Warehousing system and transfer robot

Abstract

Disclosed in the present application are a warehousing system and a transfer robot. The warehousing system comprises: a plurality of carriers, carrier uprights of adjacent carriers being arranged at intervals opposite to each other. The transfer robot comprises a vehicle body, a traveling mechanism, and a climbing mechanism, wherein the traveling mechanism is arranged on the vehicle body, and the traveling mechanism is configured to drive the vehicle body to travel in a first direction; the climbing mechanism is arranged at a first part of the vehicle body, and in a radial direction of the vehicle body, the climbing mechanism can extend and retract relative to the vehicle body from two sides of the vehicle body; and the climbing mechanism is configured to cooperate with the carrier uprights of the two adjacent carriers on two sides of the vehicle body, so as to drive the vehicle body to ascend and descend along the carrier uprights, wherein the first direction intersects an extension direction of the carrier uprights. In the present application, the number of engagement structures provided on rack uprights can be reduced, and the requirements for the mounting accuracy of the rack uprights are reduced.

Description

Warehousing systems and transfer robots

[0001] This disclosure claims priority to Chinese Patent Application No. 202520099886.3, filed on January 16, 2025; the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure belongs to the field of warehousing equipment technology, specifically designing a warehousing system and a transfer robot. Background Technology

[0003] In warehousing systems, to retrieve or place target items on multi-level shelves, a picking mechanism is typically mounted on a mast. The mast can be mounted on the shelf or a robot chassis. The mast moves laterally along the shelf, moving the picking mechanism to any column, while the picking mechanism moves longitudinally along the mast to any level of the shelf. A transfer robot is then positioned on the floor of the warehousing system. This transfer robot places the target item in a buffer position at the bottom of the shelf, and the picking mechanism then transfers the target item from the buffer position to the shelf; alternatively, the picking mechanism transfers the target item from the shelf to the buffer position, and the transfer robot then transfers the target item from the buffer position. Thus, the picking mechanism, buffer position, and transfer robot mutually restrict each other's efficiency, resulting in low overall efficiency for transferring target items within the warehousing system.

[0004] In related technologies, by setting climbing mechanisms at the four corners of the transfer robot's vehicle body, after the transfer robot walks to the aisle between adjacent shelves, the climbing mechanism extends from the vehicle body and cooperates with the racks set on the shelf columns, thereby climbing along the shelf columns. The picking and placing mechanism on the transfer robot directly transfers the target items between the storage location and the storage location. Summary of the Invention

[0005] On one hand, embodiments of this disclosure provide a warehousing system, including:

[0006] Multiple vehicles, with the vehicle pillars of adjacent vehicles arranged at relative intervals;

[0007] The transfer robot includes a vehicle body, a walking mechanism, and a climbing mechanism. The walking mechanism is located on the vehicle body and is configured to drive the vehicle body to move along a first direction. The climbing mechanism is located at a first part of the vehicle body and can extend and retract relative to the vehicle body from both sides along the radial direction of the vehicle body. The climbing mechanism is configured to cooperate with the carrier columns of two adjacent carriers on both sides of the vehicle body to drive the vehicle body to rise and fall along the carrier columns. The first direction intersects with the extension direction of the carrier columns.

[0008] On the other hand, embodiments of this disclosure provide a transfer robot, including:

[0009] Vehicle body;

[0010] A traveling mechanism, located on the vehicle body, is configured to drive the vehicle body to travel in a first direction;

[0011] A climbing mechanism is located at the first part of the vehicle body. Along the vehicle body, the climbing mechanism can extend and retract relative to the vehicle body from both sides. The climbing mechanism is configured to cooperate with the vehicle columns of two adjacent vehicles on both sides of the vehicle body to drive the vehicle body to rise and fall along the vehicle columns. The first direction intersects with the extension direction of the vehicle columns. Attached Figure Description

[0012] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings:

[0013] Figure 1 is a schematic diagram of a warehousing system provided in some embodiments of this disclosure;

[0014] Figure 2 is a schematic diagram of another structure of the warehousing system provided in some embodiments of this disclosure;

[0015] Figure 3 is a schematic diagram of the structure of a transfer robot in a warehousing system provided in some embodiments of this disclosure;

[0016] Figure 4 is a partial structural diagram of a transfer robot and a carrier cooperating in a warehousing system provided in some embodiments of this disclosure;

[0017] Figure 5 is a magnified view of part A in Figure 4;

[0018] Figure 6 is a schematic diagram of another partial structure of the transfer robot and the vehicle in the warehousing system provided in some embodiments of this disclosure;

[0019] Figure 7 is a front view of the cooperation between the transfer robot and the vehicle in a warehousing system provided in some embodiments of this disclosure;

[0020] Figure 8 is a magnified view of part B in Figure 7;

[0021] Figure 9 is a front view of a climbing mechanism in a warehousing system provided in some embodiments of this disclosure;

[0022] Figure 10 is a front view of the internal structure of the climbing mechanism in a warehousing system provided in some embodiments of this disclosure;

[0023] Figure 11 is an internal top view of a climbing mechanism in a warehousing system provided in some embodiments of this disclosure;

[0024] Figure 12 is a schematic diagram of the internal structure of a climbing mechanism in a warehousing system provided in some embodiments of this disclosure;

[0025] Figure 13 is a schematic diagram of another internal structure of the climbing mechanism in a warehousing system provided in some embodiments of this disclosure.

[0026] Explanation of reference numerals in the attached drawings: 10-Carrier; 20-Transfer robot; 110-Carrier column; 120-First carrier; 130-Second carrier; 140-First support beam; 150-Passageway; 210-Vehicle body; 220-Walking mechanism; 230-Climbing mechanism; 240-Telescopic structure; 250-Pick-and-place mechanism; 101-Tunnel; 111-Guide opening; 112-Meshing structure; 113-First guide wall; 114-Second guide wall; 211-First part; 212-Bearing area; 213-First guide protrusion; 214-Second guide protrusion; 215-Obstacle avoidance radar; 231-First climbing mechanism; 232-Second climbing mechanism; 251-First shift finger; 252-Second shift finger; 1121-Meshing hole; 2121-Inlet / outlet; 2301-Mounting bracket; 2302-Guide component; 2303-Climbing wheel assembly; 2304-Rotator Drive shaft; 2305-Roller; 2306-Third gear; 2307-First drive assembly; 2308-Power steering assembly; 2309-Sliding assembly; 2303a-First climbing gear; 2303b-Second climbing gear; 23071-Power output shaft; 23072-First drive component; 23073-Fourth gear; 23074-Worm gear; 23075-Fifth gear; 23076-Sixth gear; 23081-First helical gear; 23082-Second helical gear; 23091-Slide rail; 23092-Slider. Detailed Implementation

[0027] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0028] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this disclosure. However, this disclosure may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this disclosure is not limited to the specific embodiments disclosed below.

[0029] In the description of this disclosure, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. In this disclosure, unless otherwise expressly specified and limited, the first feature being "upper" or "lower" than the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0030] In this disclosure, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two entities connected are not linked by an intermediate structure, but are simply connected to form a whole. For those skilled in the art, the specific meaning of the above terms in this disclosure can be understood according to the specific circumstances.

[0031] In this disclosure, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0032] In warehousing systems, to improve space utilization and increase storage density, carriers are typically incorporated. In some examples, these carriers can be shelving units. For instance, they can be fixed or movable shelving units. In some examples, they can be the shelving units of picking stations. In some examples, to fully utilize the longitudinal space of the warehousing system, the carriers can have multiple storage levels along the longitudinal direction. Each storage level can have multiple storage locations.

[0033] In some examples, the purpose is to place a target item into or retrieve a target item from a storage location. The retrieval mechanism is typically mounted on a gantry. The target item can be a bin. The bin can be empty. The bin can also be a bin containing items. The target item can be a packaging box, a package, or the item itself.

[0034] In some examples, the gantry can be mounted on the vehicle. In some examples, the gantry may also be referred to as a stand. The gantry can move laterally along the vehicle, thereby moving the pick-and-place mechanism laterally to any row of positions on the vehicle.

[0035] In some examples, the pick-and-place mechanism can move longitudinally along the gantry, thereby moving to any level of the multi-layer storage system. In this way, the pick-and-place mechanism can retrieve the target item from the storage location; or, the pick-and-place mechanism can place the target item in the storage location.

[0036] In some examples, after the pick-and-place mechanism retrieves the target item from the storage location, it descends along the gantry to the bottom of the vehicle and places the target item in a buffer position at the bottom of the vehicle.

[0037] In some examples, transfer robots in the warehousing system retrieve the target item from a buffer location and move it to another location within the warehousing system.

[0038] In some examples, a transfer robot in a warehousing system can move a target item from another location in the warehousing system to a buffer location, and a pick-and-place mechanism can retrieve the target item from the buffer location and move it longitudinally along the gantry.

[0039] After moving to the storage layer where the target storage location is located, the pick-and-place mechanism places the target item in the target storage location.

[0040] It can be seen that during the transfer of the target item, the target item needs to be transferred through the pick-and-place mechanism, the buffer position, and the transfer robot. There are efficiency constraints among the pick-and-place mechanism, the buffer position, and the transfer robot.

[0041] In some examples, the gantry can be mounted on a transfer robot, and the pick-and-place mechanism moves up and down along the gantry. The transfer robot can move into the aisle between adjacent shelves, and the pick-and-place mechanism moves longitudinally to the target location to pick up and place the target items.

[0042] In some examples, because the gantry is mounted on the transfer robot and the gantry is relatively high, the center of gravity of the transfer robot is relatively high. In order to maintain the stability of the transfer robot, the movement speed of the transfer robot is relatively slow, which restricts the efficiency of handling the target items.

[0043] In some examples, the pick-and-place mechanism removes the target item and places it on a buffer position, while a transfer robot without a gantry moves the target item from the buffer position. In this case, there are still efficiency constraints between the pick-and-place mechanism, the buffer position, and the transfer robot without a gantry, affecting the efficiency of target item transfer in the warehousing system.

[0044] In some examples, to improve the efficiency of transferring target items in a warehousing system, climbing mechanisms are installed at the four corners of the transfer robot's body. In some examples, after the transfer robot travels to the aisle between adjacent shelves, the climbing mechanism extends from the robot body and engages with the shelf uprights. For example, a rack is installed on the shelf upright, and the climbing mechanism meshes with the rack, thereby driving the robot body to climb along the shelf upright. In this way, the transfer robot can directly climb to the target storage location to transfer the target item, eliminating the constraints of buffer positions and pick-and-place mechanisms, and improving the efficiency of target item transfer.

[0045] However, in order to facilitate the climbing of the transfer robot, a rack needs to be installed on each of the shelf uprights, which means that the opposite shelf uprights need to be precisely aligned, and the installation accuracy requirements of the shelf uprights are high.

[0046] Figure 1 is a schematic diagram of one structure of a warehousing system provided in some embodiments of this disclosure. Figure 2 is a schematic diagram of another structure of a warehousing system provided in some embodiments of this disclosure.

[0047] In some examples, referring to Figures 1 and 2, embodiments of this disclosure provide a warehousing system. The warehousing system may include multiple vehicles 10. Referring to Figures 1 and 2, in some examples of embodiments of this disclosure, two vehicles 10 are shown as an example. It is understood that in some examples of embodiments of this disclosure, the vehicles 10 may include more than one vehicle 10, such as three vehicles 10, four vehicles 10, or five vehicles 10, etc. This disclosure does not limit the number of vehicles 10 in its embodiments.

[0048] In some examples, referring to Figures 1 and 2, the vehicle pillars 110 of adjacent vehicles 10 can be arranged at a relative interval. That is, the vehicle pillars 110 of adjacent vehicles 10 can be arranged opposite each other, and there is a certain interval between the vehicle pillars 110 of adjacent vehicles 10.

[0049] In some examples, referring to Figure 1, multiple vehicles 10 are arranged side-by-side along the y-axis direction shown in Figure 1 in the warehousing system. The vehicle columns 110 of adjacent vehicles 10 are arranged opposite each other along the y-axis direction.

[0050] In some examples, the vehicle pillars 110 on opposite sides of adjacent vehicles 10 are arranged opposite each other, and there is a certain gap between the vehicle pillars 110, thereby forming a passageway 101 between adjacent vehicles 10.

[0051] In some examples, as shown in Figures 1 and 2, the warehousing system may include a transfer robot 20.

[0052] Figure 3 is a schematic diagram of the structure of a transfer robot in a warehousing system provided in some embodiments of this disclosure.

[0053] In some examples, referring to FIG3, the transfer robot 20 may include a vehicle body 210. The vehicle body 210 may be the main support structure of the transfer robot 20. In some examples, the vehicle body 210 may be made of metal materials such as stainless steel, aluminum alloy, or cast iron to facilitate the carrying and transfer of heavy target items. In some examples, the vehicle body 210 may be made of rigid non-metallic materials such as engineering plastics. In some examples of embodiments of this disclosure, the material of the vehicle body 210 is not limited.

[0054] In some examples, referring to FIG3, the transfer robot 20 may include a walking mechanism 220. The walking mechanism 220 may be disposed on the vehicle body 210. The walking mechanism 220 may be configured to drive the vehicle body 210 to move along a first direction. Exemplarily, the walking mechanism 220 may include drive wheels, which can move along the ground of the storage system in the first direction under the drive of a drive motor. In some examples, the walking mechanism 220 may also include driven wheels, which can roll along the ground during the movement of the vehicle body 210 to provide stable support for the vehicle body 210.

[0055] In some examples, the first direction may intersect with the extension direction of the vehicle column 110. In some examples, the first direction may be horizontal. For example, the traveling mechanism 220 drives the vehicle body 210 to move on the ground or a support platform of a storage system.

[0056] In some examples, the first direction can be a direction that forms a certain angle with the horizontal direction. For example, on a ramp set on the ground or support platform of a storage system, the traveling mechanism 220 can drive the vehicle body 210 to travel on the ramp.

[0057] In some examples, the transport robot 20 may include a rotary servo motor (not shown). The rotary servo motor may be mounted on the vehicle body 210. The rotary servo motor may be connected to the walking mechanism 220.

[0058] In some examples, a rotary servo can be configured to drive the walking mechanism 220 to rotate relative to the vehicle body 210, thereby enabling the walking mechanism 220 to move the vehicle body 210 in different directions within the warehousing system. This improves the flexibility of the handling robot in the warehousing system, making it easier for the robot to move target items in different directions.

[0059] In some examples, referring to FIG3, the transfer robot 20 may include a climbing mechanism 230. The climbing mechanism 230 may be located at a first portion 211 of the vehicle body 210. In some examples, the first portion 211 may be any portion of the vehicle body 210. For example, referring to FIG3, along the direction shown by the y-axis in FIG3, the first portion 211 may be any portion of the vehicle body 210.

[0060] In some examples, the first part 211 can be the middle of the vehicle body 210. For example, taking Figure 3 as an example, along the direction shown by the y-axis in Figure 3, the first part 211 can be the middle of the vehicle body 210. Thus, along the direction shown by the y-axis in Figure 3, the vehicle body 210 located on one side of the first part 211 can dock with the cargo space on one side of the carrier column 110, and the vehicle body 210 located on the other side of the first part 211 can dock with the cargo space on the other side of the carrier column 110. That is, the transfer robot 20 climbs along a pair of opposing carrier columns 110 via the climbing mechanism 230, can dock with the cargo spaces on both sides of the carrier columns 110, and transfer the target items to the cargo spaces on both sides of the carrier columns 110 (e.g., placing the target items on the cargo spaces, or removing the target items from the cargo spaces and transferring them to the vehicle body 210). In this way, the vehicle columns 110 arranged along the x direction in Figure 1 can be provided with a meshing structure 112 that cooperates with the climbing mechanism 230 at intervals, which reduces the number of vehicle columns 110 that need to be provided with meshing structures 112 and reduces the production and processing cost of the vehicle 10.

[0061] In some examples, the climbing mechanism 230 may extend from both sides of the vehicle body 210 relative to the vehicle body 210 radially (e.g., in the direction of the plane containing the x-axis or y-axis in Figure 3). For example, referring to Figure 3, the climbing mechanism 230 may extend from both sides of the vehicle body 210 in the direction shown by the x-axis in Figure 3. In some examples, the climbing mechanism 230 may retract radially into the vehicle body 210.

[0062] For example, the climbing mechanism 230 can extend out of the vehicle body 210 or retract into the vehicle body 210 in any direction between the x and y directions; that is, the extension and retraction path of the climbing mechanism 230 has components in the x and y directions. This embodiment does not limit the extension and retraction direction of the climbing mechanism 230, as long as it can extend out of the vehicle body 210 to engage with the meshing structure 112, or retract to the initial position of the vehicle body 210.

[0063] In some application scenarios, the transfer robot 20 can walk on the ground or support platform in the warehouse space and transfer target items.

[0064] In some examples, the transfer robot 20 can carry the target item. The transfer robot 20 moves into the aisle 101 between adjacent vehicles 10. For example, referring to Figure 1, the transfer robot 20 can move into the aisle 101 between adjacent vehicles 10 along the x-axis in Figure 1 and move between the vehicle columns 110. Then, the climbing mechanism 230 extends from the vehicle body 210 along the y-axis in Figure 1 and cooperates with the two adjacent vehicle columns 110 on both sides of the vehicle body 210. The climbing mechanism 230 drives the vehicle body 210 to climb along the vehicle columns 110, thereby carrying the target item to the various storage positions of the vehicle 10.

[0065] In some examples, a meshing structure 112 that engages with the climbing mechanism 230 can be provided on the vehicle column 110. After engaging with the provided structure, the climbing mechanism 230 climbs along the vehicle column 110.

[0066] In some examples, a belt, timing belt, or transmission belt can be provided on the vehicle column 110 along the extension direction of the vehicle column 110, and a locking hole can be provided on the belt, timing belt, or transmission belt. After the climbing mechanism 230 extends out of the vehicle body 210, it can be inserted into the locking hole.

[0067] In some examples, when the climbing mechanism 230 is inserted into the locking hole, the belt, timing belt or conveyor belt can be activated and rotated along the extension direction of the carrier column 110, thereby driving the transfer robot 20 to move along the carrier column 110.

[0068] In some examples, a chain can be installed on the vehicle column 110, with the connection extending along the extension direction of the vehicle column 110. After the climbing mechanism 230 extends out of the vehicle body 210, it can be inserted into the hole of the chain, thereby realizing the cooperation between the climbing mechanism 230 and the column.

[0069] In some examples, after the climbing mechanism 230 is inserted into the hole of the chain, the chain can be activated and rotated along the extension direction of the carrier column 110, thereby driving the transfer robot 20 to move along the carrier column 110.

[0070] In some examples, after the transfer robot 20 moves along the carrier column 110 to the target storage layer, the transfer robot 20 can transfer the target items between the target storage location and the target storage location.

[0071] In some examples, a pick-and-place mechanism 250 may be provided on the transfer robot 20, which transfers the target item to the storage location, or the pick-and-place mechanism 250 transfers the target item from the storage location to the transfer robot 20.

[0072] In some examples, a pick-and-place mechanism 250 can be installed on the vehicle 10, which can transfer the target item from the transfer robot 20 to the storage location, or the pick-and-place mechanism 250 can transfer the target item from the storage location to the transfer robot 20.

[0073] The warehousing system provided in this embodiment can fully utilize the space of the warehousing system and increase its storage density by setting multiple carriers 10 in the warehousing system. The carrier columns 110 of adjacent carriers 10 are arranged at intervals, so that aisles 101 can be formed between adjacent carriers 10, which facilitates the movement of the transfer robot 20 in the aisles 101 and the transfer of target items. By setting the transfer robot 20, a walking mechanism 220 is set on the vehicle body 210 of the transfer robot 20. The walking mechanism 220 can drive the vehicle body 210 to move along a first direction. In this way, the walking mechanism 220 can drive the vehicle body 210 and the target items on the vehicle body 210 to move within the warehousing system, thereby transferring the target items. A climbing mechanism 230 is set on the first part 211 of the vehicle body 210 to climb along the vehicle body 210. In the radial direction of 10, the climbing mechanism 230 can extend and retract from both sides of the vehicle body 210 relative to the vehicle body 210. Thus, when the walking mechanism 220 drives the vehicle body 210 to move into the interval between the vehicle pillars 110 of the adjacent vehicle body 10 (i.e., the alley 101 between adjacent vehicles 10), the climbing mechanism 230 can extend from both sides of the vehicle body 210 and cooperate with the two adjacent vehicle pillars 110 on both sides of the vehicle body 210. The climbing mechanism 230 can drive the vehicle body 210 to rise and fall along the vehicle pillars 110. In this way, the transfer robot 20 can climb to any storage layer of the vehicle body 10 to pick up and place target items through the climbing mechanism 230. Compared with related technologies, it is not limited by the constraints of the transfer robot 20, the pick-up and place mechanism 250 and the buffer position, which can improve the transfer efficiency of target items.

[0074] In addition, in this embodiment, a climbing mechanism 230 is provided at the first part 211 of the vehicle body 210. The climbing mechanism 230 can extend or retract relative to both sides of the vehicle body 210. Thus, there are only two climbing points on the vehicle body 210, that is, there is one climbing point on one side of the vehicle body 210 and another climbing point at a corresponding position on the other side of the vehicle body 210. In other words, the vehicle body 210 can climb along the vehicle column 110 using only two climbing points. Compared to related technologies that set climbing mechanisms 230 at the four corners of the vehicle body 210, the lifting mechanism reduces the number of climbing points on the vehicle body 210. This reduces the number of vehicle columns 110 that need to cooperate with the climbing mechanisms 230, i.e., reduces the number of vehicle columns 110 that need to be equipped with meshing structures 112 to cooperate with the climbing mechanisms 230. Since it only needs to cooperate with two climbing mechanisms 230, the installation accuracy of the two relative vehicle columns 110 is reduced, thus reducing the layout cost of the storage system.

[0075] In some examples, referring to Figures 1 and 2, the plurality of vehicles 10 may include a first vehicle 120. The first vehicle 120 may be mounted on the ground or a support platform of the storage system.

[0076] In some examples, the multiple vehicles 10 may include a second vehicle 130. The second vehicle 130 may be disposed on the ground or a support platform of the storage system. The second vehicle 130 may be disposed opposite to the first vehicle 120. Referring to Figures 1 and 2, the second vehicle 130 and the first vehicle 120 may be disposed side by side. In some examples, the second vehicle 130 and the first vehicle 120 are spaced apart, thereby forming a passageway 101 between the second vehicle 130 and the first vehicle 120.

[0077] In some examples, referring to Figures 2 and 3, the climbing mechanism 230 may include a first climbing mechanism 231. The first climbing mechanism 231 may be configured to extend toward one of the first vehicle 120 and the second vehicle 130 along the radial direction of the vehicle body 210.

[0078] In some examples, a first climbing mechanism 231 extending toward the first vehicle 120 is used as a specific example for illustration. The first climbing mechanism 231 cooperates with the vehicle column 110 of the first vehicle 120. In some examples, the climbing mechanism 230 may include a second climbing mechanism 232. The second climbing mechanism 232 may be configured to extend toward the other of the first vehicle 120 and the second vehicle 130 along the radial direction of the vehicle body 210.

[0079] In some examples, when the first climbing mechanism 231 extends toward the first vehicle 120, the second climbing mechanism 232 can extend toward the second vehicle 130 and cooperate with the vehicle column 110 of the second vehicle 130.

[0080] In some examples, referring to Figure 3, the extension directions of the first climbing mechanism 231 and the second climbing mechanism 232 can be opposite. For example, the first climbing mechanism 231 can extend in the negative direction of the x-axis in Figure 3, and the second climbing mechanism 232 can extend in the positive direction of the x-axis in Figure 3.

[0081] In some examples, the first climbing mechanism 231 can extend toward the second carrier 130 and cooperate with the carrier column 110 of the second carrier 130. The second climbing mechanism 232 can extend toward the first carrier 120 and cooperate with the carrier column 110 of the first carrier 120. In some examples of embodiments of this disclosure, the first climbing mechanism 231 of the climbing mechanism 230 is configured to extend toward one of the first carrier 120 and the second carrier 130, and the second climbing mechanism 232 of the climbing mechanism 230 extends toward the other of the first carrier 120 and the second carrier 130. In this way, the transfer robot 20 can enter the tunnel 101 in any direction without special restrictions on the direction in which the transfer robot 20 enters the tunnel 101, improving the flexibility of the transfer robot 20 entering the tunnel 101, thereby improving the flexibility of the transfer robot 20 cooperating with the carrier column 110.

[0082] In some examples, referring to FIG3, the first portion 211 may be located at the end of one end of the vehicle body 210. It should be noted that, in this embodiment of the present disclosure, the "end" of one end of the vehicle body 210 does not specifically refer to the endpoint of one end of the vehicle body 210, but only emphasizes that the first portion 211 is not located in the middle of the vehicle body 210. Here, "end" can be the endpoint of one end of the vehicle body 210, or it can be a middle portion at a predetermined distance from the endpoint of the vehicle body 210. In this embodiment of the present disclosure, the specific location of the "end" is not limited.

[0083] In some examples, referring to Figure 3, the first portion 211 can be the end of the vehicle body 210 along the positive y-axis direction in Figure 3. Thus, the portion of the vehicle body 210 located at the first portion 211 facing the negative y-axis direction can dock with the cargo position on one side of the carrier column 110, while the portion of the first portion 211 located on the positive y-axis side does not have the vehicle body 210. This reduces the size of the vehicle body 210 along the y-axis direction; that is, by placing the first portion 211 at one end of the vehicle body 210, the volume of the vehicle body 210 can be reduced, improving the flexibility of the transfer robot 20 in moving and rotating within the warehouse space.

[0084] In some examples, when the transfer robot 20 needs to dock with a cargo location on the other side of the carrier column 110, the transfer robot 20 can turn its entire direction to dock with the cargo location on the other side of the carrier column 110. For example, the first climbing mechanism 231 extends towards the first carrier 120, and the second climbing mechanism 232 extends towards the second carrier 130. In this case, the transfer robot 20 can dock with a cargo location on one side of the carrier column 110. After the transfer robot 20 turns its entire direction, the first climbing mechanism 231 extends towards the second carrier 130, and the second climbing mechanism 232 extends towards the first carrier 120. In this case, the transfer robot 20 can dock with a cargo location on the other side of the carrier column 110. This reduces the number of carrier columns 110 that require the meshing structure 112, thus reducing the manufacturing cost of the carrier 10.

[0085] Figure 4 is a partial structural diagram of a transfer robot and a carrier cooperating in a warehousing system provided by some embodiments of this disclosure. Figure 5 is a partial enlarged view of point A in Figure 4.

[0086] In some examples, referring to Figures 4 and 5, a guide opening 111 may be provided on one side of the vehicle column 110, and the guide opening 111 may extend along the extending direction of the vehicle column 110. Exemplarily, the guide opening 111 is provided on the side of the vehicle column 110 facing the adjacent vehicle 10. In other examples, the guide opening 111 may also be provided on the side of the vehicle column 110 along the roadway extending direction; the present application embodiment does not limit the orientation of the guide opening 111. The following description uses the example of the guide opening 111 being provided on the side of the vehicle column 110 facing the adjacent vehicle 10 (i.e., the side facing the roadway).

[0087] In some examples, referring to Figures 1 and 2, the vehicle 10 may include a first support beam 140. The first support beam 140 may be connected between two adjacent vehicle columns 110 along a second direction.

[0088] In some examples, referring to Figure 1, the first support beam 140 can be connected between two adjacent vehicle columns 110 along the direction shown by the y-axis in Figure 1. In some examples, the first support beam 140 can be a transverse support beam.

[0089] In some examples, the vehicle 10 may include a second support beam (not shown) that connects two adjacent vehicle columns 110 along a third direction. The third direction may intersect with the second direction. In some examples, the second support beam may be an oblique support beam.

[0090] In some examples, the second and third directions can be aligned with the direction in which the target item enters or exits the storage location. For example, referring to Figure 1, the target item can enter or exit the storage location along the direction shown by the y-axis in Figure 1. The second and third directions can lie in the plane formed by the y-axis and z-axis in Figure 1, or the second and third directions can be parallel or approximately parallel to the plane formed by the y-axis and z-axis. That is, the second support beam will not obstruct the entry or exit of the target item from the storage location.

[0091] In some examples, the first support beam 140 and the second support beam may be connected to the closed side of the carrier column 110 away from the adjacent shelf.

[0092] In some examples, the closed side of the vehicle column 110 may be provided with a connecting plate (not shown in the figure), and the first support beam 140 and the second support beam may be connected to the closed side of the vehicle column 110 through the connecting plate.

[0093] In some examples of embodiments of this disclosure, a guide opening 111 is provided on the side of the vehicle column 110 facing the adjacent vehicle 10, and the guide opening 111 extends along the extending direction of the vehicle column 110. Thus, after the climbing mechanism 230 extends out of the vehicle body 210, at least a portion of the climbing mechanism 230 can extend into the guide opening 111, and during the process of the climbing mechanism 230 climbing along the vehicle column 110, at least a portion of the climbing mechanism 230 can move along the extending direction of the guide opening 111. In this way, the moving direction of the climbing mechanism 230 can be guided, improving the stability of the climbing mechanism 230 driving the vehicle body 210 to move along the vehicle column 110.

[0094] In addition, after at least a portion of the climbing mechanism 230 is inserted into the guide opening 111, the side walls of the guide opening 111 can limit the climbing mechanism 230, preventing the climbing mechanism 230 from rotating within the guide opening 111. That is, the guide opening 111 can limit the vehicle body 210 through the climbing mechanism 230, keeping the bearing surface of the vehicle body 210 that carries the target item in a horizontal or near-horizontal state, ensuring the stability of the target item on the vehicle body 210 and improving the safety of the target item transfer.

[0095] In some examples, the guide opening 111 can be an opening on the carrier column 110 in the related art for mounting the first support beam 140 and the second support beam. That is, in some examples of the embodiments of this disclosure, the carrier column 110 in the related art can be installed in reverse, with the side with the opening facing the adjacent carrier 10, and the closed side away from the adjacent carrier 10. In this way, the existing opening on the carrier column 110 in the related art can be directly used as the guide opening 111, which can reduce the processing of the carrier column 110 and reduce the processing and production cost of the carrier 10.

[0096] Of course, in some examples, a guide groove can also be provided on the side of the vehicle column 110 facing the tunnel 101. The guide groove opens as a guide opening 111 on the side facing the tunnel 101, so that at least part of the climbing mechanism 230 can be inserted into the guide groove in the guide opening 111.

[0097] In some examples, referring to FIG3, either the first climbing mechanism 231 or the second climbing mechanism 232 may include a mounting bracket 2301. The mounting bracket 2301 may be disposed on the vehicle body 210. In some examples, the mounting bracket 2301 may be telescopic relative to the vehicle body 210 along the radial direction. In some examples, at least a portion of the mounting bracket 2301 may extend beyond the vehicle body 210 along the radial direction. In some examples, the mounting bracket 2301 may be retracted within the vehicle body 210 along the radial direction. In some examples, the mounting bracket 2301133 may be a telescopic bracket. For example, the mounting bracket 2301133 may include multiple telescopic plates, which are movably connected, and the telescopic movement of the mounting bracket 2301133 relative to the vehicle body 210110 is achieved via a motor and a transmission belt, etc.

[0098] In some examples, either the first climbing mechanism 231 or the second climbing mechanism 232 may include a guide 2302. The guide 2302 may be provided on the mounting bracket 2301.

[0099] In some examples, the guide 2302 may be located at the end of the mounting bracket 2301 that extends outside the vehicle body 210.

[0100] In some examples, when either the first climbing mechanism 231 or the second climbing mechanism 232 is engaged with the vehicle column 110, at least a portion of the guide member 2302 can extend into the guide opening 111. Thus, the climbing direction of the first climbing mechanism 231 and the second climbing mechanism 232 is guided by the engagement of the guide member 2302 and the guide opening 111.

[0101] In some examples of embodiments of this disclosure, a mounting bracket 2301 is provided on the vehicle body 210. The mounting bracket 2301 can extend radially out of the vehicle body 210 or retract into the vehicle body 210; this facilitates the extension and retraction of the first climbing mechanism 231 and the second climbing mechanism 232 relative to the vehicle body 210. A guide member 2302 is provided on the mounting bracket 2301, at least a portion of which can extend into the guide opening 111. This facilitates the cooperation between the guide member 2302 and the guide opening 111, facilitating the guidance of the climbing direction of the first climbing mechanism 231 and the second climbing mechanism 232.

[0102] Figure 6 is a partial structural schematic diagram of the cooperation between a transfer robot and a carrier in a warehousing system provided in some embodiments of this disclosure. Figure 7 is a front view of the cooperation between a transfer robot and a carrier in a warehousing system provided in some embodiments of this disclosure. Figure 8 is a partial enlarged view of point B in Figure 7.

[0103] In some examples, as shown in Figures 6-8, the vehicle column 110 may be provided with an engagement structure 112. The engagement structure 112 may extend along the extension direction of the vehicle column 110.

[0104] In some examples, the meshing structure 112 may include chains, timing belts, belts, etc., as described in detail in the foregoing embodiments of this disclosure.

[0105] In some examples, either the first climbing mechanism 231 or the second climbing mechanism 232 may include a climbing wheel assembly 2303. The climbing wheel assembly 2303 may be mounted on the mounting bracket 2301.

[0106] In some examples, the lifting wheel assembly 2303 can be rotatably connected to the mounting bracket 2301. The lifting wheel assembly 2303 can be located at the end of the mounting bracket 2301 that extends outside the vehicle body 210. Thus, when the mounting bracket 2301 extends outside the vehicle body 210, the mounting bracket 2301 can drive the lifting wheel assembly 2303 to extend outside the vehicle body 210, so that the lifting wheel assembly 2303 can engage with the meshing structure 112 on the vehicle column 110.

[0107] In some examples, the lifting wheel assembly 2303 can be configured to engage with the engagement structure 112 to drive the vehicle body 210 up and down along the vehicle column 110. For example, at least a portion of the lifting wheel assembly 2303 can be inserted into engagement holes 1121 provided on a belt or timing belt. When the belt or timing belt rotates along the extension direction of the vehicle column 110, the engagement holes 1121 of the belt and timing belt drive the lifting wheel assembly 2303 to move, and the lifting wheel assembly 2303 drives the vehicle body 210 to move via the mounting bracket 2301.

[0108] In some examples, the climbing wheel assembly 2303 can engage with the chain described in detail in the foregoing embodiments of this disclosure. When the climbing wheel assembly 2303 rotates, it can move along the extension direction of the chain, thereby driving the vehicle body 210 to move along the vehicle column 110 via the mounting bracket 2301.

[0109] In some examples of embodiments of this disclosure, by providing an engagement structure 112 in the extending direction of the vehicle column 110, and providing a climbing wheel assembly 2303 on the mounting bracket 2301 of either the first climbing mechanism 231 or the second climbing mechanism 232, the climbing wheel assembly 2303 can cooperate with the vehicle column 110 through the engagement structure 112, and the climbing mechanism 230 can drive the vehicle body 210 to climb along the vehicle column 110.

[0110] In some examples, referring to FIG8, a first guide wall 113 may be provided on the side of the vehicle column 110 facing the adjacent vehicle column 110. The first guide wall 113 may be located on one side of the guide opening 111. That is, the first guide wall 113 may be provided on one side of the opening edge of the guide opening 111. The first guide wall 113 may extend toward the adjacent vehicle column 110.

[0111] In some examples, referring to FIG8, a second guide wall 114 may be provided on the side of the vehicle column 110 facing the adjacent vehicle column 110. The second guide wall 114 may be located on the other side of the guide opening 111. That is, the second guide wall 114 may be provided at the edge of the guide opening 111 on the other side. The second guide wall 114 and the first guide wall 113 may be arranged opposite to each other. In some examples, the guide member 2302 may extend between the first guide wall 113 and the second guide wall 114.

[0112] In some examples, referring to Figures 3 and 6, the climbing wheel assembly 2303 may include a first climbing gear 2303a. The first climbing gear 2303a may be located on one side of the guide member 2302. In some examples, the first climbing gear 2303a may be located on the side of the first guide wall 113 away from the second guide wall 114. That is, after the climbing mechanism 230 extends and engages with the carrier column 110, the first guide wall 113 may be located between the first climbing gear 2303a and the guide member 2302.

[0113] In some examples, when the first climbing gear 2303a is engaged with the meshing structure 112, the axial end face of the first climbing gear 2303a can abut against the side of the first guide wall 113 away from the second guide wall 114.

[0114] In some examples, referring to Figures 3 and 6, the climbing wheel assembly 2303 may include a second climbing gear 2303b. The second climbing gear 2303b may be located on the other side of the guide member 2302. That is, the first climbing gear 2303a and the second climbing gear 2303b may be located on opposite sides of the guide member 2302. After the climbing mechanism 230 extends and engages with the carrier column 110, the second guide wall 114 may be located between the second climbing gear 2303b and the guide member 2302.

[0115] In some examples, when the second climbing gear 2303b meshes with the other structure, the axial end face of the second climbing gear 2303b can abut against the side of the second guide wall 114 away from the first guide wall 113.

[0116] In some examples of embodiments of this disclosure, a first guide wall 113 and a second guide wall 114 are provided on one side of the vehicle column 110 facing the adjacent vehicle column 110. The first guide wall 113 is located on one side of the guide opening 111, and the second guide wall 114 is located on the other side of the guide opening 111. In this way, when the guide member 2302 is inserted into the guide opening 111, the guide member 2302 can be located between the first guide wall 113 and the second guide wall 114. When the guide member 2302 guides the climbing mechanism 230, it can contact the first guide wall 113 and the second guide wall 114, which increases the guiding contact area of ​​the guide member 2302 during guidance and can improve the stability of the guide member 2302 in guiding the climbing mechanism 230.

[0117] Furthermore, by providing a first climbing gear 2303a on one side of the guide member 2302 and a second climbing gear 2303b on the other side, the vehicle body 210 can be moved along the carrier column 110 by the first climbing gear 2303a and the second climbing gear 2303b, thereby improving the stability of the transfer robot 20 as it moves up and down along the carrier column 110. The first climbing gear 2303a is located on the side of the first guide wall 113 away from the second guide wall 114, and the second climbing gear 2303b is located on the side of the second guide wall 114 away from the first guide wall 113. Thus, the end face of the first climbing gear 2303a can engage with the first guide wall 113, and the end face of the second climbing gear 2303b can engage with the second guide wall 114, preventing the vehicle body 210 from tilting and twisting on the carrier column 110, thus improving the ease of installation for transferring target items.

[0118] In some examples, as shown in Figures 3 and 6, a rotating shaft 2304 may be provided on the mounting bracket 2301. The rotating shaft 2304 may be located at the end of the mounting bracket 2301 that extends out of the vehicle body 210.

[0119] In some examples, the first climbing gear 2303a and the second climbing gear 2303b can be arranged side by side along the axial direction of the rotating shaft 2304. The first climbing gear 2303a and the second climbing gear 2303b can be disposed on the rotating shaft 2304.

[0120] In some examples, referring to Figures 3 and 6, a roller 2305 may be provided between the first climbing gear 2303a and the second climbing gear 2303b. The roller 2305 may be disposed on the rotating shaft 2304.

[0121] In some examples, when the climbing mechanism 230 extends and engages with the vehicle column 110, the roller 2305 can extend between the first guide wall 113 and the second guide wall 114. That is, the roller 2305 can act as a guide 2302.

[0122] In some examples of embodiments of this disclosure, a rotating shaft 2304 is provided on the mounting bracket 2301, and the first climbing gear 2303a and the second climbing gear 2303b are arranged side by side along the axial direction of the rotating shaft 2304. Thus, by connecting the first climbing gear 2303a and the second climbing gear 2303b through the rotating shaft 2304, the first climbing gear 2303a and the second climbing gear 2303b can rotate synchronously, thereby improving the stability of the climbing mechanism 230 as it moves along the carrier column 110.

[0123] In addition, a roller 2305 is provided on the rotating shaft 2304, and the roller 2305 extends into the space between the first guide wall 113 and the second guide wall 114 as a guide member 2302. In this way, the guide member 2302 can rotate together with the rotating shaft 2304, that is, the guide member 2302 can rotate together with the first climbing gear 2303a and the second climbing gear 2303b, which facilitates the movement of the guide member 2302 along the guide opening 111 and improves the stability of the guide member 2302 in guiding the climbing mechanism 230.

[0124] In some examples, as shown in FIG8, a plurality of engagement holes 1121 are provided on the side wall of the vehicle column 110 facing the adjacent vehicle column 110, and the plurality of engagement holes 1121 can be arranged at intervals along the extension direction of the vehicle column 110.

[0125] In some examples, multiple engagement holes 1121 are configured to form the engagement structure 112 described in the foregoing embodiments of this disclosure. The climbing wheel assembly 2303 can engage with the engagement holes 1121 to drive the vehicle body 210 up and down along the vehicle column 110.

[0126] In some examples of embodiments of this disclosure, a plurality of engagement holes 1121 are provided at intervals along the extending direction of the carrier column 110, and the plurality of engagement holes 1121 form an engagement structure 112. Thus, it is unnecessary to add other components (such as chains, belts, or timing belts as described in the foregoing embodiments of this disclosure) to the carrier 10 as the engagement structure 112, simplifying the structure of the carrier column 110 and reducing the manufacturing cost of the carrier column 110.

[0127] In some examples, the engagement hole 1121 can be a mounting hole on the vehicle column 110 in the related art for mounting the first support beam 140 and the second support beam. That is, in some examples of the embodiments of this disclosure, after the vehicle column 110 in the related art is installed in reverse, the mounting hole on the vehicle column 110 faces the adjacent vehicle 10. In this way, after the climbing mechanism 230 extends out of the vehicle body 210, the first climbing gear 2303a and the second climbing gear 2303b can directly engage with the mounting hole. In this way, the existing mounting hole on the vehicle column 110 in the related art can be directly used as the engagement hole 1121, which can reduce the processing of the vehicle column 110 and reduce the processing and production cost of the vehicle 10.

[0128] In some examples, the meshing structure 112 may include a rack. The rack may extend along the extension direction of the vehicle column 110.

[0129] In some examples, the meshing structure 112 may include a single chain. The single chain extends along the extension direction of the vehicle column 110. It should be noted that when the meshing structure 112 is a single chain, the chain is mounted on the vehicle column 110 without forming a loop, and the chain is fixed to the vehicle column 110 and does not rotate. In this case, after the climbing mechanism 230 engages with the chain, the first climbing gear 2303a and the second climbing gear 2303b rotate, thereby driving the vehicle body 210 to move along the chain.

[0130] In some examples of embodiments of this disclosure, a meshing structure 112 is formed by a rack or chain. Such a meshing structure 112 is fixed to the vehicle column 110 and can improve the stability of the climbing mechanism 230 driving the vehicle body 210 to climb.

[0131] In some examples, as shown in Figures 3 and 6, multiple sets of climbing wheel sets 2303 may be provided, and the multiple sets of climbing wheel sets 2303 may be arranged at intervals along the extension direction of the vehicle column 110.

[0132] In some examples, two sets of climbing wheel sets 2303 are provided for illustration. The two sets of climbing wheel sets 2303 can be arranged at intervals along the extension direction of the vehicle column 110.

[0133] Figure 9 is a front view of a climbing mechanism in a warehousing system provided in some embodiments of this disclosure. Figure 10 is a front view of the internal structure of a climbing mechanism in a warehousing system provided in some embodiments of this disclosure. Figure 11 is a top view of the internal structure of a climbing mechanism in a warehousing system provided in some embodiments of this disclosure. Figure 12 is a schematic diagram of one internal structure of a climbing mechanism in a warehousing system provided in some embodiments of this disclosure. Figure 13 is a schematic diagram of another internal structure of a climbing mechanism in a warehousing system provided in some embodiments of this disclosure.

[0134] In some examples, the two sets of climbing wheel assemblies 2303 can rotate synchronously. To drive the two sets of climbing wheel assemblies 2303 to rotate synchronously, as shown in Figures 10-13, a third gear 2306 may be provided on the mounting bracket 2301. The third gear 2306 can be rotatably connected to the mounting bracket 2301.

[0135] In some examples, a rotating shaft can be set on the mounting bracket 2301, and the third gear 2306 can be fitted onto the rotating shaft.

[0136] In some examples, the third gear 2306 can mesh with two sets of climbing wheel sets 2303. For example, the third gear 2306 can mesh with the first climbing gear 2303a of the two sets of climbing wheel sets 2303. In this way, when the third gear 2306 rotates, it can drive the first climbing gear 2303a of the two sets of climbing wheel sets 2303 to rotate synchronously.

[0137] In some examples, when the first climbing gear 2303a rotates, it can drive the second climbing gear 2303b to rotate via the rotating shaft 2304.

[0138] In some examples, the third gear 2306 can mesh with the second climbing gear 2303b of the two sets of climbing wheel sets 2303. Thus, when the third gear 2306 rotates, it can drive the second climbing gear 2303b of the two sets of climbing wheel sets 2303 to rotate synchronously.

[0139] In some examples, when the second climbing gear 2303b rotates, it can drive the first climbing gear 2303a to rotate via the rotating shaft 2304.

[0140] In some examples, roller 2305 can be configured as a gear. A third gear 2306 can mesh with the rollers 2305 of the two sets of climbing wheel sets 2303. Thus, when the third gear 2306 rotates, it can drive the rollers 2305 of the two sets of climbing wheel sets 2303 to rotate. When the rollers 2305 rotate, they can drive the first climbing gear 2303a and the second climbing gear 2303b to rotate via the rotating shaft 2304, thereby causing the first climbing gear 2303a and the second climbing gear 2303b to travel along the meshing structure 112.

[0141] In some examples, referring to Figures 10-13, the climbing mechanism 230 may include a first drive assembly 2307. The first drive assembly 2307 may be located on the vehicle body 210.

[0142] In some examples, the first drive assembly 2307 can be mounted on the mounting bracket 2301, and the power output shaft 23071 of the first drive assembly 2307 can be connected to the third gear 2306 for transmission. In this way, the power output from the power output shaft 23071 can drive the third gear 2306 to rotate, thereby driving the two sets of climbing wheel sets 2303 to rotate through the third gear 2306.

[0143] In other examples, referring to FIG9, the power output shaft 23071 of the first drive assembly 2307 can pass through the mounting bracket 2301. The power output shaft 23071 can be connected to the third gear 2306 for transmission. In this way, the power output from the power output shaft 23071 can drive the third gear 2306 to rotate, thereby driving the two sets of climbing wheel sets 2303 to rotate through the third gear 2306.

[0144] In some examples, the power output shaft 23071 can be movably connected to the mounting bracket 2301 along the circumference of the power output shaft 23071. That is, when the power output shaft 23071 rotates, the mounting bracket 2301 can remain stationary relative to the vehicle body 210.

[0145] In some examples, the power take-off shaft 23071 may include a universal joint. When the climbing mechanism 230 retracts into the vehicle body 210, the power take-off shaft 23071 can be folded and steered at the universal joint, facilitating the retraction of the climbing mechanism 230.

[0146] In some examples, when the climbing mechanism 230 extends outward toward the vehicle body 210, the power take-off shaft 23071 can be extended via a universal joint to drive the third gear 2306. In some examples, referring to Figures 10-13, the power take-off shaft 23071 may include a straight shaft.

[0147] In some examples, the power output shaft 23071 can be positioned and connected to the mounting bracket 2301 along the axial direction of the power output shaft 23071. That is, the positions of the power output shaft 23071 and the mounting bracket 2301 can be relatively fixed along the axial direction of the power output shaft 23071.

[0148] In some examples, the power output shaft 23071 and the mounting bracket 2301 can be axially limited by a snap ring.

[0149] In some examples, the power output shaft 23071 can be rotatably connected to the mounting bracket 2301 via a bearing. The inner ring of the bearing can be fixed relative to the power output shaft 23071, and the outer ring of the bearing can be fixed relative to the mounting bracket 2301. This provides axial upper limit for the power output shaft 23071 and the mounting bracket 2301.

[0150] In some examples, when the climbing mechanism 230 extends outward from the vehicle body 210, the mounting bracket 2301 can drive the power output shaft 23071 to extend outward from the vehicle body 210 together; when the climbing mechanism 230 retracts inward from the vehicle body 210, the mounting bracket 2301 can drive the power output shaft 23071 to retract inward from the vehicle body 210 together. In this way, the relative position between the power output shaft 23071 and the third gear 2306 can remain unchanged, which facilitates the stable transmission of power from the power output shaft 23071 to the third gear 2306.

[0151] In some examples, referring to Figures 10-13, the axis i2 of the power output shaft 23071 intersects the rotation axis i1 of the third gear 2306. For example, the axis of the power output shaft 23071 can be aligned with the radial direction of the vehicle body 210. This facilitates the extension or retraction of the power output shaft 23071 into the vehicle body 210.

[0152] In some examples, see Figures 12 and 13. To facilitate the meshing of the two sets of climbing wheel sets 2303 with the third gear 2306, the axis i1 of the third gear 2306 can be parallel or approximately parallel to the axis of the climbing wheel set 2303.

[0153] In some examples, to facilitate the transmission of power output from the power take-off shaft 23071 to the third gear 2306, so that the third gear 2306 drives the climbing wheel assembly 2303 to rotate, the climbing mechanism 230 may include a power steering assembly 2308, as shown in Figures 10-13. The power steering assembly 2308 may be located between the power take-off shaft 23071 and the third gear 2306. The power steering assembly 2308 may be configured to steer the power from the power take-off shaft 23071 and transmit it to the third gear 2306.

[0154] In some examples, the power steering assembly 2308 may include a universal joint. One end of the universal joint may be connected to the power take-off shaft 23071. The other end of the universal joint may be connected to the third gear 2306. Thus, when the power take-off shaft 23071 rotates, the power on the power take-off shaft 23071 can be steered through the universal joint and transmitted to the third gear 2306.

[0155] In some examples of embodiments of this disclosure, a power steering assembly 2308 is provided between the power output shaft 23071 and the third gear 2306. The power steering assembly 2308 can redirect the power output from the power output shaft 23071 and transmit it to the third gear 2306. This facilitates the power output from the power output shaft 23071 and facilitates the driving of the third gear 2306.

[0156] In some examples, referring to Figures 10-13, the power steering assembly 2308 may include a first helical gear 23081. The first helical gear 23081 may be disposed on the power output shaft 23071.

[0157] In some examples, the first helical gear 23081 can be referred to as a bevel gear. The first helical gear 23081 can be coaxially arranged with the power output shaft 23071. The first helical gear 23081 and the power output shaft 23071 can be fixedly connected. That is, when the power output shaft 23071 rotates, it can drive the first helical gear 23081 to rotate synchronously. In some examples, the first helical gear 23081 can be located at the end of the power output shaft 23071 near the third gear 2306.

[0158] In some examples, continuing to refer to Figures 10-13, the power steering assembly 2308 may include a second helical gear 23082. The second helical gear 23082 may be coaxially arranged with the third gear 2306. For example, the second helical gear 23082 may be located on the rotation shaft 2304 of the third gear 2306.

[0159] In some examples, the second helical gear 23082 and the third gear 2306 can be fixed relative to each other. For example, the second helical gear 23082 can be fixedly connected to the rotating shaft 2304, and the third gear 2306 can be fixedly connected to the rotating shaft 2304, thus making the second helical gear 23082 and the third gear 2306 fixedly connected. In some examples, the second helical gear 23082 can mesh with the first helical gear 23081. The rotational surface of the second helical gear 23082 can intersect with the rotational surface of the first helical gear 23081. Thus, when the power output shaft 23071 drives the first helical gear 23081 to rotate, the first helical gear 23081 can drive the second helical gear 23082 to rotate, thereby driving the third gear 2306 to rotate, directing and transmitting power to the third gear 2306.

[0160] In some examples, referring to Figure 12, when the power output shaft 23071 rotates in the direction indicated by arrow a in Figure 12, the power output shaft 23071 drives the first helical gear 23081 to rotate in the same direction. The first helical gear 23081 meshes with the second helical gear 23082, which rotates under the drive of the first helical gear 23081. The second helical gear 23082 drives the third gear 2306 to rotate, and the third gear 2306 drives the climbing wheel assembly 2303 to rotate in the direction indicated by arrow b in Figure 12.

[0161] In some examples, when the power output shaft 23071 rotates in the opposite direction of arrow a in Figure 12, the first gear and the second gear rotate in the opposite direction of arrow b in Figure 12.

[0162] In some examples of embodiments of this disclosure, a first helical gear 23081 is provided on the power output shaft 23071, and a second helical gear 23082 is provided coaxially with the third gear 2306; the second helical gear 23082 meshes with the first helical gear 23081. In this way, the power output from the power output shaft 23071 can be redirected and transmitted to the third helical gear, which facilitates the redirection and transmission of power and simplifies the structure of the climbing mechanism 230.

[0163] In some examples, referring to Figures 12 and 13, the first drive assembly 2307 may include a first drive member 23072. The first drive member 23072 may be disposed on the vehicle body 210. In some examples, the first drive member 23072 may also be disposed on the mounting bracket 2301.

[0164] In some examples, the first drive element 23072 can be a motor capable of both forward and reverse rotation. For example, the first drive element 23072 can be any of a servo motor, a stepper motor, or a synchronous motor. In some examples, the first drive element 23072 can be fixedly connected to the vehicle body 210.

[0165] In some examples, the first drive assembly 2307 may include a fourth gear 23073. The fourth gear 23073 may be driveably connected to the first drive member 23072. The first drive member 23072 may drive the fourth gear 23073 to rotate. In some examples, the fourth gear 23073 may be sleeved on the power output shaft 23071. Along the circumference of the power output shaft 23071, the fourth gear 23073 may be in a limiting connection with the power output shaft 23071. That is, in the circumference of the power output shaft 23071, the rotation of the fourth gear 23073 drives the power output shaft 23071 to rotate synchronously. The first drive member 23072 transmits power to the power output shaft 23071 through the fourth gear 23073.

[0166] In some examples, the fourth gear 23073 can be circumferentially limited to the power output shaft 23071 via a spline.

[0167] In some examples of embodiments of this disclosure, a fourth gear 23073 is fitted onto the power output shaft 23071, and the fourth gear 23073 is connected to the power output shaft 23071 in a limiting manner along the axial direction of the power output shaft 23071. Thus, the first drive member 23072 provided on the vehicle body 210 can transmit power to the power output shaft 23071 through the fourth gear 23073, thereby driving the first climbing gear 2303a and the second climbing gear 2303b, facilitating the transmission of power to the first drive member 23072.

[0168] In some examples, the power output shaft 23071 is movably connected to the fourth gear 23073 along the axial direction. That is, the fourth gear 23073 and the power output shaft 23071 have axial freedom. The power output shaft 23071 can move axially relative to the fourth gear 23073.

[0169] In some examples, a spline may be provided on the circumferential wall of the power output shaft 23071 along its axial direction. The spline extends along the axial direction of the power output shaft 23071. The spline limits the fourth gear 23073 circumferentially, and the fourth gear 23073 can slide relative to the spline axially. In some examples, the fourth gear 23073 may be fixed relative to the vehicle body 210.

[0170] In some examples, when the climbing mechanism 230 extends outward toward the vehicle body 210, the first drive member 23072 and the fourth gear 23073 can remain stationary relative to the vehicle body 210. The power output shaft 23071 can slide axially relative to the fourth gear 23073, thereby enabling the extension of the climbing mechanism 230 and transmitting power through the fourth gear 23073. In some examples, when the climbing mechanism 230 retracts inward toward the vehicle body 210, the power output shaft 23071 can slide axially relative to the fourth gear 23073, thereby enabling the retraction of the climbing mechanism 230.

[0171] In some examples of embodiments of this disclosure, the power output shaft 23071 is movably connected to the fourth gear 23073 along the axial direction of the power output shaft 23071. This facilitates the extension and retraction of the power output shaft 23071, simplifying the structure of the climbing mechanism 230.

[0172] In some examples, the output shaft of the first drive element 23072 can be connected to the fourth gear 23073 to transmit power to the fourth gear 23073, and the rotation of the fourth gear 23073 drives the power output shaft 23071 to rotate.

[0173] In some examples, the output shaft of the first drive member 23072 can mesh with the fourth gear 23073 via a gear, thereby achieving a transmission connection with the fourth gear 23073. In some examples, the output shaft of the first drive member 23072 can be connected to the fourth gear 23073 via a transmission component such as a belt, timing belt, or chain.

[0174] In some examples, referring to Figures 12 and 13, the first drive assembly 2307 may include a worm 23074. The worm 23074 may be located between the first drive member 23072 and the fourth gear 23073. In some examples, the worm 23074 may be driveably connected to the first drive member 23072. The fourth gear 23073 may be a worm wheel. The worm 23074 may mesh with the worm wheel.

[0175] In some examples, referring to Figures 12 and 13, the output shaft of the first drive member 23072 may be provided with a fifth gear 23075. A sixth gear 23076 may be provided at one end of the worm gear 23074. The fifth gear 23075 can mesh with the sixth gear 23076.

[0176] In some examples, the power of the first drive member 23072 can be transmitted to the worm gear 23074 through the fifth gear 23075 and the sixth gear 23076. The worm gear 23074 drives the fourth gear 23073 to rotate, and the fourth gear 23073 drives the power output shaft 23071 to rotate, thereby transmitting the power to the first climbing gear 2303a and the second climbing gear 2303b through the first helical gear 23081, the second helical gear 23082 and the third gear 2306.

[0177] In some examples of embodiments of this disclosure, a worm gear 23074 is provided between the first drive member 23072 and the fourth gear 23073, and the worm gear 23074 is driveably connected to the first drive member 23072. The worm gear 23074 meshes with the fourth gear 23073. In this way, the power output by the first drive member 23072 can change the torque output by changing the gear ratio between the worm gear 23074 and the worm, which can provide a larger output torque with a smaller power first drive member 23072. This facilitates the transfer of heavy target items with a smaller power first drive member 23072, saving the production and processing costs of the transfer robot 20.

[0178] In some examples, referring to FIG9, the transfer robot 20 may include a sliding assembly 2309 to facilitate the extension and retraction of the mounting bracket 2301 relative to the vehicle body 210. A portion of the sliding assembly 2309 may be connected to the vehicle body 210. Another portion of the sliding assembly 2309 may be connected to the mounting bracket 2301.

[0179] In some examples, the sliding component 2309 may include a slide rail 23091 and a slider 23092, one of which is connected to the vehicle body 210, and the other of which is connected to a mounting bracket 2301. During the extension and retraction of the mounting bracket 2301 relative to the vehicle body 210, the slider 23092 may slide along the slide rail 23091.

[0180] For example, the slide rail 23091 can be connected to the vehicle body 210, and the slider 23092 can be connected to the mounting bracket 2301. When the mounting bracket 2301 extends or retracts relative to the vehicle body 210, the slider 23092 can slide along the slide rail 23091.

[0181] In some examples, the sliding component 2309 may include one or more. When the sliding component 2309 includes multiple components, the multiple sliding components 2309 may be arranged side by side along the direction intersecting the extension and retraction direction of the mounting bracket 2301, so that the mounting bracket 2301 can slide and extend and retract along the vehicle body 210 through the multiple sliding components 2309.

[0182] In some examples, the transfer robot 20 may include a second drive (not shown). The second drive may be located on the vehicle body 210. The second drive may be configured to drive the mounting bracket 2301 to extend and retract relative to the vehicle body 210. In some examples, the second drive may include a telescopic cylinder, a piston cylinder, a linear motor, or a lead screw, etc. In some examples, the fixed end of the telescopic cylinder may be located on the vehicle body 210. The free end of the telescopic cylinder may be connected to the mounting bracket 2301. When it is necessary for the mounting bracket 2301 to extend out of the vehicle body 210, the free end of the telescopic cylinder may extend relative to the fixed end, thereby driving the mounting bracket 2301 to extend out of the vehicle body 210. The mounting bracket 2301 slides relative to the vehicle body 210 via the sliding component 2309 and extends out of the vehicle body 210. When the mounting bracket 2301 needs to be retracted into the vehicle body 210, the free end of the telescopic cylinder can retract relative to the fixed end, thereby causing the mounting bracket 2301 to slide relative to the vehicle body 210 through the sliding component 2309 and retract into the vehicle body 210.

[0183] It is understood that when the second driving component is a piston cylinder or a linear motor, the driving method of the second driving component on the mounting bracket 2301 can be similar to that of the telescopic cylinder in the foregoing embodiments of this disclosure. For details, please refer to the detailed description of the foregoing embodiments of this disclosure. This disclosure will not repeat the details in this embodiment.

[0184] In some examples, the lead screw can be positioned along the direction of movement of the mounting bracket 2301. The mounting bracket 2301 can be connected to the lead screw nut. The lead screw can rotate under the drive of a motor, thereby causing the lead screw nut to move axially along the lead screw, and the movement of the lead screw nut causes the mounting bracket 2301 to extend out of the vehicle body 210; or, the lead screw nut causes the mounting bracket 2301 to retract into the vehicle body 210. In some examples, the second driving component can include a combination of a motor and a drive belt. For example, the drive belt can be fitted onto two drive pulleys. The mounting bracket 2301 is connected to the drive belt. The motor drives the drive belt to rotate around the drive pulleys, thereby causing the mounting bracket 2301 to move relative to the vehicle body 210.

[0185] In some examples of embodiments of this disclosure, by providing a portion of the sliding component 2309 on the vehicle body 210 and another portion of the sliding component 2309 on the mounting bracket 2301, the mounting bracket 2301 can be easily driven to move relative to the vehicle body 210 by the second driving member provided on the vehicle body 210, thereby driving the climbing mechanism 230 to move relative to the vehicle body 210.

[0186] In some examples, referring to Figure 3, the vehicle body 210 may be provided with a carrying area 212. The carrying area 212 may be located on the top of the vehicle body 210. In some examples, the carrying area 212 may be configured to carry a target item.

[0187] In some implementations, the transfer robot 20 may include a telescopic structure 240. The telescopic structure 240 may be mounted on the vehicle body 210. The telescopic structure 240 can extend and retract relative to the vehicle body 210 from both sides. In some examples, the extension and retraction direction of the telescopic structure 240 may be consistent with the extension and retraction direction of the climbing mechanism 230. That is, the extension and retraction direction of the telescopic structure 240 may be parallel or approximately parallel to the extension and retraction direction of the climbing mechanism 230.

[0188] In some examples, the transfer robot 20 may include a pick-and-place mechanism 250. The pick-and-place mechanism 250 may be connected to the telescopic structure 240.

[0189] In some examples, when the telescopic structure 240 extends or retracts relative to the vehicle body 210, the telescopic structure 240 can drive the pick-and-place mechanism 250 to move relative to the vehicle body 210. In some examples, the pick-and-place mechanism 250 can act on the target item and apply force to the target item, thereby transferring the target item between the carrying area 212 and the cargo position of the vehicle 10.

[0190] In some examples, the pick-and-place mechanism 250 can apply a force toward the carrier 10 to the target item, thereby transferring the target item from the carrying area 212 to the storage location. For example, the transfer robot 20 can transfer the target item from other locations in the storage system (e.g., picking workstations) into the aisle 101 of the carrier 10. In the aisle 101, a climbing mechanism 230 extends relative to the vehicle body 210 and cooperates with the carrier column 110. The climbing mechanism 230 drives the vehicle body 210 and the target item to rise along the carrier column 110. When the vehicle body 210 rises to the storage layer where the target location is located, the pick-and-place mechanism 250 applies a force toward the carrier 10 to the target item, moving the target item to the storage location.

[0191] In some examples, the pick-and-place mechanism 250 can apply a force toward the aisle 101 to the target item, thereby moving the target item to the storage area 212. For example, when it is necessary to retrieve the target item from the carrier 10, the transfer robot 20 can move into the aisle 101, the climbing mechanism 230 extends to cooperate with the carrier column 110, and climbs along the carrier column 110 to the storage layer where the target item is located; at this time, the telescopic structure 240 extends, driving the pick-and-place mechanism 250 to extend toward the carrier 10, and the pick-and-place mechanism 250 applies a force toward the aisle 101 to the target item, thereby moving the target item to the storage area 212. The climbing mechanism 230 drives the vehicle body 210 down along the carrier column 110 to the ground or support platform, and the walking mechanism 220 moves the vehicle body 210 and the target item in the storage area 212 to other locations in the warehousing system.

[0192] In some examples of embodiments of this disclosure, a telescopic structure 240 and a pick-and-place mechanism 250 are provided on the vehicle body 210. The pick-and-place mechanism 250 is connected to the telescopic structure 240, and the telescopic structure 240 drives the pick-and-place mechanism 250 to extend and retract relative to the vehicle body 210. The pick-and-place mechanism 250 acts on the target item, thereby transferring the target item between the carrying area 212 and the storage location of the carrier 10. This facilitates the transfer of target items between the storage location of the carrier 10 and the carrying area 212, improving the transfer efficiency of target items in the warehousing system.

[0193] In some examples, the telescopic structure 240 may be located in the bearing area 212. The pick-and-place mechanism 250 may be configured to act on the front end face of the target item to transfer the target item. The front end face of the target item may be the end face of the target item facing the pick-and-place mechanism 250. In some examples, the telescopic structure 240 may include a scissor fork structure. In some examples, the telescopic structure 240 may include a cylinder or piston cylinder, etc. In some examples, the telescopic structure 240 may include a linear motor.

[0194] It is understood that in some examples of the embodiments of this disclosure, the specific structure of the telescopic structure 240 is shown only as a specific example and is not intended to limit the specific structure of the telescopic structure 240. In some examples, the telescopic structure 240 may also be other types of structures.

[0195] In some examples, the pick-and-place mechanism 250 may include a suction cup. After the pick-and-place mechanism 250 comes into contact with the front end face of the target item, a vacuum pump can be used to evacuate the suction cup, thereby causing the suction cup to apply suction to the front end face of the target item.

[0196] In some examples, the pick-and-place mechanism 250 may include an electromagnet. A metal part that can be attracted by a magnet may be provided on the front face of the target item. After the pick-and-place mechanism 250 comes into contact with the front face of the target item, the electromagnet can be energized, thereby causing the pick-and-place mechanism 250 to apply force to the target item. In some examples, the pick-and-place mechanism 250 may include a hook, and a locking hole may be provided on the front face of the target item. The hook can hook into the locking hole to apply force to the target item.

[0197] In some examples of embodiments of this disclosure, the telescopic structure 240 is disposed in the bearing area 212, and the pick-and-place mechanism 250 acts on the front end of the target item to transfer the target item; thus, the distance that the telescopic structure 240 needs to extend or retract can be shortened, improving the transfer efficiency of the target item. In some examples, referring to FIG3, the telescopic structure 240 may be disposed on the outside of the bearing area 212.

[0198] In some examples, the telescopic structure 240 may include a telescopic cylinder, piston cylinder, or linear motor as described in the foregoing embodiments of this disclosure.

[0199] In some examples, the telescopic structure 240 may include multiple telescopic plates, with adjacent telescopic plates slidably connected. The multiple telescopic plates can be connected by chains, timing belts, or belts, and the telescopic structure can be driven to extend or retract via these means.

[0200] In some examples, referring to FIG3, the pick-and-place mechanism 250 may include a first finger 251. The first finger 251 may be rotatably disposed at a third portion of the telescopic structure 240. In some examples, the third portion may be the end of one end of the telescopic structure 240.

[0201] In some examples, when the telescopic structure 240 is in the retracted state, the first finger 251 may be located outside the load-bearing area 212.

[0202] In some examples, when it is necessary to retrieve a target item from a storage location, the telescopic structure 240 can extend the first lever 251 into the storage location until the first lever 251 is located at the rear end face of the target item. At this time, the first lever 251 can rotate toward the side of the telescopic structure 240 facing the carrying area 212 and the target item, so that the first lever 251 rotates to the rear end face of the target item. During the retraction of the telescopic structure 240, the first lever 251 acts on the rear end face of the target item, thereby moving the target item from the storage location to the carrying area 212.

[0203] In some examples, the pick-and-place mechanism 250 may include a second lever 252. The second lever 252 may be rotatably disposed at a fourth location of the telescopic structure 240. The fourth location and the third location may be two locations opposite each other along the telescopic direction of the telescopic structure 240.

[0204] In some examples, the second finger 252 can transfer a target item from another vehicle 10 to the carrying area 212 from the other side of the carrying area 212. The process by which the second finger 252 transfers the target item to the carrying area 212 is the same as, similar to or analogous to the first finger 251. For details, please refer to the detailed description of the first finger 251 in the foregoing embodiments of this disclosure. This disclosure will not repeat the details in the embodiments.

[0205] In some examples, when it is necessary to transfer a target item from the carrying area 212 to the storage location, the second finger 252 can be rotated to the side of the telescopic mechanism facing the carrying area 212. As the telescopic structure 240 extends into the carrier 10, the second finger 252 can act on the front end of the target item, thereby pushing the target item toward the storage location of the carrier 10.

[0206] In some examples, the process of the first finger 251 transferring the target item to the cargo position of the vehicle 10 may be the same as, similar to or similar to the second finger 252. For details, please refer to the detailed description of the second finger 252 in the foregoing embodiments of this disclosure. This disclosure will not repeat the details in this embodiment.

[0207] In some examples, referring to Figure 3, the telescopic structure 240 can be located on the side of the carrying area 212 away from the climbing mechanism 230. That is, the climbing mechanism 230 can be located on one side of the carrying area 212, and the telescopic structure 240 can be located on the other side of the carrying area 212. In this way, by utilizing the different positions on both sides of the carrying area 212 to offset the climbing mechanism 230 and the telescopic structure 240, it is not necessary to provide a misalignment position for the climbing mechanism 230 and the telescopic structure 240 on the same side of the carrying area 212. This reduces the size of the vehicle body 210 and improves the flexibility of the transfer robot 20 in moving within the warehousing system.

[0208] In some examples, when either the first finger 251 or the second finger 252 interacts with the end face of the target item, the end face of the target item has a first dimension along the length direction of either the first finger 251 or the second finger 252; the length of either the first finger 251 or the second finger 252 is greater than or equal to half of the first dimension.

[0209] It is understood that, referring to Figure 3, the first dimension can be equal to or approximately equal to the dimension of the bearing area 212 along the y-axis shown in Figure 3. When the first finger 251 and the second finger 252 are rotated to the direction shown along the y-axis in Figure 3, the length of the first finger 251 and the second finger 252 can be greater than or equal to half of the dimension carried along the y-axis in Figure 3. In this way, the first finger 251 and the second finger 252 can provide a balanced and stable force on the target item, preventing the target item from rotating under the action of the first finger 251 and the second finger 252, and facilitating the smooth entry of the target item into the bearing area 212 or into the storage location.

[0210] In some examples, as shown in FIG3, the vehicle body 210 is provided with a first guide protrusion 213 and a second guide protrusion 214. The first guide protrusion 213 and the second guide protrusion 214 extend along the telescopic direction of the telescopic structure 240. The first guide protrusion 213 and the second guide protrusion 214 are arranged at intervals, and a bearing area 212 is formed between the first guide protrusion 213 and the second guide protrusion 214.

[0211] In some examples, as shown in FIG3, the first guide protrusion 213 and the second guide protrusion 214 may be arranged at intervals along the direction shown by the y-axis in FIG3.

[0212] In some examples, along the telescopic direction of the telescopic structure 240, the first guide protrusion 213 and the second guide protrusion 214 can be continuous ribs or strips.

[0213] In some examples, along the telescopic direction of the telescopic structure 240, the first guide protrusion 213 and the second guide protrusion 214 may be discontinuous bumps, with multiple bumps forming the first guide protrusion 213 and the second guide protrusion 214.

[0214] In some examples of embodiments of this disclosure, by providing spaced first guide protrusions 213 and second guide protrusions 214 on the vehicle body 210, a bearing area 212 is formed between the first guide protrusions 213 and the second guide protrusions 214; thus, during the process of the pick-up and place mechanism 250 moving the target item, the first guide protrusions 213 and the second guide protrusions 214 can guide the movement direction of the target item, ensuring that the target item moves accurately to the bearing area 212.

[0215] In some examples, referring to Figure 3, after providing a first guide protrusion 213 and a second guide protrusion 214 on the vehicle body 210, between the first guide protrusion 213 and the second guide protrusion 214, along the telescopic direction of the telescopic structure 240 (e.g., the direction shown by the x-axis in Figure 3), the first guide protrusion 213 and the second guide protrusion 214 can form inlets and outlets 2121 at both ends of the carrying area 212. The inlets and outlets 2121 can dock with the cargo positions on both sides of the transfer robot 20. That is, the target item can enter and exit from the inlets and outlets 2121 on both sides of the carrying area 212, so that the target item can be quickly placed on two adjacent carriers 10, or the target item can be quickly removed from two adjacent carriers 10.

[0216] In some examples, referring to Figure 3, the vehicle body 210 may be equipped with an obstacle avoidance radar 215, which can be configured to detect obstacles in the side-kicking walking path. In some examples, the obstacle avoidance radar 215 may include millimeter-wave radar. In some examples, the obstacle avoidance radar 215 may include ultrasonic radar. In some examples, the obstacle avoidance radar 215 may include lidar.

[0217] In some examples of embodiments of this disclosure, by setting an obstacle avoidance radar 215 on the vehicle body 210, obstacles on the walking path of the transfer robot 20 can be detected in a timely manner, which facilitates the advance planning of the walking route of the transfer robot 20 and can improve the safety and efficiency of transferring target items.

[0218] In some examples, as shown in Figure 1, the vehicle 10 may have multiple storage bays along the height direction.

[0219] In some examples, at least a portion of the bottom of the vehicle 10 may be provided with a passageway. The passageway 150 can be configured for the transfer robot 20 to pass through. For example, referring to FIG1, when the transfer robot 20 is at position a in FIG1, the transfer robot 20 can travel through the passageway 150 into the aisle 101 in the direction indicated by arrow a1 in FIG1, without needing to detour around the end of the vehicle 10. This shortens the travel path of the transfer robot 20 and improves the efficiency of transferring the target item.

[0220] In some examples, some of the cargo spaces in the first layer of storage at the bottom of vehicle 10 can be removed to create a passageway 150.

[0221] In some examples, the first storage compartment at the bottom of vehicle 10 can be completely removed to form passageway 150.

[0222] The embodiments described above are merely specific embodiments of this disclosure and are not intended to limit the scope of protection of this disclosure. Any modifications, equivalent substitutions, improvements, etc., made based on the technical solutions of this disclosure should be included within the scope of protection of this disclosure.

Claims

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

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

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

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

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

6. The warehousing system according to claim 4 or 5, wherein, The vehicle column (110) is provided with an engagement structure (112), which extends along the extension direction of the vehicle column (110). The climbing mechanism (230) further includes: A climbing wheel assembly (2303) is provided on the mounting bracket (2301) of the climbing mechanism (230). The climbing wheel assembly (2303) is rotatably connected to the mounting bracket (2301). The climbing wheel assembly (2303) is configured to engage with the meshing structure (112) to drive the vehicle body (210) to rise and fall along the vehicle column (110).

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

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

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

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

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

12. The warehousing system according to claim 11, wherein, The climbing wheel assembly (2303) is provided in two sets. The climbing mechanism (230) includes a first drive assembly (2307) and a third gear (2306). The third gear (2306) meshes with the two sets of climbing wheel assemblies (2303) respectively. The power output shaft (23071) of the first drive assembly (2307) is connected to the third gear (2306) for transmission, so as to drive the third gear (2306) to rotate. The two sets of climbing wheel assemblies (2303) rotate under the drive of the third gear (2306).

13. The warehousing system according to claim 12, wherein, The axis of the power output shaft (23071) intersects the rotation axis of the third gear (2306); the climbing mechanism (230) further includes a power steering assembly (2308) located between the power output shaft (23071) and the third gear (2306); the power steering assembly (2308) is configured to steer the power of the power output shaft (23071) and transmit it to the third gear (2306).

14. The warehousing system according to claim 12, wherein, The power output shaft (230) passes through the mounting bracket (2301) of the climbing mechanism (230) and is fixed in the axial direction to the mounting bracket (2301), and is movably connected in the circumferential direction. When the climbing mechanism (230) extends outward from the vehicle body (210), the mounting bracket (2301) drives the power output shaft (23071) to extend outward from the vehicle body (210) together; when the climbing mechanism (230) retracts inward from the vehicle body (210), the mounting bracket (2301) drives the power output shaft (23071) to retract inward from the vehicle body (210) together.

15. The warehousing system according to claim 14, wherein, The first drive assembly (2307) includes a first drive member (23072) and a fourth gear (23073); the fourth gear (23073) is sleeved on the power output shaft (230), the first drive member (23072) is connected to the fourth gear (23073) and is configured to drive the fourth gear (23073) to rotate, so as to drive the power output shaft (230) to rotate.

16. The warehousing system according to claim 15, wherein, The first drive unit (23072) is disposed on the vehicle body (210); When the climbing mechanism (230) extends outward from the vehicle body (210), the first drive member (23072) and the fourth gear (23073) can remain stationary relative to the vehicle body (210), and the power output shaft (23071) slides axially relative to the fourth gear (23073); when the climbing mechanism (230) retracts into the vehicle body (210), the power output shaft (23071) slides axially relative to the fourth gear (23073).

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

18. The warehousing system according to claim 17, wherein, The telescopic structure (240) is located in the bearing area (212), and the pick-and-place mechanism (250) is configured to act on the front end face of the target item to transfer the target item. The front end face of the target item is the end face of the target item facing the pick-and-place mechanism (250).

19. The warehousing system according to claim 17, wherein, The telescopic structure (240) is located on the outside of the bearing area (212), and the picking and placing mechanism (250) includes: The first finger (251) is rotatably disposed at the third part of the telescopic structure (240); The second finger (252) is rotatably disposed at the fourth part of the telescopic structure (240); the third part and the fourth part are two parts opposite to each other along the telescopic direction of the telescopic structure (240); either the first finger (251) or the second finger (252) is configured to act on the rear end face of the target item to transfer the target item from the storage location to the carrying area (212); and the first finger (251) and the second finger (252) are configured to act on the front end face of the target item to transfer the target item from the carrying area (212) to the storage location.

20. The warehousing system according to claim 19, wherein, The telescopic structure (240) is located on the side of the bearing area (212) away from the climbing mechanism (230).

21. The warehousing system according to claim 20, wherein, When either the first finger (251) or the second finger (252) interacts with the end face of the target item, the end face of the target item has a first dimension along the length direction of either the first finger (251) or the second finger (252); the length of either the first finger (251) or the second finger (252) is greater than or equal to half of the first dimension.

22. The warehousing system according to any one of claims 18-21, wherein, The vehicle body (210) is provided with a first guide protrusion (213) and a second guide protrusion (214). The first guide protrusion (213) and the second guide protrusion (214) extend along the telescopic direction of the telescopic structure (240). The first guide protrusion (213) and the second guide protrusion (214) are arranged at intervals, and the bearing area (212) is formed between the first guide protrusion (213) and the second guide protrusion (214).

23. The warehousing system according to any one of claims 18-21, wherein, Along the telescopic direction of the telescopic structure (240), both ends of the bearing area (212) have inlets and outlets (2121); the inlets and outlets (2121) are configured to dock with the cargo positions on both sides of the transfer robot (20).

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

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

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

27. The transfer robot according to claim 26, wherein, The climbing mechanism (230) includes: A first climbing mechanism (231) is configured to extend toward the vehicle (10) on one side of the vehicle body (210) along the radial direction of the vehicle body (210) and to cooperate with the vehicle column (110). The second climbing mechanism (232) is arranged to extend toward the vehicle (10) on the other side of the vehicle body (210) along the radial direction of the vehicle body (210) and to cooperate with the vehicle column (110).

28. The transfer robot according to claim 26 or 27, wherein, The first part (211) is located at one end of the vehicle body (210).

29. The transfer robot according to claim 26, wherein, The climbing mechanism (230) includes: Mounting bracket (2301) is provided on the vehicle body (210). Along the radial direction of the vehicle body (210), the mounting bracket (2301) can extend out of the vehicle body (210) or retract into the vehicle body (210). A guide (2302) is provided on the mounting bracket (2301), at least a portion of which can extend into the guide opening (111) of the vehicle column (110).

30. The transfer robot according to claim 26, wherein, The climbing mechanism (230) also includes: A climbing wheel assembly (2303) is provided on the mounting bracket (2301) of the climbing mechanism (230). The climbing wheel assembly (2303) is rotatably connected to the mounting bracket (2301). The climbing wheel assembly (2303) is configured to engage with the meshing structure (112) on the vehicle column (110) to drive the vehicle body (210) to rise and fall along the vehicle column (110).

31. The transfer robot according to claim 30, wherein, The climbing wheel assembly (2303) of the climbing mechanism (230) includes: The first climbing gear (2303a) is located on one side of the guide (2302) of the climbing mechanism (230), and the first climbing gear (2303a) is located on the side of the first guide wall (113) of the vehicle column (110) away from the second guide wall (114) of the vehicle column (110); The second climbing gear (2303b) is located on the other side of the guide (2302), and the second climbing gear (2303b) is located on the side of the second guide wall (114) away from the first guide wall (113).

32. The transfer robot according to claim 29, wherein, The climbing mechanism (230) has a rotating shaft (2304) on its mounting bracket (2301), and the first climbing gear (2303a) and the second climbing gear (2303b) of the climbing mechanism (230) are arranged side by side along the axial direction of the rotating shaft (2304). A roller (2305) is provided between the first climbing gear (2303a) and the second climbing gear (2303b), and the roller (2305) is located on the rotating shaft (2304); the roller (2305) can extend into the space between the first guide wall (113) and the second guide wall (114) on the carrier column (110); the guide member (2302) includes the roller (2305).

33. The transfer robot according to any one of claims 30-32, wherein, The climbing mechanism (230) has two sets of climbing wheel sets (2303), which are arranged at intervals along the extension direction of the vehicle column (110).

34. The transfer robot according to any one of claims 30-32, wherein, The vehicle body (210) is provided with a carrying area (212), which is configured to carry the target item; the transfer robot (20) also includes: A telescopic structure (240) is provided on the vehicle body (210), and the telescopic structure (240) can extend and retract relative to the vehicle body (210) from both sides; The pick-and-place mechanism (250) is connected to the telescopic structure (240). When the telescopic structure (240) extends or retracts relative to the vehicle body (210), the telescopic structure (240) drives the pick-and-place mechanism (250) to move relative to the vehicle body (210). The pick-and-place mechanism (250) is configured to act on a target item to transfer the target item between the carrying area (212) and the cargo position of the vehicle (10).

35. The transfer robot according to claim 34, wherein, The telescopic structure (240) is located in the bearing area (212), and the pick-and-place mechanism (250) is configured to act on the front end face of the target item to transfer the target item. The front end face of the target item is the end face of the target item facing the pick-and-place mechanism (250).

36. The transfer robot according to claim 34, wherein, The telescopic structure (240) is located on the outside of the bearing area (212), and the picking and placing mechanism (250) includes: The first finger (251) is rotatably disposed at the third part of the telescopic structure (240); The second finger (252) is rotatably disposed at the fourth part of the telescopic structure (240); the third part and the fourth part are two parts opposite to each other along the telescopic direction of the telescopic structure (240); Either the first finger (251) or the second finger (252) is configured to act on the rear end face of the target item to transfer the target item from the storage location to the carrying area (212); and the first finger (251) and the second finger (252) are configured to act on the front end face of the target item to transfer the target item from the carrying area (212) to the storage location.

37. The transfer robot according to claim 36, wherein, The telescopic structure (240) is located on the side of the bearing area (212) away from the climbing mechanism (230).

38. The transfer robot according to claim 37, wherein, When either the first finger (251) or the second finger (252) interacts with the end face of the target item, the end face of the target item has a first dimension along the length direction of either the first finger (251) or the second finger (252); the length of either the first finger (251) or the second finger (252) is greater than or equal to half of the first dimension.

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

40. The transfer robot according to claim 34, wherein, Along the telescopic direction of the telescopic structure (240), both ends of the bearing area (212) have inlets and outlets (2121); the inlets and outlets (2121) are configured to dock with the cargo positions on both sides of the transfer robot (20).

41. The transfer robot according to claim 26, wherein, The vehicle body (210) is equipped with an obstacle avoidance radar (215), which is configured to detect obstacles on the travel path of the vehicle body (210).

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