CN217866247U - Storage robot and storage system - Google Patents

Abstract

The application relates to a storage robot and a storage system. The storage robot includes a movable base, a handling device, and a climbing assembly; the climbing assembly includes a climbing module, and the climbing module includes a climbing wheel set, a base mounted on the movable base, and a driving device installed on the base; The climbing wheel set includes a guide wheel and a sprocket driven by a driving device; the sprocket and the guide wheel are arranged at intervals to clamp the climbing chain when the sprocket is engaged with the climbing chain arranged on the shelf unit; When the multiple sprockets of the climbing assembly are raised and lowered along the climbing chain, the movable base and the handling device are driven up and down. The solutions provided by the embodiments of the present application can reduce material and installation costs.

Description

Storage robot and storage system

technical field

This application relates to the technical field of warehousing and handling equipment, in particular to a warehousing robot and a warehousing system.

Background technique

Warehousing robots refer to robots used in indoor environments such as logistics warehousing and production warehouses for goods in and out of storage, handling, sorting, picking, etc., and are one of the core equipment of intelligent logistics.

In related technologies, some storage robots can climb vertically along the chains on the shelves to carry goods stored at different heights on the shelves. In order to achieve vertical climbing, it is usually necessary to install chains and guide rails that match the storage robots on the shelves. The sprocket on the robot climbs along the chain under the guidance of the guide rail.

However, since the shelves generally do not have guide rails, when using the shelf-climbing storage robot in the related art, it is necessary to install chains and guide rails on the shelves at the same time.

Utility model content

In order to solve or partially solve the problems existing in the related technologies, the application provides a storage robot and a storage handling system. The storage robot of the application does not need additional guide rails on the shelves for guidance, which can reduce material and installation costs.

The first aspect of the present application provides a storage robot, including

The movable base is used to drive the storage robot to move on the support surface;

a handling device for taking storage objects from or placing storage objects on the target location of the shelf unit; and,

Climbing assembly; the climbing assembly includes a climbing module, the climbing module includes a climbing wheel set, a base mounted on the movable base, and a driving device installed on the base; the climbing wheel set includes guide wheels, and a sprocket driven by a driving device; the sprocket and the guide wheel are arranged at intervals to clamp the climbing chain when the sprocket is engaged with the climbing chain provided on the shelf unit; the plurality of sprockets of the climbing assembly are along the When going up and down with the climbing chain, it drives the movable base and the handling device up and down.

The second aspect of the present application provides a storage system, including

a shelf unit; and, a storage robot as described in any one of the preceding items.

The technical solution provided by this application may include the following beneficial effects:

In the storage robot of the embodiment of the present application, the climbing component clamps the climbing chain through the guide wheel and the sprocket, so it can directly clamp the climbing chain to climb, and the guide wheel can guide the climbing, so that there is no need to additionally set up on the shelf unit Guide rails can reduce material and installation costs.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

The above and other objects, features and advantages of the present application will become more apparent by describing the exemplary embodiments of the present application in more detail with reference to the accompanying drawings, wherein, in the exemplary embodiments of the present application, the same reference numerals generally represent same parts.

Fig. 1 is a three-dimensional schematic diagram of a storage system according to an embodiment of the present application;

Fig. 2 is a schematic plan view of a storage system according to an embodiment of the present application;

Fig. 3 shows the shelf unit of an embodiment of the present application;

Fig. 4 is a three-dimensional schematic diagram of a storage system according to another embodiment of the present application;

Fig. 5 is a schematic side view of a storage system according to an embodiment of the present application;

Fig. 6 is a schematic diagram of a lowered state of a warehouse robot according to an embodiment of the present application;

Fig. 7 is a top view of the storage robot shown in Fig. 6;

Fig. 8 is a side view of the storage robot shown in Fig. 6;

Fig. 9 is a schematic diagram of a rising state of a warehouse robot according to an embodiment of the present application;

Fig. 10 shows the movable base of the storage robot shown in Fig. 6;

Fig. 11 shows the climbing module of the storage robot shown in Fig. 6;

Fig. 12 is a schematic diagram of the lowering state of the storage robot in an embodiment of the present application when it is loaded;

Fig. 13 is a schematic diagram of the lifting state of the storage robot in an embodiment of the present application when it is loaded;

Fig. 14 shows the lifting mechanism of the storage robot shown in Fig. 6;

Fig. 15 shows the handling device of the storage robot shown in Fig. 6;

Fig. 16 is a side view of a warehouse robot according to an embodiment of the present application;

Fig. 17 is a schematic diagram of the storage robot shown in Fig. 6 when climbing along the climbing chain.

18A to 18D show the climbing process of the storage robot according to an embodiment of the present application;

Fig. 19 is a schematic diagram of a storage robot according to an embodiment of the present application being used for direct sorting by operators;

Fig. 20 is a schematic diagram of a storage robot docking with a conveying line according to an embodiment of the present application;

Fig. 21 shows the sorting processing system of an embodiment of the present application;

Fig. 22 shows the sorting processing system of another embodiment of the present application;

Fig. 23 is a schematic diagram of the working mode of the roadway machine of the storage robot according to an embodiment of the present application;

Fig. 24 shows a walking mode of a storage robot in the related art;

Fig. 25 shows a checkerboard walking mode of a warehouse robot according to an embodiment of the present application;

Reference signs:

100 shelf unit; 102 roadway; 104 storage column; 106 storage layer; 108 material box; 110 climbing chain of shelf unit; 111 positioning piece; 134 column; 142 fixed seat; 144 pallet; 145,146 beam; 160 upper shelf; 162 load platform; 164 first opening; 166 guide rail; 170 lower shelf; 190 shelf area;

200 storage robot; 210 movable base; 211 main body; 212 second driving device; 214 driving wheel; 216 idler wheel; 220 support column; 222 brake; 224 third pulley; Mechanism; 230 rack; 232,234 mandrel; 240 climbing component; 242 climbing module; 244 base; 245 second opening; 246 rolling element; 248 push rod; ; 254 first driving device; 256 toothed belt/double-sided toothed synchronous belt; 258 positioning sleeve; 260 climbing wheel group; 262 sprocket wheel; 264 guide wheel; Wheel; 273 second pulley; 274 first synchronous belt; 276 support frame; 278 connector; 280 handling device; 282 telescopic fork;

300 sorting workstation; 302 sorting position; 304 first shelf; 306 second shelf; 308 sorting table; 310 conveyor line;

Detailed ways

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

It should be understood that although the terms "first", "second", "third" and so on may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of the present application, first information may also be called second information, and similarly, second information may also be called first information. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientations or positional relationships indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and It is not to indicate or imply that the device or element referred to must have a particular orientation, be constructed, or operate in a particular orientation, and thus should not be construed as limiting the application.

Unless otherwise clearly specified and limited, terms such as "mounted", "connected", "connected" and "fixed" should be interpreted in a broad sense, for example, it can be fixed connection, detachable connection or integral; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

An embodiment of the present application provides a storage system. Referring to FIG. 1 and FIG. 2 , the storage system in this embodiment includes a plurality of shelf units 100 and a storage robot 200 .

A plurality of shelf units 100 are distributed at intervals, and the interval area between adjacent shelf units 100 forms a roadway 102. The shelf unit 100 includes two column groups 120, 130 arranged at both ends in the width direction of the channel 102. The column groups 120, 130 It includes a plurality of columns distributed at intervals along the length direction of the roadway 102, and the plurality of columns are connected as a whole by a beam 146 extending along the length direction, and a storage column 104 is formed between adjacent columns, and the storage column 104 has a plurality of storage layers 106 ; Climbing chains 110 are provided on at least some of the uprights of the two opposite upright groups 120 and 130 near the end of the aisle 102 of the adjacent shelf unit 100 ;

The storage robot 200 has a movable base, a handling device, and a climbing assembly. The movable base is used to drive the storage robot to move on the support surface. 106 to transfer storage objects, that is, to make the handling device obtain the storage objects from the target storage layer 106 or place the storage objects on the target storage layer 106;

Wherein, the height of the storage robot 200 is smaller than the height of the beam 146 at the bottom of the shelf unit 100 .

In some embodiments, a plurality of uprights of each upright group 120 , 130 are connected as a whole through a beam 145 at the top and a beam 146 at the bottom.

In the embodiment of the present application, by setting the height of the storage robot 200 to be lower than the height of the beam 146 at the bottom of the shelf unit 100, the storage robot 200 can walk on the bottom of the shelf unit instead of walking along the roadway, so the walking distance can be reduced. Quickly reach the target location.

In a related technology, the action of the storage robot is limited by the height of the lowest layer of the shelf unit, and cannot walk through the bottom of the shelf unit 100, but can only walk along the length of the aisle 102 or around the shelf unit 100, as shown in FIG. 23 . Suppose you need to pick up the goods from point A and then arrive at the workstation at point C. For example, you need to walk to the bottom of the roadway according to the route shown in the figure and then go to the workstation.

Referring to FIG. 24 , according to the embodiment of the present application, the storage robot can walk on the bottom of the shelf unit, so it can have a higher degree of freedom, for example, it can walk in a checkerboard pattern. Assuming that the storage robot has the same starting point, end point and pick-up point as in Figure 23, that is, it needs to start from point D to pick up the goods at point E and arrive at the workstation at point F. It can walk from point D to point E along the roadway 102 according to the route shown in the figure. After aligning the position, walk across the shelf unit 100 and the aisle 102 from the bottom of the shelf unit 100 to pick up the goods at point E, and then continue to walk across the shelf unit 100 and the aisle 102 until reaching the workstation at point F. In this application, the checkerboard walking mode means that the storage robot can walk in a hypothetical checkerboard-like walking space according to a certain walking path, and the walking path is defined by the sides of the checkerboard to pass. It can be understood that which checkerboard cells and which sides to pass may depend, for example, on system scheduling, obstacle avoidance requirements, and the like. The position and size of the cells in the checkerboard may depend on, for example but not limited to, the position of the storage columns of the shelf units, the width of the storage columns, the spacing of the shelf units, the spacing between adjacent shelf units, and the like.

Comparing the walking routes in Figure 23 and Figure 24, it can be seen that the storage robot of the embodiment of the present application can realize the function of picking and placing goods across the aisle in the shelf area, and the driving path from the workstation to the storage area can be more selective, reducing congestion, and the entire operation process The number of rotations is reduced and the walking path is saved, which improves the cycling efficiency of the robot. In addition, due to the larger walking space, the number of storage robots in the venue can be increased without increasing the possibility of congestion.

Referring to Fig. 3 together, in some embodiments, the plurality of columns of the column groups 120, 130 include floor columns 112 and suspended columns 114, and the floor columns 112 and the suspended columns 114 are arranged alternately, that is, there is one between adjacent floor columns 112. Suspension column 114. The storage columns 104 are formed between the adjacent ground columns 112 and the suspended columns 114 . It can be understood that in some other embodiments, two or more suspended columns 114 may be provided between adjacent floor columns 112, and storage columns 104 are formed between adjacent floor columns 112 and suspended columns 114, and adjacent suspended columns 114 Columns 104 are also formed between columns 114 . It can be understood that the distances between adjacent pillars can be the same or different. In this embodiment, suspended columns are set between floor columns 112, and a storage row is formed between adjacent floor columns 112 and suspended columns 114, and storage columns with the same width are formed between floor columns only and between floor columns In comparison, the distance between the landing columns is larger, so that the storage robot has a greater degree of freedom when walking from the aisle to the bottom of the shelf unit, and reduces the difficulty of the storage robot walking control.

In some embodiments, the climbing chain 110 is installed on the corresponding column through a plurality of fixing seats 142, and the plurality of fixing seats 142 are distributed at preset positions between vertical ends of the climbing chain 110 and between the two ends, for example, the example of FIG. 3 Among them, the climbing chain 110 is installed on the corresponding column through two fixing seats 142 distributed at vertical ends and two fixing seats 142 in the middle. It can be understood that the distances between adjacent fixing seats 142 can be the same or different. In the related art, the climbing chain is only fixed to the column at the upper and lower ends, and there is a problem that the length of the chain is large due to too many links of the chain, so that the height of the shelf unit is limited. In this embodiment, the climbing chain 110 is directly installed on the column by a plurality of fixing seats distributed at the vertical ends of the climbing chain 110 and preset positions between the two ends, so that the distance between each adjacent fixing seats can be ensured. The accuracy of the length of the chain, thereby reducing the overall length deviation of the chain, allows the shelf unit to have a higher height.

In some embodiments, the columns of the two column groups 120, 130 of the shelf unit 100 are aligned two by two in the length direction of the aisle 102, and a plurality of pallets for carrying goods are arranged between the aligned columns of the two column groups 120, 130. plate 144. The storage column 104 is formed between two adjacent pairs of aligned columns 122 , 132 , 124 , 134 of the two column groups 120 , 130 , and multiple storage layers 106 of the storage column 104 are formed by supporting plates between the columns. It can be understood that the length of the pallet 144 can be set to be suitable for placing a single row or a double row of material boxes, and can also be set to accommodate multiple rows of material boxes.

4 and 5, the storage system according to another embodiment of the present application includes an upper shelf 160 and a lower shelf 170, the upper shelf 160 is located above the lower shelf 170, and the upper shelf 160 and the lower shelf 170 respectively have a plurality of shelf units 100.

There is a carrying platform 162 for carrying the upper shelf 160 between the upper shelf 160 and the lower shelf 170, the upper shelf 160 corresponds to at least part of the roadway position of the lower shelf 170, and the carrying platform 162 is provided with the lower shelf at the position corresponding to the roadway position. The position of the aisle 170 corresponds to the first opening 164 , so that the storage robot 200 can move between the lower shelf 170 and the upper shelf 160 through the first opening 164 .

In some embodiments, the shelf unit 100 of the upper shelf 160 is configured with a guide rail 166 connected to the column at the first opening 164, and the guide rail 166 extends along the aisle and the width direction and/or the length direction; the storage system also includes a transfer mother car 180, the transfer mother car 180 is provided with a chain 182 and a walking wheel (not shown) that cooperates with the guide rail 166; the chain 182 of the transfer mother car 180 is used for climbing with the lower shelf 170 at the first opening 164 The chain 110 is docked; the traveling wheels are used to make the transfer mother vehicle 180 take the storage robot 200 to translate along the guide rail 166 after the storage robot 200 climbs to the chain of the transfer mother vehicle 180 .

In some embodiments, the climbing assembly of the storage robot 200 can be raised and lowered relative to the movable base; the distance between the guide rail 166 and the carrying platform 162 does not exceed the maximum rising height of the climbing assembly, so that the storage robot 200 can move by itself on the guide rail 166 The mother car 180 descends to the carrying platform 162 .

When the storage robot 200 moves from the lower shelf 170 to the upper shelf 160, the transfer mother car 180 moves to the first opening 164, the chain 182 of the transfer mother car 180 is docked with the climbing chain 110 of the lower shelf 170, and the storage robot 200 moves from the lower shelf to the first opening 164. After the climbing chain 110 of the shelf 170 climbs to engage with the chain 182 of the transfer mother car 180, the transfer mother car 180 can carry the storage robot 200 along the guide rail 166 and translate from the first opening 164 to the target position, and the storage robot 200 can move from The transfer mother vehicle 180 descends to the carrying platform 162 .

When the storage robot 200 moves from the upper shelf 160 to the lower shelf 170, the storage robot 200 moves to the transfer mother car at the guide rail 166, and climbs from the carrying platform 162 to mesh with the chain 182 of the transfer mother car 180. The car 180 can carry the storage robot 200 and move to the first opening 164 along the guide rail 166. The climbing chain 110 of the transfer mother car 180 is docked with the climbing chain 110 of the lower shelf 170, and the storage robot 200 descends along the climbing chain 110 of the lower shelf 170. .

It can be understood that, in some embodiments, the chain 182 of the transfer mother car 180 can also be docked with the climbing chain 110 of the upper shelf 160, so that the storage robot can pass the chain 182 of the transfer mother car 180 between the upper shelf 160 and the lower shelf 170. to move between.

In some embodiments, the first opening 164 is provided with a cross-layer connecting chain integrally connected with the climbing chain 110 of the upper shelf 160 and the corresponding climbing chain 110 of the lower shelf 170, so that the storage robot 200 can pass through the cross-layer connecting chain. 170 and the upper shelf 160 to move.

Referring to FIGS. 6 to 9 , a storage robot 200 according to an embodiment of the present application includes a movable base 210 , a handling device 280 , and a plurality of climbing components 240 . The movable base 210 is used to drive the storage robot 200 to move on the supporting surface. The handling device 280 is used to obtain storage objects from the target storage position of the shelf unit 100 or place the storage objects on the target storage position of the shelf unit.

Climb assembly 240 includes a plurality of climb modules 242 . The climbing module 242 includes a climbing wheel set 260, a base 244 installed on the movable base 210, and a first driving device 254 installed on the base 244; Sprocket 262; the sprocket 262 and the guide wheel 264 are arranged at intervals to clamp the climbing chain 110 when the sprocket 262 is engaged with the climbing chain 110 provided on the column of the shelf unit 100; a plurality of sprockets of a plurality of climbing components 240 262 drives the movable base 210 and the carrying device 280 to go up and down along the climbing chain 110.

In this embodiment, the climbing module 242 clamps the climbing chain 110 through the guide wheel 264 and the sprocket 262, so it can directly clamp the climbing chain 110 to climb, and the guide wheel 264 can guide the climbing. Additional guide rails are provided on the board for guidance, which can reduce material and installation costs.

Referring to FIG. 10 together, in some embodiments, the movable base 210 includes a main body 211 , and a first traveling wheel set and a second traveling wheel set disposed on the main body 211 .

In a specific implementation, the main body 211 of the movable base 210 includes a square frame. It can be understood that the present application is not limited thereto, for example, the main body 211 may also be in the shape of a rectangle or an ellipse. The first traveling wheel set may be a driving wheel set, and the driving wheel 214 of the driving wheel set is driven by a second driving device 212, and the second driving device 212 may be a motor (such as a servo motor), but is not limited thereto. The second traveling wheel set can be an idle wheel set. The figure shows that the second walking wheel set includes two idler wheels 216, which are arranged on the front and rear sides of the main body 211 along the walking direction, and the first walking wheel set includes two driving wheels 214, which are respectively arranged on the left and right sides of the main body 211 along the walking direction. sides. It can be understood that the number and types of the running wheels of the first running wheel set and the second running wheel set are not limited thereto. In some embodiments, the change of the walking direction of the storage robot 200 is realized by means of the driving wheel 214 rotating at a differential speed.

Referring to FIG. 11 together, in some embodiments, the climbing module 242 also includes a positioning sleeve 258 telescopically installed on the base body 244, and the sprocket 262 and the guide wheel 264 are rotatably installed on the positioning sleeve 258; when the positioning sleeve 258 extends , drives the sprocket 262 and the guide wheel 264 to stretch out, so that the sprocket 262 meshes with the climbing chain 110, and when the positioning sleeve 258 retracts, drives the sprocket 262 and the guide wheel 264 to retract, so that the sprocket 262 and the climbing chain 110 separate.

In some embodiments, the storage robot is provided with two climbing assemblies 240 at both ends of the first direction, and each climbing assembly 240 includes two climbing modules 242 arranged at both ends of the second direction; wherein, the first direction and the second direction wherein One is the walking direction of the storage robot 200 , and the other is a direction perpendicular to the walking direction of the storage robot 200 .

In some embodiments, referring to the accompanying drawings, the first direction is the walking direction of the storage robot 200 (shown as Y in the figure), and the second direction is the direction perpendicular to the walking direction of the storage robot 200 (shown as X in the figure). Show). The four corners of the main body 211 of the movable base 210 are fixedly installed with supporting columns, and the four climbing modules 242 are installed on the four supporting columns 220 . The positioning sleeves 258 and the climbing wheel sets 260 of the two climbing modules 242 of the climbing assembly 240 are arranged away from each other. The base body 244 of the two climbing modules 242 of the climbing assembly 240 is provided integrally, such as integrally formed or integrally connected, so that the two climbing modules 242 form a climbing assembly 240 .

It can be understood that in some other embodiments, the storage robot has a climbing assembly, four climbing modules are installed on four support columns, and the bases of the four climbing modules are integrated, so that the four climbing modules form a climbing assembly.

In some embodiments, the climbing assembly 240 includes two running parts, and the two positioning sleeves 258 of the two climbing modules 242 of the climbing assembly 240 are connected with the two running parts, and the two running parts are used to drive the two positioning sleeves 258 along the opposite direction. The direction is synchronously extended or synchronously retracted.

In one embodiment, the base body 244 of the two climbing modules 242 of the climbing assembly 240 is integrally arranged, and the climbing assembly 240 includes a synchronous extension mechanism 270, and the synchronous extension mechanism 270 includes a single driving device (not shown in the figure) installed on the base body 244 ), the first transmission mechanism and the two running parts. The driving device drives the two running parts to move in opposite directions through the first transmission mechanism, thereby driving the two positioning sleeves 258 to extend or retract synchronously in opposite directions. It can be understood that in another embodiment, two driving devices independent of each other can also be configured to drive the two running parts respectively.

Referring to the accompanying drawings, the first transmission mechanism includes a first pulley 272 and a second pulley 273 arranged at intervals along the second direction, one of the first pulley 272 and the second pulley 273 is a driving pulley, and the other The driven pulley is connected to the single driving device, and the first synchronous belt 274 is sheathed on the first pulley 272 and the second pulley 273 . The two running parts are respectively arranged on the upper section and the lower section of the first synchronous belt 274 with opposite running directions. The positioning sleeve 258 of the climbing module 242 is connected to the corresponding running part through the supporting frame 276 and the connecting piece 278. The supporting frame 276 and the connecting piece 278 are movably supported on the base body 244. The positioning sleeve 258 is fixedly installed on the supporting frame 276. The supporting frame 276 can be It is movably supported on the base body 244 , and the running part is connected with the supporting frame 276 through the connecting piece 278 . One end of the connecting piece 278 is fixedly connected to the running part, and the other end is fixedly connected to the supporting frame 276 . When the first synchronous belt 274 rotates, the two running parts move in opposite directions in the second direction, respectively push the support frame 276 and the positioning sleeve 258 through the connecting piece 278, so that the two positioning sleeves 258 of the climbing module move in the second direction. Synchronously extend or retract synchronously in the opposite direction.

It can be understood that in some other embodiments, the first transmission mechanism may adopt other types, for example, the first transmission mechanism may include a gear connected to a single driving device, and two racks meshing with the gear at both ends in the diameter direction; The two running parts with opposite running directions are respectively arranged on the two racks. When the driving device drives the gear to rotate, the gear drives the two racks to move in the opposite direction in the second direction, thereby driving the two positioning sleeves of the climbing module to extend or retract synchronously in the opposite direction in the second direction.

In some embodiments, a lifting mechanism is provided between the movable base 210 and the climbing module 242 , and the lifting mechanism is used to drive the climbing module 242 and the handling device 280 to lift relative to the movable base 210 . The lifting mechanism may be, for example but not limited to, a rack-type lifting mechanism, a chain-type lifting mechanism, a scissor-type lifting mechanism, and the like.

In some embodiments, the base body 244 of the climbing module 242 is sheathed on the support column 220 , and when the base body 244 moves up and down along the support column 220 , the base body 244 makes rolling contact with the support column 220 through the rolling element 246 disposed between the base body 244 and the support column 220 . The rollers 246 can be rollers or rollers, for example.

6 to 11, the base 244 of the climbing module 242 is provided with a second opening 245, the base 244 is sleeved on the support column 220 through the second opening 245, the base 244 is provided with a roller 246 at the second opening 245, the base 244 When moving up and down along the support column 220 , the roller 246 makes rolling contact with the support column 220 . The roller 246 can be mounted on the push rod 248 extending along the second direction of the support frame 276 and limited to the second opening 245 .

One side of the second opening 245 of the base body 244 is provided with a positioning plate 250, the positioning plate 250 is provided with a slot 252 extending along the height direction of the support column, and the notch of the slot 252 faces upward; the top of the support column is provided with a mandrel 232 , the axial direction of the mandrel 232 extends along the second direction, and the diameter of the mandrel 232 is slightly smaller than the width of the slot 252; when the climbing module 242 rises relative to the support column 220, the positioning plate 250 rises, so that the mandrel 232 is opened The notch of the groove 252 enters the slot 252 until the mandrel 232 abuts against the bottom end of the slot 252. At this moment, the rise of the base body 244 is limited by the mandrel 232, and the climbing module 242 reaches the position where the support column 220 can rise to. At the same time, since the diameter of the mandrel 232 is slightly smaller than the width of the slot 252, the movement of the base 244 in the first direction is also restricted. After the climbing module 242 reaches the highest position that can be raised relative to the support column 220 , when it continues to climb along the climbing chain 110 , it can drive the movable base 210 to climb together.

Fig. 12 is a schematic diagram of loading when the lifting mechanism of the storage robot is in a lowered state, and Fig. 13 is a schematic diagram of loading when the lifting mechanism of the storage robot is in a raised state. In one embodiment, when the lifting mechanism is in the lowered state, the bin 108 does not exceed the support column 220 in the height direction, and the height of the support column 220 from the support surface is less than the height of the bottommost crossbeam 146 of the shelf unit 100 from the support surface, so that It is ensured that the storage robot 200 can carry the material box 108 and walk under the shelf unit 100 .

In some embodiments, the lifting mechanism includes a rotating part installed on the base 244 of the climbing module 242, and a linear moving part installed on the support column 220, the rotating part is engaged with the linear moving part; when the rotating part rotates along the linear moving part, The base body 244 is driven to rise or fall relative to the support column 220 . In some embodiments, the teeth mesh between the rotating part and the linear moving part, the rotating part may be a gear or a rack, and the linear moving part may be a rack, for example. In some other embodiments, the rotating part and the linear moving part are engaged in a chain, the rotating part may be, for example, a sprocket, and the linear moving part may be, for example, a chain.

In some embodiments, the storage robot 200 further includes a brake 222 installed on the support column 220, and the brake 222 is connected to the linear moving part in transmission. The brake 222 has a braking state and a release state; when the brake 222 is in the braking state, the linear moving part is kept in a stopped state, and the linear moving part can only be raised and lowered relative to the support column 220 when the force exceeds the braking force of the brake 222; the brake 222 When it is in the released state, the linear moving part can be freely raised and lowered relative to the support column 220 .

14, in some embodiments, the lifting mechanism includes a toothed belt 256 installed on the base 244 of the climbing module 242, and a toothed rack 230 installed on the supporting column 220; the brake 222 passes through the second synchronous belt 226 and the spring guide rod The mechanism 228 is connected with the rack 230; the second synchronous belt 226 is connected with the brake 222 through the third pulley 224, and the rack 230 is connected with the second synchronous belt 226 through the spring guide mechanism 228; more specifically, the third pulley 224 , The second synchronous belt 226 and the spring guide rod mechanism 228 are arranged inside the supporting column 220 , and the brake 222 and the rack 230 are arranged outside the supporting column 220 . The brake 222 has a braking state and a release state; when the brake 222 is in the braking state, the rack 230 is kept in a stopped state, and when the toothed belt 256 rotates, it can rotate along the stopped rack 230 to lift; when the brake 222 is in a released state , the rack 230 can slide up and down freely relative to the supporting column 220, and when the toothed belt 256 rotates in a predetermined direction, it drives the base 244 to rise, and makes the rack 230 slide down along the supporting column 220 until the rack 230 slides to the limit. At the lowermost position, when the toothed belt 256 rotates in the direction opposite to the predetermined direction, the base 244 is driven down, and the rack 230 slides upward along the support column 220 until the rack 230 slides to the highest position that can be raised.

It can be understood that due to the ground height difference and installation error, the teeth of the sprocket 262 and the climbing chain 110 may not be aligned at the beginning during the meshing process. At this time, the spring guide mechanism 228 connected to the rack 230 can produce A certain amount of compression, so that the climbing sprocket 262 is engaged with the climbing chain 110 by compensating the height error.

In some embodiments, the rotating part of the lifting mechanism is driven by the first driving device 254 , that is, both the rotating part of the lifting mechanism and the sprocket 262 of the climbing module 242 are driven by the first driving device 254 . It can be understood that, in other embodiments, the rotating member and the sprocket 262 each have independent driving devices.

Referring to FIG. 11 , in some embodiments, the toothed belt 256 installed on the base 244 is a double-sided toothed belt. The first driving device 254 drives the double-sided toothed synchronous belt 256 and the sprocket 262 through the second transmission mechanism. In a specific implementation, the second transmission mechanism includes a first gear driven by the first driving device 254 and a second gear connected to the first gear, and the first gear and the second gear are arranged on the double-sided toothed synchronous belt 256 Inside, mesh with the inner teeth of the double-sided tooth synchronous belt 256, drive the double-sided tooth synchronous belt 256 to rotate when the first gear and the second gear rotate, and the outer teeth of the double-sided tooth synchronous belt 256 are used to connect with the rack 230 on the column engage. The second gear is also in transmission connection with the sprocket 262, and when the second gear rotates, it also drives the sprocket 262 to rotate.

Referring to FIG. 12 , in one embodiment, the second gear is connected to the sprocket 262 through a ball spline set 266 . The spline shaft of the ball spline group 266 passes through the positioning sleeve 258 and is fixedly connected with the sprocket 262, and the second gear is fixedly connected with the spline sleeve set outside the spline shaft; when the second gear rotates, it is driven by the spline sleeve. The spline shaft rotates, so that the sprocket 262 rotates; a bearing assembly is arranged between the spline shaft and the positioning sleeve 258, and the bearing assembly enables the spline shaft to rotate freely relative to the positioning sleeve 258, and drives the positioning sleeve 258 to move axially The spline shaft is a part of the support frame 276. When the first synchronous belt 274 of the synchronous extension mechanism 270 makes the support frame 276 translate through the connector 278, the spline shaft pushes the positioning sleeve 258 to stretch out or retract, thereby making the climbing The wheel set 260 is extended or retracted. The connecting member 278 may be a rod-shaped member.

In some embodiments, when the driving device of the synchronous extension mechanism 270 has no output, the extension amount of the positioning sleeve 258 can be changed, and at the same time, the output of the driving device of the synchronous extension mechanism 270 can be stopped during the climbing process of the climbing module 242 . Thus, the storage robot can adapt to the distance error between the two chains at different heights in the width direction of the roadway through the change of the protrusion of the positioning sleeve 258 during the climbing or descending process along the climbing chain 110 . In a specific example, the variation of the protrusion of the positioning sleeve 258 can allow a distance error of plus or minus 18 mm between the two chains in the width direction of the roadway.

In some embodiments, the handling device 280 includes a telescopic fork 282 installed between the climbing modules 242 , and the telescopic fork 282 is telescopic in a direction perpendicular to the walking direction of the storage robot 200 . The four corners of the telescopic fork 282 are provided with push-pull fingers. The material box is picked and placed in a push-pull way, which can realize double-extended picking and placing.

In some embodiments, the transport device 280 is swingably installed on the climbing modules 242 . Referring to Fig. 15, a pair of span beams 284 are arranged at intervals along the first direction at the bottom of the handling device 280, and the span beams 284 extend along the second direction. Installed in multiple climbing modules 242; the inside of the span beam 284 is provided with a reverse mechanism, so that the swing arms 286 at both ends of the span beam 284 have the same swing angle and opposite swing directions, so that it can ensure that the handling device 280 is always in the climbing process At the heart of warehouse robots.

In some embodiments, the two climbing modules 242 at both ends of the first direction are swingably installed on the movable base 210, so as to adjust the distance between the two sprockets 262 of the two climbing modules 242, so as to adapt to the length of the roadway. The distance error between chains at different heights.

Referring to Fig. 16, in some embodiments, a pair of mandrels 232 and 234 arranged at intervals along the height direction are arranged on the top of the support column 220, and the slot 252 of the positioning plate 250 is provided with inner recesses 253 on both sides of the middle, and the climbing module 242 reaches When it can rise to the highest position relative to the column, the second opening 245 of the base body 244 is higher than the top of the support column 220, the mandrel 232 at the lower end abuts against the bottom end of the slot 252, and the mandrel 234 at the upper end is located in the slot. 252 has the position of the inner recess 253. By setting the inner recess 253, there is a gap 251 between the mandrel 234 at the upper end and the inner wall of the slot 252, thereby allowing the base 244 of the climbing module 242 to move in the direction of the arrow in the figure relative to the supporting column. swing. In a specific example, the swing of the base body 244 relative to the support column 220 can allow a distance error of plus or minus 6mm between two chains in the length direction of the roadway.

Referring to FIG. 17 and FIG. 18A to FIG. 18D in conjunction with the structure of the shelf unit 100 , the climbing process of the storage robot 200 according to the embodiment of the present application will be exemplarily described.

When the storage robot 200 determines to climb to the target storage layer of the target storage column, it walks to the target storage column in the roadway 102, and the four climbing modules 242 of the storage robot 200 are opposite to the four climbing chains 110 on both sides of the roadway 102. Location. As shown in FIG. 18A , in the initial state, the brake 222 is in the braking state, and the rack 230 is at the highest position it can rise to; since the brake 222 is in the braking state, the position of the rack 230 remains unchanged when the toothed belt 256 is raised and lowered. As shown in Figure 18B, the first driving device 254 drives the toothed belt 256 to rise along the rack 230, so that after the climbing module 242 rises to a predetermined height, the synchronous extension mechanism 270 makes the positioning sleeve 258 take the sprocket 262 and the guide wheel 254 Stretch out to the position where the positioning sleeve 258 is in contact with the positioning piece 111 at the bottom end of the climbing chain 110. At this time, the guide wheel 264 and the sprocket 262 are located below the climbing chain 110; The height is determined and lower than the highest position to which the climbing module 242 can rise relative to the support column 220 . Then, the toothed belt 256 continues to rise along the rack 230 , and drives the guide wheel 264 and the sprocket 262 to rise, so that the sprocket 262 is meshed with the climbing chain 110 , and the guide wheel 264 and the sprocket 262 clamp the climbing chain 110 . When the toothed belt 256 and the climbing module 242 rise to the highest position that can be raised relative to the support column 220 as shown in FIG. 18C , the brake 222 is switched to the released state. Then, as shown in Figure 18D, the sprocket 262 and the guide wheel 264 climb along the climbing chain 110, and because the brake 222 is in a released state, the rotation of the toothed belt 256 causes the toothed rack 230 to descend until the toothed rack 230 disengages from the toothed belt 256 Finally, the climbing module 242 breaks away from the rack 230, climbs with the movable base 210 and the transport device 280, until it reaches the target storage layer, and transfers the storage objects between the transport device 280 and the target storage layer.

The present application also provides a sorting processing system, including the storage system as described above; wherein, the storage robot of the storage system is configured to load the container to be sorted from the target storage layer to the handling device and then move to the target sorting position , so that the to-be-sorted boxes are sorted. Further, the storage robot can also unload the sorted cases from the handling device to the target storage layer.

In some embodiments, the sorting method information can be obtained, the target height of the conveying device can be determined according to the sorting method information, and the lifting or lowering of the conveying device can be controlled according to the target height of the conveying device, so that the height of the conveying device can adapt to the height of the sorting method. need. The lifting or lowering of the handling device can be controlled by controlling the lifting mechanism of the storage robot. The sorting method can be, for example, direct manual sorting, that is, the sorting personnel directly sort the material boxes on the storage robot. When the material boxes 108 are placed on the handling device 280, the lifting height of the lifting mechanism can be adjusted so that the handling device The height of the bins on the top is suitable for sorting personnel to sort directly on the storage robot, as shown in Figure 19; or, the sorting method can also be sorting table sorting, that is, the storage robot carries the bins to the sorting The sorting platform, the sorting personnel sort the material boxes on the sorting platform; the lifting height of the lifting mechanism can be adjusted so that the height of the handling device 280 is docked with the conveying line 310, such as shown in Figure 20, so that the The bins to be sorted are transported to the target sorting position. The conveying line can be, for example, a belt conveyor, a roller conveyor, a roller conveyor, a flow strip or the like.

In some embodiments, the handling device 280 performs transfer from the side. Referring to Figure 20, the storage robot walks in a direction perpendicular to the direction indicated by X. When unloading, it pushes the material box from the side along the direction indicated by X to the conveyor line 310. When loading, it moves from the side in the direction opposite to the direction indicated by X The bins are pulled laterally from the conveyor line 310 onto the handling device 280 .

Referring to Fig. 21, in some embodiments, the sorting processing system includes a sorting workstation 300; the sorting workstation 300 is provided with a sorting position 302; a first shelf 304 and a second shelf 306 can also be provided; the first shelf 304 For example, empty boxes can be placed, and the second shelf 306 can be placed with sorted boxes (ie, order boxes), for example. The storage robot 200 is configured to, after loading the material box 108 from the shelf unit to the handling device 280, control the handling device 280 to a preset height through the lifting mechanism, so that the storage robot can carry the material box 108 and pass through the bottom of the shelf unit , and after leaving the shelf area 190 and reaching the target position (for example, at the sorting position 302 or within the preset range of the sorting position 302), the handling device 280 is raised by the lifting mechanism, so that the bin 108 on the handling device 280 The height is suitable for direct manual sorting, that is, the sorting personnel at the sorting position 302 can directly sort the bins 108 on the storage robot 200 . After detecting the sorting completion instruction indicating that the sorting personnel directly sort the material boxes on the raised handling device, the storage robot can be controlled to walk to the target storage place carrying the boxes. The sorting completion instruction can be input by the sorting personnel through the button set on the storage robot 200 , or input and transmitted to the storage robot 200 through the button set at the sorting workstation 300 , for example. It can be understood that in the figure, the shelf area 190 is represented as a checkerboard-like walking space of the warehouse robot 200 .

In some embodiments, the storage robot 200 is configured to, after leaving the shelf area 190 and reaching the target position, adjust the handling device 280 while reducing the walking speed, so as to ensure the stability of the material box 108 .

Referring to Fig. 22, in some embodiments, the sorting processing system includes a sorting workstation 300, the sorting workstation 300 is provided with a sorting platform 308, and the sorting position 302 is formed at the sorting platform 308, and the sorting platform can be set, for example The conveyor line 310 (as shown in FIG. 20 ) with the function of moving the material box, or the workbench without the function of moving the material box. When the sorting table 308 is set on the conveying line, the storage robot unloads the material box 108 to the conveying line 310, and the conveying line 310 transports the material box to the sorting position 302 for sorting. The storage robot 200 is configured to, after loading the material box 108 from the shelf unit to the handling device 280, control the handling device 280 to a preset height through the lifting mechanism, so that the storage robot can carry the material box 108 to walk through the bottom of the shelf unit , and after leaving the shelf area 190 and reaching the target position (for example, at the docking point of the sorting platform 308 or within the preset range of the sorting platform 308), the handling device 280 is raised by the lifting mechanism, so that the bins on the handling device 280 The height of 108 is suitable for docking with the sorting table 308 , where the conveying device 280 is docked with the sorting table 308 , the conveying device is controlled to unload the material box 108 to the sorting table 308 .

In some embodiments, the storage robot 200 is configured to perform a double-cycle task, first unloading the bins 108 from the delivery port 312 to the conveying line 310, and then walking to the pick-up port 314 to take out and load the sorted bins 108 onto the handling device 280. After the storage robot 200 is configured to take out the material box 108, the height of the conveying device 280 is lowered by the lifting mechanism to lower the center of gravity and ensure the stability during walking.

It can be understood that in some other embodiments, the sorting system includes a conveying line, and the conveying line is provided with a plurality of sorting positions 302 . The warehousing robot controls the handling device 280 to be at the second height, so that the height of the material box 108 on the handling device 280 is suitable for docking with the conveying line, and at the joint of the handling device 280 and the conveying line 308, the handling device 280 is controlled to unload the material box 108 to the The conveying line, so that the conveying line transports the bin 108 to the target sorting position 302 for sorting.

In some embodiments, the storage robot 200 is also configured to:

The working mode information is obtained, and the walking path of the storage robot is determined according to the working mode information.

In some embodiments, determining the walking path of the storage robot according to the working mode information includes:

If the working mode information indicates that the working mode of the storage robot is the first working mode, the walking path of the storage robot is determined according to the checkerboard walking mode;

If the working mode information indicates that the working mode of the storage robot is the second working mode, the walking path of the storage robot is determined according to a circular walking manner.

In a specific example, the first working mode of the storage robot is a discrete working mode, and the second working mode is a roadway machine working mode.

In the discrete working mode, the storage robot can be configured to walk in a checkerboard pattern, walking on the bottom of the shelf unit according to the determined walking path, and the walking path can be reasonably planned in the checkerboard walking space as needed. In the discrete working mode, the arrangement of the shelf units may not require a main aisle, for example, and the shelf units in each row may be arranged in an uninterrupted and seamless connection, for example.

Corresponding to the working mode of the roadway machine, a plurality of shelf units are arranged in parallel and at intervals, and a roadway is provided between two adjacent shelf units, and two adjacent shelf units form a shelf unit group, and the two shelf units of the shelf unit group are the first A shelf unit and a second shelf unit. In the roadway machine working mode, the storage robot is configured to run corresponding to a single shelf unit group and a single target sorting position. For example, as shown in Figure 23, the target sorting position 300 is set at one end of the shelf unit group 192, for example, but not limited to, between the first shelf unit and the second shelf unit, the lower horizontal line L1 in Figure 23 represents the first The walking path at the bottom of the shelf unit, the upper horizontal line L2 indicates the walking path at the bottom of the second shelf unit, the middle horizontal line L3 indicates the aisle between the first shelf unit and the second shelf unit, the first shelf unit and the second shelf Each unit has multiple storage columns, and each vertical line between the horizontal lines L1 and L2 in the figure indicates the pick-up position of the storage robot at different storage columns; the storage robot is configured to cycle from the first shelf unit or the second The racking unit obtains different containers and sends them to the target sorting position 300 for sorting. In FIG. 23 , P1, P2, and P3 respectively show the walking paths of the three delivery processes of the storage robot. The working mode of the roadway machine makes the walking path of the storage robot deliver to the target sorting position each time a circular walking path, and only works in a single roadway in the shelf area, so the bicycle efficiency is high and can meet the needs of high-traffic scenarios .

According to an embodiment, a delivery control process of a storage robot is described as follows.

The target storage location information is obtained, and the target storage location information includes target storage column information and target storage layer information; it can be understood that the target storage column may be the storage column of the first shelf unit or the storage column of the second shelf unit.

According to the target location information, the storage robot is controlled to move from the target sorting position to the bottom of the first shelf unit, and then move to the position corresponding to the target storage row at the bottom of the first shelf unit.

controlling the storage robot to move from the bottom of the first shelf unit into the lane at the position corresponding to the target storage row, so that the handling device obtains the container from the target storage layer;

The storage robot is controlled to carry the container to walk from the aisle to the bottom of the second shelf unit, and move at the bottom of the second shelf unit until it leaves the second shelf unit and returns to the target sorting position.

For ease of understanding, the above process will be described in conjunction with the corresponding delivery process at P2 in FIG. 23 . The target location is a certain storage layer of the storage column corresponding to the first shelf unit or the second shelf unit at P2, and the storage robot can be controlled to move from the target sorting position 300 to the bottom of the left end of the first shelf unit, and place it on the first shelf The bottom of the unit moves along L1 to the pick-up position at P2 in the direction indicated by arrow N1. After that, the storage robot turns and moves from the bottom of the first shelf unit to the pick-up position in the aisle as indicated by arrow N2, and climbs to the pick-up position in the aisle. A shelf unit or the target storage layer of the second shelf unit, so that the handling device obtains the container from the target storage layer, and then descends back to the ground; The bottom of the shelf unit moves along L2 in the direction indicated by the arrow N3 until it leaves the bottom of the left end of the second shelf unit and returns to the target sorting position 300, thereby completing a delivery.

Having described various embodiments of the present application above, the foregoing description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principle of each embodiment, practical application or improvement of technology in the market, or to enable other ordinary skilled in the art to understand each embodiment disclosed herein.

Claims (18)

1. A storage robot, characterized in that, comprising: The movable base is used to drive the storage robot to move on the support surface; a handling device for taking storage objects from or placing storage objects on the target location of the shelf unit; and, Climbing assembly; the climbing assembly includes a climbing module, the climbing module includes a climbing wheel set, a base mounted on the movable base, and a driving device installed on the base; the climbing wheel set includes guide wheels, and a sprocket driven by a driving device; the sprocket and the guide wheel are arranged at intervals to clamp the climbing chain when the sprocket is engaged with the climbing chain provided on the shelf unit; the plurality of sprockets of the climbing assembly are along the When going up and down with the climbing chain, it drives the movable base and the handling device up and down. 2. The storage robot according to claim 1, wherein the climbing module further comprises: The positioning sleeve is telescopically installed on the base body, and the sprocket and guide wheel are rotatably installed on the positioning sleeve; when the positioning sleeve is stretched out, it drives the sprocket and guide wheel to extend, so that The sprocket is engaged with the climbing chain, and when the positioning sleeve is retracted, the sprocket and the guide wheel are driven to retract, so that the sprocket is separated from the climbing chain. 3. The warehouse robot according to claim 2, characterized in that, The storage robot forms two climbing assemblies at both ends of the first direction, and the climbing assembly includes two climbing modules arranged at both ends of the second direction; wherein, one of the first direction and the second direction is the The walking direction of the storage robot, the other of which is a direction perpendicular to the walking direction of the storage robot; The base bodies of the two climbing modules are integrally arranged, and the climbing assembly also includes two operating parts installed on the integrally arranged base bodies, and the two operating parts are used to respectively drive the positioning sleeves of the two climbing modules along opposite directions. The direction is synchronously extended or synchronously retracted. 4. The warehouse robot according to claim 3, characterized in that, The bases of the two climbing modules are integrally arranged, and the climbing assembly includes a single drive device mounted on the integrally provided base body, and a transmission mechanism connected between the single drive device and the two running parts; When the single driving device is running, the transmission mechanism drives the two running parts to move in opposite directions in the second direction. 5. The warehouse robot according to claim 3, characterized in that, The positioning sleeve is connected to the corresponding running part through a support frame and a connecting piece, and the support frame and the connecting piece are movably supported on the base body; The positioning sleeve is fixedly installed on the supporting frame, and the running part is connected to the supporting frame through a connecting piece; one end of the connecting piece is fixedly connected to the running part, and the other end is fixedly connected to the supporting frame. 6. The warehouse robot according to claim 2, characterized in that: A lifting mechanism is provided between the movable base and the climbing module, and the lifting mechanism is used for lifting and lowering relative to the movable base with the climbing module and the carrying device. 7. The storage robot according to claim 6, characterized in that: The movable base is provided with a plurality of support columns; The lifting mechanism includes a rotating part installed on the base, and a linear moving part installed on the support column, the rotating part is engaged with the linear moving part; the rotating part moves along the linear moving part When rotating, the base body is driven to rise or fall relative to the support column. 8. The warehouse robot according to claim 7, characterized in that, It also includes a brake installed on the supporting column, and the brake is connected to the linear moving part in transmission; The brake has a braking state and a releasing state. When the brake is in the braking state, the linear moving part is kept in a stopped state. When the brake is in the releasing state, the linear moving part is movable relative to the column. lift. 9. The warehouse robot according to claim 8, characterized in that: The rotating part is a toothed belt, and the linear moving part is a rack; The brake is connected with the rack through a synchronous belt and a spring guide mechanism; Wherein, the synchronous belt is connected to the brake through a pulley, and the rack is connected to the synchronous belt through the spring guide mechanism. 10. The warehouse robot according to claim 7, characterized in that: The rotating member is driven by the driving device. 11. The warehouse robot according to claim 10, characterized in that: The rotating part is a double-sided toothed synchronous belt, the linear moving part is a rack, and the external teeth of the double-sided toothed synchronous belt are used to mesh with the rack; The driving device drives the double-sided toothed synchronous belt and the sprocket through a transmission mechanism; The transmission mechanism includes a first gear driven by the driving device, and a second gear connected to the first gear, and the first gear and the second gear are connected to the double-sided toothed synchronous belt. The internal teeth mesh, and the second gear is in transmission connection with the sprocket. 12. The warehouse robot according to claim 11, characterized in that, The second gear is connected with the sprocket through a ball spline set; The spline shaft of the ball spline set is fixedly connected to the sprocket through the positioning sleeve, and the second gear is fixedly connected to the spline sleeve sleeved outside the spline shaft; A bearing assembly is provided between the spline shaft and the positioning sleeve, and the bearing assembly enables the spline shaft to rotate freely relative to the positioning sleeve and drives the positioning sleeve to move axially; When the second gear rotates, the spline shaft is driven to rotate by the spline sleeve, thereby causing the sprocket to rotate. 13. The warehouse robot according to claim 7, characterized in that, The base body is sheathed on the support column, and when the base body moves up and down along the support column, the base body rolls in contact with the support column through a rolling member disposed between the base body and the support column. 14. The storage robot according to claim 6, characterized in that: The handling device is installed between multiple climbing modules; The handling device includes a telescopic fork, and the telescopic direction of the telescopic fork is perpendicular to the walking direction of the storage robot. 15. The warehouse robot according to claim 6, characterized in that: The handling device is swingably installed on multiple climbing modules; The bottom of the handling device is provided with a pair of span beams, and swing arms are arranged at both ends of the span beams, and the handling device is installed on the plurality of climbing modules through the swing arms; the swing arms at both ends of the span beams are configured have the same swing angle and opposite swing directions. 16. The storage robot according to claim 3, characterized in that: The two climbing modules are swingably installed on the movable base to adjust the distance between the two sprockets of the two climbing modules. 17. The storage robot according to claim 6, wherein the storage robot is configured as: Obtain sorting method information; determining the target height of the conveying device according to the sorting mode information; The ascending or descending of the conveying device is controlled according to the target height of the conveying device. 18. A storage system, characterized in that it comprises: Shelving units; and, The storage robot according to any one of claims 1 to 17.

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