestor interferes with the fourth limiting structure in the third direction.

[0031] In some embodiments, the climbing unit further includes an elastic element disposed between the fall arrestor and the base. The elastic element is configured to drive the fall arrestor to move from the first position to the second position by its own elastic force when the acceleration of the climbing robot's descent is greater than a preset threshold.

[0032] In some embodiments, the elastic element is a torsion spring.

[0033] In some embodiments, the guide rail has a plurality of first climbing teeth, which are spaced apart along the extension direction of the guide rail, and the first climbing teeth are formed as the fourth limiting structure; the climbing assembly has a plurality of spaced second climbing teeth along a second direction, which mesh with the first climbing teeth to drive the climbing robot to climb along the guide rail.

[0034] In some embodiments, the tooth surfaces of both the first and second climbing gears have an inclined angle with the second direction.

[0035] In some embodiments, the climbing robot includes two climbing units, which are spaced apart along a first direction and disposed on the same side of the robot body.

[0036] In some embodiments, the robot body includes a mobile base, a lifting mechanism, a mounting base, and a fork assembly. The lifting mechanism and the mounting base are both disposed on the mobile base, and the lifting mechanism is connected between the mobile base and the mounting base. The fork assembly is disposed on the mounting base. The lifting mechanism can drive the mounting base to move up and down relative to the mobile base in a second direction, so that the height of the climbing robot in the second direction is adjustable. The climbing unit is connected to the end of the mounting base.

[0037] A second aspect of this disclosure provides a storage system including a shelf and a climbing robot as described in the above embodiments; the shelf is provided with a guide rail for the climbing robot to climb, the guide rail is at a first distance from the ground, and the climbing robot docks with the guide rail from the bottom.

[0038] The climbing robot provided in this embodiment includes a robot body and a climbing unit, with the climbing unit disposed on one side of the robot body. The climbing unit includes a base, a climbing assembly, and a first guide and limiting assembly. Both the climbing assembly and the first guide and limiting assembly are disposed on the base. The first guide and limiting assembly defines a limiting space and can swing relative to the base, allowing the climbing unit to engage with a guide rail and confine the guide rail within the limiting space. Under the action of a force, the climbing assembly climbs along the guide rail to place goods at different heights on the shelf, or to retrieve goods from different heights on the shelf. As can be seen, by setting the first guide limiting component to be able to swing relative to the base, for example, it can swing with the position of the guide rail. In this way, the first guide limiting component can adapt to the error of the guide rail, so as to confine the guide rail within the limiting space, reduce the requirement for docking accuracy between the climbing unit and the guide rail, reduce the docking difficulty, and avoid the problem that the climbing unit is prone to misalignment after docking with the guide rail, which would cause the climbing unit to get stuck or unable to climb along the guide rail. This facilitates the docking of the climbing unit with the guide rail, improves the compatibility between the climbing robot and the guide rail on the shelf, and improves the reliability and smoothness of the climbing robot climbing along the guide rail.

[0039] This disclosure also provides a climbing robot and a warehousing system. The climbing robot can avoid the problem of goods colliding with the shelves on both sides due to offset, thereby improving the safety of the climbing robot when picking up and placing goods in both directions.

[0040] To achieve the above objectives, the present disclosure provides the following technical solutions:

[0041] A first aspect of this disclosure provides a climbing robot for climbing and retrieving goods on a shelf, the shelf having at least two guide rails spaced apart along a first direction; the climbing robot includes: a robot body, two climbing units, and a pushing mechanism, the two climbing units being disposed on the same side of the robot body and spaced apart along the first direction; the pushing mechanism is fixedly mounted on the robot body and at least partially disposed between the two climbing units; the two climbing units are respectively configured to dock with two adjacent guide rails of the at least two guide rails, so that the two climbing units climb along the two adjacent guide rails; the pushing mechanism includes two sets of drive mechanisms, each of the two sets of drive mechanisms including a drive motor and a transmission component, the two sets of drive mechanisms being respectively used to connect with the two climbing units, each set of drive mechanisms driving the corresponding climbing unit to move relative to the robot body through the drive motor and the transmission component.

[0042] In some embodiments, the transmission assembly includes a drive wheel, a driven wheel, and a flexible element. The drive wheel and the driven wheel are spaced apart between the two climbing units along the width direction of the climbing robot. The flexible element is wound around the drive wheel and the driven wheel. The drive motor is connected to the drive wheel to drive the flexible element through the drive wheel. The flexible element is connected to the corresponding climbing unit.

[0043] In some embodiments, each climbing unit has a first sliding portion, and the robot body has a second sliding portion at a position facing the first sliding portion, wherein the first sliding portion and the second sliding portion are slidably connected.

[0044] In some embodiments, the first sliding portion includes one of a slide rail or a slide groove, and the second sliding portion includes the other of a slide rail or a slide groove.

[0045] In some embodiments, the flexible element is one of a synchronous belt, a regular flat belt, or a transmission chain.

[0046] In some embodiments, the transmission assembly further includes a first connector, which is fixedly connected to the flexible member and fixedly connected to the corresponding climbing unit.

[0047] In some embodiments, each group of drive mechanisms further includes a second connector, the two groups of drive mechanisms are interconnected through the two second connectors, and the driven wheel in each group of drive mechanisms is rotatably connected to the second connector in that group.

[0048] In some embodiments, the second connector includes a connecting frame, and the driven wheel in each set of the drive mechanisms is rotatably connected to the connecting frame.

[0049] A second aspect of this disclosure provides a warehousing system including shelves and a climbing robot as described in the above embodiments, the climbing robot being used to climb and retrieve goods on the shelves.

[0050] A third aspect of this disclosure provides a warehousing system, comprising: a first shelf, a second shelf, and a climbing robot. The first shelf and the second shelf are arranged opposite to each other and offset in a first direction. An aisle is formed between the first shelf and the second shelf for the climbing robot to retrieve and place goods. The first shelf has at least two guide rails on the side facing the second shelf, and a first storage location for storing goods is located between two adjacent guide rails. The second shelf has a second storage location opposite to the first storage location on the side facing the first shelf, and the first storage location and the second storage location are offset in a first direction. The climbing robot includes a robot body, two climbing units, and a pushing mechanism. The two climbing units are movably disposed on the robot body, and the pushing mechanism is disposed between the two climbing units. The two climbing units are respectively docked with two guide rails and climb or descend along the extension direction of the guide rails. The pushing mechanism is configured to drive the two climbing units to move relative to the robot body in the extension direction of the aisle so that the relative position of the robot body with the first storage location and / or the second storage location in the first direction is adjustable when the two climbing units are docked with two adjacent guide rails of the at least two guide rails.

[0051] In this embodiment, a pushing mechanism is designed and positioned between two climbing units. The two climbing units are located on the same side of the robot body and spaced apart along the width of the robot body. The pushing mechanism is fixedly connected to the robot body. The two climbing units are respectively connected to two adjacent guide rails of at least two guide rails on the shelf, so that the climbing units can climb along the guide rails. The pushing mechanism includes two sets of drive mechanisms, which are respectively connected to the two climbing units. The drive motor in each set of drive components drives the corresponding climbing unit to move relative to the robot body through a transmission component. This allows the robot body to move along a first direction when the two climbing units are connected to the two adjacent guide rails of at least two guide rails, thereby adjusting the position between the robot body and the storage location on the shelf corresponding to its current position. This avoids excessive deviation between the robot body and the storage location corresponding to the picking and placing of goods, thereby improving the positional accuracy between the climbing robot and the corresponding storage location when picking and placing goods, and thus improving the safety and reliability of the climbing robot when picking and placing goods.

[0052] The warehousing system provided in this embodiment has the same beneficial effects as the climbing robot provided in the above embodiments, and will not be described again here.

[0053] In addition to the technical problems solved by the embodiments of this disclosure, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the climbing robot and warehousing system provided by the embodiments of this disclosure, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 is a schematic diagram of a climbing robot and shelf provided in Embodiment 1 of this disclosure;

[0056] Figure 2 is a structural schematic diagram of a climbing robot provided in Embodiment 1 of this disclosure;

[0057] Figure 3 is a schematic diagram of a climbing unit in a climbing robot provided in Embodiment 1 of this disclosure;

[0058] Figure 4 is a schematic diagram of a state of the climbing unit and guide rail in the climbing robot provided in Embodiment 1 of this disclosure;

[0059] Figure 5 is a partial structural schematic diagram of the first guide and limit component and the base in the climbing robot provided in Embodiment 1 of this disclosure;

[0060] Figure 6 is a side view of one state of the climbing unit and guide rail in the climbing robot provided in Embodiment 1 of this disclosure;

[0061] Figure 7 is a partial structural schematic diagram of the climbing unit in the climbing robot provided in Embodiment 1 of this disclosure;

[0062] Figure 8 is a structural schematic diagram of the anti-fall component, elastic component, and part of the base in the climbing robot provided in Embodiment 1 of this disclosure;

[0063] Figure 9 is a schematic diagram of a climbing robot provided in Embodiment 1 of this disclosure;

[0064] Figure 10 is a schematic diagram of a guide rail structure in an embodiment of this disclosure.

[0065] Figures 1-10: Reference numerals: 10-Climbing robot; 100-Robot body; 110-Mobile base; 120-Lifting mechanism; 130-Mounting seat; 140-Fork assembly; 200-Climbing unit; 210-Base; 211-First pivot; 212-Second pivot; 213-First seat; 214-Second seat; 215-Support member; 2151-Avoidance notch; 220-Climbing assembly; 221-Drive motor; 222-Transmission structure; 2221-Driving wheel; 2222-Driven wheel; 2223-Flexible member; 2224-Second climbing wheel tooth; 230-First guide and limiting assembly; 231-Limiting space; 232-First connector; 2321-Buffer; 233-First limiting structure; 2331-First guide wheel; 240 - Second guide and limiting assembly; 241 - Second connector; 242 - Second limiting structure; 2421 - Second guide wheel; 250 - Third guide and limiting assembly; 251 - Third connector; 252 - Third limiting structure; 2521 - Third guide wheel; 260 - Anti-fall component; 270 - Elastic component; 280 - Fourth guide wheel; 290 - Fifth guide wheel; 300 - Shelf; 310 - Guide rail; 311 - First climbing wheel tooth; 312 - Flanged edge; 3121 - First surface; 3122 - Second surface; 313 - Fourth limiting structure; 314 - Side wall; 315 - Climbing area.

[0066] Figure 11 is a schematic diagram of a climbing robot and shelf provided in Embodiment 2 of this disclosure;

[0067] Figure 12 is a side projection schematic diagram of a climbing robot provided in Embodiment 2 of this disclosure;

[0068] Figure 13 is a schematic diagram of a state after the lifting mechanism of the climbing robot provided in Embodiment 2 of this disclosure has been lifted;

[0069] Figure 14 is a schematic diagram of a climbing robot in a warehousing system according to Embodiment 2 of this disclosure;

[0070] Figure 15 is a structural schematic diagram of the climbing robot provided in Embodiment 2 of this disclosure from another perspective;

[0071] Figure 16 is a schematic diagram of a horizontal pushing mechanism in a climbing robot provided in Embodiment 2 of this disclosure;

[0072] Figure 17 is a partial structural schematic diagram of the climbing robot provided in Embodiment 2 of this disclosure.

[0073] Figures 11-17: Reference numerals: 100-Climbing robot; 110-Robot body; 111-Second sliding part; 112-Mobile base; 113-Lifting mechanism; 114-Mounting seat; 115-Fork assembly; 120-Climbing unit; 121-First sliding part; 122-First climbing wheel tooth; 130-Pushing mechanism; 130a-Drive mechanism; 131-Drive motor; 132-Transmission assembly; 1321-Driving wheel; 1322-Driven wheel; 1323-Flexible component; 1324-First connector; 1325-Second connector; 200-Shelf; 201-Guide rail; 210-First shelf; 211-First storage location; 212-First column; 220-Second shelf; 221-Second storage location; 222-Second column; 230-Aisle. Detailed Implementation

[0074] Example 1

[0075] With the rapid development of artificial intelligence, automation, and information technology, intelligent warehousing has become a crucial link in modern logistics. Its application ensures the speed and accuracy of data input at every stage of warehouse management. Related technologies include shelves for placing goods and climbing robots. One side of the shelf has a guide rail for the climbing robot to climb. The climbing robot includes a climbing unit that allows it to ascend along the guide rail to retrieve goods at different heights or place goods at different heights on the shelf. However, in these technologies, the high precision required for the connection between the climbing unit and the guide rail makes connection difficult, and misalignment is prone to occur after connection, leading to technical problems such as jamming or inability to climb by the climbing robot.

[0076] To address the aforementioned issues, this disclosure provides a climbing robot and a warehousing system. In this climbing robot, by configuring the first guide limiting component to swing relative to the base in a first direction, for example, it can swing with the position of the guide rail. This reduces the accuracy requirements for the docking between the climbing unit and the guide rail, lowers the docking difficulty, and allows the first guide limiting component to adapt to the guide rail's errors, thus confining the guide rail within a limited space. This avoids the problem of misalignment after docking between the climbing unit and the guide rail, which could cause the climbing unit to jam or be unable to climb along the guide rail. This facilitates docking between the climbing unit and the guide rail, improves the compatibility between the climbing robot and the guide rail on the shelf, and enhances the reliability and smoothness of the climbing robot climbing along the guide rail.

[0077] To make the above-mentioned objects, features, and advantages of the embodiments of this disclosure more apparent and understandable, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0078] Referring to Figure 1, this embodiment of the present disclosure provides a climbing robot 10 for climbing and picking up goods on a shelf 300. The shelf 300 has a guide rail 310 for the climbing robot 10 to climb. The climbing robot 10 can climb along the guide rail 310 to different heights on the shelf 300 so as to place goods on the shelf 300 or take goods off the shelf 300.

[0079] Referring to Figure 2, the climbing robot 10 includes a robot body 100 and a climbing unit 200. The climbing unit 200 is disposed on one side of the robot body 100 so as to connect with the guide rail 310 and drive the robot body 100 to climb on the shelf 300 along the guide rail 310.

[0080] In some embodiments, please continue to refer to Figures 2 and 3. The climbing unit 200 includes a base 210 and a climbing component 220. The climbing component 220 is disposed on the base 210. The base 210 is connected to the robot body 100. The climbing component 220 is used to dock with the guide rail 310 on the shelf 300. In this way, the climbing component 220 drives the robot body 100 to climb along the guide rail 310 on the shelf 300 under the action of driving force.

[0081] The guide rail 310 extends along the height direction of the shelf 300. For example, in Figure 1, the guide rail 310 is installed at one end of the shelf 300 and extends along a second direction. The base 210 is disposed on one side of the robot body 100 facing the guide rail. The base 210 can be a plate-shaped structure, shell-shaped structure, etc., with the same extension direction as the guide rail 310. The climbing component 220 is disposed on the base, and the robot body 100 climbs along the extension direction of the guide rail 310 through the climbing component 220.

[0082] Specifically, referring to Figure 2, the climbing component 220 extends in the same direction as the base 210. The base 210 is generally a long strip shape with a groove extending along its length. The climbing component 220 is partially disposed within the groove and partially disposed outside the groove. The climbing component 220 includes an annular closed flexible member 2223, a driving wheel 2221, and a driven wheel 2222. The flexible member 2223 includes, but is not limited to, a timing belt. The driving wheel 2221 and the driven wheel 2222 can be matched with timing pulleys of the timing belt, respectively. The two timing pulleys are rotatably disposed on the base 210, one of which is the driving wheel and the other is the driven wheel. The annular closed timing belt is disposed outside the two timing pulleys and is driven by the timing pulleys to rotate. Multiple second climbing wheel teeth 2224 are spaced apart on the timing belt. The multiple second climbing wheel teeth 2224 are used to mesh with the corresponding first climbing wheel teeth 311 on the guide rail, thereby enabling the climbing component to climb along the guide rail.

[0083] Due to manufacturing or installation errors, the guide rail 310 may have misalignment issues when the climbing component 220 and the guide rail 310 are connected, which may cause the climbing component 220 and the guide rail 310 to fail to connect or to get stuck or unable to climb after connection.

[0084] Based on the above problems, please refer to Figures 2 and 3. In this embodiment of the present disclosure, the climbing unit 200 further includes a first guide limiting component 230. The first guide limiting component 230 is movably disposed on the base 210 so that the first guide limiting component 230 can swing relative to the base 210. The first guide limiting component 230 defines a limiting space 231 so that the limiting space 231 can be adaptively swinged and adjusted according to the error of the guide rail 310, so as to limit the guide rail 310 in the limiting space 231 and make the climbing component 220 dock with the guide rail 310 so as to climb along the guide rail 310 on the shelf 300 under the action of driving force.

[0085] In some embodiments, as shown in Figures 2, 3, and 5, the base 210 includes a first seat body 213 and a second seat body 214, with the second seat body 214 located below the first seat body 213. For example, as shown in Figure 5, the first guide limiting component 230 can be rotatably connected to the first seat body 213 via a first rotating shaft 211, so that the first guide limiting component 230 swings in a first direction with the axis of the first rotating shaft 211 as the rotation center. The axial direction of the first rotating shaft 211 is, for example, the same as the extension direction of the guide rail 310 (such as the vertical direction), and there is an angle between the first direction and the axis of the first rotating shaft 211. The swing trajectory of the first guide limiting component 230 around the first rotating shaft 211 in the first direction can be a straight line or an arc, as long as the guide rail 310 is confined in the limiting space 231, which is not limited here.

[0086] Therefore, in this embodiment, by designing a first guide limiting component 230 in the climbing unit 200, the first guide limiting component 230 defines a limiting space 231. The first guide limiting component 230 is movably mounted on the base 210 and swings relative to the base 210, so that the first guide limiting component 230 can adapt to the error of the guide rail 310, so as to limit the guide rail 310 in the limiting space 231. In this way, after the climbing component 220 is connected to the guide rail 310, under the action of the driving force, the robot body 100 can climb along the extension direction of the guide rail 310 on the shelf 300. This avoids the problem of the climbing unit 200 getting stuck or unable to climb along the guide rail 310 due to misalignment between the climbing unit 200 and the guide rail 310, thereby improving the compatibility between the climbing robot 10 and the guide rail 310 on the shelf 300 and improving the reliability of the climbing robot 10 when climbing along the guide rail 310.

[0087] In some embodiments, as shown in FIG3, the first guide limiting assembly 230 includes a first connector 232 and two first limiting structures 233 disposed opposite to each other on opposite sides of the first connector 232. For example, the two first limiting structures 233 are spaced apart at both ends of the first connector 232 along a first direction, and a limiting space 231 is defined between the two first limiting structures 233. The first connector 232 is configured to rotate about a first rotation axis so that the first connector 232 swings relative to the base 210 in a first direction (i.e., the first connector 232 swings relative to the base 210 in a first direction). The first connecting member 232 can drive the two first limiting structures 233 to adaptively adjust according to the error of the guide rail 310, so as to limit the guide rail 310 in the limiting space 231, that is, the guide rail 310 is located between the two oppositely arranged first limiting structures 233. In this way, when the climbing component 220 climbs along the guide rail 310 under the driving force, the two oppositely arranged first limiting structures 233 and the guide rail 310 mutually limit and guide each other, so that the climbing robot 10 can climb along the extension direction of the guide rail 310, so as to facilitate the climbing robot 10 to pick up and put down goods.

[0088] The first rotation axis is consistent with the extension direction of the guide rail 310; for example, when the first connector 232 is rotatably connected to the base 210 through the first rotating shaft 211, the first rotation axis is the axis of the first rotating shaft 211.

[0089] In some embodiments, referring to Figures 2 and 3, the first limiting structure 233 includes at least one first guide wheel 2331. The first guide wheel 2331 is rotatably connected to the first connecting member 232, allowing the first guide wheel 2331 to rotate around its own axis. Thus, when the first guide wheel 2331 and the guide rail 310 move relative to each other, the first guide wheel 2331 can rotate relative to the guide rail 310 around its own axis, preventing jamming between the first guide wheel 2331 and the guide rail 310 during relative movement, thereby improving the smoothness of relative movement between the first guide wheel 2331 and the guide rail 310. The central axis of the first guide wheel 2331 is staggered with the first rotation axis.

[0090] In some embodiments, each first limiting structure 233 includes two or more first guide wheels 2331 arranged sequentially along the second direction (i.e., the extension direction of the guide rail 310). For example, as shown in FIG2 and FIG3, each first limiting structure 233 includes two first guide wheels 2331 arranged sequentially along the second direction. In this way, the size of the limiting space 231 in the second direction can be increased, thereby improving the reliability of mutual limiting and guiding between the first limiting structure 233 and the guide rail 310.

[0091] In other embodiments, the first limiting structure 233 may also include at least one ball or other spherical structure, and the ball can rotate around its own center. When the guide rail 310 is limited in the limiting space 231, the ball can roll into contact with the surface of the guide rail 310, so that when there is relative movement between the guide rail 310 and the ball, the ball can rotate to prevent jamming.

[0092] In some embodiments, the first guide limiting component 230 is disposed near the top of the base 210, and the climbing component 220 is disposed below the first guide limiting component 230 on the base 210. For example, in FIG2, the first guide limiting component 230 is disposed on the first seat 213, wherein the first connector 232 is rotatably connected to the first seat 213 through the first rotating shaft 211, wherein the first connector 232 is disposed below the first seat 213.

[0093] In this embodiment of the application, by setting the first guide limiting component 230 at a position near the top of the base 210, in addition to guiding the climbing unit 200 to climb by the first limiting structure 233, interference between the climbing component 220 and the first guide limiting component 230 can be avoided.

[0094] In some embodiments, as shown in Figures 2 and 3, the climbing unit 200 further includes a second guide limiting component 240, and the second guide limiting component 240 and the first guide limiting component 230 are spaced apart on the base 210 along a second direction; for example, along the second direction, the first guide limiting component 230 is disposed above the second guide limiting component 240.

[0095] In some embodiments, referring to Figures 2 and 3, the second guide limiting assembly 240 includes a second connector 241 and two second limiting structures 242 disposed at opposite ends of the second connector 241. The second connector 241 is disposed on and movably connected to the base 210, so that the second connector 241 can drive the two second limiting structures 242 to rotate relative to the base 210 about a second rotation axis, so that the second guide limiting assembly 240 swings in a first direction, wherein the direction of the second rotation axis is, for example, the same as the extension direction of the first rotation axis. In addition, the guide rail 310 has flanges 312 on both sides facing the climbing unit 200, and the flanges 312 have a first surface 3121, the first surface 3121 being, for example, the side facing the robot body 100. When the second connector 241 drives the two second limiting structures 242 to swing in the first direction about the second rotation axis, the two second limiting structures 242 respectively abut against the first surface 3121 of their corresponding flanges 312 (as shown in Figure 4). The two second limiting structures 242 abut against the first surface 3121 of the flange 312 of the guide rail 310, which can limit the movement of the guide rail 310 and the climbing unit 200 in the third direction, thereby improving the reliability of the relative position between the climbing unit 200 and the guide rail 310 in the third direction; wherein, the third direction is perpendicular to the first direction and the second direction respectively.

[0096] In some embodiments, the flange 312 may be perpendicularly connected to the sidewall 314. The flange 312, the sidewall 314, and the bottom wall between the two sidewalls 314 may form an Ω-shaped guide rail. The first climbing gear tooth 311 is mounted in the climbing area 315 formed by the Ω-shaped guide rail.

[0097] For example, as shown in FIG3, the second connector 241 can be rotatably connected to the base 210 via the second rotating shaft 212. Two second limiting structures 242 are respectively disposed at opposite ends of the second connector 241 along the first direction. The second connector 241 can drive the two second limiting structures 242 to rotate relative to the base 210 via the second rotating shaft 212 under the action of force, so as to swing in the first direction to adjust the position between the two second limiting structures 242 and the flanges 312 on both sides of the guide rail 310, so that the second limiting structures 242 respectively abut against the first surface 3121 of their corresponding flanges 312.

[0098] In some embodiments, the second limiting structure 242 includes at least one second guide wheel 2421. For example, as shown in Figures 3 and 4, the second limiting structure 242 includes a second guide wheel 2421, which is rotatably connected to the second connector 241, allowing the second guide wheel 2421 to rotate about its own axis. The central axis of the second guide wheel 2421 is intersected with the second rotation axis. Thus, when the climbing unit 200 climbs along the guide rail 310 on the shelf 300, the second guide wheel 2421 abuts against the first surface 3121 of the corresponding flange 312. During the climbing process, the second guide wheel 2421 rotates about its own axis to prevent jamming between the second guide wheel 2421 and the first surface 3121 of the flange 312.

[0099] In other embodiments, the second limiting structure 242 may also be a ball bearing or similar structure. As long as the climbing robot 10 can rotate around its own axis and roll into contact with the first surface 3121 of the flange 312 when it climbs along the guide rail 310 on the shelf 300, it can prevent jamming. This will not be discussed here.

[0100] In some embodiments, the second guide limiting component 240 is disposed near the bottom of the base 210. For example, in FIG2, the second guide limiting component 240 is disposed at the end of the second seat 214 away from the first seat 213, so as to further guide and limit the climbing unit 200 during climbing, while avoiding mutual interference between the second guide limiting component 240 and the climbing component 220. It is understood that the climbing component 220 is located between the second guide limiting component 240 and the first guide limiting component 230.

[0101] To further improve the reliability of the guide and limiting mechanism between the climbing unit 200 and the guide rail 310, and to prevent jamming during climbing, in this embodiment, referring to Figures 2 and 3, the climbing unit 200 further includes a third guide and limiting component 250. Along the second direction, the third guide and limiting component 250 is movably disposed on the base 210 and located between the first guide and limiting component 230 and the second guide and limiting component 240. The third guide and limiting component 250 and the second guide and limiting component 240 together limit the climbing unit 200 in the third direction.

[0102] In some embodiments, referring to Figure 3, the third guide limiting assembly 250 includes two third connectors 251 and two third limiting structures 252. The two third limiting structures 252 are respectively disposed opposite to each other on both sides of the base 210 and are respectively connected to the base 210 through the two third connectors 251. Additionally, the flanges 312 on both opposite sides of the guide rail 310 facing the robot body 100 each have a second surface 3122, wherein the second surface 3122 and the first surface 3121 are two surfaces of the flange 312 disposed opposite to each other in a third direction. The two third limiting structures 252 abut against the second surface 3122 of their respective flanges 312 (as shown in Figure 4), and the two second limiting structures 242 abut against the first surfaces 3121 on both sides of the flange 312 to limit the climbing unit 200 and the guide rail 310 in a third direction.

[0103] In some embodiments, the third limiting structure 252 includes at least one third guide wheel 2521. As shown in FIG3, the third limiting structure 252 includes a third guide wheel 2521, which is configured to be rotatably connected to the third connector 251 so that the third guide wheel 2521 can rotate about its own axis. The central axis of the third guide wheel 2521 has an angle with the extension direction of the guide rail 310. For example, the central axis of the third guide wheel 2521 is the same as the first direction. In this way, when the climbing unit 200 docks with the guide rail 310 and climbs along the second direction, the third guide wheel 2521 rolls into contact with the second surface 3122 of the corresponding flange 312, and the third guide wheel 2521 rotates about its own axis to prevent the climbing unit 200 from causing the robot body 100 to get stuck when climbing along the guide rail 310. Of course, the third limiting structure 252 can also be a ball bearing or other structure, as long as it can prevent the climbing unit 200 from causing the robot body 100 to get stuck when climbing along the guide rail 310. There are no restrictions here.

[0104] In some embodiments, as shown in Figures 3 and 4, the guide rail 310 has a flange 312 connected to the sidewall, the flange 312 having a second surface 3122 facing away from the climbing unit 200, and two first limiting structures 233 are configured to abut against the second surface 3122 to limit the first limiting structures in a direction perpendicular to the second surface 3122.

[0105] In some embodiments, as shown in FIG4, the first guide wheel 2331 of the first limiting structure 233 can be configured to roll in contact with the second surface 3122 of the flange 312, that is, the first guide wheel 2331 can roll on the second surface 3122. When the first guide wheel 2331 rotates relative to the first connector 232, it can prevent the climbing unit 200 from causing the robot body 100 to get stuck when climbing along the guide rail 310.

[0106] As shown in Figure 4, the first guide wheel 2331 and the third guide wheel 2521 roll against the second surface 3122 of the flange 312, and the climbing component 220 climbs vertically along the climbing area 315 of the guide rail 310. The second surface 3122 supports and limits the first guide wheel 2331 and the third guide wheel 2521 in the third direction. This arrangement ensures the stability of the climbing robot 10 on the guide rail 310 and prevents the robot body 100 from falling off the guide rail 310. In some embodiments, the third guide limiting component 250 can be omitted.

[0107] In some embodiments, as shown in FIG3, the first connector 232 is disposed near the top of the base 210, the second connector 241 is disposed near the bottom of the base 210, and the third connector 251 is disposed near the middle of the base.

[0108] In some embodiments, as shown in FIG5, two buffer members 2321 are provided on both sides of the first connector 232, which are arranged opposite to each other. When the first connector 232 swings in the first direction, the buffer member 2321 can elastically contact the base 210 to avoid the problem of rigid collision between the first connector 232 and the base 210 when the first connector 232 rotates about the first rotation axis.

[0109] In other words, by providing two buffers 2321 at opposite ends of the first connector 232 in the first direction, the impact force of the first connector 232 colliding with the base 210 during rotation can be absorbed by the buffers 2321.

[0110] In some embodiments, the buffer 2321 may be a buffer pad, buffer column or other structure made of elastic materials such as rubber or silicone, thereby reducing the noise of the rigid collision between the first connector 232 and the base 210 when rotating, thereby improving the user experience.

[0111] In some embodiments, as shown in FIG4, the guide rail 310 has two oppositely arranged side walls 314, and a climbing area 315 is formed between the two side walls 314 for the climbing unit 200 to climb. The two side walls 314 are located between two oppositely arranged first limiting structures 233 and are in active contact with their corresponding first limiting structures 233, so as to limit the climbing unit 200 in a first direction and guide its movement in a second direction through the two oppositely arranged first limiting structures 233.

[0112] In some embodiments, referring to Figures 2-3, the climbing unit 200 further includes a fourth guide wheel 280. The fourth guide wheel 280 is located between two opposing first limiting structures 233 and is rotatably connected to the base 210, allowing the fourth guide wheel 280 to rotate about its own axis. The fourth guide wheel 280 rolls into contact with at least one sidewall 314 of the climbing area 315. Thus, the fourth guide wheel 280 and the first limiting structures 233 together limit the climbing unit 200 in a first direction and guide it in a second direction.

[0113] It should be noted that this application does not limit the number of fourth guide wheels 280. There may be one fourth guide wheel 280 or at least two. For example, the climbing unit 200 may include two fourth guide wheels 280, which are spaced apart along the first direction and can roll on the corresponding side walls 314 on both sides of the climbing area 315.

[0114] In some embodiments, the climbing unit 200 further includes a fifth guide wheel 290, which is spaced apart from the fourth guide wheel 280 in the second direction. The fifth guide wheel 290 is rotatable about its own axis and rolls in contact with at least one side wall 314 of the climbing area 315 on the guide rail 310. In this way, the fourth guide wheel 280, the fifth guide wheel 290 and the first limiting structure 233 together limit the climbing unit 200 in the first direction and guide it in the second direction.

[0115] In some embodiments, along the second direction, the fifth guide wheel 290 is disposed near the bottom of the base 210 and rotatably connected to the base 210, as shown in FIG3. As long as there is installation space at the position of the base 210 near the outer side of the drive wheel 2221, the fifth guide wheel 290 can be disposed near the drive wheel 2221 and rotatably connected to the base 210. The fifth guide wheel 290 is configured to roll in contact with the corresponding sidewalls 314 on both sides of the climbing area 315.

[0116] Please continue to refer to Figures 3 and 6. The climbing unit 200 also includes a support member 215. The climbing assembly 220 includes a drive motor 221 and a transmission structure 222. The transmission structure 222 includes a drive wheel 2221, a driven wheel 2222 and a flexible member 2223. The drive wheel 2221 and the driven wheel 2222 are spaced apart along a second direction. The drive motor 221 is configured to be connected to the drive wheel 2221. The flexible member 2223 is wound around the drive wheel 2221 and the driven wheel 2222. The flexible member 2223 defines an annular region, and the support member 215 is disposed within the annular region and connected to the two side walls of the base 210. The support member 215 is configured to support the flexible member 2223 on the side near the guide rail 310 to prevent the flexible member 2223 on the side near the guide rail 310 from bending or concave towards the side away from the guide rail 310 when moving in the second direction, so as to improve the reliability of the meshing transmission between the second climbing gear tooth 2224 on the flexible member 2223 and the first climbing gear tooth 311 on the guide rail.

[0117] The support member 215 can be a strip-shaped structure, a block-shaped structure, or a plate-shaped structure extending along the second direction, as long as it can provide a supporting foundation for the flexible member 2223, and no specific restrictions are imposed here.

[0118] In other embodiments, as shown in Figures 3 and 6, the fifth guide wheel 290 is rotatably connected to the support member 215. Along the first direction, the support member 215 has clearance notches 2151 on both opposite sides. Partial structures on both opposite sides of the fifth guide wheel 290 roll into contact with the sidewalls 314 on both sides of the climbing area 315 via the clearance notches 2151, so that the climbing unit 200 is limited in the first direction and guided in the second direction by the fourth guide wheel 280, the fifth guide wheel 290, and the first limiting structure 233.

[0119] Therefore, in the above embodiments, by setting the first guide limiting component 230, the fourth guide wheel 280, and the fifth guide wheel 290, the guide rail 310 is limited in the first direction, and the movement of the guide rail 310 and the climbing unit 200 in the second direction is guided. The second guide limiting component 240 and the third guide limiting component 250 limit the climbing unit 200 and the guide rail 310 in the third direction, thereby improving the reliability of the relative position between the climbing unit 200 and the guide rail 310. Furthermore, by swinging the first guide limiting component 230, the second guide limiting component 240, and the third guide limiting component 250 in the first direction, they can adaptively adjust according to the error of the guide rail 310, avoiding the problem of misalignment and inability to connect between the climbing unit 200 and the guide rail 310, thereby improving the applicability of the climbing robot 10.

[0120] In some embodiments, referring to Figures 5 and 6, the climbing unit 200 further includes a fall arrestor 260, which is movably disposed on the base 210 and configured to move between a first position and a second position under a force. For example, the fall arrestor 260 can swing relative to the base 210 in a second direction about a fourth rotation axis, wherein the first position is located below the second position in the second direction. The guide rail 310 has fourth limiting structures 313 arranged sequentially at intervals along the extension direction of the guide rail 310. When the climbing assembly 220 drives the climbing robot 10 to climb upward along the guide rail 310, the fall arrestor 260 is in the first position, and there is a gap between the fall arrestor 260 and the fourth limiting structure 313 in a third direction (as shown in Figure 6). The gap between the fall arrestor 260 and the fourth limiting structure 313 in the third direction in the first position is denoted by, for example, D. At this time, the fall arrestor 260 and the fourth limiting structure 313 do not interfere with each other. When the climbing robot 10 descends relative to the guide rail 310, if the acceleration of the climbing robot 10 during its descent exceeds a preset threshold (for example, when the climbing robot 10 is in free fall with an acceleration of g), the anti-fall device 260 moves from the first position to the second position. The anti-fall device 260 is located on and abuts against the fourth limiting structure 313. In this way, the fourth limiting structure 313 can limit the downward movement of the anti-fall device 260 in the second direction, which can prevent the climbing robot 10 from continuing to fall and causing personal injury or equipment damage, thus improving the safety and reliability of the climbing robot 10 climbing on the shelf 300.

[0121] In some embodiments, as shown in FIG6, the fourth limiting structure 313 may be the first climbing gear 311.

[0122] In some embodiments, as shown in Figures 7 and 8, the climbing unit 200 further includes an elastic element 270, which is disposed between the anti-fall member 260 and the base 210. The elastic element 270 is configured such that when the acceleration of the climbing robot 10 during descent exceeds a preset threshold, for example, when the climbing robot 10 is in free fall and the acceleration is g, the elastic element 270 can drive the anti-fall member 260 to move from the first position to the second position through its own elastic force, so as to limit the anti-fall member 260 through the fourth limiting structure 313 provided on the guide rail 310 and prevent the climbing robot 10 from continuing to fall.

[0123] For example, the elastic element 270 includes, but is not limited to, a torsion spring. As shown in Figure 8, the elastic element 270 is a torsion spring connected between the fall arrestor 260 and the base 210. When the acceleration of the climbing robot 10 is g, 0.5g, etc., the torsion spring can drive the fall arrestor 260 to the second position through its own elastic force, so that the projection of the fourth limiting structure 313 and the fall arrestor 260 in the second direction at least partially overlaps, so that the fall arrestor 260 is limited in the second direction by the fourth limiting structure 313, preventing the climbing robot 10 from continuing to fall downward, and improving the safety and reliability of the climbing robot 10 climbing on the shelf 300.

[0124] In some embodiments, as shown in FIG10, the guide rail 310 has a plurality of first climbing teeth 311, which are spaced apart along the extension direction of the guide rail 310. The first climbing teeth 311 can be used for climbing unit 200 to climb. The first climbing teeth 311 can be formed as a fourth limiting structure 313. That is, the first climbing teeth 311 and the fourth limiting structure 313 are physically the same structure. The first climbing teeth 311 can not only be used for climbing unit 200 to climb, but also prevent climbing unit 200 from falling downward when it is in a state of free fall, for example. In this way, the structure of guide rail 310 can be simplified and the cost can be reduced.

[0125] In some embodiments, referring back to FIG3, the flexible member 2223 has a plurality of spaced second climbing gear teeth 2224, which mesh with the first climbing gear teeth 311. The drive motor 221 can drive the drive wheel 2221 to rotate, and the drive wheel 2221 drives the flexible member 2223 sleeved on the drive wheel 2221 and the driven wheel 2222 to move, so that the second climbing gear teeth 2224 on the flexible member 2223 mesh with the first climbing gear teeth 311 to drive the climbing robot 10 to climb along the guide rail 310.

[0126] For example, the flexible element 2223 is either a drive belt or a drive chain, such as a plain belt or a synchronous belt.

[0127] In some embodiments, as shown in FIG3, the tooth surfaces of the first climbing gear tooth 311 and the second climbing gear tooth 2224 are both inclined at an angle to the second direction. That is, the first climbing gear tooth is an inclined gear tooth, and the second climbing gear tooth 2224 is an inclined gear tooth that matches the first climbing gear tooth 311. In this way, the problem of the first climbing gear tooth and the second climbing gear tooth 2224 being unable to mesh with each other can be avoided.

[0128] In some embodiments, as shown in FIG2, the climbing robot 10 includes two climbing units 200. The two climbing units 200 are spaced apart along a first direction on one side of the robot body 100 facing the guide rail 310. Thus, the two climbing units 200 respectively engage with the guide rails 310 on both sides of the shelf 300 and climb along the guide rails 310 under the action of driving force. It can be understood that by setting two climbing units 200, so that the robot body 100 can climb on the shelf 300 through the two climbing units 200, the reliability of the climbing robot 10 climbing on the shelf 300 can be improved.

[0129] In some embodiments, referring to Figures 2 and 9, the robot body 100 includes a movable base 110, a lifting mechanism 120, a mounting base 130, and a fork assembly 140. The mounting base 130 is mounted on the movable base 110 via the lifting mechanism 120, which connects the movable base 110 and the mounting base 130. The fork assembly 140 is disposed on the mounting base 130, and the lifting mechanism 120 can drive the mounting base 130 to move up and down relative to the movable base 110 in a second direction, thereby making the height of the climbing robot 10 adjustable in the second direction. A climbing unit 200 is connected to one end of the mounting base 130, i.e., the climbing unit 200 is mounted on one end of the mounting base 130.

[0130] For example, by providing a lifting mechanism 120 between the movable base 110 and the mounting base 130, the mounting base 130 can be raised and lowered relative to the movable base 110 in a second direction. In a specific implementation, since the guide rail 310 is usually at a certain height above the location of the shelf 300, when the climbing robot 10 needs to climb the shelf 300, the mounting base 130 can be raised first by the lifting mechanism 120 so that the climbing unit 200 can dock with the guide rail 310 on the shelf 300. Then, the movable base 110 can be retracted by the lifting mechanism 120, so that the climbing robot 10 can climb the shelf 300. When the climbing unit 200 needs to disengage from the guide rail 310, the climbing unit 200 first descends along the guide rail 310 to its lowest position. Then, through the lifting function of the lifting mechanism 120, the movable base 110 extends towards the ground, making contact with the ground. The connection between the climbing unit 200 and the guide rail 310 is then released, allowing the climbing robot 10 to land safely. It should be understood that in some embodiments, the lifting mechanism 120 may not need to retract the movable base 110 during the ascent of the climbing robot 10 along the guide rail 310.

[0131] This application does not limit the specific structure of the lifting mechanism 120, as long as the lifting mechanism 120 can function as a lifting mounting base 130. In some embodiments, as shown in FIG9, the lifting mechanism 120 is a scissor-type linkage structure. In other embodiments, the lifting mechanism 120 may also be a telescopic hydraulic mechanism, etc.

[0132] Additionally, the mounting base 130 can provide support and a mounting foundation for the fork assembly 140 and the climbing unit 200. The fork assembly 140 can be a telescopic fork; for example, the fork assembly 140 may include a telescopic arm and a pick-and-place mechanism located at the end of the telescopic arm for picking up and placing goods.

[0133] Examples of such devices include suction cups, pick-and-place hooks, and clamps for gripping goods. Specific details can be found in related technologies, and no limitations are imposed here.

[0134] Referring to Figure 1, this application embodiment also provides a storage system, including a shelf 300 and a climbing robot 10 as provided in the above embodiment. The shelf 300 is provided with a guide rail 310 for the climbing robot 10 to climb. The guide rail 310 is at a first distance from the ground, and the climbing robot 10 docks with the guide rail 310 from the bottom.

[0135] The structure and principle of the climbing robot 10 have been described in detail in the above embodiments and will not be repeated here.

[0136] For example, as shown in Figure 1, the shelf 300 has multiple storage locations arranged in a vertical direction. Guide rails 310 are provided on both sides of the storage locations. The climbing robot 10 can climb along the guide rails 310 to place goods on storage locations at different heights or to retrieve goods from storage locations at different heights.

[0137] Of course, the shelf 300 also has multiple storage locations in the first direction. In order to retrieve and place goods in different storage locations, each storage location has guide rails 310 on both sides to facilitate the climbing robot 10 to climb.

[0138] It should be noted that, in addition to using a synchronous belt to climb on the guide rail as described in the above embodiments, the climbing component 220 can also alternatively or additionally climb on the guide rail using gears. For example, each of the two climbing components 220 is equipped with one gear, and a rack or chain is provided on the guide rail of the shelf, with the gears climbing on the chain or rack.

[0139] In summary, in this embodiment of the application, by setting the first guide limiting component to be able to swing relative to the base in a first direction (e.g., swing towards the first direction), for example, it can swing with the position of the guide rail. In this way, the first guide limiting component can adapt to the error of the guide rail, so as to limit the guide rail within the limiting space. This avoids the problem of the climbing unit getting stuck or unable to climb along the guide rail due to the misalignment between the climbing unit and the guide rail, thereby improving the compatibility between the climbing robot and the guide rail on the shelf and improving the reliability of the climbing robot when climbing along the guide rail.

[0140] Example 2

[0141] With the rapid development of artificial intelligence, automation, and information technology, intelligent warehousing has become a crucial link in modern logistics. Its application ensures the speed and accuracy of data input at every stage of warehouse management. Related technologies include racks for placing goods and climbing robots. One side of the racks has guide rails for the climbing robots to climb. The climbing robots, including climbing units, can ascend along the guide rails to retrieve goods at different heights or place goods at different heights on the racks. To improve retrieval efficiency, climbing robots typically climb along one side of the racks in aisles between adjacent racks, enabling bidirectional retrieval and placement of goods on both sides of the aisle. However, in these technologies, when climbing robots perform bidirectional retrieval and placement, a misalignment exists between the climbing robot and the corresponding storage location, potentially causing collisions between goods or the climbing robot and the pillars on either side of the corresponding storage location on the rack.

[0142] To address the aforementioned problems, this disclosure provides a climbing robot and a warehousing system. A horizontal pushing mechanism is designed and positioned between two climbing units. The two climbing units are located on the same side of the robot body and spaced apart along the width of the robot body. The horizontal pushing mechanism is fixedly connected to the robot body. Each of the two climbing units docks with two adjacent guide rails from at least two guide rails on the shelf, allowing the climbing units to climb along the guide rails. The horizontal pushing mechanism includes two sets of drive mechanisms, each connected to one of the two climbing units. The drive motors in each set of drive components drive the corresponding climbing unit to move relative to the robot body via a transmission component. This allows the robot body to move along a first direction while the two climbing units are docked with the two adjacent guide rails, adjusting the relative position between the robot body and the storage location on the shelf corresponding to its current position. This prevents the robot body from deviating from the target storage location during retrieval and placement, thereby improving the positional accuracy of the climbing robot relative to the corresponding storage location during retrieval and placement, and ultimately enhancing the safety and reliability of the climbing robot during retrieval and placement.

[0143] To make the above-mentioned objects, features, and advantages of the embodiments of this disclosure more apparent and understandable, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0144] Referring to Figure 11, this embodiment of the present disclosure provides a climbing robot 100 for climbing on a shelf 200 and picking up and placing goods. The shelf 200 has at least two guide rails 201, which the climbing robot 100 can climb along the guide rails 201 to different heights on the shelf 200, so as to place goods on the shelf 200 or remove goods from the shelf 200.

[0145] In some embodiments, as shown in Figures 12 and 13, the climbing robot 100 includes a robot body 110 and two climbing units 120. The two climbing units 120 are disposed on the same side of the robot body 110 and spaced apart along the width (e.g., a first direction) of the robot body 110 on the same side. The two climbing units 120 respectively engage with two adjacent guide rails 201 of at least two guide rails 201 on the shelf 200, wherein one climbing unit 120 engages with one guide rail 201, so that the climbing unit 120 can climb or descend along the guide rail 201 on the shelf 200 to pick up or put down goods.

[0146] Referring to Figures 13-14, the robot body 110 includes a movable base 112, a lifting mechanism 113, a mounting base 114, and a fork assembly 115. The mounting base 114 is mounted on the movable base 112 via the lifting mechanism 113, which connects the movable base 112 and the mounting base 114. The fork assembly 115 is disposed on the mounting base 114. The lifting mechanism 113 can drive the mounting base 114 to rise and fall relative to the movable base 112 in a second direction, thereby making the height of the climbing robot 100 adjustable in the second direction. The climbing unit 120 is connected to the end of the mounting base 114, that is, the climbing unit 120 is mounted on one side of the mounting base 114.

[0147] For example, by providing a lifting mechanism 113 between the movable base 112 and the mounting base 114, the mounting base 114 can be raised and lowered relative to the movable base 112 in a second direction. In a specific implementation, since the guide rail 201 is a certain distance from the location of the shelf 200, when the climbing robot 100 needs to climb the shelf 200, the mounting base 114 can be raised first by the lifting mechanism 113 so that the climbing unit 120 can dock with the guide rail 201 on the shelf 200. Then, the movable base 112 can be retracted by the lifting mechanism 113, so that the climbing robot 100 can climb the shelf 200. When the climbing unit 120 needs to disengage from the guide rail 201, the climbing unit 120 first descends along the guide rail 201 to its lowest position. Then, through the lifting function of the lifting mechanism 113, the movable base 112 extends towards the ground, making contact with the ground. The lifting mechanism 113 then continues to lower the height of the mounting base 114 to disengage the climbing unit 120 from the guide rail 201, allowing the climbing robot 100 to land safely. It should be noted that during the climbing process of the climbing unit 120, the lifting mechanism 113 may also maintain the climbing robot 100 at the same height as when it was docked with the guide rail 201 without retracting the movable base 112.

[0148] The lifting mechanism 113 can be a scissor fork linkage structure as shown in Figure 13, or a telescopic hydraulic mechanism, etc., without limitation.

[0149] Additionally, the mounting base 114 provides support and a mounting foundation for the fork assembly 115 and the climbing unit 120. The fork assembly 115 may include two telescopic arms and pick-and-place devices located at the ends of the telescopic arms. The two telescopic arms engage with the cargo from both sides via the pick-and-place devices, thereby pushing and pulling the cargo. The fork assembly 115 may also include a single telescopic arm and a pick-and-place device located at the end of the telescopic arm, which engages with the cargo from the front, top, or bottom to pick up and place the cargo.

[0150] Examples of such devices include suction cups, pick-and-place hooks, and clamps for gripping goods. Specific details can be found in related technologies, and no limitations are imposed here.

[0151] It is understood that the climbing unit 120 includes a drive unit and a first climbing gear 122 disposed on the climbing unit 120. The guide rail 201 has a second climbing gear that matches the first climbing gear 122. Thus, under the driving force of the drive unit, the first climbing gear 122 and the second climbing gear mesh and engage in gear transmission, so that the climbing unit 120 can climb along the extension direction of the guide rail 201. For details, please refer to relevant technologies, which will not be elaborated here.

[0152] Alternatively, the drive unit can be a flexible transmission component 132, a gear transmission component 132, etc., as long as it can drive the climbing unit 120 to move relative to the guide rail 201, and there are no restrictions here.

[0153] In some embodiments, as shown in FIG14, the warehousing system has multiple shelves 200, and an aisle 230 is formed between two adjacent shelves 200. A climbing robot 100 is located in the aisle 230 and connects with and climbs the shelf 200 on one side of the aisle 230, enabling the robot to climb on one side (i.e., climb along the shelf 200 on one side of the aisle 230) to achieve bidirectional picking and placing (i.e., picking and placing goods on both sides of the shelf 200 of the aisle 230 by the climbing robot 100), thereby improving the picking and placing efficiency of the climbing robot 100. As shown in FIG11 and FIG14, the direction extending along the aisle 230 is the first direction, the direction extending along the guide rail on the shelf (i.e., the vertical direction) is the second direction, and the third direction is perpendicular to the first and second directions.

[0154] For example, for ease of description, the two shelves 200 forming the aisle 230 are respectively represented as a first shelf 210 and a second shelf 220. The side of the first shelf 210 facing the second shelf 220 has at least two guide rails 201, and a first storage position 211 is formed between two adjacent guide rails 201 on the first shelf 210. Correspondingly, the second shelf 220 has a second storage position 221 corresponding to the first storage position 211. The second shelf 220 may not have guide rails 201. When the climbing robot 100 connects with the guide rails 201 on the first shelf 210 and climbs to pick up and place goods on the first shelf 210, since the climbing robot 100 connects with the first shelf 210, the symmetry line of the robot body 110 in the third direction coincides with the symmetry line of the two climbing units 120 in the third direction in the first direction. That is, the robot body 110 picks up and places goods with the symmetry center of the two adjacent guide rails 201 as the symmetry center. Therefore, there is basically no offset problem when the robot body 110 picks up and places goods on the first shelf 210. However, due to various reasons such as construction errors and ground settlement, the second shelf 220 and the first shelf 210 may be offset in the first direction, which may cause the climbing robot 100 to collide with the uprights on both sides of the second storage position 221 on the second shelf 220 when it is picking up or placing goods on the second shelf 220.

[0155] To address the aforementioned issues, in this embodiment of the disclosure, referring to Figures 15-16, the climbing robot 100 further includes a horizontal pushing mechanism 130. The horizontal pushing mechanism 130 is fixedly installed on the robot body 110 and positioned between the two climbing units 120. The horizontal pushing mechanism 130 includes two drive mechanisms 130a, which respectively drive the two climbing units 120 to move relative to the robot body 110. Each drive mechanism 130a drives one climbing unit 120, causing the robot body 110 to move along a first direction when the two climbing units 120 are aligned with two adjacent guide rails 201. This adjusts the relative position between the robot body 110 and the target storage location on the second shelf 220, preventing misalignment between the robot body 110 and the target storage location. This improves the positional accuracy of the climbing robot 100 when picking up and placing goods, thereby enhancing the safety and reliability of the climbing robot 100 during goods handling.

[0156] In one exemplary example, the climbing robot 100 is in the aisle 230 formed by the first shelf 210 and the second shelf 220, and docks with two adjacent guide rails 201 on the first shelf 210, as shown in Figure 14. The deviation of the first shelf 210 and the second shelf 220 in the first direction is represented by, for example, D. For example, the deviation of the first column 212 on the first shelf 210 and the second column 222 on the second shelf 220 in the first direction is D. When the climbing robot 100 is docked with the two adjacent guide rails 201 on the first shelf 210, and before picking up or placing goods at the second storage location 221 on the second shelf 220, the robot body 110 is driven to move relative to the two climbing units 120 in the first direction by the flat pushing mechanism 130 to adjust the relative position between the robot body 110 and the second storage location 221 on the second shelf 220. This prevents the robot body 110 or the goods from colliding with the second column 222 on the second shelf 220 when picking up or placing goods due to the deviation between the robot body 110 and the second storage location 221. This achieves the purpose of the climbing robot 100 climbing along one side of the first shelf 210 and picking up or placing goods in both directions on the first shelf 210 and the second shelf 220, and improves the safety and reliability of the robot body 110 picking up or placing goods on the second shelf 220. In some embodiments, referring to FIG16, the pushing mechanism 130 includes two sets of drive mechanisms 130a, which are arranged along a first direction. Each set of drive mechanisms 130a includes a drive motor 131 and a transmission assembly 132. The two sets of drive mechanisms 130a are respectively used to connect to two climbing units 120. The drive motor 131 in each set of drive mechanisms 130a drives the corresponding climbing unit 120 to move relative to the robot body 110 through the transmission assembly 132, so that the robot body 110 moves along the first direction when the two climbing units 120 are docked with two adjacent guide rails 201 of at least two guide rails 201, so as to adjust the relative position of the robot body 110 and the storage location on the shelf 200 in the first direction, so that the climbing robot 100 is aligned with the storage location to be picked up or placed. Furthermore, when the climbing robot 100 docks with the shelf 200, it may deviate from its center due to uneven ground or other reasons, failing to align with the center of the two adjacent guide rails 201 on the shelf 200. In this case, the two sets of drive mechanisms 130a of the pushing mechanism 130 can be controlled to drive the two climbing units 120 to extend by different distances, thereby docking the two climbing units 120 with the two adjacent guide rails 201. Further, after the climbing robot 100 successfully docks with the shelf 200, the relative position of the robot body 110 and the target storage location on the shelf 200 in the first direction can be adjusted according to the above method to align the climbing robot 100 with the target storage location for picking and placing goods.

[0157] In some embodiments, referring to FIG16, the transmission assembly 132 includes a drive wheel 1321, a driven wheel 1322, and a flexible element 1323. The drive wheel 1321 and the driven wheel 1322 are mounted on the robot body 110. The drive wheel 1321 and the driven wheel 1322 are spaced apart between two climbing units 120 along the width direction of the climbing robot 100. For example, in FIG16, the drive wheel 1321 and the driven wheel 1322 are spaced apart in a first direction, and the flexible element 1323 is wound around the drive wheel 1321 and the driven wheel 1322. The drive motor 131 is connected to the drive wheel 1321 to drive the flexible element 1323 through the drive wheel 1321. The climbing unit 120 is connected to its corresponding flexible element 1323, and the climbing unit 120 is movably connected to the robot body 110. For example, the climbing unit 120 is slidably connected to the robot body 110. When the climbing unit 120 docks with the guide rail 201, the flexible member 1323 moves, which allows the robot body 110 to move relative to the climbing unit 120 in the first direction, so that the relative position between the robot body 110 and the storage location in the first direction is adjustable.

[0158] For example, the flexible element 1323 is one of a timing belt, a plain belt, or a drive chain. Figure 16 shows an example of the flexible element 1323 being a timing belt.

[0159] It should be noted that the fact that the pushing mechanism 130 is fixedly mounted on the robot body 110 does not mean that all components of the pushing mechanism 130 are fixed relative to the robot body 110. For example, the transmission component 132 in the pushing mechanism 130 can still rotate relative to the robot body 10. The fact that the drive motor 131, as well as the driving wheel 1321 and driven wheel 1322 in the pushing mechanism 130 are fixedly mounted on the robot body 110 means that the pushing mechanism 130 is fixedly mounted on the robot body 110.

[0160] In some embodiments, as shown in Figures 13 and 14, two transmission components 132 are arranged and connected sequentially along a first direction, and two climbing units 120 are respectively connected to the flexible members 1323 in the two transmission components 132. In this way, when the two climbing units 120 are docked with the corresponding guide rails 201, the two drive motors 131 drive the robot body 110 and the two climbing units 120 to move relative to each other in the first direction through the two transmission components 132, so as to improve the relative position between the robot body 110 and the storage location to be picked up and placed.

[0161] In some embodiments, as shown in Figures 15 and 17, each climbing unit 120 has a first sliding portion 121, and the robot body 110 has a second sliding portion 111 at a position facing the first sliding portion 121. The first sliding portion 121 and the second sliding portion 111 are slidably connected. Two drive motors 131 drive the robot body 110 to slide relative to the two climbing units 120 in a first direction through corresponding transmission components 132, that is, drive the first sliding portion 121 and the second sliding portion 111 to slide relative to each other, thereby adjusting the relative position of the robot body 110 and the storage location to be picked up or placed in the first direction.

[0162] For example, the first sliding portion 121 includes either a slide rail or a slide groove, and the second sliding portion 111 includes the other of the slide rail or slide groove. For example, in Figures 15 and 17, the first sliding portion 121 includes a slide plate with a slide groove, and the second sliding portion 111 includes a slide rail that matches the slide groove. The slide rail is located in the slide groove and slides relative to the slide groove under the action of a force, thereby causing relative movement between the robot body 110 and the climbing unit 120 in a first direction.

[0163] In some embodiments, referring to FIG16, the transmission assembly 132 further includes a first connector 1324, which is fixedly connected to the flexible member 1323 and connected to the first sliding part 121. The first sliding part 121 is connected to the climbing unit 120. For example, the first connector 1324 can be a connecting plate, a connecting seat, or other structures. The first connector 1324 can be fixedly installed on the flexible member 1323 by means of threaded connectors or the like, and then the first connector 1324 is fixedly connected to the first sliding part 121. In this way, when the flexible member 1323 moves, it can drive the climbing unit 120 and the robot body 110 to move relative to each other in a first direction through the first sliding part 121 and the second sliding part 111.

[0164] In some embodiments, referring to Figure 16, each drive mechanism 130a further includes a second connector 1325. The second connector 1325 can be connected to the robot body 110. The two drive mechanisms 130a are interconnected through the two second connectors 1325. For example, in Figure 6, the two transmission components 132 in the two drive mechanisms 130a are connected back-to-back through the two second connectors 1325, and the driven wheel 1322 in each transmission component 132 is rotatably connected to the corresponding second connector 1325, so that the driven wheel 1322 can rotate about its own axis. By providing the second connector 1325, a supporting foundation can be provided for each transmission component 132.

[0165] For example, as shown in FIG16, the second connector 1325 is, for example, a connecting frame, and the driven wheel 1322 is rotatably connected to its corresponding connecting frame.

[0166] This disclosure also provides a warehousing system, including a shelf 200 and a climbing robot 100 as described in the above embodiments, the climbing robot 100 being used to climb on the shelf 200 and retrieve and place goods.

[0167] The structure and location of the climbing robot 100 have been described in detail in the above embodiments and will not be repeated here.

[0168] Referring to Figures 14 to 16, this embodiment of the present disclosure also provides a warehousing system, including: a first shelf 210, a second shelf 220, and a climbing robot 100. The first shelf 210 and the second shelf 220 are arranged opposite to each other and are offset in a first direction. An aisle 230 is formed between the first shelf 210 and the second shelf 220 for the climbing robot 100 to pick up and put down goods. The side of the first shelf 210 facing the second shelf 220 has at least two guide rails 201, and a first storage location 211 for storing goods is formed between two adjacent guide rails 201. The side of the second shelf 220 facing the first shelf 210 has a second storage location 221 arranged opposite to the first storage location 211, and the first storage location 211 and the second storage location 221 are offset in a first direction. The climbing robot 100 includes a robot body 110, two climbing units 120, and a pushing mechanism 130. The two climbing units 120 are movably mounted on the robot body 110, and the pushing mechanism 130 is disposed between the two climbing units 120. The two climbing units 120 are respectively docked with two guide rails 201 and climb or descend along the extension direction of the guide rails 201. The pushing mechanism 130 is configured to drive the two climbing units 120 and the robot body 110 to move relative to each other in the extension direction of the aisle 230, so that the relative position of the robot body 110 with the first storage location 211 and / or the second storage location 221 in the first direction is adjustable when the two climbing units 120 are docked with two adjacent guide rails 201 of at least two guide rails 201.

[0169] For example, the climbing robot 100 is positioned in the aisle 230 formed by the first shelf 210 and the second shelf 220, and docks with two adjacent guide rails 201 on the first shelf 210, as shown in FIG14. The deviation between the first shelf 210 and the second shelf 220 in the first direction is denoted by, for example, D. When the climbing robot 100 climbs along the two adjacent guide rails 201 on the first shelf 210 and remains docked, before picking up or placing goods at the second storage location 221 on the second shelf 220, the robot body 110 is driven to move relative to the two climbing units 120 in the first direction by the pushing mechanism 130, so as to adjust the relative position between the robot body 110 and the second storage location 221 on the second shelf 220 and compensate for the deviation between the first shelf 210 and the second shelf 220 in the first direction. Before picking up or placing goods on the second storage location 221, the robot body 110 first aligns with the center of the second storage location 221 on the second shelf 220, thereby improving the safety and reliability of the robot body 110 picking up or placing goods on the second shelf 220 and avoiding the problem of collision with the second shelf 220 when picking up or placing goods.

[0170] In this embodiment, a pushing mechanism 130 is designed and positioned between two climbing units 120. The two climbing units 120 are located on the same side of the robot body 110 and spaced apart along the width direction of the robot body 110. The pushing mechanism 130 is fixedly connected to the robot body 110. The two climbing units 120 are respectively connected to two adjacent guide rails 201 of at least two guide rails 201 on the shelf 200, so that the climbing units 120 can climb along the guide rails 201. The pushing mechanism 130 includes two sets of drive mechanisms 130a, which are respectively used to connect to the two climbing units 120. The drive motor 131 in each drive assembly drives the corresponding climbing unit 120 to move relative to the robot body 110 through the transmission assembly 132. This allows the robot body 110 to move along the first direction when the two climbing units 120 are docked with two adjacent guide rails 201 of at least two guide rails 201. This adjusts the position between the robot body 110 and the storage location on the shelf 200 corresponding to its current position, preventing the robot body 110 from shifting from the storage location corresponding to picking and placing goods. This improves the positional accuracy between the climbing robot 100 and the corresponding storage location when picking and placing goods, thereby improving the safety and reliability of the climbing robot 100 when picking and placing goods.

[0171] In summary, in this embodiment, a pushing mechanism is designed and positioned between two climbing units. The two climbing units are located on the same side of the robot body and spaced apart along the width of the robot body. The pushing mechanism is fixedly connected to the robot body. The two climbing units are respectively connected to two adjacent guide rails of at least two guide rails on the shelf, so that the climbing units can climb along the guide rails. The pushing mechanism includes two sets of drive mechanisms, which are respectively connected to the two climbing units. The drive motors in each set of drive components drive the corresponding climbing unit to move relative to the robot body through a transmission component. This allows the robot body to move along a first direction when the two climbing units are connected to the two adjacent guide rails of at least two guide rails, thereby adjusting the position between the robot body and the storage location on the shelf corresponding to its current position. This prevents the robot body from being misaligned with the storage location corresponding to the picking and placing of goods, thereby improving the positional accuracy between the climbing robot and the corresponding storage location when picking and placing goods, and thus improving the safety and reliability of the climbing robot when picking and placing goods.

[0172] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0173] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0174] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0175] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0176] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments or may be combined at least as shown in the accompanying drawings.

[0177] In the description of the embodiments of this application, the technical terms "installation" and "connection" have the same meaning and can be used interchangeably. Unless otherwise expressly specified and limited, "installation" and "connection" can be a fixed connection (e.g., a detachable fixed connection, welding, or integral molding) or a movable connection; they can be directly connected without an intermediate medium or indirectly connected through an intermediate medium.

[0178] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A climbing robot for climbing and retrieving goods on a shelf (300), the shelf (300) having a guide rail (310) for the climbing robot (10) to climb, characterized in that, The climbing robot (10) includes: a robot body (100) and a climbing unit (200), wherein the climbing unit (200) is disposed on one side of the robot body (100); The climbing unit (200) includes a base (210), a climbing component (220), and a first guide limiting component (230). The climbing component (220) and the first guide limiting component (230) are both disposed on the base (210). The climbing component (220) is configured to climb along the guide rail (310). The first guide limiting component (230) defines a limiting space (231). The first guide limiting component (230) is configured to swing relative to the base (210) so that the climbing unit (200) docks with the guide rail (310) and limits the guide rail (310) within the limiting space (231).

2. The climbing robot according to claim 1, characterized in that, The first guide limiting assembly (230) includes a first connector (232) and two first limiting structures (233) disposed on opposite sides of the first connector (232), the two first limiting structures (233) defining the limiting space (231), the first connector (232) being configured to swing relative to the base (210) about a first rotation axis; wherein the first rotation axis is consistent with the extension direction of the guide rail (310).

3. The climbing robot according to claim 2, characterized in that, The first limiting structure (233) includes at least one first guide wheel (2331), which is rotatably connected to the first connector (232) so that the first guide wheel (2331) can rotate around its own axis, wherein the central axis of the first guide wheel (2331) is intersected with the first rotation axis.

4. The climbing robot according to claim 2, characterized in that, The climbing unit (200) further includes a second guide limiting component (240), the second guide limiting component (240) and the first guide limiting component (230) being spaced apart on the base (210) along the extension direction of the base (210); The second guide limiting assembly (240) includes a second connector (241) and two second limiting structures (242) disposed at opposite ends of the second connector (241). The second connector (241) is configured to swing relative to the base (210) about a second rotation axis. The guide rail (310) has flanges (312) on both sides of the side facing the climbing unit (200). The flanges (312) have first surfaces (3121) so that the two second limiting structures (242) respectively abut against the first surfaces (3121) of their corresponding flanges (312). The second rotation axis extends in the same direction as the base (210).

5. The climbing robot according to claim 4, characterized in that, The second limiting structure (242) includes at least one second guide wheel (2421), which is rotatably connected to the second connector (241) so that the second guide wheel (2421) can rotate about its own axis, wherein the central axis of the second guide wheel (2421) and the second rotation axis are intersected.

6. The climbing robot according to claim 4, characterized in that, The climbing unit (200) further includes a third guide limiting component (250), which is disposed on the base (210) and located between the first guide limiting component (230) and the second guide limiting component (240); The third guide limiting component (250) includes two third limiting structures (252); the two third limiting structures (252) are respectively disposed opposite to each other on opposite sides of the base (210); the flange (312) has a second surface (3122) disposed opposite to the first surface (3121), and the two third limiting structures (252) are configured to abut against the second surface (3122) of their corresponding flanges (312).

7. The climbing robot according to claim 6, characterized in that, The third guide limiting component (250) further includes two third connectors (251), and the two third limiting structures (252) are respectively connected to the base (210) through the two third connectors (251).

8. The climbing robot according to claim 7, characterized in that, The third limiting structure (252) includes at least one third guide wheel (2521), which is configured to be rotatably connected to the corresponding third connector (251) so that the third guide wheel (2521) can rotate about its own axis, and the central axis of the third guide wheel (2521) has an angle with the extension direction of the base (210).

9. The climbing robot according to any one of claims 4-8, characterized in that, The first guide limiting component (230) is disposed near the top of the base (210); the second guide limiting component (240) is disposed near the bottom of the base (210).

10. The climbing robot according to claim 3, characterized in that, The guide rail (310) has two opposing sidewalls (314), and a climbing area (315) is formed between the two sidewalls (314) for the climbing unit (200) to climb. The two sidewalls (314) are located between two opposing first limiting structures (233).

11. The climbing robot according to claim 10, characterized in that, The guide rail (310) has a flange (312) connected to the side wall (314), and the flange (312) has a second surface (3122) facing away from the climbing unit (200); The two first limiting structures (233) are configured to abut against the second surface (3122).

12. The climbing robot according to claim 10, characterized in that, The climbing unit (200) further includes a fourth guide wheel (280), which is located between two opposing first limiting structures (233) and rotatably connected to the base (210) so that the fourth guide wheel (280) can rotate about its own axis and rolls in contact with the sidewall (314) of at least one side of the climbing area (315).

13. The climbing robot according to claim 12, characterized in that, The climbing unit (200) further includes a fifth guide wheel (290), which is spaced apart from the fourth guide wheel (280) in a second direction. The fifth guide wheel (290) is rotatable about its own axis and rolls in contact with the sidewall (314) of at least one side of the climbing area (315) on the guide rail (310).

14. The climbing robot according to claim 13, characterized in that, The fifth guide wheel (290) is located near the bottom of the base (210) and is rotatably connected to the base, while the fourth guide wheel (280) is located near the top of the base (210).

15. The climbing robot according to claim 13, characterized in that, The climbing unit (200) also includes a support member (215); The climbing assembly (220) includes a drive motor (221) and a transmission structure (222). The transmission structure (222) includes a drive wheel (2221), a driven wheel (2222), and a flexible element (2223). The drive wheel (2221) and the driven wheel (2222) are spaced apart along a second direction. The drive motor (221) is configured to be connected to the drive wheel (2221). The flexible element (2223) is wound around the drive wheel (2221) and the driven wheel (2222). The flexible member (2223) defines an annular region, and the support member (215) is disposed within the annular region and connected to the base (210). The support member (215) is configured to support the flexible member (2223) on the side near the guide rail (310).

16. The climbing robot according to claim 15, characterized in that, The fifth guide wheel (290) is rotatably connected to the support member (215). The support member (215) has clearance notches (2151) on both sides of the first direction. Parts of the structure on both sides of the fifth guide wheel (290) roll into contact with the side walls (314) on both sides of the climbing area (315) through the clearance notches (2151).

17. The climbing robot according to claim 9, characterized in that, The first connector (232) has two buffer members (2321) arranged opposite to each other on the side of the base (210) near both ends. When the first connector (232) rotates, the buffer members (2321) are configured to elastically contact the base (210).

18. The climbing robot according to any one of claims 1-8, characterized in that, The climbing unit (200) further includes a fall arrestor (260), which is movably disposed on the base (210) and configured to move between a first position and a second position; the guide rail (310) has a fourth limiting structure (313) arranged sequentially at intervals along the extension direction of the guide rail (310); When the climbing component (220) drives the climbing robot (10) to climb upward along the guide rail (310), the fall arrestor (260) is located in the first position, and there is a gap between the fall arrestor (260) and the fourth limiting structure (313) in the third direction; When the climbing robot (10) descends relative to the guide rail (310), if the acceleration of the climbing robot (10) is greater than a preset threshold, the fall arrestor (260) moves from the first position to the second position, and the fall arrestor (260) and the fourth limiting structure (313) interfere upward at the third position.

19. The climbing robot according to claim 18, characterized in that, The climbing unit (200) further includes an elastic element (270), which is disposed between the fall arrestor (260) and the base (210). The elastic element (270) is configured to drive the fall arrestor (260) from the first position to the second position by its own elastic force when the acceleration of the climbing robot (10) descending is greater than a preset threshold.

20. The climbing robot according to claim 19, characterized in that, The elastic element (270) is a torsion spring.

21. The climbing robot according to claim 18, characterized in that, The guide rail (310) has a plurality of first climbing gear teeth (311), the plurality of first climbing gear teeth (311) are spaced apart along the extension direction of the guide rail (310), and the first climbing gear teeth (311) are formed as the fourth limiting structure (313); The climbing component (220) has a plurality of second climbing gear teeth (2224) spaced apart along the second direction. The second climbing gear teeth (2224) mesh with the first climbing gear teeth 311 to drive the climbing robot (10) to climb along the guide rail (310).

22. The climbing robot according to any one of claims 1-8, characterized in that, The climbing robot (10) includes two climbing units (200), which are spaced apart along a first direction on the same side of the robot body (100).

23. The climbing robot according to claim 22, characterized in that, The robot body (100) includes a mobile base (110), a lifting mechanism (120), a mounting base (130), and a fork assembly (140). The lifting mechanism (120) and the mounting base (130) are both disposed on the mobile base (110), and the lifting mechanism (120) is connected between the mobile base (110) and the mounting base (130). The fork assembly (140) is disposed on the mounting base (130). The lifting mechanism (120) can drive the mounting base (130) to rise and fall relative to the mobile base (110) in a second direction, so that the height of the climbing robot (10) in the second direction is adjustable. The climbing unit (200) is connected to the end of the mounting base (130).

24. A warehousing system, characterized in that, The device includes a shelf (300) and a climbing robot (10) as described in any one of claims 1-23; the shelf (300) is provided with a guide rail (310) for the climbing robot (10) to climb, the guide rail (310) being at a first distance from the ground, and the climbing robot (10) docking with the guide rail (310) from the bottom.

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