CN217866247U

CN217866247U - Storage robot and storage system

Info

Publication number: CN217866247U
Application number: CN202222082799.6U
Authority: CN
Inventors: 高鹏; 王朋辉; 徐爽; 徐圣东
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2022-08-08
Filing date: 2022-08-08
Publication date: 2022-11-22
Anticipated expiration: 2032-08-08

Abstract

The application relates to a warehousing robot and a warehousing system. The warehousing robot comprises a movable base, a carrying device and a climbing assembly; the climbing assembly comprises a climbing module, wherein the climbing module comprises a climbing wheel set, a base body installed on the movable base and a driving device installed on the base body; the climbing wheel set comprises a guide wheel and a chain wheel driven by a driving device; the chain wheel and the guide wheel are arranged at intervals so as to clamp the climbing chain when the chain wheel is meshed with the climbing chain arranged on the goods shelf unit; and when the plurality of chain wheels of the climbing assembly ascend and descend along the climbing chain, the movable base and the carrying device are driven to ascend and descend. The scheme provided by the embodiment of the application can reduce the material and installation cost.

Description

Storage robot and storage system

Technical Field

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

Background

The storage robot is a robot used for carrying, sorting, selecting and other operations of goods in and out of a warehouse in indoor environments such as logistics storage, production warehouse and the like, and is one of core devices of intelligent logistics.

In the correlation technique, some storage robots can vertically climb along the chain on the goods shelves to deposit in the goods of co-altitude not on the transport goods shelves, in order to realize vertically climbing, generally need to install chain and the guide rail that matches with storage robot on the goods shelves, and the last sprocket of storage robot climbs along the chain under the guide effect of guide rail.

However, since the racks are not provided with the guide rails, when the rack-climbing warehousing robot in the related art is applied, the chains and the guide rails need to be installed on the racks at the same time.

SUMMERY OF THE UTILITY MODEL

For solving or partly solve the problem that exists among the correlation technique, this application provides a storage robot and storage handling system, and the storage robot of this application need not to set up the guide rail in addition on goods shelves and leads, can reduce material and installation cost.

In a first aspect, the present application provides a warehousing robot, comprising

The movable base is used for driving the warehousing robot to move on the supporting surface;

the carrying device is used for acquiring the storage objects from the target goods space of the shelf unit or placing the storage objects on the target goods space of the shelf unit; and the number of the first and second groups,

a climbing assembly; the climbing assembly comprises a climbing module, and the climbing module comprises a climbing wheel set, a base body arranged on the movable base and a driving device arranged on the base body; the climbing wheel set comprises a guide wheel and a chain wheel driven by a driving device; the chain wheel and the guide wheel are arranged at intervals so as to clamp the climbing chain when the chain wheel is meshed with the climbing chain arranged on the goods shelf unit; and when the plurality of chain wheels of the climbing assembly ascend and descend along the climbing chain, the movable base and the carrying device are driven to ascend and descend.

A second aspect of the present application provides a storage system comprising

A shelf unit; and a warehousing robot as described in any of the above.

The technical scheme provided by the application can comprise the following beneficial effects:

the storage robot of this application embodiment, the subassembly that climbs forms the centre gripping through guide pulley and sprocket to the chain that climbs, consequently can directly clip the chain that climbs and climb, and the guide pulley can lead to climbing, like this, need not to set up the guide rail in addition on goods shelves unit and leads, can reduce material and installation cost.

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.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

FIG. 1 is a schematic perspective view of a warehousing system according to an embodiment of the present application;

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

FIG. 3 illustrates a shelving unit in accordance with an embodiment of the application;

FIG. 4 is a schematic perspective view of a warehousing system according to another embodiment of the present application;

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

FIG. 6 is a schematic view of a warehouse robot in a lowered state according to an embodiment of the present application;

FIG. 7 is a top view of the warehousing robot of FIG. 6;

FIG. 8 is a side view of the warehousing robot of FIG. 6;

FIG. 9 is a schematic view of a warehouse robot in a raised state according to an embodiment of the present application;

figure 10 shows the movable base of the warehousing robot shown in figure 6;

figure 11 shows a climbing module of the warehousing robot shown in figure 6;

FIG. 12 is a schematic view of a warehouse robot in a lowered state with a load according to an embodiment of the present application;

FIG. 13 is a schematic view of a lifting state of a warehousing robot with load according to an embodiment of the present application;

fig. 14 shows a lifting mechanism of the warehousing robot shown in fig. 6;

fig. 15 shows a handling device of the warehousing 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 view illustrating a state in which the warehousing robot shown in fig. 6 ascends along the climbing chain.

Fig. 18A to 18D illustrate a climbing process of a warehousing robot according to an embodiment of the present application;

FIG. 19 is a schematic diagram of a warehousing robot for direct sorting by an operator according to an embodiment of the present application;

FIG. 20 is a schematic view of a warehouse robot interfacing with a conveyor line according to an embodiment of the present application;

FIG. 21 illustrates a sort processing system according to an embodiment of the present application;

fig. 22 illustrates a sorting processing system according to another embodiment of the present application;

fig. 23 is a schematic view illustrating a tunnel machine operation mode of the warehousing robot according to an embodiment of the present application;

fig. 24 shows a walking pattern of a warehousing robot in the related art;

fig. 25 illustrates a checkerboard type walking pattern of the warehousing robot according to an embodiment of the present application;

reference numerals:

100 shelf units; 102 lanes; 104 storage columns; 106 a storage layer; 108 a material box; a climbing chain of 110 rack units; 111 a locating plate; 112 floor stand columns; 114 hanging pillars; 120. 130 column groups; 122. 124, 132, 134 columns; 142 a fixed seat; 144 a pallet; 145 146 cross-beam; 160 upper shelves; 162 a load-bearing platform; 164 a first opening; 166 a guide rail; 170 lower shelf layer; 180 transferring a mother vehicle; 182 transferring chains of the mother vehicle; 190 shelf area;

200 warehousing robots; 210 a movable base; 211 a main body; 212 a second drive device; 214 driving the wheels; 216 idler pulley; 220 supporting the upright post; 222 a brake; 224 a third pulley; 226 a second timing belt; 228 a spring guide mechanism; 230 racks; 232 234 mandrel; a 240 climbing assembly; a 242 climbing module; a 244 base; 245 a second opening; 246 a rolling member; 248 push rod; 250, positioning a plate; 252 is grooved; 253 an inner recess; 251 a gap; 254 a first drive means; 256 toothed belt/double-sided toothed synchronous belt; 258 a locating sleeve; 260 climbing wheel set; 262 a sprocket wheel; 264 guide wheels; 266 ball spline set; 270 a synchronous extension mechanism; 272 a first pulley; 273 a second pulley; 274 a first timing belt; 276 supporting the frame; 278 connecting members; 280 a handling device; 282 telescopic forks; 284 a bridge; 286 a swing arm; 288 push-pull fingers;

300 a sorting workstation; a 302 sorting position; 304 a first shelf; 306 a second shelf; 308, a sorting table; 310 conveying lines; 312 stock-placing opening; 314 access port.

Detailed Description

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

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

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections as well as removable connections or combinations; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

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

Referring to fig. 1 and 2, the warehousing system of the present embodiment includes a plurality of shelf units 100 and a warehousing robot 200.

The shelf units 100 are distributed at intervals, the partition areas between adjacent shelf units 100 form a roadway 102, the shelf units 100 comprise two

upright column groups

120 and 130 arranged at two ends of the roadway 102 in the width direction, the

upright column groups

120 and 130 comprise a plurality of upright columns distributed at intervals in the length direction of the roadway 102, the upright columns are connected into a whole through cross beams 146 extending in the length direction, a storage column 104 is formed between the adjacent upright columns, and the storage column 104 is provided with a plurality of storage layers 106; at least part of the two opposite

upright post groups

120 and 130 of the adjacent shelf units 100 close to one end of the roadway 102 are provided with climbing chains 110;

the warehousing robot 200 has a movable base for driving the warehousing robot to move on a support surface, a handling device and a climbing assembly for ascending and descending along a plurality of climbing chains 110 so as to transfer the storage object between the handling device and the target storage tier 106, i.e. so that the handling device acquires the storage object from the target storage tier 106 or places the storage object on the target storage tier 106;

wherein the height of the warehousing robot 200 is less than the height of the cross beam 146 at the bottom of the shelf unit 100.

In some embodiments, the plurality of columns of each column set 120, 130 are integrally connected by a top cross-member 145 and a bottom cross-member 146.

In the embodiment of the present application, the height of the warehousing robot 200 is set to be less than the height of the cross beam 146 at the bottom end of the shelf unit 100, so that the warehousing robot 200 can walk at the bottom of the shelf unit instead of walking along a roadway, thereby reducing the walking distance and rapidly reaching the target position.

In one related art, the movement of the warehousing robot is limited by the height of the lowest tier of the shelving unit, and cannot pass through the bottom of the shelving unit 100, but only along the length of the roadway 102 or around the shelving unit 100, as shown in fig. 23. Suppose that the workstation which needs to get goods from the point A to the point B and then arrives at the point C needs to walk to the bottom of the roadway according to the illustrated route and then go to the workstation.

Referring to fig. 24, according to the embodiment of the present application, the warehousing robot can walk on the bottom of the shelf unit, and thus can have a higher degree of freedom, for example, can walk in a checkerboard type walking manner. Assuming that the warehousing robot has the same starting point, ending point and pick-up point as those shown in fig. 23, i.e. a workstation which needs to pick up goods from point D to point E and then arrives at point F, the warehouse robot can travel from point D along the lane 102 to the position aligned with point E, then traverse from the bottom of the shelving unit 100 to the point E across the shelving unit 100 and the lane 102 to pick up goods, and then continue to traverse across the shelving unit 100 and the lane 102 to the workstation which arrives at point F. In the present application, the checkerboard type walking manner means that the warehousing robot can walk in an imaginary checkerboard type walking space according to a determined walking path, and the walking path is defined by the edges of the checkerboard to be passed through. It will be appreciated that the specific checkerboard and edges that are traversed may depend, for example, on system scheduling, need to avoid obstacles, etc. The position and size of the grid in the checkerboard may depend, for example, but not limited to, the position of the columns of shelving units, the width of the columns, the shelving units, the spacing between adjacent shelving units, etc.

As can be known by comparing the walking routes shown in the figures 23 and 24, the warehousing robot in the embodiment of the application can achieve the function of taking and placing goods in a cross-roadway mode in the goods shelf area, the running route from a workstation to the warehouse area is high in selectivity, congestion is reduced, the number of rotation times is reduced in the whole running process, the walking route is saved, and the single-car efficiency of the robot is improved. In addition, due to the fact that the walking space is larger, the number of the warehousing robots in the site can be increased while the possibility of congestion is not increased.

Referring to fig. 3, in some embodiments, the multiple columns of the column sets 120 and 130 include a floor column 112 and a floating column 114, where the floor columns 112 and the floating columns 114 are alternately arranged, that is, one floating column 114 is disposed between adjacent floor columns 112. Storage columns 104 are formed between adjacent ground and flying

pillars

112, 114. It is understood that in other embodiments, two or more suspension posts 114 may be disposed between adjacent ground posts 112, a storage column 104 is formed between adjacent ground posts 112 and suspension posts 114, and a storage column 104 is also formed between adjacent suspension posts 114. It will be appreciated that the spacing between adjacent posts may be the same or different. In this embodiment, set up unsettled stand between the stand 112 that falls to the ground, and form the storage between adjacent stand 112 that falls to the ground and unsettled stand 114 and be listed as, with only falling to the ground stand and forming the storage of equal width between the stand and be listed as and compare, the interval between the stand that falls to the ground is bigger for storage robot has bigger degree of freedom when walking to goods shelf unit below from the tunnel, reduces storage robot walking control degree of difficulty.

In some embodiments, the climbing chain 110 is mounted on the corresponding vertical column through a plurality of fixing seats 142, and the plurality of fixing seats 142 are distributed at predetermined positions at two vertical ends and between the two vertical ends of the climbing chain 110, for example, in the example of fig. 3, the climbing chain 110 is mounted on the corresponding vertical column through two fixing seats 142 distributed at two vertical ends and two fixing seats 142 in the middle. It will be appreciated that the spacing between adjacent mounts 142 may be the same or different. In the related art, the climbing chain is only fixed to the vertical column at the upper end and the lower end, and the problem that the length deviation of the chain is large due to too many chain sections, so that the height of the shelf unit is limited exists. In this embodiment, the climbing chain 110 is directly mounted to the column by the plurality of fixing bases distributed at the preset positions between the two vertical ends and the two ends of the climbing chain 110, so that the accuracy of the length of the chain between the adjacent fixing bases can be ensured, thereby reducing the deviation of the overall length of the chain and allowing the shelf unit to have a higher height.

In some embodiments, the columns of the two column sets 120, 130 of the shelving unit 100 are aligned two-by-two along the length of the roadway 102, and a plurality of pallets 144 for carrying cargo are disposed between the aligned columns of the two column sets 120, 130. The storage columns 104 are formed between two adjacent pairs of aligned

columns

122, 132, 124, 134 of the two column sets 120, 130, with the plurality of storage tiers 106 of the storage columns 104 being formed by pallets between the columns. It will be appreciated that the pallet 144 may be of a length suitable for accommodating single or double rows of bins, or may be provided for accommodating multiple rows of bins.

Referring to fig. 4 and 5, the warehousing system of another embodiment of the present application includes an upper rack 160 and a lower rack 170, the upper rack 160 being positioned above the lower rack 170, the upper rack 160 and the lower rack 170 each having a plurality of rack units 100.

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

In some embodiments, the shelving units 100 of the upper tier shelving 160 are configured with rails 166 that interface with the posts at the first opening 164, the rails 166 extending along the aisle and width and/or length directions; the warehousing system further comprises a primary transfer vehicle 180, wherein the primary transfer vehicle 180 is provided with a chain 182 and a traveling wheel (not shown in the figure) matched with the guide rail 166; the chain 182 of the mother transfer vehicle 180 is used for butting with the climbing chain 110 of the lower shelf 170 at the first opening 164; the traveling wheels are used for enabling the transferring mother vehicle 180 to carry the storage robot 200 to translate along the guide rails 166 after the storage robot 200 climbs to the chains of the transferring mother vehicle 180.

In some embodiments, the climbing assembly of the warehousing robot 200 is liftable relative to the movable base; the distance between the rail 166 and the load-bearing platform 162 does not exceed the maximum elevation height of the climbing assembly so that the warehousing robot 200 can descend from the parent vehicle 180 to the load-bearing platform 162 at the rail 166.

When the warehousing robot 200 moves from the lower shelf 170 to the upper shelf 160, the transferring parent car 180 moves to the first opening 164, the chain 182 of the transferring parent car 180 is abutted to the climbing chain 110 of the lower shelf 170, after the warehousing robot 200 climbs from the climbing chain 110 of the lower shelf 170 to be meshed with the chain 182 of the transferring parent car 180, the transferring parent car 180 can carry the warehousing robot 200 to translate from the first opening 164 to a target position along the guide rail 166, and the warehousing robot 200 can descend from the transferring parent car 180 to the bearing platform 162.

When the warehousing robot 200 moves from the upper layer shelf 160 to the lower layer shelf 170, the warehousing robot 200 moves to the transferring parent car at the guide rail 166, climbs from the bearing platform 162 to be meshed with the chain 182 of the transferring parent car 180, the transferring parent car 180 can carry the warehousing robot 200 to translate to the first opening 164 along the guide rail 166, the climbing chain 110 of the transferring parent car 180 is in butt joint with the climbing chain 110 of the lower layer shelf 170, and the warehousing robot 200 descends along the climbing chain 110 of the lower layer shelf 170.

It is understood that in some embodiments, the chain 182 of the parent transfer vehicle 180 may also interface with the climbing chain 110 of the upper rack 160 such that the warehousing robot may move between the upper rack 160 and the lower rack 170 via the chain 182 of the parent transfer vehicle 180.

In some embodiments, 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 is provided at the first opening 164, so that the warehousing robot 200 can move between the lower shelf 170 and the upper shelf 160 through the cross-layer connecting chain.

Referring to fig. 6 to 9, the warehousing robot 200 according to an embodiment of the present application includes a movable base 210, a handling device 280, and a plurality of climbing assemblies 240. The movable base 210 is used to drive the warehousing robot 200 to move on the support surface. The handling device 280 is used to retrieve storage objects from or place storage objects on the target cargo space of the shelving unit 100.

The climbing assembly 240 includes a plurality of climbing modules 242. The climbing module 242 includes a climbing wheel set 260, a base 244 mounted to the movable base 210, and a first driving device 254 mounted to the base 244; climbing wheel set 260 includes guide wheel 264, and sprocket 262 driven by first drive 254; the chain wheel 262 and the guide wheel 264 are arranged at intervals so as to clamp the climbing chain 110 when the chain wheel 262 is meshed with the climbing chain 110 arranged on the upright post of the shelf unit 100; the plurality of sprockets 262 of the plurality of climbing assemblies 240 move up and down along the climbing chain 110, thereby moving the movable base 210 and the handling device 280 up and down.

In this embodiment, the climbing module 242 clamps the climbing chain 110 through the guide pulley 264 and the sprocket 262, so that the climbing chain 110 can be directly clamped to climb, and the guide pulley 264 can guide the climbing, so that it is not necessary to additionally provide a guide rail on the shelving unit to guide the climbing, and the material and installation costs can be reduced.

Referring to fig. 10, 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 one implementation, the body 211 of the movable base 210 includes a square frame. It is understood that the present application is not limited thereto, and for example, the body 211 may also be rectangular, oval, or the like. The first traveling wheel set may be a driving wheel set, the driving wheel 214 of the driving wheel set is driven by the second driving device 212, and the second driving device 212 may be a motor (e.g., a servo motor), but is not limited thereto. The second set of road wheels may be an idler set. The second travel wheel set is shown to include two idle wheels 216 provided on the front and rear sides of the main body 211 in the traveling direction, and the first travel wheel set includes two drive wheels 214 provided on the left and right sides of the main body 211 in the traveling direction. It will be appreciated that the number and type of road wheels of the first and second sets of road wheels is not limited thereto. In some embodiments, the change of the traveling direction of the warehousing robot 200 is achieved by means of differential rotation of the driving wheels 214.

Referring also to fig. 11, in some embodiments, climbing module 242 further includes a positioning sleeve 258 telescopically mounted to base 244, with sprocket 262 and guide wheel 264 rotatably mounted to positioning sleeve 258; when the positioning sleeve 258 extends, the sprocket 262 and the guide wheel 264 are driven to extend, so that the sprocket 262 is meshed with the climbing chain 110, and when the positioning sleeve 258 retracts, the sprocket 262 and the guide wheel 264 are driven to retract, so that the sprocket 262 is separated from the climbing chain 110.

In some embodiments, the warehousing robot is provided with two climbing assemblies 240 at two ends in the first direction, and each climbing assembly 240 comprises two climbing modules 242 at two ends in the second direction; one of the first direction and the second direction is a walking direction of the warehousing robot 200, and the other direction is a direction perpendicular to the walking direction of the warehousing robot 200.

In some embodiments, referring to the drawings, the first direction is a walking direction of the warehousing robot 200 (as shown by Y in the drawings), and the second direction is a direction perpendicular to the walking direction of the warehousing robot 200 (as shown by X in the drawings). The four corners of the main body 211 of the movable base 210 are fixedly mounted with support columns, and the four climbing modules 242 are mounted on the four support columns 220. The locating sleeves 258 and climbing wheel sets 260 of the two climbing modules 242 of the climbing assembly 240 face away from each other. The base bodies 244 of the two climbing modules 242 of the climbing assembly 240 are arranged in one piece, for example integrally formed or connected in one piece, so that the two climbing modules 242 form one climbing assembly 240.

It will be appreciated that in other embodiments, the warehousing robot has one climbing assembly, four climbing modules are mounted on four support columns, and the base bodies of the four climbing modules are integrally arranged, so that the four climbing modules form one climbing assembly.

In some embodiments, the climbing assembly 240 comprises two running portions to which the two positioning sleeves 258 of the two climbing modules 242 of the climbing assembly 240 are connected, the two running portions being used to bring the two positioning sleeves 258 to synchronously extend or retract in opposite directions.

In one embodiment, the base bodies 244 of the two climbing modules 242 of the climbing assembly 240 are integrally provided, 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 drawings) mounted on the base body 244, a first transmission mechanism, and two operating portions, and the driving device drives the two operating portions to move in opposite directions through the first transmission mechanism, so as to drive the two positioning sleeves 258 to synchronously extend or retract in opposite directions. It is understood that in another embodiment, two independent driving devices may be provided to drive the two operation portions, respectively.

Referring to the drawings, the first transmission mechanism includes a first pulley 272 and a second pulley 273 spaced apart in the second direction, one of the first pulley 272 and the second pulley 273 is a driving pulley, the other of the first pulley 272 and the second pulley 273 is a driven pulley, the driving pulley is connected to the single driving device, and the first synchronous belt 274 is sleeved on the first pulley 272 and the second pulley 273. The two traveling portions are respectively provided at the upper and lower stages of the first timing belt 274, which are opposite in the traveling direction. The locating sleeve 258 of the climbing module 242 is connected with the corresponding operation part through a supporting frame 276 and a connecting piece 278, the supporting frame 276 and the connecting piece 278 are movably supported on the base body 244, the locating sleeve 258 is fixedly arranged on the supporting frame 276, the supporting frame 276 is movably supported on the base body 244, and the operation part is connected with the supporting frame 276 through the connecting piece 278. One end of the connecting piece 278 is fixedly connected with the operation part, and the other end is fixedly connected with the supporting frame 276. When the first timing belt 274 rotates, the two operation portions move in the opposite direction in the second direction, and respectively push the support bracket 276 and the positioning sleeve 258 through the connecting member 278, so that the two positioning sleeves 258 of the climbing module synchronously extend or retract in the opposite direction in the second direction.

It will be appreciated that in other embodiments the first transmission mechanism may be of another type, for example, the first transmission mechanism may comprise a gear wheel connected to a single drive means, and two racks engaging the gear wheel at both ends in the diametrical direction; two operation parts with opposite operation 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 along the opposite direction in the second direction, so that the two positioning sleeves of the climbing module are driven to synchronously extend out or synchronously retract along the opposite direction in the second direction.

In some embodiments, a lifting mechanism is disposed between the movable base 210 and the climbing module 242, and the lifting mechanism is used for driving the climbing module 242 and the carrying 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, or the like.

In some embodiments, the base 244 of the climbing module 242 is sleeved on the support post 220, and when the base 244 ascends and descends along the support post 220, the base is in rolling contact with the support post 220 through a rolling element 246 arranged between the base 244 and the support post 220. The rolling members 246 may be rollers or rollers, for example.

Referring to fig. 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, and when the base 244 ascends and descends along the support column 220, the base is in rolling contact with the support column 220 through the roller 246. The roller 246 may be mounted on the push rod 248 of the support frame 276 extending in the second direction and may be retained at the second opening 245.

A positioning plate 250 is arranged on one side of the second opening 245 of the base 244, the positioning plate 250 is provided with a slot 252 extending along the height direction of the supporting upright, and the notch of the slot 252 faces upwards; 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 open groove 252; during the process that the climbing module 242 ascends relative to the support upright 220, the positioning plate 250 ascends, so that the mandrel 232 enters the groove 252 through the notch of the groove 252 until the mandrel 232 abuts against the bottom end of the groove 252, at this time, the ascending of the base body 244 is limited by the mandrel 232, and the climbing module 242 reaches the highest position which can ascend relative to the support upright 220; at the same time, since the diameter of the mandrel 232 is slightly less than the width of the slot 252, movement of the substrate 244 in the first direction is also limited. After reaching the highest position where the climbing module 242 can ascend relative to the support column 220, the movable bases 210 can be driven to climb together when continuing to climb along the climbing chain 110.

Fig. 12 is a schematic view of a loading state when the lifting mechanism of the warehousing robot is in a lowered state, and fig. 13 is a schematic view of a loading state when the lifting mechanism of the warehousing robot is in a raised state. In one embodiment, when the lifting mechanism is in the lowered state, the bin 108 does not extend beyond the supporting columns 220 in the height direction, and the height of the supporting columns 220 from the supporting surface is less than the height of the cross beam 146 at the bottom end of the shelf unit 100 from the supporting surface, so as to ensure that the warehousing robot 200 can walk under the shelf unit 100 with the bin 108.

In some embodiments, the lifting mechanism includes a rotating member mounted to the base 244 of the climbing module 242, and a linear moving member mounted to the support column 220, the rotating member being engaged with the linear moving member; when the rotating member rotates along the linear moving member, the base 244 is driven to ascend or descend relative to the supporting column 220. In some embodiments, the teeth mesh between the rotating member and the linear moving member, the rotating member may be a gear or a rack, and the linear moving member may be a rack. In other embodiments, the rotating member is in chain engagement with the linear moving member, the rotating member may be a sprocket, for example, and the linear moving member may be a chain, for example.

In some embodiments, the storage robot 200 further includes a brake 222 mounted on the supporting column 220, and the brake 222 is in transmission connection with the linear moving member. The brake 222 has a braking state and a released state; when the brake 222 is in a braking state, the linear moving member is kept in a stopping state, and the linear moving member can lift relative to the support column 220 only when the force exceeds the braking force of the brake 222; when the stopper 222 is in the release state, the linear moving member can freely rise and fall relative to the support column 220.

Referring also to fig. 14, in some embodiments, the elevator mechanism includes a toothed belt 256 mounted to the base 244 of the climbing module 242, and a rack 230 mounted to the support column 220; the brake 222 is connected to the rack 230 through a second timing belt 226 and a spring-guide mechanism 228; a second synchronous belt 226 is connected with the brake 222 through a third belt pulley 224, and a rack 230 is connected with the second synchronous belt 226 through a spring guide rod mechanism 228; more specifically, the third pulley 224, the second timing belt 226, and the spring guide mechanism 228 are disposed inside the support column 220, and the brake 222 and the rack 230 are disposed outside the support column 220. The brake 222 has a braking state and a released state; when the brake 222 is in a braking state, the rack 230 is kept in a stopping state, and the toothed belt 256 can rotate along the rack 230 kept in the stopping state to ascend and descend when rotating; when the brake 222 is in a released state, the rack 230 can freely slide and ascend relative to the support column 220, the belt 256 rotates along a preset direction to drive the base 244 to ascend, and the rack 230 slides downwards along the support column 220 until the rack 230 slides to the lowest position capable of descending, and the belt 256 rotates along a direction opposite to the preset direction to drive the base 244 to descend, and the rack 230 slides upwards along the support column 220 until the rack 230 slides to the highest position capable of ascending.

It will be appreciated that due to the difference in ground height and installation tolerances, the teeth of the sprocket 262 and the climbing chain 110 may not initially align, and the spring guide mechanism 228 to which the rack 230 is connected may be compressed to compensate for the height tolerance, thereby engaging the climbing sprocket 262 with the climbing chain 110.

In some embodiments, the rotating member of the elevator mechanism is driven by the first drive 254, i.e., both the rotating member of the elevator mechanism and the sprocket 262 of the climbing module 242 are driven by the first drive 254. It will be appreciated that in other embodiments, the rotational member and the sprocket 262 each have independent drive means.

Referring to fig. 11, in some embodiments, the toothed belt 256 mounted to the base 244 is a double-sided toothed timing belt. The first driving device 254 drives the double-toothed timing belt 256 and the sprocket 262 through the second transmission mechanism. In one specific implementation, the second transmission mechanism includes a first gear driven by the first driving device 254, and a second gear in transmission connection with the first gear, the first gear and the second gear are disposed inside the double-sided synchronous belt 256 and engaged with the internal teeth of the double-sided synchronous belt 256, the first gear and the second gear drive the double-sided synchronous belt 256 to rotate when rotating, and the external teeth of the double-sided synchronous belt 256 are used for engaging with the rack 230 on the column. The second gear is also in driving connection with the sprocket 262, and when the second gear rotates, the sprocket 262 is also driven to rotate.

Referring to fig. 12, in one embodiment, the second gear is coupled to the sprocket 262 via a ball spline set 266. The spline shaft of the ball spline group 266 passes through the positioning sleeve 258 to be fixedly connected with the chain wheel 262, and the second gear is fixedly connected with the spline sleeve sleeved outside the spline shaft; when the second gear rotates, the spline shaft is driven to rotate through the spline housing, so that the chain wheel 262 rotates; a bearing assembly is arranged between the spline shaft and the positioning sleeve 258, and enables the spline shaft to freely rotate relative to the positioning sleeve 258 and drive the positioning sleeve 258 to move along the axial direction; the spline shaft is part of a support bracket 276 that pushes the locating sleeve 258 to extend or retract, thereby extending or retracting the climbing wheel set 260, when the first timing belt 274 of the timing extension mechanism 270 translates the support bracket 276 via the link 278. The connector 278 may be a rod-like member.

In some embodiments, the amount of extension of the locating sleeve 258 may be varied when the drive of the synchronized extension mechanism 270 is non-output, while the drive of the synchronized extension mechanism 270 may be caused to stop output during climbing of the climbing module 242. Therefore, the warehousing robot can adapt to the spacing errors of the two chains at different heights in the roadway width direction through the change of the extending amount of the positioning sleeve 258 in the process of climbing or descending along the climbing chain 110. In one embodiment, the variation in the amount of extension of the locating sleeve 258 may allow for a distance error of plus or minus 18mm between two chains across the width of the roadway.

In some embodiments, the handling device 280 includes a telescopic fork 282, the telescopic fork 282 is installed between the climbing modules 242, and the telescopic direction of the telescopic fork 282 is perpendicular to the walking direction of the warehousing robot 200. Push-pull fingers are arranged at four corners of the telescopic pallet fork 282. The material box is taken and placed in a push-pull mode, and the taking and placing of the double stretching positions can be achieved.

In some embodiments, the handling apparatus 280 may be swingably mounted to the plurality of climbing modules 242. Referring to fig. 15, a pair of cross beams 284 are arranged at intervals along a first direction at the bottom of the handling device 280, the cross beams 284 extend along a second direction, swing arms 286 are arranged at two ends of the cross beams 284, and the handling device 280 is mounted on the climbing modules 242 through the swing arms 286; the inside of the cross beam 284 is provided with a reversing mechanism, so that the swing arms 286 at the two ends of the cross beam 284 have the same swing angle and the opposite swing direction, thereby ensuring that the handling device 280 is always positioned at the center of the warehousing robot during climbing.

In some embodiments, the two climbing modules 242 at both ends of the first direction may be swingably mounted to the movable base 210 to adjust the distance between the two sprockets 262 of the two climbing modules 242 so as to accommodate the distance error between the two chains at different heights in the length direction of the roadway.

Referring to fig. 16, in some embodiments, a pair of

mandrels

232 and 234 spaced apart in the height direction are disposed on the top of the support column 220, the positioning plate 250 has a groove 252 having an inner concave portion 253 on both sides of the middle portion, when the climbing module 242 reaches the highest position capable of rising relative to the column, the second opening 245 of the base 244 is higher than the top end of the support column 220, the mandrel 232 at the lower end abuts against the bottom end of the groove 252, the mandrel 234 at the upper end is located at the position where the groove 252 has the inner concave portion 253, and by providing the inner concave portion 253, a gap 251 is left between the mandrel 234 at the upper end and the inner wall of the groove 252, so as to allow the base 244 of the climbing module 242 to swing relative to the support column in the direction of the arrow shown in the figure. In one embodiment, the oscillation of the base 244 relative to the support column 220 allows for a distance error of plus or minus 6mm between the two chains along the length of the roadway.

Referring to fig. 17 and 18A to 18D together, a climbing process of the warehousing robot 200 according to an embodiment of the present application will be described in detail with reference to the structure of the rack unit 100.

When the warehousing robot 200 determines to climb to a target storage tier of a target storage column, the warehousing robot walks to the target storage column in the roadway 102, and the four climbing modules 242 of the warehousing robot 200 are opposite to the four climbing chains 110 on two sides of the roadway 102. 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 that can be raised; since the stopper 222 is in a stopping state, the position of the rack 230 is not changed when the toothed belt 256 is lifted and lowered. As shown in fig. 18B, after the climbing module 242 ascends to a predetermined height, the synchronous extending mechanism 270 extends the positioning sleeve 258 with the sprocket 262 and the guide pulley 254 to a position where the positioning sleeve 258 contacts the positioning plate 111 at the bottom end of the climbing chain 110, and the guide pulley 264 and the sprocket 262 are located below the climbing chain 110, when the first driving device 254 drives the toothed belt 256 to ascend along the rack 230; it will be appreciated that the predetermined height is determined according to the height of the bottom end of the climbing chain 110 and is lower than the highest position to which the climbing module 242 can be raised relative to the support column 220. Then, the toothed belt 256 continues to ascend along the rack 230, and drives the guide pulley 264 and the sprocket 262 to ascend, so that the sprocket 262 is engaged with the climbing chain 110, and the guide pulley 264 and the sprocket 262 form a clamping function for the climbing chain 110. When the toothed belt 256 and the climbing module 242 are raised to the highest position where they can be raised with respect to the support column 220 as shown in fig. 18C, the brake 222 is switched to the released state. Next, as shown in fig. 18D, the sprocket 262 and the guide roller 264 ascend along the ascent chain 110, the rack 230 descends by the rotation of the toothed belt 256 due to the release state of the brake 222, and after the rack 230 is disengaged from the toothed belt 256, the ascent module 242 disengages from the rack 230, ascends with the movable base 210 and the carrying device 280, ascends to the target storage level, and transfers the storage object between the carrying device 280 and the target storage level.

The application also provides a sorting processing system, which comprises the warehousing system; the storage robot of the storage system is configured to load the containers to be sorted from the target storage layer to the carrying device and then move the containers to the target sorting position, so that the containers to be sorted are sorted. Furthermore, the storage robot can also unload the sorted containers from the conveying device to the target storage layer.

In some embodiments, the sorting manner information may be obtained, the target height of the conveying device may be determined according to the sorting manner information, and the ascending or descending of the conveying device may be controlled according to the target height of the conveying device, so that the height of the conveying device may be adapted to the requirement of the sorting manner. The lifting mechanism of the warehousing robot can be controlled to control the lifting or descending of the carrying device. The sorting mode may be, for example, direct manual sorting, that is, a sorting person directly sorts the bin on the warehousing robot, and when the bin 108 is placed on the carrying device 280, the lifting height of the lifting mechanism may be adjusted to make the height of the bin on the carrying device suitable for the sorting person to directly sort on the warehousing robot, as shown in fig. 19; or the sorting mode can be a sorting table, namely, the storage robot carries the material boxes to the sorting table, and sorting personnel sort the material boxes on the sorting table; the elevation height of the elevator mechanism may be adjusted such that the height of the handling device 280 interfaces with the conveyor line 310, as shown in fig. 20, for example, to transport the bins to be sorted to the target sorting location. The transport line may be, for example, a belt conveyor, a roller conveyor, a fluency strip, or the like.

In some embodiments, the handling device 280 transfers from the side. Referring to fig. 20, the stocker robot travels in a direction perpendicular to the direction indicated by X, pushing the bins laterally in the direction indicated by X to the conveyor line 310 during unloading, and pulling the bins laterally from the conveyor line 310 in a direction opposite to the direction indicated by X to the handler device 280 during loading.

Referring to fig. 21, in some embodiments, a sorting processing system includes a sorting workstation 300; the sorting workstation 300 is provided with a sorting location 302; there may also be a first shelf 304 and a second shelf 306; the first shelf 304 may, for example, hold empty bins and the second shelf 306 may, for example, hold sort complete bins (i.e., order bins). The warehousing robot 200 is configured to control the handling device 280 to a preset height by the lifting mechanism after loading the bin 108 from the rack unit to the handling device 280, so that the warehousing robot can pass the bottom of the rack unit with the bin 108, and after leaving the rack area 190 to a target position (e.g., at the sorting location 302 or within a preset range of the sorting location 302), raise the handling device 280 by the lifting mechanism so that the height of the bin 108 on the handling device 280 is suitable for being manually sorted directly, i.e., the sorting personnel at the sorting location 302 can sort the bin 108 on the warehousing robot 200 directly. After detecting a sorting completion instruction indicating that sorting personnel directly sorts the material boxes on the lifted carrying device, the warehousing robot can be controlled to walk to a target storage place carrying the material boxes. The sorting completion instruction may be input by a sorting person through a button provided on the warehousing robot 200, or input through a button provided at the sorting workstation 300 and transmitted to the warehousing robot 200, for example. It is understood that the shelf area 190 is illustrated as a checkerboard running space of the stocker robot 200.

In some embodiments, the warehousing robot 200 is configured to adjust the handling device 280 to reduce the walking speed while leaving the shelf area 190 to the target location to ensure the stability of the bin 108.

Referring to fig. 22, in some embodiments, the sorting system includes a sorting workstation 300, the sorting workstation 300 is provided with a sorting table 308, and the sorting locations 302 are formed at the sorting table 308, which may be provided, for example, at a conveyor line 310 with a mobile bin function (as shown in fig. 20), or a table without a mobile bin function. With the sorting station 308 positioned on the conveyor line, the warehousing robot unloads the bins 108 to the conveyor line 310, and the conveyor line 310 transports the bins to the sorting location 302 for sorting. The warehousing robot 200 is configured to control the handling device 280 to a predetermined height by the elevator mechanism after loading the bin 108 from the shelving unit to the handling device 280 such that the warehousing robot can pass at the bottom of the shelving unit with the bin 108 and, after leaving the shelving area 190 to a target location (e.g., at the sorting station 308 interface or within a predetermined range of the sorting station 308), raise the handling device 280 by the elevator mechanism such that the height of the bin 108 on the handling device 280 is suitable for interfacing with the sorting station 308 and, at the point where the handling device 280 interfaces with the sorting station 308, control the handling device to unload the bin 108 to the sorting station 308.

In some embodiments, the warehousing robot 200 is configured to perform a dual cycle task by unloading the bins 108 from the put-out port 312 to the conveyor line 310, and then traveling to the pick-out port 314 to pick out and load the sorted bins 108 onto the handling device 280. After the storage robot 200 is disposed to take out the bin 108, the height of the carrying device 280 is lowered by the lifting mechanism to lower the center of gravity and ensure stability during walking.

It is to be appreciated that in other embodiments, the sorting processing system includes a conveyor line having a plurality of sorting bays 302. The warehousing robot controls the handling device 280 to a second elevation such that the height of the bin 108 on the handling device 280 is suitable for interfacing with the conveyor line, and controls the handling device 280 to unload the bin 108 to the conveyor line where the handling device 280 interfaces with the conveyor line 308 such that the conveyor line transports the bin 108 to the target sorting location 302 for sorting.

In some embodiments, the warehousing robot 200 is further configured to:

and obtaining working mode information, and determining the walking path of the warehousing robot according to the working mode information.

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

if the working mode information indicates that the working mode of the warehousing robot is the first working mode, determining the walking path of the warehousing robot according to the checkerboard type walking mode;

and if the working mode information indicates that the working mode of the warehousing robot is the second working mode, determining the walking path of the warehousing robot according to the annular walking mode.

In one embodiment, the first working mode of the warehousing robot is a discrete working mode, and the second working mode is a laneway machine working mode.

Under the discrete type working mode, the storage robot can be configured to walk according to a checkerboard type walking mode and the determined walking path at the bottom of the shelf unit, and the walking path can be reasonably planned in a checkerboard type walking space as required. In a discrete mode of operation, the arrangement of shelving units may for example not require a main aisle, and the shelving units in each row may for example be arranged to seamlessly engage without interruption.

Corresponding to tunnel machine mode of operation, the parallel interval of a plurality of goods shelves unit sets up, is equipped with the tunnel between two adjacent goods shelves unit, and two adjacent goods shelves unit form a goods shelves unit group, and two goods shelves unit of goods shelves unit group are first goods shelves unit and second goods shelves unit respectively. In the lane machine mode of operation, the warehousing robot is configured to operate corresponding to a single set of rack units and a single target sorting location. For example, as shown in fig. 23, the target sorting location 300 is disposed at one end of the shelf unit group 192, and may be disposed, for example, but not limited to, between a first shelf unit and a second shelf unit, a lower horizontal line L1 in fig. 23 represents a traveling path at the bottom of the first shelf unit, an upper horizontal line L2 represents a traveling path at the bottom of the second shelf unit, a middle horizontal line L3 represents a roadway between the first shelf unit and the second shelf unit, each of the first shelf unit and the second shelf unit has a plurality of storage columns, and each of longitudinal lines between the horizontal lines L1 and L2 in the drawing represents a pickup position of the warehousing robot at different storage columns; the warehousing robot is configured to cyclically take different containers from the first rack unit or the second rack unit to the target sorting location 300 for sorting, and the walking paths of the warehousing robot during three delivery processes are exemplarily shown at P1, P2, and P3 in fig. 23. The tunnel machine working mode enables the storage robot to send goods to the target sorting position at every time, and the walking path is an annular walking path and only works in a single tunnel in the goods shelf area, so that the single-vehicle efficiency is high, and the high-flow scene requirement can be met.

According to one embodiment, a one-time delivery control process of the warehousing robot is described as follows.

Obtaining target cargo space information, wherein the target cargo space information comprises target storage column information and target storage layer information; it will be appreciated that the target storage column may be a storage column for the first shelf unit or a storage column for the second shelf unit.

And controlling the warehousing robot to move from the target sorting position to the bottom of the first shelf unit according to the target goods position information and move to the position corresponding to the target storage column at the bottom of the first shelf unit.

Controlling the storage robot to move from the bottom of the first shelf unit to the roadway at the position corresponding to the target storage column so that the carrying device obtains the container from the target storage layer;

and controlling the storage robot to walk to the bottom of the second goods shelf unit from the roadway with the goods box, move at the bottom of the second goods shelf unit, and return to the target sorting position after leaving the second goods shelf unit.

For ease of understanding, the above process is described in connection with the corresponding delivery process at P2 in fig. 23. The target goods position is a certain storage layer of the storage column corresponding to the first shelf unit or the second shelf unit at the position P2, the warehousing robot can be controlled to move to the bottom of the left end of the first shelf unit from the target sorting position 300 and move to the goods taking position at the position P2 along the direction shown by an arrow N1 at the bottom of the first shelf unit, then the warehousing robot turns, moves to the goods taking position in the roadway from the bottom of the first shelf unit according to the arrow N2, climbs to the target storage layer of the first shelf unit or the second shelf unit, and enables the carrying device to take a container from the target storage layer and then descends to the ground; thereafter, the carrier continues to move upwardly to the bottom of the second rack unit, and moves in the direction of the arrow N3 at the bottom of the second rack unit along L2 until it leaves the bottom of the left end of the second rack unit and returns to the target sorting location 300, thereby completing a delivery.

The foregoing description of the embodiments of the present application has been presented for purposes of illustration and description and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations 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 in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A warehousing robot, comprising:

2. The warehousing robot of claim 1, wherein the climbing module further comprises:

the positioning sleeve is telescopically arranged on the base body, and the chain wheel and the guide wheel are rotatably arranged on the positioning sleeve; when the positioning sleeve extends out, the chain wheel and the guide wheel are driven to extend out, so that the chain wheel is meshed with the climbing chain, and when the positioning sleeve retracts, the chain wheel and the guide wheel are driven to retract, so that the chain wheel is separated from the climbing chain.

3. The warehousing robot of claim 2,

the warehousing robot forms two climbing assemblies at two ends in a first direction, and each climbing assembly comprises two climbing modules arranged at two ends in a second direction; wherein one of the first direction and the second direction is the walking direction of the warehousing robot, and the other one is the direction vertical to the walking direction of the warehousing robot;

the base bodies of the two climbing modules are integrally arranged, the climbing assembly further comprises two operation parts arranged on the integrally arranged base bodies, and the two operation parts are used for driving the positioning sleeves of the two climbing modules to synchronously extend out or retract in opposite directions respectively.

4. The warehousing robot of claim 3,

the base bodies of the two climbing modules are integrally arranged, and the climbing assembly comprises a single driving device arranged on the integrally arranged base bodies and a transmission mechanism connected between the single driving device and the two operation parts;

when the single driving device operates, the two operation parts are driven to move in the second direction along the opposite direction through the transmission mechanism.

5. The warehousing robot of claim 3,

the positioning sleeve is connected with the corresponding operation 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 arranged on the support frame, and the operation part is connected with the support frame through a connecting piece; one end of the connecting piece is fixedly connected with the operation part, and the other end of the connecting piece is fixedly connected with the support frame.

6. The warehousing robot of claim 2, wherein:

and a lifting mechanism is arranged between the movable base and the climbing module and is used for driving the climbing module and the carrying device to lift relative to the movable base.

7. The warehousing robot of claim 6, wherein:

the movable base is provided with a plurality of supporting upright posts;

the lifting mechanism comprises a rotating part arranged on the base body and a linear moving part arranged on the supporting upright post, and the rotating part is meshed with the linear moving part; when the rotating part rotates along the linear moving part, the base body is driven to ascend or descend relative to the supporting upright post.

8. The warehousing robot of claim 7,

the brake is arranged on the supporting upright post and is in transmission connection with the linear moving piece;

the brake has a braking state and a releasing state, when the brake is in the braking state, the linear moving member is kept in a stopping state, and when the brake is in the releasing state, the linear moving member can be lifted relative to the upright post.

9. The warehousing robot of claim 8, wherein:

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 rod mechanism;

the synchronous belt is connected with the brake through a belt wheel, and the rack is connected with the synchronous belt through the spring guide rod mechanism.

10. The warehousing robot of claim 7, wherein:

the rotating member is driven by the driving device.

11. The warehousing robot of claim 10, wherein:

the rotating piece is a double-sided tooth synchronous belt, the linear moving piece is a rack, and external teeth of the double-sided tooth synchronous belt are meshed with the rack;

the driving device drives the double-sided tooth synchronous belt and the chain wheel through a transmission mechanism;

the drive mechanism includes by drive arrangement driven first gear and with the second gear that first gear drive is connected, first gear with the second gear with the internal tooth meshing of double faced tooth hold-in range, the second gear with sprocket drive is connected.

12. The warehousing robot of claim 11,

the second gear is connected with the chain wheel through a ball spline group;

a spline shaft of the ball spline group is fixedly connected with the chain wheel through the positioning sleeve, and the second gear is fixedly connected with a spline sleeve sleeved outside the spline shaft;

a bearing assembly is arranged between the spline shaft and the positioning sleeve, and the bearing assembly enables the spline shaft to freely rotate 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 through the spline sleeve, so that the chain wheel rotates.

13. The warehousing robot of claim 7,

the base body is sleeved on the supporting stand column, and when the base body goes up and down along the supporting stand column, the base body is in rolling contact with the supporting stand column through rolling pieces arranged between the base body and the supporting stand column.

14. The warehousing robot of claim 6, wherein:

the handling device is arranged among the climbing modules;

the carrying device comprises a telescopic fork, and the telescopic direction of the telescopic fork is perpendicular to the walking direction of the warehousing robot.

15. The warehousing robot of claim 6, wherein:

the conveying device is arranged on the climbing modules in a swinging mode;

the bottom of the carrying device is provided with a pair of cross beams, swing arms are arranged at two ends of each cross beam, and the carrying device is mounted on the climbing modules through the swing arms; the swing arms at the two ends of the bridge are configured to have the same swing angle and opposite swing directions.

16. The warehousing robot of claim 3, wherein:

the two climbing modules are swingably mounted to the movable base to adjust the spacing of the two sprockets of the two climbing modules.

17. The warehousing robot of claim 6, wherein the warehousing robot is configured to:

acquiring sorting mode information;

determining the target height of the carrying device according to the sorting mode information;

and controlling the lifting or lowering of the conveying device according to the target height of the conveying device.

18. A warehousing system, comprising:

a shelf unit; and the number of the first and second groups,

the warehousing robot of any of claims 1-17.