Transport robot, rack and warehousing system

Patent metadata

Field	Value
Publication number	US-12497239-B2
Application number	US-202519070444-A
Country	US
Kind code	B2
Filing date	Mar 4, 2025
Priority date	May 30, 2023
Publication date	Dec 16, 2025
Grant date	Dec 16, 2025

Abstract

A transport robot may include a body, a lifting assembly arranged on the body, and a first climbing assembly arranged on the lifting assembly and located on only one side of the body in a horizontal direction. The lifting assembly is configured to drive the first climbing assembly to ascend or descend. The first climbing assembly is configured to be docked with a second climbing assembly of a rack after being driven to ascend, and to climb along the second climbing assembly in a vertical direction.

First claim

The invention claimed is:

1 . A transport robot, comprising:
a body; a lifting assembly arranged on the body; a first climbing assembly arranged on the lifting assembly and located on only one side of the body in a horizontal direction; wherein the lifting assembly is configured to drive the first climbing assembly to ascend or descend relative to the body; wherein the first climbing assembly is configured to be docked with a second climbing assembly of a rack after being driven to ascend relative to the body, and to climb along the second climbing assembly in a vertical direction.

2 . The transport robot according to claim 1 , wherein the first climbing assembly comprises a first driver, a transmission mechanism, and a first engaging mechanism;
wherein two ends of the transmission mechanism are respectively in transmission connection with the first driver and the first engaging mechanism; wherein the first driver is configured to control, through the transmission mechanism, the first engaging mechanism to move; and wherein the first engaging mechanism is configured to be engaged with the second climbing assembly.

3 . The transport robot according to claim 2 , wherein the first climbing assembly further comprises a support arm, and the support arm comprises a first end and a second end opposite to the first end;
wherein the first end is connected to the body, the second end is higher than the body; and wherein the first engaging mechanism is rotatably arranged on the support arm, at least a part of the first engaging mechanism is located at the second end.

4 . The transport robot according to claim 3 , wherein the first climbing assembly further comprises at least one of:
a first roller arranged on the support arm, the first roller being configured to be in rolling contact with a first surface of the second climbing assembly that faces the body, when the transport robot climbs along the second climbing assembly; and a second roller arranged on the support arm, the second roller being configured to be in rolling contact with a second surface of the second climbing assembly that faces away from the body, when the first climbing assembly climbs along the second climbing assembly.

5 . The transport robot according to claim 2 , wherein the first engaging mechanism comprises a synchronous belt and a plurality of protrusions arranged on the synchronous belt, and the plurality of protrusions are configured to be engaged with the second climbing assembly.

6 . The transport robot according to claim 2 , wherein the first engaging mechanism comprises a chain wheel, and the chain wheel is configured to be engaged with the second climbing assembly.

7 . The transport robot according to claim 6 , wherein the transmission mechanism comprises:
a first driven wheel coaxially connected to a driving shaft of the first driver; a second driven wheel coaxially connected to the chain wheel; and a transmission belt; wherein the first driven wheel and the second driven wheel are in transmission connection through the transmission belt.

8 . The transport robot according to claim 1 , wherein the body comprises:
a chassis assembly comprising a walking wheel assembly and a wheel driver connected to the walking wheel assembly, the wheel driver being configured to control the walking wheel assembly to go straight or steer, to drive the chassis assembly to move straight or rotate; a turntable rotatably connected to the chassis assembly, wherein the lifting assembly is arranged on the turntable; and a turntable driver connected to the turntable, and configured to control the turntable to rotate relative to the chassis assembly.

9 . The transport robot according to claim 8 , wherein a projection of the chassis assembly in a horizontal plane is substantially circular.

10 . The transport robot according to claim 1 , wherein the lifting assembly comprises a scissor-cross rod structure and a rod driver, and the rod driver is connected to the scissor-cross rod structure and is configured to drive the scissor-cross rod structure to ascend or descend.

11 . The transport robot according to claim 10 , wherein the transport robot further comprises a fork assembly arranged on the lifting assembly, the fork assembly is configured to retrieve or place a material;
wherein the first climbing assembly is connected to the fork assembly; wherein the scissor-cross rod structure comprises a driving rod, a first connecting rod, and a second connecting rod; wherein an end of the first connecting rod is rotatably connected to the fork assembly, and the other end of the first connecting rod is slidably connected to the body; wherein an end of the second connecting rod is slidably connected to the fork assembly, the other end of the second connecting rod is rotatably connected to the body, and a middle portion of the second connecting rod is rotatably connected to a middle portion of the first connecting rod; wherein an end of the driving rod is slidably connected to the body, and the other end of the driving rod is rotatably connected to middle portions of the first connecting rod and the second connecting rod; and wherein the rod driver is connected to the driving rod, and is configured to control the end of the driving rod that is connected to the body to slide in a direction perpendicular to a lifting direction of the lifting assembly.

12 . A rack, comprising:
a storage body; a plurality of support columns arranged at a bottom of the storage body, and configured to support the storage body; and a plurality of second climbing assemblies arranged on the storage body, each second climbing assembly extending along a vertical direction and being configured to fit with a transport robot; wherein a distance between adjacent second climbing assemblies is less than a width of the transport robot to allow the transport robot to fit with the adjacent second climbing assemblies, such that the transport robot is capable of climbing along the adjacent second climbing assemblies; wherein a distance between adjacent support columns is greater than the width of the transport robot to allow the transport robot to pass between the adjacent support columns; wherein a height of a bottom end of the second climbing assembly is greater than a height of the transport robot, so as to allow the transport robot to move under the bottom end of the second climbing assembly.

13 . The rack according to claim 12 , wherein the storage body comprises a plurality of longitudinal beams, each second climbing assembly comprises a mounting base and a second engaging mechanism;
wherein the mounting base is connected to a longitudinal beam, the mounting base defines a groove; and wherein the second engaging mechanism is arranged in the groove and is configured to be engaged with the transport robot.

14 . The rack according to claim 13 , wherein a side wall of the groove has a first surface facing away the storage body, and the first surface is configured to come into contact with the transport robot when the transport robot climbs along the second climbing assembly.

15 . The rack according to claim 13 , wherein an outer side of a side wall of the groove is provide with a guide rib, the guide rib has a second surface facing the storage body, and the second surface is configured to come into contact with the transport robot when the transport robot climbs along the second climbing assembly.

16 . The rack according to claim 12 , wherein the distance between adjacent support columns is greater than a maximum length dimensi

Assignees

• Hai Robotics Co Ltd
• Hai Intelligent Co Ltd

Inventors

• Ning Kejun
• Gao Peng
• Xu Shengdong
• Wang Penghui
• Chen Yuqi

Classifications

• B66F9/063 Primary

  Automatically guided · CPC title

• B65G1/1373

  for fulfilling orders in warehouses · CPC title

• B25J9/0009

  Constructional details, e.g. manipulator supports, bases · CPC title

• B25J5/007

  mounted on wheels · CPC title

• B25J11/00

  Manipulators not otherwise provided for · CPC title