CN220375475U - Storage robot and storage system - Google Patents

Abstract

The application relates to a warehousing robot and a warehousing system. The storage robot includes: a base; the moving device is arranged on the base and is used for driving the base to walk on the supporting surface and driving the base to climb along the goods shelf; and a carrying device arranged on the base and movable relative to the base to switch between a carrying state and an unloading state; the carrying state is a state for carrying articles, and the unloading state is a state for unloading the articles carried by the carrying device. According to the scheme, the sorting efficiency of the storage robot can be improved, and the cost is reduced.

Description

Storage robot and storage system

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a warehouse robot and a warehouse system.

Background

Along with the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics is continuously improved, an intelligent logistics terminal is a necessary trend of terminal logistics development, and a storage robot is one of main equipment capable of realizing automatic carrying operation of the intelligent logistics terminal, and the heavy manual labor of human beings can be reduced through the storage robot.

In the related art, a floor type sorting robot, a platform type sorting robot, a three-dimensional sorting robot and the like are adopted as a cargo sorting mode. However, the floor type sorting robot can only run on the platform, the height of the sorting lattice is limited, the sorting area required by the same sorting amount is larger, and the three-dimensional space of the warehouse is difficult to fully utilize; although the platform type sorting robot can utilize the stereoscopic space of the warehouse, the steel platform is required to be used for lifting the site, and only the movement plane is changed, so that the cost is high and the later-stage transformation and maintenance are difficult; although the stereoscopic sorting products can adapt to stereoscopic sorting notches and fully utilize the stereoscopic space of a warehouse, horizontal and vertical movement is required by means of various equipment, the problem of large beat matching exists among the equipment, and the system efficiency is limited.

Disclosure of Invention

In order to solve or partially solve the problems existing in the related art, the application provides a storage robot and a storage system, and aims to improve the sorting efficiency of the storage robot and reduce the cost.

A first aspect of the present application provides a warehousing robot, comprising: a base; the moving device is arranged on the base and is used for driving the base to walk on the supporting surface and driving the base to climb along the goods shelf; and a carrying device arranged on the base and movable relative to the base to switch between a carrying state and an unloading state; the carrying state is a state for carrying articles, and the unloading state is a state for unloading the articles carried by the carrying device.

A second aspect of the present application provides a warehousing system, comprising: a goods shelf; and the warehousing robot is used for carrying the goods on the bearing device to the target goods position of the goods shelf and delivering the goods to the target goods position by switching to the unloading state.

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

the storage robot of this application embodiment is as sorting robot, compares with floor-type sorting robot can only be on the horizontal plane operation among the correlation technique, because can follow the goods shelves climbing through mobile device, can dispose multilayer letter sorting goods space at goods shelves are corresponding, can make full use of the space in warehouse, reduces the place floor area that letter sorting bridge mouth occupy. Compared with the platform type sorting robot in the related art, the platform type sorting robot does not need to be lifted by means of a steel platform, and is low in cost. Compared with the prior art that the three-dimensional sorting robot needs the auxiliary cross-layer of the robot lifter, the three-dimensional sorting robot does not need to be matched with the robot lifter, the sorting efficiency is ensured, the system coupling degree can be reduced, and the control complexity and the cost are reduced.

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 structural view of a warehousing robot according to one embodiment of the present application;

fig. 2 is a schematic structural view of a warehousing robot according to another embodiment of the present application;

FIG. 3A is a warehousing robot according to another embodiment of the application, wherein a first drive device is shown;

FIG. 3B is a warehousing robot according to another embodiment of the application, wherein a first drive device is shown;

FIG. 4 is a schematic structural view of a warehousing robot according to an embodiment of the disclosure;

fig. 5 is a schematic structural view of a warehousing robot according to another embodiment of the present application;

fig. 6 is a schematic structural view of a stocker robot according to another embodiment of the present application.

Reference numerals:

1-base, 2-bearing device, 21-bearing piece, 211-first end, 212-second end, 22-conveyer belt, 3-rotating shaft, 4-second driving device, 41-motor, 42-first driving bevel gear, 43-first driven bevel gear, 44-first driven gear, 45-first rack, 46-cylinder, 5-first driving device, 51-driver, 52-second driven gear, 53-second rack, 55-second driving bevel gear, 56-second driven bevel gear, 58-connecting rod, 6-connecting bracket.

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 shown in the 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 by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present application, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may be, for example, fixedly connected or detachably connected or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. 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.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The embodiment of the application provides a storage robot, which comprises a base, a moving device and a bearing device. The moving device is arranged on the base and used for driving the base to walk on the supporting surface and driving the base to climb along the goods shelf. The carrying device is arranged on the base and can move relative to the base to switch between a carrying state and an unloading state. The carrying state is a state for carrying articles, and the unloading state is a state for unloading the articles carried by the carrying device.

Compared with the floor type sorting robot in the related art, the storage robot can only run on the horizontal plane, the storage robot can climb along the goods shelves through the moving device, can correspondingly configure multi-layer sorting goods spaces on the goods shelves, can fully utilize the three-dimensional space of the warehouse, and reduces the floor area occupied by sorting bridge openings. Compared with the platform type sorting robot in the related art, the platform type sorting robot does not need to be lifted by means of a steel platform, and is low in cost. Compared with the prior art that the three-dimensional sorting robot needs the auxiliary cross-layer of the robot lifter, the three-dimensional sorting robot does not need to be matched with the robot lifter, the sorting efficiency is ensured, the system coupling degree can be reduced, and the control complexity and the cost are reduced.

In the embodiment shown in fig. 1, the carrying means comprise a carrier (not shown), a conveyor belt 22 and a second drive means (not shown). The carrier is arranged on the base 1 and may be a flat plate. The conveyor belt 22 is wrapped around the outer surface of the carrier. A second drive is connected to the conveyor belt 22 for driving the conveyor belt 22 along the surface of the carrier. When the carrying device is in the carrying state, the conveyor belt 22 is static relative to the carrying member, and friction force between the conveyor belt 22 and the articles can prevent the articles from generating relative displacement with the conveyor belt 22 in the moving process of the storage robot, and when the carrying device is in the unloading state, the conveyor belt 22 moves relative to the carrying member so as to unload the articles.

The carrier has oppositely disposed first and second ends from which articles can exit the carrier in an unloaded state. It will be appreciated that in other embodiments, the article can exit the carrier from either the first end or the second end.

In some embodiments, the second drive means is integrally provided on the outside of the conveyor belt 22, which can reduce the thickness of the carrier and the conveyor belt 22 as a whole.

In some embodiments, the second drive means comprises a motor, a transmission mechanism connected between the motor and the conveyor belt 22. In one embodiment, rollers are provided at both ends of the carrier, and the conveyor belt 22 is provided on both ends of the rollers and moves by rolling the rollers. Wherein the front end roller is driven by a motor, and the rear end roller is a driven roller. The drive mechanism includes, for example, a drive belt and a front end roller, and the motor drives the front end roller via the drive belt, thereby moving the conveyor belt 22. Alternatively, a drive belt may not be provided, and the motor may drive the front end drum directly or through other drive members.

As shown in fig. 2, the present embodiment provides a warehousing robot, which includes a base 1, a moving device, and a carrying device 2. The moving device is arranged on the base 1 and used for driving the base 1 to walk on the supporting surface and driving the base 1 to climb along the goods shelf. The carrying device 2 is provided on the base 1 and is movable relative to the base 1 to switch between a carrying state and an unloading state. The loading state is a state for loading articles, and the unloading state is a state for unloading articles loaded by the loading device 2.

In the present embodiment, the carrying device 2 includes a carrying member 21 and a conveyor belt 22, the carrying member 21 being provided on the base 1 and being reversible with respect to the base 1 to switch between a carrying state and an unloading state. When the bearing member 21 is in a bearing state, the bearing member 21 is horizontally arranged; when the carrier 21 is in the unloading state, the carrier 21 is obliquely arranged relative to the base 1; the carrier 21 has oppositely disposed first and second ends 211, 212, and in the unloaded state, articles exit the carrier 21 from the first end 211.

The warehousing robot of the present embodiment further includes a rotation shaft 3, a first driving device (not shown in fig. 2), and a second driving device 4, and the rotation shaft 3 is disposed on the base 1. The carrier 21 is rotatably connected to the base 1 via a rotation shaft 3. Wherein the shaft 3 is adjacent to the first end 211 of the carrier 21. The first driving device is arranged on the base 1 and connected with the bearing piece 21, and is used for driving the bearing piece 21 to turn over relative to the base 1 around the axis of the rotating shaft 3 so as to switch the bearing piece 21 between a bearing state and an unloading state. Wherein the rotating shaft 3 penetrates through the bearing piece 21. In this embodiment, since the rotating shaft 3 is disposed through the first end 211 of the carrier 21, when the carrier 21 is turned over, the carrier 21 rotates around the first end 211, the second end 212 gradually rises in the vertical direction, and the first end 211 is hardly displaced in the vertical direction, or only slightly descends.

The conveyor belt 22 is sleeved on the outer surface of the carrier 21, and the second driving device 4 is connected with the conveyor belt 22 and is used for driving the conveyor belt 22 to move along the surface of the carrier 21.

Thus, when the carrying device 2 is in the carrying state, the carrying piece 21 is horizontally arranged, the upper surface of the conveyor belt 22 is horizontally arranged, the articles on the surface of the conveyor belt 22 are affected by the friction force of the conveyor belt 22, and the articles cannot relatively displace relative to the conveyor belt 22 in the moving process of the storage robot. When the carrier 2 is in the unloaded state, the carrier 21 is arranged obliquely with respect to the base 1 and the conveyor belt 22 rotates with respect to the carrier 21, the articles leaving the carrier 21 from the first end 211 under the influence of gravity and the conveyor belt 22.

The first driving device 5 of an embodiment of the present application is shown in the warehousing robot in fig. 3A, referring to fig. 3A, the warehousing robot further includes a connecting rod 58, the connecting rod 58 is fixed to the carrier 21, and the connecting rod is close to the second end 212 of the carrier 21. The first driving device 5 is a cylinder, one end of the cylinder is connected with the connecting rod 58, the other end of the cylinder is connected with the base 1, and when the cylinder stretches, the bearing piece 21 rotates relative to the base 1 through the connecting rod 58.

The first driving device 5 according to another embodiment of the present application is shown in the warehousing robot of fig. 3B, which is applicable to the case where the carrying device of the warehousing robot includes the carrying member 21 and the conveyor belt 22. Referring to fig. 3B, the warehousing robot further includes a connecting rod 58, two ends of the connecting rod 58 are fixed at two sides of the carrier 21, and the connecting rod is close to the second end 212 of the carrier 21. The middle part of the connecting rod is spaced from the carrier 21 so that the conveyor belt 22 can be disposed between the connecting rod 58 and the carrier 21 without contacting the connecting rod 58, thereby avoiding interference of the connecting rod 58 with the conveyor belt 22. The first driving device 5 is a cylinder, one end of the cylinder is connected with the connecting rod 58, the other end of the cylinder is connected with the base 1, and when the cylinder stretches, the bearing piece 21 rotates relative to the base 1 through the connecting rod 58.

Specifically, the connecting rod 58 is disposed below the conveyor belt 22 along the width of the conveyor belt 22, two ends of the connecting rod 58 are respectively connected with the side surface of the bearing member 21 through connecting blocks, the piston rod of the first driving device 5 is hinged with the connecting rod 58, the cylinder barrel of the first driving device 5 is hinged with the base 1, and the first driving device can drive the connecting rod 58 to ascend and descend through reciprocating linear travel motion, so as to drive the bearing device to ascend and descend. When the first driving device moves forward, the connecting rod is driven to rise, and then the bearing device is driven to rise in a rotating way around one side so as to reach the working state angle. Similarly, when the first driving device moves in the negative stroke, the connecting rod is driven to descend, and then the bearing device is driven to rotate around one side to descend so as to restore to the initial state angle.

In the present embodiment, the carrier 21 is rotatable with respect to the rotation shaft 3 to switch between the horizontal state and the inclined state. The two ends of the rotating shaft 3 are sleeved with a linkage shaft which is connected with the conveyor belt 22. The second drive means 4 drive the conveyor belt 22 along the surface of the carrier 21 by means of a linkage shaft. The linkage shaft is fixedly arranged on the rotating shaft 3 and can synchronously rotate along with the rotating shaft 3.

In the present embodiment, the second driving device 4 includes a motor 41, a first drive bevel gear 42, and a first driven bevel gear 43. The first drive bevel gear 42 is connected to an output end of the motor 41 to drive the first drive bevel gear 42 to rotate by the motor 41. The first driving bevel gear 42 and the first driven bevel gear 43 are meshed with each other, and the first driven bevel gear 43 is arranged on the linkage shaft so as to drive the first driven bevel gear 43 to rotate through the first driving bevel gear 42, thereby driving the linkage shaft to rotate and further driving the conveyor belt 22 to move.

The warehousing robot of the embodiment further includes an angle limit switch for controlling the rotation angle of the bearing member 21. The angle limit switch comprises an angle exceeding limit switch and/or an angle excessively low limit switch, and the angle exceeding limit switch is triggered when the rotation of the bearing piece 21 in the first direction exceeds a preset inclination angle so as to stop the first driving device; the angle too low limit switch is triggered to stop the first driving device when the rotation of the carrier 21 in the second direction exceeds the preset reset angle.

In the present embodiment, the second driving device 4 is integrally provided outside the conveyor belt 22, so that the thickness of the carrier 21 and the conveyor belt 22 can be reduced as a whole.

In this embodiment, the output shaft of the motor 41 of the second driving device 4 is perpendicular to the rotating shaft 3, so that the overall arrangement is more compact.

In this embodiment, the warehousing robot is configured to receive a sorting scheduling instruction, obtain sorted cargoes according to the sorting scheduling instruction, transport the sorted cargoes to a target cargo space of a rack, and control the carrying device 2 to switch to an unloading state, so that the sorted cargoes on the carrying device 2 move into a cargo box on the target cargo space.

In this embodiment, the mobile device includes walking subassembly and climbing subassembly, and walking subassembly locates the bottom of base 1 for drive base 1 walks on the holding surface. The climbing component is arranged on the side face of the base 1 and used for driving the base 1 to climb along a goods shelf.

In some embodiments, the walking assembly comprises a walking wheel and a walking driving part for driving the walking wheel to roll on the supporting surface, and the walking wheel is positioned at the lower end of the base 1. The climbing subassembly is including climbing wheel and be used for driving the climbing wheel along the climbing driving piece of goods shelves roll from top to bottom. The walking drive and the climbing drive may be motors and are located inside the base 1.

As shown in fig. 4, the present embodiment provides a warehousing robot, which is different from the second embodiment shown in fig. 2 in that the second driving device 4 is different, specifically, in the present embodiment, the second driving device 4 includes an air cylinder 46, a first driven gear 44, and a first rack 45.

The first rack 45 is connected to an output end of the air cylinder 46 to drive the first rack 45 to move by the air cylinder 46. The first driven gear 44 and the first rack 45 are meshed with each other, and the first driven gear 44 is arranged on the linkage shaft to drive the first driven gear 44 to rotate through the first rack belt 45, so as to drive the linkage shaft to rotate, and further drive the conveyor belt 22 to move.

In the present embodiment, one end of the cylinder 46 is connected to the first rack 45, and the other end is connected to the base 1, and when the cylinder 46 expands and contracts, the coupling shaft is rotated by the first rack 45 and the first driven gear 44.

Other contents of this embodiment are the same as those of the above embodiment, and will not be repeated here.

As shown in fig. 5, the present embodiment provides a warehousing robot, which includes a base 1, a moving device, and a carrying device 2. The moving device is arranged on the base 1 and is used for driving the base 1 to walk on a supporting surface and driving the base 1 to climb along a goods shelf. The carrying device 2 is provided on the base 1 and is movable relative to the base 1 to switch between a carrying state and an unloading state. The loading state is a state for loading articles, and the unloading state is a state for unloading articles loaded by the loading device 2.

In this embodiment, the carrying device 2 includes a carrying member 21, where the carrying member 21 is disposed on the base 1 and can be turned relative to the base 1 to switch between a carrying state and an unloading state, and the carrying member 21 is a centrally concave turnover plate, and it can be understood that the carrying member may also be a flat turnover plate. When the bearing member 21 is in a bearing state, the bearing member 21 is horizontally arranged; when the carrier 21 is in the unloading state, the carrier 21 is obliquely arranged relative to the base 1; the carrier 21 has oppositely disposed first and second ends 211, 212, and in the unloaded state, articles exit the carrier 21 from the first end 211.

Specifically, when the carrying device 2 is in a carrying state, the carrying piece 21 is horizontally arranged, and the articles are on the carrying piece 21, so that the articles can be prevented from falling from the carrying piece 21 in the moving process of the storage robot. When the carrier 2 is in the unloaded state, the carrier 21 is arranged obliquely with respect to the base 1, such that the articles on the carrier 21 can leave the carrier 21 from the first end 211 of the carrier 21 under the influence of gravity.

In this embodiment, the warehouse robot further includes a rotating shaft 3 and a first driving device 5, where the rotating shaft 3 is disposed on the base 1. The carrier 21 is rotatably connected to the base 1 by a rotation shaft 3, wherein the rotation shaft 3 is near a first end 211 of the carrier 21. The first driving device 5 is disposed on the base 1 and connected to the carrier 21, and is used for driving the carrier 21 to turn around the axis of the rotating shaft 3 relative to the base 1, so as to switch the carrier 21 between a carrying state and an unloading state.

Specifically, when the first driving device 5 drives the carrier 21 to turn around the axis of the rotating shaft 3 relative to the base 1, the height of the first end 211 is lower than the height of the second end 212, and the article slides out of the carrier 21 from the first end 211.

In this embodiment, the storage robot further includes a connecting bracket 6, one end of the connecting bracket 6 is fixed to the rotating shaft 3, and the other end of the connecting bracket 6 is fixed to the bearing member 21. In this embodiment, since the connecting bracket 6 is disposed between the bearing member 21 and the rotating shaft 3, and the rotating shaft 3 is not inserted into the bearing member 21, when the bearing member 21 is turned over, the first end 211 and the second end 212 are raised relative to the base 1, that is, the bearing member 21 is integrally raised, and since the rotating shaft 3 is disposed near the first end 211, the rising height of the first end 211 is smaller, and the rising height of the second end 212 is larger, so that the bearing member 21 is inclined. When the bearing piece of the embodiment is a middle-concave turnover disc, the other end of the connecting bracket 6 can be fixed at the middle part of the turnover disc, the middle part of the turnover disc is low, the edge is high, and the fact that articles on the turnover disc cannot generate larger relative displacement due to the movement of the robot can be ensured.

In this embodiment, the rotating shaft 3 is rotatably connected to the base 1, and the first driving device 5 is used for driving the rotating shaft 3 to rotate relative to the base 1, so as to switch the carrier 21 between a horizontal state and an inclined state.

In the present embodiment, the first driving device 5 includes a driver 51, a second driven gear 52, and a second rack 53. The second rack 53 is connected to an output end of the driver 51 to drive the second rack 53 to move by the driver 51. The second driven gear 52 is meshed with the second rack 53, and the second driven gear 52 is arranged on the rotating shaft 3, so that the second driven gear 52 is driven to rotate through the second rack 53, and the rotating shaft 3 is driven to rotate, and the bearing piece 21 is driven to switch between a horizontal state and an inclined state. In this way, when the first driving device 5 drives the second rack 53 to move, the second driven gear 52 and the rotating shaft 3 are driven to rotate, so that the rotating shaft 3 drives the bearing piece 21 to turn over through the connecting bracket 6.

Alternatively, the driver 51 is an air cylinder, one end of the air cylinder is connected with the second rack 53, the other end of the air cylinder is connected with the base 1, and when the air cylinder stretches, the rotating shaft 3 is rotated through the second rack 53 and the second driven gear 52.

In this embodiment, the warehouse robot further includes an angle limit switch for controlling the rotation angle of the carrier 21. The angle limit switch comprises an angle exceeding limit switch and/or an angle exceeding limit switch, which is triggered to stop the first driving device 5 when the rotation of the carrier 21 in the first direction exceeds a preset inclination angle. The angle too low limit switch is triggered to stop the first driving device 5 when the rotation of the carrier 21 in the second direction exceeds the preset reset angle.

In this embodiment, the output shaft of the driver 51 of the first driving device is perpendicular to the rotation shaft 3, so that the overall arrangement is more compact.

In this embodiment, the warehousing robot is configured to receive a sorting scheduling instruction, move to a target position according to the sorting scheduling instruction and obtain a sorted cargo, transport the sorted cargo to a target cargo space of a rack, and switch the carrying device 2 to an unloading state, so that the sorted cargo on the carrying device 2 is delivered to the target cargo space.

In this embodiment, the mobile device includes a walking assembly and a climbing assembly. The walking assembly is arranged at the bottom of the base 1 and is used for driving the base 1 to walk on the supporting surface; the climbing component is arranged on the side face of the base 1 and used for driving the base 1 to climb along a goods shelf. The mobile device may be specifically implemented with reference to the foregoing description, and will not be described in detail.

As shown in fig. 6, the present embodiment provides a warehousing robot, which is different from the fourth embodiment in that the first driving device is provided below the carrier 21, and the first driving device includes a driver 51, a second drive bevel gear 55 and a second driven bevel gear 56; the second drive bevel gear 55 is connected with an output end of the driver 51 to drive the second drive bevel gear 55 to rotate through the driver 51; the second driving bevel gear 55 and the second driven bevel gear 56 are engaged with each other, and the second driven bevel gear 56 is disposed on the rotating shaft 3, so that the second driving bevel gear 55 drives the second driven bevel gear 56 to rotate, thereby driving the rotating shaft 3 to rotate, and further driving the carrier 21 to switch between the horizontal state and the inclined state. Alternatively, the driver 51 is a motor. Other contents of this embodiment are the same as those of the above embodiment, and will not be repeated here.

The present embodiment provides a warehousing system, including a pallet and the warehousing robot according to any one of the above embodiments, where the warehousing robot is configured to carry a cargo located on the carrying device 2 to a target cargo space of the pallet, and deliver the cargo to the target cargo space by switching to an unloading state.

The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments. Those skilled in the art will also appreciate that the acts and modules referred to in the specification are not necessarily required in the present application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined and pruned according to actual needs, and the modules in the apparatus of the embodiment of the present application may be combined, divided and pruned according to actual needs.

The embodiments of the present application have been described above, the foregoing description is exemplary, not exhaustive, and not 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 various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (17)

1. A warehousing robot, comprising:

a base;

the moving device is arranged on the base and is used for driving the base to walk on the supporting surface and driving the base to climb along the goods shelf; and

a carrying device arranged on the base and movable relative to the base to switch between a carrying state and an unloading state; the carrying state is a state for carrying articles, and the unloading state is a state for unloading the articles carried by the carrying device.

2. The warehousing robot of claim 1 wherein the carrier device comprises:

a carrier disposed on the base and being reversible relative to the base to switch between a loaded state and an unloaded state;

when the bearing piece is in the bearing state, the bearing piece is horizontally arranged; when the bearing piece is in the unloading state, the bearing piece is obliquely arranged relative to the base;

the carrier has oppositely disposed first and second ends from which articles exit the carrier in the unloaded state.

3. The warehousing robot of claim 2, further comprising:

the rotating shaft is arranged on the base; the bearing piece is rotationally connected to the base through the rotating shaft, wherein the rotating shaft is close to the first end of the bearing piece; and

the first driving device is arranged on the base and connected with the bearing piece and is used for driving the bearing piece to turn over around the axis of the rotating shaft relative to the base so as to enable the bearing piece to be switched between the bearing state and the unloading state.

4. A warehousing robot according to claim 3, characterized in that:

the angle limiting switch is used for controlling the rotation angle of the bearing piece;

the angle limit switch includes:

the angle exceeding limit switch is triggered when the rotation of the bearing piece in the first direction exceeds a preset inclination angle so as to stop the first driving device; and/or the number of the groups of groups,

and the angle too-low limit switch is triggered when the rotation of the bearing piece in the second direction exceeds a preset reset angle so as to stop the first driving device.

5. A warehousing robot according to claim 3, wherein the spindle extends through the carrier.

6. The warehousing robot of claim 5, further comprising:

the conveying belt is sleeved on the outer surface of the bearing piece; and

and the second driving device is connected with the conveyor belt and is used for driving the conveyor belt to move along the surface of the bearing piece.

7. The warehousing robot of claim 6, further comprising: the two ends of the connecting rod are fixed on the two sides of the bearing piece, and the middle part of the connecting rod is arranged at intervals with the bearing piece; the connecting rod is close to the second end of the bearing piece;

the first driving device is an air cylinder, one end of the air cylinder is connected with the connecting rod, the other end of the air cylinder is connected with the base, and when the air cylinder stretches and contracts, the bearing piece rotates relative to the base through the connecting rod.

8. The warehousing robot of claim 6 wherein:

the bearing piece can rotate relative to the rotating shaft;

the two ends of the rotating shaft are sleeved with a linkage shaft, the linkage shaft is connected with the conveyor belt, and the second driving device drives the conveyor belt to move along the surface of the bearing piece through the linkage shaft.

9. The warehousing robot of claim 8 wherein the second drive means includes:

a motor;

the first drive bevel gear is connected with the output end of the motor so as to drive the first drive bevel gear to rotate through the motor; and

the first driven bevel gear is arranged on the linkage shaft and meshed with the first driving bevel gear, so that the first driven bevel gear is driven to rotate through the first driving bevel gear, and the linkage shaft is driven to rotate, and the conveyor belt is driven to move.

10. The warehousing robot of claim 8 wherein the second drive means includes:

a cylinder;

the first rack is connected with the output end of the air cylinder so as to drive the first rack to move through the air cylinder; and

the first driven gear is arranged on the linkage shaft and meshed with the first rack, so that the first driven gear is driven to rotate through the first rack, and the linkage shaft is driven to rotate, and the conveyor belt is driven to move.

11. The warehousing robot of claim 3 further comprising a connecting bracket, one end of the connecting bracket being fixed to the rotating shaft, the other end of the connecting bracket being fixed to the carrier.

12. The warehousing robot of claim 11 wherein:

the rotating shaft is rotatably connected with the base, and the first driving device is used for driving the rotating shaft to rotate relative to the base, so that the rotating shaft drives the bearing piece to turn over through the connecting support.

13. The warehousing robot of claim 1 wherein the carrier device comprises:

a carrier disposed on the base;

the conveying belt is sleeved on the outer surface of the bearing piece; and

the second driving device is connected with the conveyor belt and used for driving the conveyor belt to move along the surface of the bearing piece;

wherein, when the bearing device is in the bearing state, the conveyor belt is static relative to the bearing piece, and when the bearing device is in the unloading state, the conveyor belt moves relative to the bearing piece.

14. The warehousing robot of claim 13 wherein:

the second driving device is integrally arranged on the outer side of the conveyor belt.

15. The warehousing robot of any one of claims 1-14 wherein:

the warehousing robot is configured to receive a sorting scheduling instruction, move to a target position and obtain a sorted cargo according to the sorting scheduling instruction, transport the sorted cargo to a target cargo space of a goods shelf, and switch the carrying device to the unloading state, so that the sorted cargo on the carrying device is delivered to the target cargo space.

16. The warehousing robot of any one of claims 1-14, wherein the moving means comprises:

the walking assembly is arranged at the bottom of the base and used for driving the base to walk on the supporting surface;

and the climbing assembly is arranged on the side surface of the base and used for driving the base to climb along the goods shelf.

17. A warehousing system, comprising:

a goods shelf; the method comprises the steps of,

the warehousing robot of any one of claims 1-16, configured to carry the cargo located on the carrier to a target cargo space of the rack and deliver the cargo to the target cargo space by switching to the unloaded state.