CN113213047A

CN113213047A - Warehousing system

Info

Publication number: CN113213047A
Application number: CN202110657224.XA
Authority: CN
Inventors: 高玉蓉
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2021-08-06

Abstract

The utility model provides a warehousing and storage system, relate to logistics storage technical field, a structure for solving the lateral wall along goods shelves that transfer robot climbs along vertical direction is complicated, with high costs technical problem, this warehousing and storage system includes goods shelves and transfer robot, one side of getting the goods mouth of goods shelves is equipped with elevating system, elevating system goods shelves elevating movement relatively, the last fastener that is equipped with of elevating system, transfer robot's first end be equipped with fastener assorted joint, during fastener and joint, elevating system drives transfer robot and moves goods shelves elevating movement relatively. This application is used for simplifying the structure that transfer robot goes up and down to remove relative goods shelves to reduce cost.

Description

Warehousing system

Technical Field

The application relates to the technical field of logistics storage, in particular to a storage system.

Background

Stereoscopic warehouse is as a current storage equipment of generally using, and along with the development of automation technology, its orientation that constantly improves toward high efficiency, high accuracy, unmanned, and current stereoscopic warehouse generally adopts transfer robot to carry out the packing box and gets to put and carry.

At present, stereoscopic warehouse includes a plurality of goods shelves, and every goods shelf includes a plurality of storehouse positions along vertical direction, and a plurality of workbins can be placed to every storehouse position to guarantee the utilization ratio in vertical space, the corresponding storehouse position of goods shelf has the mouth of getting goods, and transfer robot can follow the goods shelves lateral wall and remove to getting the mouth of getting goods, and take out the packing box from corresponding storehouse position.

However, in this stocker system, the structure in which the transfer robot moves up and down along the side wall of the rack is complicated, and the cost is high.

Disclosure of Invention

In view of the above problems, embodiments of the present invention provide a warehousing system, which can simplify the structure of the transportation robot for moving up and down relative to the rack, and reduce the cost, by moving the transportation robot up and down relative to the rack along with the lifting mechanism.

In order to achieve the above object, the embodiments of the present application provide the following technical solutions:

the embodiment of the application provides a warehousing system, it includes: goods shelves and transfer robot, one side of getting the goods mouth of goods shelves is equipped with elevating system, elevating system can be relative goods shelves lift removal, the last fastener that is equipped with of elevating system, transfer robot's first end be equipped with fastener assorted joint spare, the fastener with during the joint spare joint, elevating system drives transfer robot is relative goods shelves lift removal.

In an optional implementation manner, the number of the engaging members is multiple, the engaging members are arranged on the lifting mechanism at intervals along the lifting direction, and one of the engaging members is engaged with one of the engaging members on the transfer robot.

In an optional embodiment, along the lifting direction, the shelf comprises a plurality of layers of storage positions, and the distance between two adjacent clamping pieces is matched with the distance between two adjacent layers of storage positions on the shelf.

In an optional embodiment, the engaging member is pivotally connected to the lifting mechanism, so that the engaging member can rotate horizontally or vertically relative to the lifting mechanism, and when the engaging member rotates horizontally, the engaging member can be engaged with the engaging member on the transfer robot.

In an optional embodiment, a first driving member is disposed on the lifting mechanism, and the first driving member is connected to the engaging member, so that the first driving member drives the engaging member to rotate relative to the lifting mechanism.

In an optional implementation mode, the clamping piece is a clamping hook, the clamping piece is a buckle matched with the clamping hook, and the buckle is clamped with the clamping hook.

In an alternative embodiment, the number of the lifting mechanisms is at least two, and at least two lifting mechanisms are arranged at intervals along the horizontal direction at one side of the goods taking opening of the goods shelf.

In an optional embodiment, the lifting mechanism is a flexible transmission assembly, the flexible transmission assembly includes a first transmission wheel, a second transmission wheel, and a flexible member surrounding the first transmission wheel and the second transmission wheel, and the engaging member is disposed on the flexible member, wherein the first transmission wheel is disposed at the bottom of the shelf, and the second transmission wheel is disposed at the top of the shelf.

In an alternative embodiment, the flexible drive assembly is a belt drive assembly or a chain drive assembly.

In an optional implementation mode, the joint spare with transfer robot pivotal connection, so that the joint spare can be relative transfer robot rotates and is level form or vertical form, works as when the joint spare rotates and is the level form, the joint spare can with the fastener joint.

In an optional implementation manner, a second driving member is disposed on the transfer robot, and the second driving member is connected to the clamping member, so that the second driving member drives the clamping member to rotate horizontally or vertically relative to the transfer robot.

In an alternative embodiment, the snap-in member is provided at a side of the fork means of the first end of the transfer robot.

In an alternative embodiment, the gripping members are provided on both sides of the fork device of the transfer robot.

In an alternative embodiment, the second end of the transfer robot is provided with the snap.

In an optional implementation manner, a detection device is arranged on the engaging piece, and the detection device is used for detecting whether the engaging piece on the transfer robot is engaged with the engaging piece.

In an alternative embodiment, the detection device is a gravity sensor.

In an alternative embodiment, the transfer robot includes a robot body and a fork device provided on the robot body; the fork device comprises a clamping assembly and a turnover assembly, the clamping assembly is arranged opposite to the turnover assembly, the clamping assembly comprises a telescopic arm and a clamping piece, and the telescopic arm can be telescopic relative to the goods shelf so as to take and place a container in the goods shelf; the overturning assembly comprises an overturning platform, the overturning platform is connected with the robot body through a rotating shaft, and fixing structures are arranged on the surfaces of two opposite sides of the overturning platform to form two fixing positions for bearing the container.

Compared with the prior art, the warehousing system provided by the embodiment of the application has the following advantages:

the embodiment of the application provides a warehousing system, one side through getting the goods mouth at goods shelves sets up elevating system, elevating system can goods shelves lift relatively and move, and set up the fastener on elevating system, set up on transfer robot with fastener assorted joint spare, when fastener and joint spare joint, elevating system drives transfer robot relative goods shelves lift relatively and moves, and like this, the structure that transfer robot climbed along goods shelves has been simplified, and the required precision of joint between transfer robot and the goods shelves is low, thereby can reduce the processing cost.

In addition to the technical problems solved by the embodiments of the present application, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above, other technical problems solved by the warehousing system provided by the embodiments of the present application, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic diagram illustrating an operating state of a warehousing system according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a shelf according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of another embodiment of a shelf according to the present disclosure;

FIG. 4 is a top view of a shelf provided in accordance with an embodiment of the present application;

fig. 5 is a schematic structural view illustrating a horizontal clamping portion of the transfer robot according to the embodiment of the present disclosure;

fig. 6 is a schematic structural view illustrating a vertical clamping portion of the transfer robot according to the embodiment of the present disclosure;

fig. 7 is another schematic structural view of a transfer robot according to an embodiment of the present disclosure;

fig. 8 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure;

fig. 9 is a schematic view of another structure of a transfer robot according to an embodiment of the present disclosure;

FIG. 10 is a top view of a warehousing system provided by embodiments of the present application;

fig. 11 is a schematic view illustrating another operating state of the warehousing system according to the embodiment of the present application.

Reference numerals:

100-a shelf; 10-a lifting mechanism;

101-a first drive wheel; 102-a second transmission wheel;

103-a flexure; 11-a snap-fit;

12-reservoir location;

200-a transfer robot; 20-a clamping piece;

21-a fork arrangement; 211-a clamping assembly;

2111-telescopic arm; 2112-a clamp;

212-a flip assembly; 2121-a fixed structure;

22-a robot body; 300-cargo box.

Detailed Description

Stereoscopic warehouse includes a plurality of goods shelves, and every goods shelf includes a plurality of storehouse positions along vertical direction, and a plurality of workbins can be placed to every storehouse position to guarantee the utilization ratio in vertical space, the corresponding storehouse position of goods shelf has the mouth of getting goods, and transfer robot need move to getting the mouth of getting goods along the goods shelves lateral wall, and takes out the packing box from corresponding storehouse position. In the related art, a first gear structure is arranged on the goods shelf, a second gear structure meshed with the first gear structure is arranged on the carrying robot, the carrying robot is meshed with the goods shelf through a gear, and the carrying robot is driven by a driving device to move up and down relative to the goods shelf.

In order to solve the technical problem, an embodiment of the present application provides a warehousing system, a lifting mechanism is arranged on one side of a goods taking port of a goods shelf, the lifting mechanism can move up and down relative to the goods shelf, a clamping piece is arranged on the lifting mechanism, a clamping piece matched with the clamping piece is arranged on a transfer robot, and when the clamping piece is clamped with the clamping piece, the lifting mechanism drives the transfer robot to move up and down relative to the goods shelf.

In order to make the aforementioned objects, features and advantages of the embodiments of the present application more comprehensible, embodiments of the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a schematic diagram illustrating an operating state of a warehousing system according to an embodiment of the present disclosure; FIG. 2 is a schematic structural diagram of a shelf according to an embodiment of the present disclosure; FIG. 3 is a schematic view of another embodiment of a shelf according to the present disclosure; FIG. 4 is a top view of a shelf provided in accordance with an embodiment of the present application; fig. 5 is a schematic structural view of a horizontal clamping portion of the transfer robot according to the embodiment of the present disclosure, and fig. 6 is a schematic structural view of a vertical clamping portion of the transfer robot according to the embodiment of the present disclosure.

Referring to fig. 1 to 6, the warehousing system provided by the embodiment of the present application includes a rack 100 and a transfer robot 200, the rack 100 is provided with a plurality of levels of storage positions 12 in a vertical direction, the rack 100 is provided with a goods taking port communicated with each level of storage position 12, and a lifting mechanism 10 is provided at one side of the goods-taking opening of the goods shelf 100, the lifting mechanism 10 can move up and down relative to the goods shelf 100, a clamping piece 11 is provided on the lifting mechanism 10, a clamping piece 20 matched with the clamping piece 11 is provided on the transfer robot 200, when the engaging member 20 of the transfer robot 200 engages with the engaging member 11 of the lifting mechanism 10, the lifting mechanism 10 can drive the transfer robot 200 to move up and down relative to the shelf 100, so that the transfer robot 200 can move to the access port of each level 12 of the rack 100 with respect to the rack 100, so that the transfer robot 200 can take out the container 300 from each of the storage spaces 12 or the transfer robot 200 places the container 300 onto the corresponding storage space 12.

According to the embodiment of the application, the lifting mechanism 10 is arranged on one side of the goods taking port of the goods shelf 100, the clamping piece 11 is arranged on the lifting mechanism 10, the clamping piece 20 matched with the clamping piece 11 is arranged on the carrying robot 200, and when the clamping piece 11 is clamped with the clamping piece 20, the lifting mechanism 10 drives the carrying robot 200 to move up and down relative to the goods shelf 100, so that the structure that the carrying robot 200 climbs along the goods shelf 100 is simplified, the clamping accuracy between the carrying robot 200 and the goods shelf 100 is low, and the processing cost can be reduced.

Referring to fig. 2, in some embodiments, the lifting mechanism 10 is a flexible transmission assembly, the flexible transmission assembly includes a first transmission wheel 101, a second transmission wheel 102, and a flexible member 103 surrounding the first transmission wheel 101 and the second transmission wheel 102, and the engaging member 11 is disposed on the flexible member 103, wherein the first transmission wheel 101 is disposed at the bottom of the shelf 100, and the second transmission wheel 102 is disposed at the top of the shelf 100, it should be noted that the first transmission wheel 101 and the second transmission wheel 102 are located at the same vertical position in the vertical direction; in addition, the warehousing system further comprises a driving device such as a motor, an output shaft of the driving device is connected with the first driving wheel 101, so that the driving device drives the first driving wheel 101 to rotate around the axis of the driving device, the first driving wheel 101 drives the flexible part 103 to move, the flexible part 103 drives the second driving wheel 102 to rotate, the flexible part 103 moves along the lifting direction relative to the goods shelf 100, and the carrying robot 200 is driven to lift and move relative to the goods shelf 100 through the clamping of the clamping part 11 and the clamping part 20.

Illustratively, the flexible transmission assembly may be a belt transmission assembly, for example, the first transmission wheel 101 may be a driving pulley, the second transmission wheel 102 is a driven pulley, and the flexible member 103 is a transmission belt; alternatively, the flexible transmission assembly is a chain transmission assembly, for example, the first transmission wheel 101 is a driving sprocket, the second transmission wheel 102 is a driven sprocket, and the flexible member 103 is a transmission chain.

With continued reference to fig. 2 and 3, in some alternative embodiments, the engaging member 11 may be a plurality of engaging members 11, and a plurality of engaging members 11 are spaced along the lifting mechanism 10, for example, a plurality of engaging members 11 are spaced along the belt or the chain, in which one engaging piece 11 is engaged with the engaging piece 20 of one transfer robot 200, and thus, by providing a plurality of engaging pieces 11 arranged at intervals on the lifting mechanism 10, when the engaging members 11 are engaged with the engaging members 20 of the transfer robots 200, the lifting mechanism 10 can simultaneously lift and lower the transfer robots 200 relative to the shelves 100, in one pick task, different transfer robots 200 may respectively pick containers 300 from different height storage locations 12, or the container 300 is placed on the corresponding storage position 12, so that the operation efficiency of the warehousing system can be improved.

Since the shelves 100 are provided with a plurality of storage positions 12 along the lifting direction, in order to further improve the operation efficiency of the warehousing system, in the embodiment, the distance between two adjacent engaging members 11 is matched with the distance between two adjacent storage positions 12 on the shelves 100, for example, the distance between two adjacent engaging members 11 is equal to the distance between two adjacent storage positions 12 on the shelves 100, so that when the lifting mechanism 10 simultaneously carries a plurality of transfer robots 200 for lifting and moving, when one transfer robot 200 is in contact with one storage position 12 on the shelf 100, other transfer robots 200 are also in contact with one storage position 12 on the shelf 100, so that in one picking and placing task, the plurality of transfer robots 200 can simultaneously pick up the containers 300 from the plurality of storage positions 12, or simultaneously place the containers 300 on each transfer robot 200 into the corresponding storage positions 12, thereby improving the operating efficiency of the warehousing system.

With continued reference to fig. 2 and 3, in some alternative embodiments, the engaging member 11 may be pivotally connected to the lifting mechanism 10, so that the engaging member 11 can rotate horizontally or vertically relative to the lifting mechanism 10, and when the engaging member 11 rotates horizontally, the engaging member 11 can engage with the engaging member 20 on the transfer robot 200.

Illustratively, when the lifting mechanism 10 is a flexible transmission assembly, the engaging member 11 is disposed on the flexible member 103, when the engaging member 11 is located on a side of the flexible member 103 away from the rack 100, and the engaging member 11 is horizontal, the engaging member 11 can be engaged with the engaging member 20 on the transfer robot 200, so that the flexible member 103 is engaged with the engaging member 20 through the engaging member 11 to drive the transfer robot 200 to move up and down, and when the engaging member 11 moves to a side facing the rack 100 along with the flexible member 103, the engaging member 11 can rotate to be vertical, so as to avoid interference between the engaging member 11 and the rack 100, thereby reducing the overall size of the rack 100 and improving the user experience.

On the other hand, by providing the engaging piece 11 and the lifting mechanism 10 in a pivotal connection, when the transfer robots 200 with different height dimensions need to be engaged with the lifting mechanism 10, before the engagement, other engaging pieces 11 around the engaging piece 11 engaged with the transfer robot 200 may be rotated vertically to avoid interference between the other engaging pieces 11 around the engaging piece 11 engaged with the transfer robot 200 and the transfer robot 200, so that the lifting mechanism 10 can be adapted to the transfer robots 200 with different dimensions, thereby improving the compatibility of the lifting mechanism 10.

Illustratively, the engaging member 11 may be pivotally connected to the lifting mechanism 10 by a hinge, a rotating shaft, or the like, so that the engaging member 11 can rotate relative to the lifting mechanism 10.

Further, the lifting mechanism 10 is further provided with a first driving member, the first driving member is connected to the engaging member 11, so that the first driving member drives the engaging member 11 to rotate relative to the lifting mechanism 10, wherein the first driving member may be a driving member such as a motor, as long as the first driving member can drive the engaging member 11 to rotate relative to the lifting mechanism 10, which is not limited in this embodiment.

In some optional embodiments, the engaging member 11 may be a hook, and the engaging member 20 may be a buckle matched with the hook, and the buckle and the hook are engaged with each other to connect the transfer robot 200 and the lifting mechanism 10, so that the lifting mechanism 10 drives the transfer robot 200 to move up and down relative to the shelf 100.

Exemplarily, be equipped with the draw-in groove on the pothook, be equipped with on the buckle with draw-in groove assorted card protruding, when the card protruding gets into in the draw-in groove, then buckle and pothook joint to realize being connected between transfer robot 200 and elevating system 10, so that elevating system 10 drives transfer robot 200 lift removal, simple structure, easily processing, with low costs.

in addition, as shown in fig. 4 and 10, at least two lifting mechanisms 10 are provided at one side of the goods taking opening of the shelf 100 at intervals along the horizontal direction, in one embodiment, when the shelf 100 has a plurality of parallel storage positions 12 along the horizontal direction, a plurality of transfer robots 200 are respectively connected with the corresponding lifting mechanisms 10, and when each lifting mechanism 10 moves up and down simultaneously, each lifting mechanism 10 can drive each transfer robot 200 to take and put the goods boxes 300 simultaneously, so as to improve the operation efficiency of the warehousing system. In another embodiment, when the two sides of each transfer robot 200 are provided with the engaging members 20, and the two engaging members 20 respectively correspond to the positions of the engaging members 11 on the two adjacent lifting mechanisms 10, in this way, one transfer robot 200 can be engaged with the two engaging members 11 on the two lifting mechanisms 10 through the two engaging members 20, so that the two lifting mechanisms 10 drive one transfer robot 200 to move up and down, thereby improving the connection reliability between the transfer robot 200 and the lifting mechanisms 10, and further improving the operation reliability of the warehousing system.

Referring to fig. 5 and 6, in some embodiments, the clamping member 20 is pivotally connected to the transfer robot 200 such that the clamping member 20 can rotate horizontally or vertically relative to the transfer robot 200, and when the clamping member 20 rotates horizontally, the clamping member 20 can be clamped with the clamping member 11.

By arranging the clamping member 20 and the transfer robot 200 to be in pivot connection, when the transfer robot 200 needs to be lifted along with the lifting mechanism 10, the clamping member 20 rotates to be horizontal, so that the clamping member 20 is clamped with the clamping member 11 on the lifting mechanism 10; when the transfer robot 200 does not need to be lifted along with the lifting mechanism 10, the engaging member 20 can rotate vertically, so that the engaging member 20 is prevented from interfering with other components in the warehousing system.

In addition, the transfer robot 200 may be provided with a second driving member, and the second driving member is connected to the engaging member 20, so that the second driving member drives the engaging member 20 to rotate horizontally or vertically relative to the transfer robot 200, wherein the second driving member may also be a driving member such as a motor.

Fig. 7 is another schematic structural diagram of a transfer robot according to an embodiment of the present disclosure.

Referring to fig. 7, in order to avoid interference between the clamp 20 and the fork device 21 on the transfer robot 200, in the present embodiment, the clamp 20 is disposed at the side of the fork device 21 at the first end of the transfer robot 200; or, when there are two snap-in members 20 on the transfer robot 200, the two snap-in members 20 are disposed on opposite sides of the fork device 21, so that the two snap-in members 20 are simultaneously snapped in the corresponding snap-in members 11 on the two lifting mechanisms 10 while avoiding interference between the snap-in members 20 and the fork device 21, thereby improving the connection reliability between the transfer robot 200 and the lifting mechanisms 10.

Fig. 8 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure; fig. 11 is a schematic view illustrating another operating state of the warehousing system according to the embodiment of the present application.

Referring to fig. 8 and 11, based on the above embodiment, the second end of the transfer robot 200 may also be provided with a locking member 20, so that the transfer robot 200 may be located between two opposite shelves 100, and the transfer robot 200 may be locked with the locking members 11 on the opposite shelves 100, so that the transfer robot 200 may take out the containers 300 from the storage positions 12 of the two opposite shelves 100 in one lifting operation, or place a plurality of containers 300 carried by the transfer robot 200 on the two opposite shelves 100, respectively, to improve the operation efficiency of the warehousing system.

In addition, the second end of the transfer robot 200 is provided with the engaging members 20, and the engaging members 20 at the two ends of the transfer robot 200 are engaged with the corresponding engaging members 11 on the pallet 100, respectively, so that the reliability of connection between the transfer robot 200 and the pallet 100 can be improved.

In some embodiments, the engaging member 11 is provided with a detecting device, and the detecting device is configured to detect whether the engaging member 20 on the transfer robot 200 is engaged with the engaging member 11, that is, the detecting device is configured to determine whether the transfer robot 200 is engaged with the lifting mechanism 10, wherein the detecting device may be a gravity sensor or the like, as long as it can detect whether the engaging member 20 on the transfer robot 200 is engaged with the engaging member 11, and this embodiment is not limited in this respect.

Fig. 9 is a schematic view of another structure of a transfer robot according to an embodiment of the present disclosure.

Referring to fig. 9, further, the transfer robot 200 includes a robot body 22 and a fork device 21, the fork device 21 is disposed on a side of the robot body 22 facing the pallet 100; the fork device 21 comprises a clamping assembly 211 and a turnover assembly 212, the clamping assembly 211 is arranged opposite to the turnover assembly 212, the clamping assembly 211 comprises a telescopic arm 2111 and a clamping member 2112, and the telescopic arm 2111 can be telescopic relative to the shelf 100 to pick and place a container 300 in the shelf 100; upset subassembly 212 includes the upset platform, the upset platform is connected through the pivot with robot 22, the relative both sides surface of upset platform all is provided with fixed knot structure 2121 to form two fixed positions, fixed position is used for placing packing box 300, upset subassembly 212 can make two fixed positions overturn in vertical plane, so that two fixed positions get the mouth towards goods of goods shelves 100 respectively, transfer robot 200 can once get the heavy a plurality of packing boxes 300 that can bear and transport of goods task, thereby improve warehouse system's operating efficiency.

The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. The utility model provides a warehousing system, its characterized in that, includes goods shelves and transfer robot, one side of getting the goods mouth of goods shelves is equipped with elevating system, elevating system can be relative goods shelves lifting movement, the last fastener that is equipped with of elevating system, transfer robot's first end be equipped with fastener assorted joint spare, the fastener with during the joint spare joint, elevating system drives transfer robot is relative goods shelves lifting movement.

2. The warehousing system of claim 1, wherein said engaging members are a plurality of engaging members, said plurality of engaging members are spaced apart along a lifting direction on said lifting mechanism, and wherein one of said engaging members engages with said engaging member on one of said transfer robots.

3. The warehousing system of claim 2, wherein along the elevation direction, the shelves include a plurality of levels, and a distance between two adjacent engaging members matches a distance between two adjacent levels on the shelves.

4. The warehousing system of any of claims 1-3, characterized in that the engaging member is pivotally connected to the lifting mechanism such that the engaging member can rotate horizontally or vertically relative to the lifting mechanism, and when the engaging member rotates horizontally, the engaging member can engage with the engaging member on the transfer robot.

5. The warehousing system of claim 4, wherein the lifting mechanism is provided with a first driving member, and the first driving member is connected with the engaging member, so that the first driving member drives the engaging member to rotate relative to the lifting mechanism.

6. The warehousing system of any of claims 1-3, wherein the engaging member is a hook, and the engaging member is a buckle matching with the hook, and the buckle is engaged with the hook.

7. The warehousing system of any of claims 1-3 characterized in that said lifting mechanisms are at least two, at least two of said lifting mechanisms being horizontally spaced apart on one side of the access opening of said shelf.

8. The warehousing system of claim 1, wherein the lifting mechanism is a flexible transmission assembly, the flexible transmission assembly comprises a first transmission wheel, a second transmission wheel and a flexible member surrounding the first transmission wheel and the second transmission wheel, and the engaging member is disposed on the flexible member, wherein the first transmission wheel is disposed at the bottom of the shelf, and the second transmission wheel is disposed at the top of the shelf.

9. The warehousing system of claim 8, wherein the flexible drive assembly is a belt drive assembly or a chain drive assembly.

10. The warehousing system of any of claims 1-3, wherein the snap-in member is pivotally connected to the transfer robot such that the snap-in member can rotate horizontally or vertically relative to the transfer robot and snap-in with the snap-in member when the snap-in member rotates horizontally.

11. The warehousing system of claim 10, wherein the transfer robot is provided with a second driving member, and the second driving member is connected with the clamping member, so that the second driving member drives the clamping member to rotate horizontally or vertically relative to the transfer robot.

12. The warehousing system of claim 10, wherein the snap-fit member is disposed on a side of the fork arrangement of the first end of the transfer robot.

13. The warehousing system of claim 10, wherein said catches are provided on both sides of a fork device of said transfer robot.

14. The warehousing system of claim 10, wherein said second end of said transfer robot is also provided with said snap-fit.

15. The warehousing system of any one of claims 1 to 3, characterized in that a detection device is provided on the engaging member, and the detection device is used for detecting whether a clamping member on the transfer robot is clamped with the engaging member.

16. The warehousing system of claim 15, wherein the detection device is a gravity sensor.

17. The warehousing system of claim 1, wherein the transfer robot includes a robot body and a fork arrangement disposed on the robot body;

the fork device comprises a clamping assembly and a turnover assembly, the clamping assembly is arranged opposite to the turnover assembly, the clamping assembly comprises a telescopic arm and a clamping piece, and the telescopic arm can be telescopic relative to the goods shelf so as to take and place a container in the goods shelf;

the overturning assembly comprises an overturning platform, the overturning platform is connected with the robot body through a rotating shaft, and fixing structures are arranged on the surfaces of two opposite sides of the overturning platform to form two fixing positions for bearing the container.