WO2023245672A1

WO2023245672A1 - Shelf climbing robot and warehousing system

Info

Publication number: WO2023245672A1
Application number: PCT/CN2022/101313
Authority: WO
Inventors: 陈叶广; 徐圣东
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2022-06-24
Filing date: 2022-06-24
Publication date: 2023-12-28

Abstract

A shelf climbing robot and a warehousing system. The shelf climbing robot comprises: a chassis apparatus (100) and two climbing apparatuses (200). The climbing apparatuses are respectively arranged at the front side of the chassis apparatus and at the rear side of the chassis apparatus. The climbing apparatus comprises driving mechanisms (210) and two climbing mechanisms (220). The climbing mechanisms are symmetrically arranged in pairs. Each climbing mechanism comprises a support frame (221), a first climbing unit (222) and a second climbing unit (223). The support frame is fixedly connected to the chassis apparatus, the support frame extends vertically, and the first climbing unit and the second climbing unit are each arranged on the support frame. Two driving mechanisms jointly drive the first climbing unit and the second climbing unit to circularly ascend and descend relative to the chassis apparatus, so that a portion of the first climbing unit and a portion of the second climbing unit alternately rotate to the outer side of the chassis apparatus. The shelf climbing robot has high universality.

Description

Shelf climbing robot and storage system

Technical field

Embodiments of the present disclosure relate to intelligent warehousing technology, and in particular, to a shelf-climbing robot and a warehousing system.

Background technique

Intelligent warehousing is a link in the logistics process. The application of intelligent warehousing ensures the speed and accuracy of data input in all aspects of goods warehouse management, ensuring that enterprises can grasp the real inventory data in a timely and accurate manner, and reasonably maintain and control corporate inventory. Through scientific coding, the batches, shelf life, etc. of inventory goods can also be easily managed.

At present, intelligent warehousing systems set up multiple shelves for placing goods in the warehouse, and use shelf-climbing robots to move up and down along the shelves according to wireless instructions to place goods on the shelves or take them away from the shelves.

However, existing shelf-climbing robots need to move up and down along special tracks on the shelves, and the shelf-climbing robots have poor versatility.

Contents of the invention

Based on this, the present disclosure provides a shelf-climbing robot and a storage system. The shelf-climbing robot has high versatility.

In a first aspect, the present disclosure provides a shelf-climbing robot, which includes a chassis device and two climbing devices. The climbing devices are respectively provided on the front side of the chassis device and the rear side of the chassis device. The climbing device includes a driving mechanism and two climbing mechanisms. Each climbing mechanism is arranged symmetrically in pairs;

Each climbing mechanism includes a support frame, a first climbing unit and a second climbing unit. The support frame is fixedly connected to the chassis device, and the support frame extends in the vertical direction. The first climbing unit and the second climbing unit are both arranged on the support. on the shelf;

The two driving mechanisms jointly drive the first climbing unit and the second climbing unit to cyclically rise and fall relative to the chassis device, so that the first climbing unit part and the second climbing unit part alternately rotate to the outside of the chassis device.

In one possible implementation, in the shelf-climbing robot provided by the present disclosure, the climbing mechanism on the front side and the climbing mechanism on the rear side are arranged opposite each other;

It also includes two synchronization units. The synchronization unit is used to connect the front and rear opposite climbing mechanisms to synchronize the first climbing unit in the front and rear opposite climbing mechanisms to cycle up and down, and the front and rear opposite sides. The second climbing unit in the climbing mechanism synchronously cycles up and down.

In a possible implementation, in the shelf-climbing robot provided by the present disclosure, each driving mechanism includes a first driving member, a first transmission assembly and a second transmission assembly, and the first driving member is connected to any climbing mechanism in the same climbing device. The support frame in the center is fixed;

The first climbing unit is located inside the support frame, and the second climbing unit is located outside the support frame;

In a climbing device, the first driving member drives the first climbing units in the two opposite climbing mechanisms on the front and rear sides through the first transmission assembly and a synchronization unit to cycle up and down. The first driving member passes through the second transmission assembly and another synchronization unit. A synchronization unit jointly drives the second climbing unit of the remaining two climbing mechanisms to cycle up and down;

In another climbing device, the first driving member passes through the first transmission assembly and a synchronization unit to jointly drive the first climbing units in the other two opposite climbing mechanisms on the front and rear sides to cyclically rise and fall. The first driving member passes through the second transmission assembly. Together with another synchronization unit, the second climbing unit in the remaining two climbing mechanisms is driven to cyclically rise and fall, and the two first driving members jointly drive the first climbing unit and the second climbing unit to cyclically rise and fall relative to the chassis device.

In a possible implementation manner, in the shelf climbing robot provided by the present disclosure, one of the first transmission component and the second transmission component is a gear transmission component, and the other is a sprocket chain transmission component or a belt transmission component.

In a possible implementation manner, in the shelf climbing robot provided by the present disclosure, the synchronization unit includes a first transmission shaft and a second transmission shaft, and the first transmission shaft is sleeved on the second transmission shaft;

One of the first climbing unit and the second climbing unit in the two climbing mechanisms connected through the same synchronization unit is connected to the first transmission shaft, and the other of the first climbing unit and the second climbing unit is connected to the second transmission shaft. shaft connection;

One of the first transmission assembly and the second transmission assembly is connected to the first transmission shaft, the other is connected to the second transmission shaft, and the second transmission shaft and the first transmission shaft can rotate relative to each other.

In a possible implementation, in the shelf-climbing robot provided by the present disclosure, the first transmission component includes a box and at least two gears. The box is fixedly connected to the support frame. The number of gears is an even number, and each gear meshes with each other in sequence. The gear is located in the box and rotates relative to the box;

The first gear is sleeved on the output shaft of the first driving member, the first driving member drives the first gear to rotate, and the first driving member is fixedly connected to the box;

The last gear is sleeved on the first transmission shaft to drive the first transmission shaft to rotate.

In a possible implementation manner, in the shelf-climbing robot provided by the present disclosure, the second transmission assembly includes a driving wheel, a driving wheel and a first transmission part. The driving wheel is sleeved on the output shaft of the first driving part. The first driving part The piece drives the driving wheel to rotate;

The driving wheel is sleeved on the second transmission shaft, and the driving wheel drives the second transmission shaft to rotate through the first transmission part and the driving wheel.

In a possible implementation, in the shelf climbing robot provided by the present disclosure, the first climbing unit and/or the second climbing unit includes a third transmission component and a support arm, the third transmission component includes a second transmission member, and the support arm is configured On the second transmission part,

The third transmission component is connected to the synchronization unit to alternately rotate the support arms to the outside of the chassis device.

In a possible implementation manner, in the shelf climbing robot provided by the present disclosure, the support frame has at least one guide groove, the extension direction of the guide groove is consistent with the extension direction of the support frame, and the support arm includes a support arm body and at least two third A guide wheel, the support arm body is fixedly connected to the second transmission member, the first guide wheel is connected to the support arm body, and the first guide wheel can rotate relative to the support arm body, the first guide wheel is inserted in the guide groove, and Rollingly connected with the inner wall of the guide groove.

In a possible implementation, the shelf climbing robot provided by the present disclosure has two guide grooves. The two guide grooves are located on both sides of the support arm body, and the notches of the guide grooves face the support arm body. There is at least one first guide wheel in the groove.

In a possible implementation manner, in the shelf climbing robot provided by the present disclosure, the distance between the opposite inner walls of the guide groove is equal to the outer diameter of the first guide wheel.

In a possible implementation, in the shelf climbing robot provided by the present disclosure, the support arm further includes a second guide wheel, the second guide wheel is connected to the support arm body, and the second guide wheel rotates relative to the support arm body, and the first The axis of the guide wheel and the axis of the second guide wheel are both parallel to the axis of the first transmission shaft, and the support arm body part and the second guide wheel can alternately rotate to the outside of the chassis device.

In a possible implementation manner, in the shelf climbing robot provided by the present disclosure, the third transmission assembly further includes a first transmission wheel and a second transmission wheel, and the first transmission wheel and the second transmission wheel are connected through a second transmission member;

The first transmission wheel and the second transmission wheel are both connected to the support frame, and both the first transmission wheel and the second transmission wheel rotate relative to the support frame, and the second transmission wheel is located above the first transmission wheel;

The first transmission wheel in the first climbing unit is sleeved on the first transmission shaft and is fixedly connected to the first transmission shaft;

The first transmission wheel of the second climbing unit is sleeved on the second transmission shaft and is fixedly connected to the second transmission shaft.

In a possible implementation manner, in the shelf climbing robot provided by the present disclosure, the second transmission member is a transmission chain, and the first transmission wheel and the second transmission wheel are sprockets matching the transmission chain.

In a possible implementation, the shelf-climbing robot provided by the present disclosure also includes a handling device. The handling device is arranged between two adjacent climbing devices. The handling device partially moves toward the outside of the chassis device to pick up and place goods. The moving direction of the transport device is on one side of the direction from the front side to the rear side.

In a possible implementation manner, in the shelf-climbing robot provided by the present disclosure, the handling device includes a pallet, a second driving member and two telescopic arm units. The second driving member is connected to the pallet, and the two telescopic arm units are respectively located on the pallet. On the opposite sides, the second driving member is used to drive the telescopic arm unit to pick up and place goods between the shelves and pallets.

In a possible implementation manner, in the shelf-climbing robot provided by the present disclosure, the transportation device is one of a transmission belt transportation device, a roller transportation device, or a rotary transportation device.

In a possible implementation manner, in the shelf climbing robot provided by the present disclosure, the chassis device includes a fixed base plate, at least one driving wheel unit and at least one movable base plate;

The movable base plate is slidingly connected to the fixed base plate, so that the movable base plate slides relative to the fixed base plate, and the first climbing unit and the second climbing unit are both fixedly connected to the fixed base plate;

The driving wheel unit is arranged on the moving base plate, and the driving wheel unit is used to drive the fixed base plate to walk on the ground or between adjacent shelves through the moving base plate.

In a possible implementation, the shelf climbing robot provided by the present disclosure has two driving wheel units. The driving wheel units are respectively located on both sides of the fixed base plate in the walking direction. The driving wheel unit includes a first driving wheel and a second driving wheel. Driving wheel, the first driving wheel is sleeved on the second driving wheel, and the first driving wheel and the second driving wheel are coaxially fixed in one-to-one correspondence. The first driving wheel is used for walking on the ground, and the second driving wheel is used for walking on the ground. Walk between adjacent shelves.

In a possible implementation manner, the chassis device of the shelf climbing robot provided by the present disclosure also includes at least two shelf running wheels. The shelf running wheels are connected to the movable base plate, and the shelf running wheels rotate relative to the fixed base plate. The shelf running wheels and The second drive wheels are used to travel together between adjacent shelves.

In a possible implementation, in the shelf climbing robot provided by the present disclosure, the chassis device further includes a lateral guide wheel, the lateral guide wheel is connected to the moving base plate, and the lateral guide wheel rotates relative to the moving base plate, and the lateral guide wheel It is located below the shelf running wheels, and the axis of the lateral guide wheel is perpendicular to the axis of the shelf running wheel. The lateral guide wheel and the second driving wheel are respectively in contact with different walls of the shelf.

In a possible implementation manner, in the shelf climbing robot provided by the present disclosure, the chassis device further includes at least one first drive component, the first drive component is fixedly connected to the mobile base plate, and the first drive component is connected to the drive wheel unit to drive the The wheel unit rotates.

In a possible implementation manner, in the shelf climbing robot provided by the present disclosure, the chassis device further includes a second driving component, and the second driving component is fixedly connected to the fixed base plate;

The number of movable base plates is two, and both movable base plates are connected to the second driving assembly. The second driving assembly drives the two movable base plates to approach or move away from each other along both sides of the walking direction of the fixed base plate to adjust the two moving base plates. The spacing between base plates.

In a possible implementation manner, for the shelf climbing robot provided by the present disclosure, the chassis device further includes at least one guide assembly, the guide assembly extends along both sides of the fixed base plate in the walking direction, and the movable base plate is slidingly connected to the guide assembly.

In a possible implementation manner, in the shelf climbing robot provided by the present disclosure, the chassis device further includes at least one driven wheel unit, the driven wheel unit is connected to the fixed base plate, and the driven wheel unit is used to follow the driving wheel unit in walking on the ground.

In a possible implementation, the shelf-climbing robot provided by the present disclosure also includes a detection device, the detection device is connected to the fixed bottom plate, the edge of the detection device is adjacent to the edge of the fixed bottom plate, and the detection device faces the shelf, and the second drive When the wheel travels between adjacent shelves, the detection device is used to detect the positioning marks on the shelves.

In a second aspect, the present disclosure provides a warehousing system, including a plurality of shelves arranged at intervals and the shelf-climbing robot provided in the first aspect. The shelves have a plurality of support layers arranged at intervals along the vertical direction. The supports of adjacent shelves The shelves are arranged oppositely, and the first climbing unit part and the second climbing unit part of the shelf-climbing robot are respectively in contact with the edges of the support layers on the adjacent shelves to rise and fall between the support layers.

In a possible implementation manner, in the storage system provided by the present disclosure, the support layer includes a support layer body and a support member. The support member is located at the edge of the support layer body. The support members of adjacent shelves are arranged oppositely. The third shelf climbing robot One climbing unit part and a second climbing unit part respectively abut against the supports on adjacent shelves.

In the shelf-climbing robot and storage system provided by the present disclosure, the shelf-climbing robot is provided with a chassis device and two climbing devices. The climbing device includes a driving mechanism and two climbing mechanisms, wherein each climbing mechanism includes a support frame and a first climbing unit. and the second climbing unit. The two driving mechanisms jointly drive the first climbing unit and the second climbing unit to rise and fall cyclically relative to the chassis device, so that the first climbing unit part and the second climbing unit part alternately rotate to the outside of the chassis device. The same drive The two first climbing units and the two second climbing units driven by the mechanism and located outside the chassis device can be pressed on the support layer of the shelf at the same height. The four first climbing units driven by the two driving mechanisms and the four The second climbing unit is alternately pressed on the support layers of different heights to realize the lifting movement of the shelf climbing robot along the shelf. In this way, the shelf-climbing robot does not need to crawl along a special track, but can crawl along the support layer of the shelf. Therefore, the shelf-climbing robot is suitable for commonly used shelves, and the shelf-climbing robot has high versatility.

Description of the drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, a brief introduction will be made below to the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.

Figure 1 is a schematic structural diagram of a shelf-climbing robot provided by an embodiment of the present disclosure;

Figure 2 is an exploded view of the shelf-climbing robot provided by an embodiment of the present disclosure;

Figure 3 is a schematic structural diagram of the climbing device and synchronization unit in the shelf climbing robot provided by the embodiment of the present disclosure;

Figure 4 is a front view of a shelf-climbing robot provided by an embodiment of the present disclosure;

Figure 5 is a cross-sectional view along the A-A direction in Figure 4;

Figure 6 is a schematic structural diagram of a synchronization unit in a shelf-climbing robot provided by an embodiment of the present disclosure;

Figure 7 is a schematic structural diagram of the first transmission component in the shelf climbing robot provided by an embodiment of the present disclosure;

Figure 8 is a schematic structural diagram of the third transmission component in the shelf-climbing robot provided by an embodiment of the present disclosure;

Figure 9 is a schematic structural diagram of the climbing mechanism in the shelf-climbing robot provided by an embodiment of the present disclosure;

Figure 10 is a schematic structural diagram of a support arm in a shelf-climbing robot provided by an embodiment of the present disclosure;

Figure 11 is a top view of the support frame of the shelf-climbing robot provided by an embodiment of the present disclosure;

Figure 12 is a cross-sectional view along the B-B direction in Figure 9;

Figure 13 is a schematic structural diagram of a handling device in a shelf-climbing robot provided by an embodiment of the present disclosure;

Figure 14 is a schematic structural diagram of the chassis device in the shelf-climbing robot provided by an embodiment of the present disclosure;

Figure 15 is a top view of the chassis device in the shelf climbing robot provided by the embodiment of the present disclosure;

Figure 16 is a schematic structural diagram of a storage system in a shelf-climbing robot provided by an embodiment of the present disclosure.

Explanation of reference symbols:

100-chassis device; 110-fixed base plate; 120-driving wheel unit; 121-first driving wheel; 122-second driving wheel; 130-moving base plate; 140-shelf running wheel; 150-lateral guide wheel; 160- First driving assembly; 170-second driving assembly; 180-guide assembly; 190-driven wheel unit;

200-climbing device;

210-driving mechanism; 211-first driving part; 2111-output shaft; 212-first transmission component; 2121-box; 2122-gear; 213-second transmission component; 2131-driving wheel; 2132-driving wheel; 2133-first transmission part; 220-climbing mechanism; 221-support frame; 2211-guide groove; 222-first climbing unit; 223-second climbing unit; 224-third transmission component; 2241-second transmission part; 2242-first transmission wheel; 2243-second transmission wheel; 225-support arm; 2251-support arm body; 2252-first guide wheel; 2253-second guide wheel;

300-synchronization unit;

310-first drive shaft; 320-second drive shaft;

400-Handling device;

410-tray; 420-second driving member; 430-telescopic arm unit; 431-driving assembly; 432-first support arm; 433-moving arm; 434-rotating assembly; 440-connecting member;

500-detection device;

600-shelf;

610-support layer; 611-support layer body; 612-support member;

700-Shelf climbing robot.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present disclosure. In the drawings, the same or similar reference numbers throughout represent the same or similar components or components having the same or similar functions. The described embodiments are some, but not all, of the embodiments of the present disclosure. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present disclosure and are not to be construed as limitations of the present disclosure. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of this disclosure. The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

In the description of the present disclosure, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or an intermediate connection. The medium is indirectly connected, which can be the internal connection between two components or the interaction between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure can be understood according to specific circumstances.

In the description of the present disclosure, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", The orientation or positional relationship indicated by "outside" is based on the orientation or positional relationship of the drawings. It is only for the convenience of describing the present disclosure and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limitations of the present disclosure.

The terms "first", "second" and "third" (if present) in the description and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Sequence. It is to be understood that data so used are interchangeable under appropriate circumstances so that the embodiments of the disclosure described herein, for example, can be practiced in sequences other than those illustrated or described herein.

Furthermore, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or display that encompasses a series of steps or units need not be limited to those expressly listed Those steps or elements may instead include other steps or elements not expressly listed or inherent to the processes, methods, products or displays.

At present, intelligent warehousing systems set up multiple shelves for placing goods in the warehouse, and use shelf-climbing robots to move up and down along the shelves according to wireless instructions to place goods on the shelves or take them away from the shelves. However, existing shelf-climbing robots need to move up and down along special tracks on the shelves. If an ordinary warehouse needs to be equipped with a shelf-climbing robot, the shelves need to be modified and installed with special tracks. Therefore, the existing shelf-climbing robots have poor versatility.

In order to solve the above technical problems, the present disclosure provides a shelf-climbing robot and a storage system. The two driving mechanisms of the shelf-climbing robot jointly drive the first climbing unit and the second climbing unit to cyclically rise and fall relative to the chassis, so that the first climbing unit part and The second climbing unit alternately rotates to the outside of the chassis device. The first climbing unit or the second climbing unit located outside the chassis device can be pressed and installed on the support layer of the same height of the shelf. The first climbing unit and the second climbing unit are pressed alternately. The shelf-climbing robot can be installed on support layers of different heights to realize the lifting and lowering movement along the shelf. The shelf does not need to be equipped with special tracks, and the shelf-climbing robot has high versatility.

Figure 1 is a schematic structural diagram of a shelf-climbing robot provided by an embodiment of the present disclosure. Figure 2 is an exploded view of a shelf-climbing robot provided by an embodiment of the present disclosure. Figure 3 is a climbing device and synchronization unit in the shelf-climbing robot provided by an embodiment of the present disclosure. 4 is a schematic structural diagram of a shelf-climbing robot provided by an embodiment of the present disclosure.

Referring to Figures 1 to 4, the shelf climbing robot provided by the present disclosure includes a chassis device 100 and two climbing devices 200. The climbing devices 200 are respectively provided on the front side of the chassis device 100 and the rear side of the chassis device 100. The climbing devices 200 It includes a driving mechanism 210 and two climbing mechanisms 220, and each climbing mechanism 220 is arranged symmetrically in pairs.

Each climbing mechanism 220 includes a support frame 221, a first climbing unit 222 and a second climbing unit 223. The support frame 221 is fixedly connected to the chassis device 100 and extends in the vertical direction. The first climbing unit 222 and the second climbing unit 223 are fixedly connected to the chassis device 100. The two climbing units 223 are both arranged on the support frame 221 .

The two driving mechanisms 210 jointly drive the first climbing unit 222 and the second climbing unit 223 to rise and fall cyclically relative to the chassis device 100 so that the first climbing unit 222 and the second climbing unit 223 alternately rotate to the outside of the chassis device 100 .

It should be noted that the front side of the chassis device 100 and the rear side of the chassis device 100 refer to the front side and the rear side along the X-axis direction in FIG. 1 .

Among them, the chassis device 100 is used to carry two climbing devices 200 and drive the two climbing devices 200 to move as a whole.

When in use, the two driving mechanisms 210 of the shelf-climbing robot jointly drive the first climbing unit 222 and the second climbing unit 223 to rise and fall cyclically relative to the chassis, so that the first climbing unit 222 and the second climbing unit 223 alternately rotate to the chassis device. On the outside of 100, the two first climbing units 222 and the two second climbing units 223 driven by the same driving mechanism 210 and located on the outside of the chassis device 100 can be pressed and installed on the same support layer of the shelf. The two driving mechanisms 210 drive Four first climbing units 222 and four second climbing units 223 are alternately mounted on different support layers to realize the lifting and lowering movement of the shelf climbing robot along the shelf.

For example, when the shelf-climbing robot climbs upward, the two first climbing units 222 and the two second climbing units 223 of the same driving mechanism drive 210 are pressed against the top surface of the first support layer of the shelf and remain stationary. The shelf climbing robot moves upward with the support of two first climbing units 222 and two second climbing units 223 . The remaining first climbing unit 222 part and the second climbing unit 223 part rotate from the bottom to the inside of the chassis device 100 to the top, and then rotate to the outside of the chassis device 100 and abut against the top surface of the second support layer, and are pressed on The second support layer remains stationary, and the shelf-climbing robot continues to move upward under its support.

When the shelf-climbing robot climbs down, the two first climbing units 222 and the two second climbing units 223 driven by the same driving mechanism 210 are pressed against the top surface of the third support layer of the shelf and remain stationary. The shelf-climbing robot moves downwards with the support of two first climbing units 222 and two second climbing units 223 . The remaining first climbing unit 222 part and the second climbing unit 223 part rotate from the top to the inside of the chassis device to the bottom, and then rotate to the outside of the chassis device 100 and abut against the top surface of the second support layer, and are pressed on the third The second support layer remains motionless, and the shelf-climbing robot continues to move downward under its support.

The shelf climbing robot provided in this embodiment is provided with a chassis device 100 and two climbing devices 200. The climbing device 200 includes a driving mechanism 210 and two climbing mechanisms 220, wherein each climbing mechanism 220 includes a support frame 221, a first The climbing unit 222 and the second climbing unit 223, and the two driving mechanisms 210 jointly drive the first climbing unit 222 and the second climbing unit 223 to rise and fall cyclically relative to the chassis device 100, so that the first climbing unit 222 part and the second climbing unit 223 part Alternately rotate to the outside of the chassis device 100. The two first climbing units 222 and the two second climbing units 223 driven by the same driving mechanism 210 and located on the outside of the chassis device 100 can be pressed and installed on the support layer of the same height of the shelf. The four first climbing units 222 and the four second climbing units 223 driven by the two driving mechanisms 210 are alternately pressed on different support layers to realize the lifting movement of the shelf climbing robot along the shelf. The shelf-climbing robot does not need to crawl along a special track, but can crawl along the support layer of the shelf. Therefore, the shelf-climbing robot is suitable for commonly used shelves, and the shelf-climbing robot has high versatility.

Referring to FIG. 3 and FIG. 4 , the climbing mechanism 220 on the front side and the climbing mechanism 220 on the rear side are arranged opposite each other.

In order to improve the reliability of the shelf-climbing robot and reduce the control difficulty, the shelf-climbing robot also includes two synchronization units 300. The synchronization units 300 are used to connect the opposite climbing mechanisms 220 on the front side and the rear side, so that the front side and the rear side are opposite. The first climbing unit 222 in the climbing mechanism 220 moves up and down in a synchronous cycle, and the second climbing unit 223 in the climbing mechanism 220 opposite to the front and rear sides moves up and down in a synchronous cycle.

FIG. 5 is a cross-sectional view along the A-A direction in FIG. 4 . Referring to FIG. 5 , each driving mechanism 210 includes a first driving member 211 , a first transmission assembly 212 and a second transmission assembly 213 . The first driving member 211 is connected to the support frame of any climbing mechanism 220 in the same climbing device 200 . 221 fixed.

The first climbing unit 222 is located inside the support frame 221 , and the second climbing unit 223 is located outside the support frame 221 .

The first driving member 211 in a climbing device 200 drives the first climbing units 222 in two opposite climbing mechanisms 220 on the front and rear sides through the first transmission assembly 212 and a synchronization unit 300 to cycle up and down. The first driving member 211 The second transmission assembly 213 and another synchronization unit jointly drive the second climbing unit 223 in the remaining two climbing mechanisms 220 to cycle up and down.

The first driving member 211 in another climbing device 200 drives the first climbing units 222 in the other two climbing mechanisms 220 facing each other on the front and rear sides through the first transmission assembly 212 and a synchronization unit 300 to cycle up and down. The member 211 jointly drives the second climbing unit 223 in the remaining two climbing mechanisms 220 to cycle up and down through the second transmission assembly 213 and another synchronization unit. The two first driving members 211 jointly drive the first climbing unit 222 and the second climbing unit. 223 circulates up and down relative to the chassis device 100 .

It can be understood that one first driving member 211 simultaneously controls two first climbing units 222 and two second climbing units 223 through the first transmission assembly 212, the second transmission assembly 213 and the two synchronization units 300, and the two The first climbing unit 222 and the two second climbing units 223 are located in four different climbing mechanisms 220 . That is to say, the two first climbing units 222 and the two second climbing units 223 located outside the chassis device 100 are driven by one first driving member 211 at a time. The remaining two first climbing units 222 and the two second climbing units 223 are driven by another first driving member 211 . In this way, the reliability of the shelf-climbing robot can be improved and the control difficulty can be reduced.

In a possible implementation, for the shelf climbing robot provided by the present disclosure, one of the first transmission component 212 and the second transmission component 213 is a gear transmission component, and the other is a sprocket chain transmission component or a belt transmission component. .

Specifically, as shown in FIG. 5 , the first transmission component 212 is a gear transmission component, so that the steering of the transmission terminal can be controlled by adjusting the gear meshing quantity. That is, the transmission terminal and the first driving member 211 rotate in the same direction or in opposite directions. The second transmission component 213 is a sprocket chain transmission component. In this way, the structure is simple, the cost is low, and the transmission reliability is high.

Figure 6 is a schematic structural diagram of a synchronization unit in a shelf-climbing robot provided by an embodiment of the present disclosure. Referring to FIG. 6 , the synchronization unit 300 includes a first transmission shaft 310 and a second transmission shaft 320 . The first transmission shaft 310 is sleeved on the second transmission shaft 320 .

Among the two climbing mechanisms 220 connected through the same synchronization unit 300, one of the first climbing unit 222 and the second climbing unit 223 is connected to the first transmission shaft 310, and the first climbing unit 222 and the second climbing unit 223 The other one is connected with the second transmission shaft 320 .

Among them, one of the first transmission assembly 212 and the second transmission assembly 213 is connected to the first transmission shaft 310, and the other is connected to the second transmission shaft 320. The second transmission shaft 320 and the first transmission shaft 310 can be connected to each other. relative rotation.

For example, the first driving member 211 rotates, the first driving member 211 drives the second transmission shaft 320 to rotate through the second transmission assembly 213, and the second transmission shaft 320 drives the two second climbing units 223 to rotate. The first driving member 211 drives the first transmission shaft 310 to rotate through the first transmission assembly 212, and the rotation of the first transmission shaft 310 drives the two first climbing units 222 to rotate. In this way, one first driving member 211 can drive the two second climbing units 223 and the two first climbing units 222 to rotate, and the overall structure is compact.

Figure 7 is a schematic structural diagram of the first transmission component in the shelf climbing robot provided by an embodiment of the present disclosure. As shown in Figure 7, the first transmission assembly 212 includes a box 2121 and at least two gears 2122. The box 2121 is fixedly connected to the support frame 221. The number of gears 2122 is an even number. Each gear 2122 meshes with each other in turn. The gears 2122 are located in the box. inside the body 2121 and rotates relative to the box 2121.

Among them, the first gear 2122 is sleeved on the output shaft 2111 of the first driving member 211. The first driving member 211 drives the first gear 2122 to rotate, and the first driving member 211 is fixedly connected to the box 2121.

Among them, the last gear 2122 is sleeved on the first transmission shaft 310 to drive the first transmission shaft 310 to rotate.

It should be noted that the number of gears 2122 may be two, four or six. In specific implementation, the number of gears 2122 is four. Setting the number of gears 2122 to an even number can cause the first transmission shaft 310 and the second transmission shaft 320 driven by the same first driving member 211 to rotate in opposite directions, so that the first climbing unit 222 and the second transmission shaft 320 driven by the same first driving member 211 can rotate in opposite directions. The second climbing unit 223 turns in the opposite direction.

Referring to FIGS. 5 and 7 , the second transmission assembly 213 includes a driving wheel 2131 , a driving wheel 2132 and a first transmission member 2133 .

The driving wheel 2131 is sleeved on the output shaft 2111 of the first driving member 211, and the first driving member 211 drives the driving wheel 2131 to rotate. The driving wheel 2131 is sleeved on the second transmission shaft 320, and the driving wheel 2132 drives the second transmission shaft 320 to rotate through the first transmission member 2133 and the driving wheel 2131. This structure has high reliability and is easy to install.

It should be noted that the driving wheel 2131 and the second transmission shaft 320 are connected through chains and gears.

FIG. 8 is a schematic structural diagram of the third transmission component of the shelf-climbing robot provided by an embodiment of the present disclosure. FIG. 9 is a schematic structural diagram of the climbing mechanism of the shelf-climbing robot provided by an embodiment of the present disclosure.

Referring to Figures 8 and 9, the first climbing unit 222 and/or the second climbing unit 223 includes a third transmission assembly 224 and a support arm 225. The third transmission assembly 224 includes a second transmission member 2241, and the support arm 225 is provided on on the second transmission member 2241. The third transmission assembly 224 is connected to the synchronization unit 300 so that the support arms 225 alternately rotate to the outside of the chassis device 100 .

Specifically, both the first climbing unit 222 and the second climbing unit 223 include a third transmission assembly 224 and a support arm 225 .

The support arm 225 is used to contact the top surface of the support layer of the shelf to support the shelf climbing robot.

FIG. 10 is a schematic structural diagram of a support arm in a shelf-climbing robot provided by an embodiment of the present disclosure. FIG. 11 is a top view of a support frame in a shelf-climbing robot provided by an embodiment of the present disclosure. FIG. 12 is a cross-sectional view along the B-B direction in FIG. 9 .

Referring to Figures 10 to 12, the support frame 221 has at least one guide groove 2211. The extension direction of the guide groove 2211 is consistent with the extension direction of the support frame 221. The support arm 225 includes a support arm body 2251 and at least two first guide wheels. 2252, the support arm body 2251 is fixedly connected to the second transmission member 2241, the first guide wheel 2252 is connected to the support arm body 2251, and the first guide wheel 2252 can rotate relative to the support arm body 2251, and the first guide wheel 2252 is inserted in In the guide groove 2211, and rollingly connected with the inner wall of the guide groove 2211.

Among them, the first guide wheel 2252 is rollingly connected with the inner wall of the guide groove 2211, thereby transmitting the pressure borne by the support arm 225 to the support frame 221. At the same time, the first guide wheel 2252 cooperates with the guide groove 2211 to play a guiding role, so that The support arm 225 moves smoothly relative to the support frame 221 .

In specific implementation, the number of first guide wheels 2252 is four.

In one possible implementation, the number of guide grooves 2211 is two. The two guide grooves 2211 are located on both sides of the support arm body 2251, and the notch of the guide groove 2211 faces the support arm body 2251. There is at least one first guide wheel 2252. In this way, two guide grooves 2211 are used to respectively place the first climbing unit 222 and the second climbing unit 223, which can effectively avoid interference between the first climbing unit 222 and the second climbing unit 223.

In some embodiments, in the shelf-climbing robot provided by the present disclosure, the guide groove 2211 has a quasi-rectangular cross-section, and the distance between the opposite inner walls of the guide groove 2211 is equal to the outer diameter of the first guide wheel 2252.

Among them, the cross section of the guide groove 2211 is set to be approximately rectangular, and the pressure borne by the support arm 225 is transmitted to different side walls of the support frame 221 through the first guide wheel 2252, which can improve the load-bearing capacity of the support frame 221 and improve the first climbing unit 222 and the overall reliability of the second climbing unit 223.

In this embodiment, the support arm 225 also includes a second guide wheel 2253. The second guide wheel 2253 is connected to the support arm body 2251, and the second guide wheel 2253 rotates relative to the support arm body 2251. The axis of the first guide wheel 2252 The axes of the support arm body 2251 and the second guide wheel 2253 are both parallel to the axis of the first transmission shaft 310 . The support arm body 2251 part and the second guide wheel 2253 can alternately rotate to the outside of the chassis device 100 .

Wherein, when the support arm body 2251 part and the second guide wheel 2253 are located outside the chassis device 100, the length of the part of the support arm body 2251 that contacts the support layer of the shelf in the vertical direction is smaller than the diameter of the second guide wheel 2253, and the support The center line of the arm body 2251 and the axis of the second guide wheel 2253 are located in the same horizontal plane.

The second guide wheel 2253 is used to ensure the position accuracy of the shelf-climbing robot in the left and right directions (the direction of the Y-axis in Figure 1) during the lifting process of the shelf-climbing robot.

When the shelf-climbing robot is positioned to the left or right, one of the support arm bodies 2251 on the left and right sides is close to the shelf, causing the second guide wheel 2253 on this side to be in contact with the edge of the support layer of the shelf. There is a distance between the support arm body 2251 and the support layer of the shelf. At this time, the second guide wheel 2253 will rotate, driving the shelf climbing robot to move in a direction away from the shelf that is in contact with the second guide wheel 2253, thereby causing The shelf-climbing robot is centered.

It should be noted that the edges of the support layer of the shelf are rounded or right-angled. In specific implementation, the edges of the support layer of the shelf are rounded.

Referring to FIG. 8 , the third transmission assembly 224 also includes a first transmission wheel 2242 and a second transmission wheel 2243 . The first transmission wheel 2242 and the second transmission wheel 2243 are connected through a second transmission member 2241 .

Among them, the first transmission wheel 2242 and the second transmission wheel 2243 are both connected to the support frame 221, and both the first transmission wheel 2242 and the second transmission wheel 2243 rotate relative to the support frame 221, and the second transmission wheel 2243 is located on the first transmission wheel. above 2242.

Among them, the first transmission wheel 2242 in the first climbing unit 222 is sleeved on the first transmission shaft 310 and is fixedly connected to the first transmission shaft 310 . The first transmission wheel 2242 of the second climbing unit 223 is sleeved on the second transmission shaft 320 and is fixedly connected to the second transmission shaft 320 . In this way, the third transmission component 224 has a simple overall structure and is easy to install.

As shown in FIG. 8 , the second transmission member 2241 is a transmission chain, and the first transmission wheel 2242 and the second transmission wheel 2243 are sprockets matching the transmission chain. In this way, the transmission reliability is high.

Referring to Figures 1, 2 and 4, the shelf-climbing robot also includes a carrying device 400. The carrying device 400 is disposed between two adjacent climbing devices 200. The carrying device 400 partially moves toward the outside of the chassis device 100 to retrieve the goods. When placing goods, the moving direction of the transport device 400 is located on one side of the direction from the front side to the rear side.

It can be understood that the goods placed on the shelves can be picked up and placed through the handling device 400, or the goods can be transferred to other equipment and workstations.

FIG. 13 is a schematic structural diagram of a handling device in a shelf-climbing robot provided by an embodiment of the present disclosure. As shown in FIG. 13 , the handling device 400 includes a pallet 410 , a second driving member 420 and two telescopic arm units 430 . The second driving member 420 is connected to the pallet 410 . The two telescopic arm units 430 are respectively located on opposite sides of the pallet 410 . On the other hand, the second driving member 420 is used to drive the telescopic arm unit 430 to pick up and place goods between the shelf and the pallet 410 .

Specifically, the telescopic arm unit 430 includes a driving assembly 431, a first supporting arm 432 and at least one moving arm 433. The tray 410, the driving assembly 431 and the first supporting arm 432 are connected to the supporting frame 221. The moving arm 433 is connected to the supporting frame 221 through the driving assembly 431. The first support arm 432 is connected, the driving component 431 drives the moving arm 433 to telescope relative to the tray 410 in turn, the second driving component 420 drives the two driving components 431 to rotate synchronously, and each moving arm 433 is located between the two first supporting arms 432 . The driving component is a sprocket chain drive component or a belt drive component.

In some embodiments, the handling device 400 also includes a connecting piece 440. The moving arm 433 has an opposite moving end and a connecting end. The moving end moves outside the chassis device 100. The two innermost moving arms 433 are connected through the connecting piece 440. Connector 440 is adjacent to the connecting end.

The telescopic arm unit 430 also includes a rotating component 434, which is connected to the moving end. The rotating component 434 rotates relative to the moving arm 433, so that there is an included angle between the rotating component 434 and the moving arm 433.

In some embodiments, the handling device 400 is one of a belt conveyor, a roller conveyor, or a rotary conveyor.

FIG. 14 is a schematic structural diagram of the chassis device of the shelf-climbing robot provided by an embodiment of the present disclosure. FIG. 15 is a top view of the chassis device of the shelf-climbing robot provided by an embodiment of the present disclosure.

Referring to FIGS. 14 and 15 , the chassis device 100 includes a fixed base plate 110 , at least one driving wheel unit 120 and at least one movable base plate 130 .

The movable base plate 130 is slidably connected to the fixed base plate 110 so that the movable base plate 130 slides relative to the fixed base plate 110 . The first climbing unit 222 and the second climbing unit 223 are both fixedly connected to the fixed base plate 110 .

The driving wheel unit 120 is disposed on the moving base plate 130 and is used to drive the fixed base plate 110 to walk on the ground or between adjacent shelves through the moving base plate 130 .

The moving base plate 130 can drive the driving wheel unit 120 to move inward of the chassis device 100, thereby reducing the width of the shelf climbing robot.

When the shelf-climbing robot walks on the ground, the moving base plate 130 drives the driving wheel unit 120 to move toward the inside of the chassis device 100, so that the shelf-climbing robot can walk between the shelves. When the shelf-climbing robot is lifting, the moving base plate 130 drives the driving wheel unit 120 to move toward the inside of the chassis device 100, thereby preventing the driving wheel unit 120 from interfering with the shelf. When the shelf climbing robot needs to walk on the shelf, the mobile base plate 130 drives the driving wheel unit 120 to move to the outside of the chassis device 100, so that the driving wheel unit 120 can be placed on the shelves on both sides.

In one possible implementation, the number of driving wheel units 120 is two. The driving wheel units 120 are respectively located on both sides of the moving direction of the fixed base plate 110 . The driving wheel units 120 include a first driving wheel 121 and a second driving wheel 122 , the first driving wheel 121 is sleeved on the second driving wheel 122, and the first driving wheel 121 and the second driving wheel 122 are coaxially fixed in a one-to-one correspondence. The first driving wheel 121 is used for walking on the ground, and the second driving wheel 121 is used for walking on the ground. 122 for walking between adjacent shelves.

The first driving wheel 121 is sleeved on the second driving wheel 122, and the first driving wheel 121 and the second driving wheel 122 are coaxially fixed in a one-to-one correspondence. In this way, the first driving wheel 121 and the second driving wheel 122 can pass through a Motor driven, simplified structure, easy to control.

In this embodiment, the chassis device 100 further includes at least two shelf running wheels 140. The shelf running wheels 140 are connected to the movable base plate 130 and rotate relative to the fixed base plate 110. The shelf running wheels 140 and the second driving wheel 122 for walking together between adjacent shelves.

By providing the shelf walking wheels 140 and the second driving wheels 122 driving the shelf walking wheels 140 to walk on the shelf, the walking stability of the shelf climbing robot can be improved.

In specific implementation, the number of shelf traveling wheels 140 is four.

In a possible implementation, the chassis device 100 further includes a lateral guide wheel 150 , the lateral guide wheel 150 is connected to the moving base plate 130 , and the lateral guide wheel 150 rotates relative to the moving base plate 130 , and the lateral guide wheel 150 is located on Below the shelf running wheel 140, and the axis of the lateral guide wheel 150 is perpendicular to the axis of the shelf running wheel 140, the lateral guide wheel 150 and the second driving wheel 122 are respectively in contact with different walls of the shelf.

It can be understood that the guide wheels 150 can play a guiding role to ensure that when the shelf-climbing robot walks on the shelf, the walking route is a straight line to prevent the shelf-climbing robot from falling from the shelf.

In this embodiment, the chassis device 100 further includes at least one first driving component 160 . The first driving component 160 moves the bottom plate 130 and is fixed. The first driving component 160 is connected with the driving wheel unit 120 to drive the driving wheel unit 120 to rotate.

In specific implementation, the number of first driving components 160 is two.

The moving base plate 130 can drive the driving wheel unit 120 and the first driving assembly 160 to move relative to the chassis device 100, thereby ensuring that the first driving assembly 160 can drive the driving wheel unit 120 to rotate when the moving base plate 130 is in different positions.

In some embodiments, the chassis device 100 further includes a second driving assembly 170, and the second driving assembly 170 is fixedly connected to the fixed bottom plate 110.

The number of the moving base plates 130 is two, and the two moving base plates 130 are connected to the second driving assembly 170 . The second driving assembly 170 drives the two moving base plates 130 to approach each other along the two sides of the walking direction of the fixed base plate 110 or away from each other to adjust the distance between the two moving base plates 130 .

It can be understood that two movable bottom plates 130 are provided, and the two movable bottom plates 130 are close to or away from each other along the walking direction of the fixed bottom plate 110. In this way, the adjustment range of the distance between the two movable bottom plates 130 is larger. The second driving assembly 170 can realize automatic adjustment of the distance between the two moving base plates 130 .

In a possible implementation, the chassis device 100 further includes at least one guide assembly 180 that extends along both sides of the fixed base plate 110 in the traveling direction, and the movable base plate 130 is slidably connected to the guide assembly 180 . By providing the guide assembly 180, the moving direction of the moving bottom plate 130 can be restricted.

In specific implementation, the number of guide components 180 is two.

In this embodiment, the chassis device 100 further includes at least one driven wheel unit 190. The driven wheel unit 190 is connected to the fixed base plate 110. The driven wheel unit 190 is used to follow the driving wheel unit 120 in walking on the ground. By providing the driving wheel unit 190, the stability of the shelf climbing robot when walking on the ground can be improved.

In specific implementation, the number of driven wheel units 190 is four.

In some embodiments, the shelf climbing robot further includes a detection device 500 , the detection device 500 is connected to the fixed bottom plate 110 , the edge of the detection device 500 is adjacent to the edge of the fixed bottom plate 110 , and the detection device 500 faces the shelf, and the second driving wheel 122 When walking between adjacent shelves, the detection device 500 is used to detect positioning marks on the shelves.

Among them, the positioning mark on the shelf is used to mark the position of the goods on the shelf. When the detection device 500 detects the positioning mark on the shelf, the transporting device 400 of the shelf climbing robot corresponds to the position of the goods on the shelf, thereby ensuring that the transporting device 400 Goods can be picked up and placed smoothly.

In specific implementation, the positioning mark may be a positioning hole opened on the shelf.

Figure 16 is a schematic structural diagram of a storage system in a shelf-climbing robot provided by an embodiment of the present disclosure. Referring to FIG. 16 , the storage system provided by the present disclosure includes a plurality of shelves 600 arranged at intervals and at least one shelf-climbing robot 700 provided in the above embodiment.

The structure and principle of the shelf-climbing robot 700 are described in detail in the above-mentioned embodiments, and will not be described again in this embodiment.

The shelf 600 has a plurality of support layers 610 spaced apart along the vertical direction. The support layers 610 of adjacent shelves 600 are arranged oppositely. The first climbing unit 222 part and the second climbing unit 223 part of the shelf climbing robot 700 are respectively connected with each other. The edges of the support layers 610 on adjacent shelves 600 are in contact with each other to move up and down between the support layers 610 .

It is understandable that when the warehouse system uses the shelf climbing robot 700, there is no need to modify the shelf 600, which can reduce costs.

In a possible implementation, the support layer 610 includes a support layer body 611 and a support member 612. The support member 612 is located at the edge of the support layer body 611. The support members 612 of adjacent shelves 600 are arranged oppositely. The support members 612 of the shelf climbing robot 700 The first climbing unit 222 part and the second climbing unit 223 part are respectively in contact with the support member 612 on the adjacent shelf 600.

By providing the support 612, the first climbing unit 222 and the second climbing unit 223 of the shelf climbing robot 700 are respectively in contact with the support 612 on the adjacent shelf 600. The support 612 is easy to disassemble and assemble, and is convenient for the storage system. post-maintenance.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure, but not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present disclosure. scope.

Claims

A shelf-climbing robot is characterized in that it includes a chassis device and two climbing devices. The climbing devices are respectively arranged on the front side of the chassis device and the rear side of the chassis device. The climbing device includes a driving mechanism and Two climbing mechanisms, each of which is arranged symmetrically in pairs;

Each climbing mechanism includes a support frame, a first climbing unit and a second climbing unit. The support frame is fixedly connected to the chassis device and extends in a vertical direction. The first climbing unit and the second climbing unit are both arranged on the support frame;

The two driving mechanisms jointly drive the first climbing unit and the second climbing unit to cyclically rise and fall relative to the chassis device, so that the first climbing unit part and the second climbing unit part alternately rotate to The outside of the chassis device.
The shelf climbing robot according to claim 1, characterized in that the climbing mechanism on the front side and the climbing mechanism on the rear side are arranged opposite each other;

It also includes two synchronization units, the synchronization units are used to connect the climbing mechanisms opposite to the front side and the rear side, so that all the climbing mechanisms in the climbing mechanisms opposite to the front side and the rear side are The first climbing unit rises and falls in a synchronous cycle, and the second climbing unit in the climbing mechanism with the front side and the rear side opposite to each other rises and falls in a synchronous cycle.
The shelf climbing robot according to claim 2, characterized in that each of the driving mechanisms includes a first driving member, a first transmission assembly and a second transmission assembly, and the first driving member is connected to the same climbing device. The support frame in any of the climbing mechanisms is fixed;

The first climbing unit is located inside the support frame, and the second climbing unit is located outside the support frame;

In the climbing device, the first driving member jointly drives the first of the two climbing mechanisms on the front side and the rear side through the first transmission assembly and a synchronization unit. The climbing unit moves up and down cyclically, and the first driving member jointly drives the second climbing unit in the remaining two climbing mechanisms through the second transmission assembly and the other synchronization unit to move up and down cyclically;

In another climbing device, the first driving member jointly drives the other two climbing mechanisms on the front side and the rear side through the first transmission assembly and a synchronization unit. The first climbing unit moves up and down cyclically, and the first driving member drives the second climbing unit in the remaining two climbing mechanisms to move up and down cyclically through the second transmission assembly and the other synchronization unit. The first driving member jointly drives the first climbing unit and the second climbing unit to cyclically rise and fall relative to the chassis device.
The shelf climbing robot according to claim 3, wherein one of the first transmission assembly and the second transmission assembly is a gear transmission assembly, and the other is a sprocket chain transmission assembly or a belt transmission assembly. .
The shelf climbing robot according to claim 3, wherein the synchronization unit includes a first transmission shaft and a second transmission shaft, and the first transmission shaft is sleeved on the second transmission shaft;

One of the first climbing unit and the second climbing unit in the two climbing mechanisms connected through the same synchronization unit is connected to the first transmission shaft, and the first climbing unit and the second climbing unit are connected to the first transmission shaft. The other of the two climbing units is connected to the second transmission shaft;

One of the first transmission assembly and the second transmission assembly is connected to the first transmission shaft, the other is connected to the second transmission shaft, and the second transmission shaft is connected to the first transmission shaft. The shafts can rotate relative to each other.
The shelf climbing robot according to claim 5, wherein the first transmission component includes a box and at least two gears, the box is fixedly connected to the support frame, and the number of gears is an even number, Each of the gears meshes with each other in turn, the gears are located in the box and rotate relative to the box;

The first gear is sleeved on the output shaft of the first driving member. The first driving member drives the first gear to rotate. The first driving member is fixedly connected to the box. ;

The last gear is sleeved on the first transmission shaft to drive the first transmission shaft to rotate.
The shelf climbing robot according to claim 5, characterized in that the second transmission assembly includes a driving wheel, a driving wheel and a first transmission part, and the driving wheel is sleeved on the output shaft of the first driving part. , the first driving member drives the driving wheel to rotate;

The driving wheel is sleeved on the second transmission shaft, and the driving wheel drives the second transmission shaft to rotate through the first transmission part and the driving wheel.
The shelf climbing robot according to claim 6, wherein the first climbing unit and/or the second climbing unit includes a third transmission component and a support arm, and the third transmission component includes a second transmission member , the support arm is provided on the second transmission member,

The third transmission component is connected to the synchronization unit so that the support arm alternately rotates to the outside of the chassis device.
The shelf climbing robot according to claim 8, wherein the support frame has at least one guide groove, the extension direction of the guide groove is consistent with the extension direction of the support frame, and the support arm includes a support arm. The main body and at least two first guide wheels, the support arm body is fixedly connected to the second transmission member, the first guide wheel is connected to the support arm body, and the first guide wheel can be relative to the The support arm body rotates, and the first guide wheel is inserted into the guide groove and is rollingly connected with the inner wall of the guide groove.
The shelf climbing robot according to claim 9, characterized in that the number of the guide grooves is two, the two guide grooves are located on both sides of the support arm body, and the notches of the guide grooves are Toward the support arm body, there is at least one first guide wheel in the guide groove.
The shelf climbing robot according to claim 10, wherein the distance between the opposite inner walls of the guide groove is equal to the outer diameter of the first guide wheel.
The shelf climbing robot according to claim 9, wherein the support arm further includes a second guide wheel, the second guide wheel is connected to the support arm body, and the second guide wheel is relative to the support arm body. The support arm body rotates, the axis of the first guide wheel and the axis of the second guide wheel are parallel to the axis of the first transmission shaft, and the support arm body part and the second guide wheel can alternate Rotate to the outside of the chassis unit.
The shelf climbing robot according to claim 8, wherein the third transmission assembly further includes a first transmission wheel and a second transmission wheel, and the first transmission wheel and the second transmission wheel pass through the third transmission wheel. The connection of the two transmission parts;

The first transmission wheel and the second transmission wheel are both connected to the support frame, and both the first transmission wheel and the second transmission wheel rotate relative to the support frame, and the second transmission wheel Located above the first transmission wheel;

The first transmission wheel in the first climbing unit is sleeved on the first transmission shaft and is fixedly connected to the first transmission shaft;

The first transmission wheel of the second climbing unit is sleeved on the second transmission shaft and is fixedly connected to the second transmission shaft.
The shelf climbing robot according to claim 13, wherein the second transmission member is a transmission chain, and the first transmission wheel and the second transmission wheel are sprockets matching the transmission chain.
The shelf-climbing robot according to any one of claims 1 to 14, further comprising a carrying device, the carrying device is arranged between two adjacent climbing devices, and the portion of the carrying device faces the chassis The outside of the device moves to pick up and place goods, and the moving direction of the transport device is on one side of the direction from the front side to the rear side.
The shelf-climbing robot according to claim 15, wherein the handling device includes a pallet, a second driving member and two telescopic arm units, the second driving member is connected to the pallet, and the two telescopic arm units The arm units are respectively located on opposite sides of the pallet, and the second driving member is used to drive the telescopic arm unit to pick up and place goods between the shelf and the pallet.
The shelf-climbing robot according to claim 15, wherein the transportation device is one of a transmission belt transportation device, a roller transportation device, or a rotary transportation device.
The shelf climbing robot according to any one of claims 1 to 14, wherein the chassis device includes a fixed base plate, at least one driving wheel unit and at least one moving base plate;

The moving base plate is slidingly connected to the fixed base plate, so that the moving base plate slides relative to the fixed base plate, and the first climbing unit and the second climbing unit are both fixedly connected to the fixed base plate;

The driving wheel unit is arranged on the moving base plate, and the driving wheel unit is used to drive the fixed base plate to walk on the ground or between adjacent shelves through the moving base plate.
The shelf climbing robot according to claim 18, characterized in that the number of the driving wheel units is two, the driving wheel units are respectively located on both sides of the fixed base plate in the traveling direction, and the driving wheel units include a third A driving wheel and a second driving wheel, the first driving wheel is sleeved on the second driving wheel, and the first driving wheel and the second driving wheel are coaxially fixed in a one-to-one correspondence. One driving wheel is used for walking on the ground, and the second driving wheel is used for walking between adjacent shelves.
The shelf climbing robot according to claim 19, wherein the chassis device further includes at least two shelf running wheels, the shelf running wheels are connected to the moving base plate, and the shelf running wheels are relative to the The fixed base plate rotates, and the shelf running wheels and the second driving wheels are used to jointly walk between adjacent shelves.
The shelf climbing robot according to claim 20, wherein the chassis device further includes a lateral guide wheel, the lateral guide wheel is connected to the moving base plate, and the lateral guide wheel is relative to the The mobile base plate rotates, the lateral guide wheel is located below the shelf running wheel, and the axis of the lateral guide wheel is perpendicular to the axis of the shelf running wheel, and the lateral guide wheel is connected to the second drive wheel. The wheels are respectively in contact with different wall surfaces of the shelf.
The shelf climbing robot according to claim 21, wherein the chassis device further includes at least one first drive component, the first drive component is fixedly connected to the moving base plate, and the first drive component is connected to the drive wheel. The unit is connected to drive the driving wheel unit to rotate.
The shelf climbing robot according to claim 22, wherein the chassis device further includes a second driving component, and the second driving component is fixedly connected to the fixed base plate;

The number of the moving base plates is two, and the two moving base plates are connected to the second driving assembly. The second driving assembly drives the two moving base plates along the walking direction of the fixed base plate. The sides move closer to each other or farther away from each other to adjust the spacing between the two moving base plates.
The shelf climbing robot according to claim 23, wherein the chassis device further includes at least one guide assembly extending along both sides of the fixed base plate in the walking direction, and the moving base plate is connected to the moving base plate. The guide components are slidingly connected.
The shelf climbing robot according to claim 18, characterized in that the chassis device further includes at least one driven wheel unit, the driven wheel unit is connected to the fixed base plate, and the driven wheel unit is used to follow the driving wheel unit. The wheel unit walks on the ground.
The shelf climbing robot according to claim 19, further comprising a detection device, the detection device is connected to the fixed bottom plate, the edge of the detection device is adjacent to the edge of the fixed bottom plate, and the detection device Facing the shelf, when the second driving wheel walks between adjacent shelves, the detection device is used to detect the positioning mark on the shelf.
A storage system, characterized by comprising a plurality of shelves arranged at intervals and at least one shelf-climbing robot according to any one of claims 1 to 26, the shelves having a plurality of support layers arranged at intervals along the vertical direction, The support layers of adjacent shelves are arranged oppositely, and the first climbing unit part and the second climbing unit part of the shelf climbing robot are respectively in contact with the edges of the support layers on the adjacent shelves, to move up and down between the support layers.
The storage system according to claim 27, characterized in that the support layer includes a support layer body and a support member, the support member is located at an edge of the support layer body, and the support members of the adjacent shelves Arranged oppositely, the first climbing unit part and the second climbing unit part of the shelf climbing robot are respectively in contact with the support member on the adjacent shelf.