CN219097719U - Transfer robot, goods shelf and warehouse system - Google Patents

Abstract

The application provides a transfer robot, a goods shelf and a storage system, wherein the transfer robot comprises a vehicle body, a folding and unfolding assembly and a fork assembly, wherein the vehicle body is provided with a traveling assembly, and the vehicle body can move at the top of the goods shelf through the traveling assembly; one end of the retraction assembly is connected to the bottom of the vehicle body; the fork subassembly is connected in the one end that receive and releases the subassembly and keep away from the automobile body, and the fork subassembly is passed through the drive of receive and release subassembly and is removed in first direction, and first direction is the direction of height of goods shelves. According to the goods taking and placing device, goods can be taken and placed at different heights through the retraction assembly only by moving the top of the goods shelf, and a transmission mechanism such as a rack is not required to be designed on the goods shelf, so that the structures of the goods shelf and the carrying robot are simpler, and the goods taking and placing device is convenient to manufacture and maintain.

Description

Transfer robot, goods shelf and warehouse system

Technical Field

The application relates to the technical field of logistics transportation, in particular to a transfer robot, a goods shelf and a storage system.

Background

In the existing storage system, in order to be able to pick and place materials at a higher position on a goods shelf, a climbing robot is generally used, which needs to set a plurality of racks on the goods shelf, and the climbing robot can move up and down along the racks to pick and place materials. However, designing a large number of racks on a pallet requires a lot of cost, and the maintenance cost of the racks is high.

Disclosure of Invention

An object of the application is to provide a transfer robot, goods shelves and warehouse system to when adopting climbing robot to get the material of putting in the above-mentioned current warehouse system, lead to goods shelves manufacturing and the problem that maintenance cost is high.

The first aspect of the present application provides a transfer robot, wherein comprising:

the vehicle body is provided with a walking assembly, and the vehicle body moves on the top of the goods shelf through the walking assembly;

the folding and unfolding assembly is connected with the bottom of the vehicle body at one end;

the fork assembly is connected to one end, far away from the car body, of the retraction assembly, the fork assembly moves in a first direction through the retraction assembly, and the first direction is the height direction of the goods shelf.

In one possible design, the fork assembly includes a support frame, a set of sliding wheels, a rail, and a linkage;

the guide rail is arranged at least one end of the support frame;

the sliding wheel set is in sliding connection with the guide rail and is used for being matched with a vertical guide rail on the goods shelf;

the connecting rod mechanism is connected with the sliding wheel set and used for driving the sliding wheel set to move in a second direction, and the second direction is perpendicular to the first direction.

In one possible design, the linkage includes a first driver, a first lever, and a second lever, the first driver being mounted to the support frame;

one end of the first rod is hinged with the sliding wheel set, and the second end of the first rod is hinged with one end of the second rod;

the second rod is connected with the first driver at a set position far away from the first rod, and the first driver is used for driving the second rod to rotate.

In one possible design, the support frame further comprises a chain and a pallet, the chain is arranged on two sides of the pallet, and the chain is provided with a limiting protrusion for moving the feed box.

In one possible design, the vehicle body is provided with a receiving cavity, and the pallet is provided with a goods placing area for placing the material box, and along the first direction, the projection of the receiving cavity coincides with the projection of the goods placing area.

In one possible design, the walking assembly comprises a second driver, a walking wheel and a guide wheel, wherein the second driver is installed on the vehicle body, is connected with the walking wheel and is used for driving the walking wheel to move in a third direction, and the third direction is perpendicular to the first direction and the second direction respectively;

the guide wheels are connected to the vehicle body and protrude out of the surface of the travelling wheels.

In one possible design, the outer side wall of the vehicle body is provided with guide blocks.

The second aspect of the present application also provides a shelf comprising:

the support body, the top of the support body is provided with the tunnel guide rail, the tunnel guide rail extends in the third direction, and the third direction is the direction parallel to the ground;

the vehicle body of the transfer robot moves on the roadway guide rail through the traveling assembly of the transfer robot;

the frame body is provided with a tunnel and a goods space, and the fork assembly of the transfer robot is driven by the retraction assembly of the transfer robot to lift in the tunnel so as to take the material box from the goods space.

In one possible design, the frame is further provided with a vertical rail extending in a first direction, the first direction being a direction perpendicular to the ground, and the set of sliding wheels in the fork assembly are in rolling engagement with the vertical rail.

In one possible design, the goods shelf is further provided with a guide rib, a sliding groove is arranged in the guide rib, and a guide block on the vehicle body is in sliding connection with the sliding groove.

The third aspect of the present application further provides a warehouse system, wherein, including the transfer robot that this application first aspect provided and the goods shelves that this application second aspect provided, the warehouse system still includes workstation and ground robot, the workstation is used for receiving and dispatching the workbin, ground robot is used for the workstation with remove the workbin between the goods shelves, transfer robot is used for getting to put workbin on the goods shelves.

In one possible design, the ground robot includes a walking module, a lifting module, and a transferring module, wherein one end of the lifting module is connected to the walking module, and the transferring module is connected to one end of the lifting module away from the walking module.

The technical scheme that this application provided can reach following beneficial effect:

the application provides a transfer robot, goods shelves and warehouse system only removes at the top of goods shelves and can get and put goods in not co-altitude department through receiving and releasing the subassembly, need not to design drive mechanism such as rack on the goods shelves to make goods shelves and transfer robot's structure more succinct, make with the maintenance conveniently.

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

Fig. 1 is a schematic structural diagram of a transfer robot according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of a handling robot after the retraction assembly is elongated according to an embodiment of the present disclosure;

fig. 3 is a schematic view of a handling robot after the retraction assembly provided in the embodiment of the present application is retracted;

fig. 4 is a state diagram of an application of the transfer robot in a shelf according to an embodiment of the present application;

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

fig. 6 is a schematic structural diagram of a warehousing system according to an embodiment of the present application;

fig. 7 is a side view of a warehousing system provided by an embodiment of the application;

FIG. 8 is a schematic view of a ground robot;

FIG. 9 is a schematic view of a floor robot when lifting a bin;

fig. 10 is a schematic view of the floor robot when the bin is not lifted.

Reference numerals:

100-transfer robot

1-vehicle body

11-guide block

12-containing Chamber

2-walking assembly

21-travelling wheel

22-guide wheel

3-retractable assembly

4-fork assembly

41-supporting frame

411-pallet

412-chain

413-spacing bump

42-sliding wheel set

43-guide rail

44-linkage mechanism

441-first bar

442-second rod

200-goods shelf

210-roadway guide rail

220-vertical guide rail

230-guide rib

240-crossbeam

250-column

260-roadway

270-cargo space

280-cache bit

300-ground robot

310-walking module

320-lifting module

330-transferring module

400-workstation

500-workbin

600-charging pile

Z-first direction

X-second direction

Y-third direction.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

In the description of the present application, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly specified or limited otherwise; the term "plurality" means two or more, unless specified or indicated otherwise; the terms "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In the description of the present application, it should be understood that the terms "upper," "lower," and the like in the embodiments of the present application are described in terms of angles shown in the accompanying drawings, and should not be construed as limiting the embodiments of the present application. In the context of this document, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on the other element or be indirectly on the other element through intervening elements.

The embodiment of the application provides a transfer robot 100 and a warehouse system, the transfer robot 100 can be applied to the warehouse system, the warehouse system comprises a goods shelf 200, a plurality of goods spaces 270 for placing a material box 500 are arranged on the goods shelf 200, and the transfer robot 100 is used for taking and placing the material box 500 in the warehouse system.

Specifically, as shown in fig. 1 to 4, the transfer robot 100 specifically includes a vehicle body 1, a retraction assembly 3, and a fork assembly 4, wherein the vehicle body 1 is provided with a traveling assembly 2, and the vehicle body 1 is movable on top of a pallet 200 by the traveling assembly 2; one end of the retractable component 3 is connected to the bottom of the vehicle body 1; the fork assembly 4 is connected to one end of the retraction assembly 3, which is far away from the vehicle body 1, and the fork assembly 4 is driven by the retraction assembly 3 to move in a first direction Z, wherein the first direction Z is the height direction of the shelf 200. The height direction of the shelf 200 is also a vertical direction, and the height direction perpendicular to the shelf 200 is a horizontal direction.

Wherein the pallet 200 has a plurality of layers in the height direction, each layer having a plurality of cargo spaces 270 for placing the bins 500. The transfer robot 100 can move to different positions in the horizontal direction through the traveling assembly 2, and when the transfer robot 100 moves to a proper position, the retraction assembly 3 can be adjusted to a height corresponding to the goods space 270 on the goods shelf 200 in the vertical direction, so that the fork assembly 4 can be aligned with the corresponding goods space 270, and the goods can be conveniently fetched and placed on the corresponding goods space 270 through the fork assembly 4.

Therefore, the transfer robot 100 provided in the embodiment of the present application can pick up and place goods at different heights by only moving the top of the goods shelf 200 through the retraction assembly 3, and there is no need to design a transmission mechanism such as a rack on the goods shelf 200, so that the structures of the goods shelf 200 and the transfer robot 100 are simpler, and the manufacture and the maintenance are convenient.

As a specific implementation, as shown in fig. 1, the fork assembly 4 includes a support frame 41, a sliding wheel set 42, a guide rail 43, and a link mechanism 44; the guide rail 43 is arranged at least one end of the support frame 41; the sliding wheel set 42 is slidably connected with the guide rail 43 and is used for being matched with a vertical guide rail 220 on the goods shelf 200; the link mechanism 44 is connected to the sliding wheel set 42 for driving the sliding wheel set 42 to move in a second direction X, which is perpendicular to the first direction Z.

Wherein, receive and release subassembly 3 can include the rope, can hang fork subassembly 4 in the below of automobile body 1 through the rope, and the rope can be through the flexible volume of drive arrangement control to realize the regulation to fork subassembly 4 height. But the rope generally has a larger shaking amount in the telescopic process, which easily causes the fork assembly 4 to be unstable in the moving process, and further causes the risk of falling the goods.

For this purpose, in the present embodiment, the sliding wheel set 42 can be slidably connected to the supporting frame 41 through the guide rail 43, and the vertical guide rail 220 engaged with the sliding wheel set 42 is provided on the shelf 200. When the transfer robot 100 moves to a proper position, the link mechanism 44 can control the sliding wheel set 42 to move in the second direction X relative to the guide rail 43, so that at least part of the sliding wheel set 42 can be matched with the vertical guide rail 220, and the sliding wheel set 42 can only move along the first direction Z but not shake in other directions through the vertical guide rail 220, thereby ensuring the stability of the fork assembly 4 in the lifting process.

Specifically, as shown in fig. 1 and 4, the link mechanism 44 includes a first driver (not shown in the drawings) mounted to the support frame 41, a first lever 441, and a second lever 442; one end of the first rod 441 is hinged with the sliding wheel set 42, and the second end of the first rod 441 is hinged with one end of the second rod 442; the second lever 442 is connected to a first driver at a set position apart from the first lever 441, and the first driver is configured to drive the second lever 442 to rotate.

When the first driver is started, the second rod 442 can be driven to rotate within a certain angle range, the second rod 442 can drive the first rod 441 to swing, and the first rod 441 can convert part of movement into push-pull movement of the sliding wheel set 42 along the second direction X, so that the sliding wheel set 42 can be matched with or separated from the vertical guide rail 220 on the goods shelf 200, in the matched state, the stability of the fork assembly 4 in lifting can be ensured, and in the separated state, the vehicle body 1 can be ensured to move in the horizontal direction, and interference is avoided.

In this embodiment, the sliding wheel sets 42 may be disposed at two ends of the supporting frame 41, the first rods 441 may be disposed with two first rods 441, one end of each first rod 441 is respectively connected to one sliding wheel set 42, the other end of one first rod 441 is connected to one end of the second rod 442, the other end of the other first rod 441 is connected to the other end of the second rod 442, and the middle position of the second rod 442 is connected to the first driver, so when the first driver is started, the second rod 442 can drive the first rods 441 at two ends to synchronously and reversely move, so that the sliding wheel sets 42 at two ends can be simultaneously matched with or separated from the corresponding vertical guide rails 220 on the shelf 200, thereby ensuring the stability of the fork assembly 4 in the lifting process.

Specifically, as shown in fig. 1, the supporting frame 41 further includes a chain 412 and a pallet 411, the chain 412 is disposed at both sides of the pallet 411, and the chain 412 is provided with a limit protrusion 413 for moving the bin 500.

Wherein, support frame 41 can include the skeleton that is used for supporting, and chain 412 and layer board 411 can all set up on the skeleton, and chain 412 can be through drive arrangement control transmission, and spacing protruding 413 can follow chain 412 synchronous motion, can be provided with on the workbin 500 and can with spacing protruding 413 complex draw-in groove. When the transfer robot 100 moves to a proper position when the goods are required to be taken from the goods space 270, the fork assembly 4 can be driven to move by the retraction assembly 3, so that the limit protrusions 413 can be matched with corresponding clamping grooves on the material box 500, and then the chain 412 can be driven to move, so that the material box 500 is pulled to the supporting plate 411 by the limit protrusions 413, and the goods taking is realized. When a load is desired to be placed on the cargo space 270, the chain 412 is operated in reverse with the pick-up, and will not be described again.

As a specific implementation, as shown in fig. 1, the vehicle body 1 is provided with a receiving cavity 12, and the pallet 411 is provided with a storage area for placing the bin 500, and a projection of the receiving cavity 12 coincides with a projection of the storage area along the first direction Z.

The accommodating chamber 12 penetrates the vehicle body 1 in the first direction Z, and can accommodate the bin 500. When the transfer robot 100 needs to move in the horizontal direction as shown in fig. 3, the storage assembly needs to be retracted to the limit position, so that the fork assembly 4 can be close to the vehicle body 1 or be connected with the vehicle body 1 in a matching manner, so that the transfer robot 100 can be entirely located at the top of the pallet 200, as shown in fig. 4, and the transfer robot 100 can be moved in the horizontal direction conveniently without the problem that the fork assembly 4 interferes with the pallet 200. Under the state that the storage component is contracted to be close to the vehicle body 1, the bin 500 on the fork component 4 can enter the accommodating cavity 12 of the vehicle body 1, so that the bin 500 can synchronously and horizontally move along with the transfer robot 100, miniaturization of the transfer robot 100 in moving can be realized, the picking and placing position of the bin 500 in the horizontal direction can be adjusted, and the use flexibility is increased.

As a specific implementation manner, as shown in fig. 1, the walking assembly 2 includes a second driver (not shown in the drawing), a walking wheel 21 and a guiding wheel 22, wherein the second driver is installed on the vehicle body 1, and the second driver is connected with the walking wheel 21 and is used for driving the walking wheel 21 to move in a third direction Y, and the third direction Y is perpendicular to the first direction Z and the second direction X respectively; the guide wheel 22 is attached to the vehicle body 1, and the guide wheel 22 protrudes from the surface of the road wheel 21.

As shown in fig. 4, a tunnel guide rail 210 is disposed on the pallet 200, the tunnel guide rail 210 may be L-shaped, the transfer robot 100 may move on the tunnel guide rail 210 through the travelling wheels 21, and the guide wheels 22 may contact with the side walls of the tunnel guide rail 210, so as to ensure the stability of the transfer robot 100 moving on the tunnel guide rail 210.

As a specific implementation manner, as shown in fig. 1 and fig. 4, the outer side wall of the vehicle body 1 may be provided with a guide block 11, correspondingly, the shelf 200 may be provided with a guide rib 230 matched with the guide block 11, a chute is provided in the guide rib 230, and the guide block 11 on the vehicle body 1 may be slidably connected with the chute. That is, during the movement of the vehicle body 1, the guide block 11 and the chute can slide relatively, so that the movement of the vehicle body 1 can be guided, and the stability of the movement of the vehicle body 1 is ensured.

As shown in fig. 4 to 7, the embodiment of the present application further provides a pallet 200, where the transfer robot 100 provided in any embodiment of the present application may move on the pallet 200 and pick and place a bin 500, where the pallet 200 includes a frame body, where the frame body is formed by a cross beam 240 and a column 250, and a tunnel guide rail 210 is provided on the top of the frame body, where the tunnel guide rail 210 extends in a third direction Y, and the third direction Y is a direction parallel to the ground, and where the vehicle body 1 moves on the tunnel guide rail 210 through a traveling assembly 2; the frame body is provided with a roadway 260 and a goods space 270, and the fork assembly 4 is driven by the retraction assembly 3 to lift in the roadway 260 so as to take the discharging box 500 from the goods space 270.

From this, the goods shelves 200 that this application embodiment provided can realize that transfer robot 100 removes at the top of goods shelves 200 to can realize getting the goods of putting in different high departments through receive and release subassembly 3, need not to design drive mechanism such as rack on goods shelves 200, thereby make goods shelves 200 and transfer robot 100's structure more succinct, convenient manufacturing and maintenance.

As a specific implementation manner, as shown in fig. 4 and 5, the frame body is further provided with a vertical guide rail 220, the vertical guide rail 220 extends in a first direction Z, and the first direction Z is a direction perpendicular to the ground, and the sliding wheel set 42 in the fork assembly 4 is in rolling fit with the vertical guide rail 220, so that the fork assembly 4 can be ensured to stably move in the first direction Z, and shake in other directions is avoided. Specifically, the vertical rails 220 may have a channel structure therein, and the skid wheel sets 42 may include a plurality of rollers that are capable of rolling in the channel to provide guidance to the fork assembly 4.

As a specific implementation manner, as shown in fig. 4, the shelf 200 is further provided with a guide rib 230, a chute is provided in the guide rib 230, and the guide block 11 on the vehicle body 1 is slidably connected with the chute, so that the stability of the movement of the vehicle body 1 can be ensured.

As shown in fig. 6 and 7, the embodiment of the present application further provides a warehouse system, which includes the transfer robot 100 and the shelf 200 provided in any embodiment of the present application, and further includes a workstation 400 and a ground robot 300, the workstation 400 is used for receiving and sending the bin 500, the ground robot 300 is used for moving the bin 500 between the workstation 400 and the shelf 200, and the transfer robot 100 is used for picking and placing the bin 500 on the shelf 200.

Specifically, when it is desired to transport the bin 500 of the workstation 400 to the target cargo space 270, the floor robot 300 may take the target bin 500 from the workstation 400, transport the target bin 500 to the lane 260 where the target cargo space 270 to be placed is located, and find temporarily placed buffer locations 280 in the lane 260, and among the buffer locations 280, a buffer location 280 located vertically below the target cargo space 270 is preferentially selected, and if all the buffer locations 280 located vertically below the target cargo space 270 are occupied by the bin 500, the buffer locations 280 located nearby may be selected for placement.

If the target bin 500 is placed at the buffer position 280 vertically below the target cargo space 270, the handling robot 100 located at the top end of the pallet 200 may drive the fork assembly 4 to descend to a position corresponding to the buffer position 280 where the target bin 500 is located through the retraction assembly 3, so as to take out the target bin 500, and lift the target bin 500 to a position corresponding to the target cargo space 270, i.e. place the target bin 500 at the target cargo space 270 through the fork assembly 4.

If the buffer storage position 280 where the target bin 500 is placed is not located vertically below the target goods position 270, after the target bin 500 is placed in the buffer storage position 280, the transfer robot 100 at the top end of the goods shelf 200 may first take out the target bin 500 through the fork assembly 4, lift the fork assembly 4 to the top end of the goods shelf 200, enable the target bin 500 to be accommodated in the accommodating cavity 12 of the vehicle body 1, then enable the target bin 500 to move vertically above the target goods shelf 200 along the roadway guide rail 210 along with the vehicle body 1, and then drive the fork assembly 4 to descend to a position corresponding to the target goods position 270 through the retraction assembly 3, so as to complete the placement of the target bin 500.

From this, the warehouse system that this application embodiment provided through set up mobilizable transfer robot 100 at the top of goods shelves 200, can realize getting at different co-altitude departments through receive and release subassembly 3 and put the goods, need not to design drive mechanism such as rack on goods shelves 200 to make goods shelves 200 and transfer robot 100's structure more succinct, convenient manufacturing and maintenance.

As a specific implementation, as shown in fig. 8 to 10, the ground robot 300 may include a walking module 310, a lifting module 320, and a transferring module 330, wherein one end of the lifting module 320 is connected to the walking module 310, and the transferring module 330 is connected to one end of the lifting module 320 away from the walking module 310.

The walking module 310 may include rollers to enable the ground robot 300 to move on the ground. The lifting module 320 has a lifting or lowering function, and can adjust the height of the bin 500 within a certain height from the ground. The transfer module 330 can take and place the bin 500, for example, take and place the bin 500 from the workstation 400, take and place the bin 500 from a position on the shelf 200 that is closer to the ground, and the like. By carrying the bin 500 by the floor robot 300, human power can be released, improving efficiency.

In addition, as shown in fig. 6, the warehouse system further includes a charging stake 600, and the ground robot 300 can be charged using the charging stake 600 to ensure that the ground robot 300 can normally operate.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (12)

1. A transfer robot, comprising:

the vehicle body (1), the vehicle body (1) is provided with a walking assembly (2), and the vehicle body (1) moves on the top of the goods shelf (200) through the walking assembly (2);

the folding and unfolding assembly (3), one end of the folding and unfolding assembly (3) is connected to the bottom of the vehicle body (1);

the fork assembly (4), fork assembly (4) connect in receive and release subassembly (3) keep away from the one end of automobile body (1), fork assembly (4) are through receive and release subassembly (3) remove in first direction (Z), first direction (Z) is the direction of height of goods shelves (200).

2. The transfer robot according to claim 1, characterized in that the fork assembly (4) comprises a support frame (41), a set of sliding wheels (42), a guide rail (43) and a linkage (44);

the guide rail (43) is arranged at least one end of the supporting frame (41);

the sliding wheel set (42) is in sliding connection with the guide rail (43) and is used for being matched with a vertical guide rail (220) on the goods shelf (200);

the link mechanism (44) is connected with the sliding wheel set (42) and is used for driving the sliding wheel set (42) to move in a second direction (X), and the second direction (X) is perpendicular to the first direction (Z).

3. The transfer robot according to claim 2, characterized in that the linkage (44) comprises a first drive, a first rod (441) and a second rod (442), the first drive being mounted to the support frame (41);

one end of the first rod (441) is hinged with the sliding wheel set (42), and the second end of the first rod (441) is hinged with one end of the second rod (442);

the second rod (442) is connected with the first driver at a set position far away from the first rod (441), and the first driver is used for driving the second rod (442) to rotate.

4. The transfer robot according to claim 2, characterized in that the support frame (41) further comprises a chain (412) and a pallet (411), the chain (412) being arranged on both sides of the pallet (411), the chain (412) being provided with limit protrusions (413) for moving the bin (500).

5. Transfer robot according to claim 4, characterized in that the vehicle body (1) is provided with a receiving cavity (12), that the pallet (411) is provided with a storage area for the storage of the magazine (500), and that the projection of the receiving cavity (12) coincides with the projection of the storage area in the first direction (Z).

6. The transfer robot according to claim 2, characterized in that the travelling assembly (2) comprises a second drive, a travelling wheel (21) and a guiding wheel (22), the second drive being mounted to the vehicle body (1), the second drive being connected to the travelling wheel (21) for driving the travelling wheel (21) to move in a third direction (Y), which is perpendicular to the first direction (Z) and the second direction (X), respectively;

the guide wheel (22) is connected to the vehicle body (1), and the guide wheel (22) protrudes out of the surface of the travelling wheel (21).

7. The transfer robot according to any one of claims 1-6, characterized in that the outer side wall of the vehicle body (1) is provided with guide blocks (11).

8. A pallet, comprising:

the frame body, the top of the frame body is provided with a tunnel guide rail (210), the tunnel guide rail (210) extends in a third direction (Y), and the third direction (Y) is a direction parallel to the ground;

a vehicle body (1) of a transfer robot moves on the tunnel guide rail (210) through a traveling assembly (2) of the transfer robot;

the frame body is provided with a tunnel (260) and a goods space (270), and the fork assembly (4) of the transfer robot is driven by the retraction assembly (3) of the transfer robot to lift in the tunnel (260) so as to take the material box (500) from the goods space (270).

9. The pallet according to claim 8, wherein the pallet body is further provided with a vertical rail (220), the vertical rail (220) extending in a first direction (Z), the first direction (Z) being a direction perpendicular to the ground, and the sliding wheel set (42) in the pallet fork assembly (4) is in rolling engagement with the vertical rail (220).

10. The shelf according to claim 8, characterized in that the shelf (200) is further provided with guide ribs (230), wherein a chute is provided in the guide ribs (230), and wherein a guide block (11) on the vehicle body (1) is slidingly connected with the chute.

11. A warehousing system, characterized by comprising a handling robot according to any one of claims 1-7 and a pallet (200) according to any one of claims 8-10, the warehousing system further comprising a workstation (400) and a floor robot (300), the workstation (400) being for transceiving bins (500), the floor robot (300) being for moving bins (500) between the workstation (400) and the pallet (200), the handling robot being for picking and placing bins (500) on the pallet (200).

12. The warehousing system according to claim 11, wherein the ground robot (300) includes a walking module (310), a lifting module (320), and a transfer module (330), wherein one end of the lifting module (320) is connected to the walking module (310), and the transfer module (330) is connected to one end of the lifting module (320) remote from the walking module (310).

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