Patent Publication Number: US-2022212867-A1

Title: Warehousing robot

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a National Stage of International Application No. PCT/CN2020/083685, filed on Apr. 8, 2020, which claims priority to Chinese Patent Application No. 201910360794.5, filed to the China National Intellectual Property Administration on Apr. 30, 2019 and entitled “Warehousing Robot”. The disclosures of the aforementioned applications are hereby incorporated by reference in their entireties. 
    
    
     TECHNICAL FIELD 
     The present application relates to the field of warehousing device technologies and, in particular, to a warehousing robot. 
     BACKGROUND 
     With the gradual development of warehousing technologies, at present, goods are often fetched from or placed on shelves by warehouse robots, so as to reduce workload of workers. At the same time, in order to improve utilization space of a plant, a height of a shelf is generally set to be larger, therefore, how to enable the warehousing robot to climb the shelf has become a research hotspot. 
     In the related art, two climbing tracks are set at an interval on the shelf, and a center line of the climbing track is perpendicular to the horizontal plane. The warehousing robot includes a climbing mechanism which can telescope and dock with the track. When in use, the warehousing robot is driven by a walking mechanism to move to a position between two equal tracks, a driving wheel at one end of the frame body is cooperated with a climbing track through the telescopic mechanism, and a driving wheel at the other end of the frame body is cooperated with the other climbing track. A driving apparatus drives two driving wheels to rotate, which can drive a whole warehousing robot to move along a direction of the height of the shelf. 
     However, the walking mechanism drives the warehousing robot to move to the position between the two climbing tracks, which is difficult to ensure that a center of a robot body is consistent with a center between the shelves on both sides, and it is also difficult to ensure consistency of the shelf spacing and parallelism of the shelves on both sides, causing the robot body unable to adapt, affecting its docking and climbing with the track, affecting the service life of the robot body, and even causing the robot body unable to climb to realize outbound/inbound operations. 
     SUMMARY 
     The object of the present application is to provide a warehousing robot that can adjust a position of a driving wheel on a climbing component by sildably connecting the climbing component and a underframe, so that the driving wheel is docked with the track, and the climbing component will slide on a underframe without dragging the underframe to move on the ground, thereby avoiding damage to a walking mechanism and improving the service life. 
     An embodiment of the present application discloses a warehousing robot, including: a climbing component and an underframe, where the climbing component is configured to dock with a track on a shelf, and drive the warehousing robot to climb along the shelf after completing a docking; and the climbing component is slidably connected with the underframe, to enable the climbing component to slide relative to the underframe along a preset direction in a horizontal plane during a docking process of the climbing component and the track. 
     Based on the above technical content, the climbing component is slidably connected with the underframe, when a distance between the warehousing robot and the first climbing track is not equal to a distance between the warehousing robot and the second climbing track, the position of the driving wheel on the climbing component can be adjusted, so that the driving wheel is docked with the track, and the climbing component will slide on the underframe without dragging the underframe to move on the ground, thereby avoiding damage to the walking mechanism and improving the service life. 
     In an implementation, the climbing component includes a body and a climbing unit, the climbing unit is arranged on the body, and the body is slidably connected with the underframe. 
     In an implementation, the climbing unit has a telescopic mechanism and a first driving wheel and a second driving wheel arranged along a preset direction; and the first driving wheel and the second driving wheel are arranged at both ends of the telescopic mechanism, to dock with the track under driving action of the telescopic mechanism. 
     The telescopic mechanism can adjust the distance between the first driving wheel and the second driving wheel by arranging the first driving wheel and the second driving wheel at both ends of the telescopic mechanism, to adapt to different shelves and improve the versatility of the warehousing robot. 
     In an implementation, the climbing unit includes: a first sliding part and a second sliding part, the first driving wheel is arranged on the first sliding part, and the second driving wheel is arranged on the second sliding part; and the telescopic mechanism is slidably connected with the first sliding part and the second sliding part, to drive the first sliding part and the second sliding part to move along a preset direction. 
     When the telescopic mechanism is working, the first sliding part and the second sliding part both move by connecting the telescopic mechanism with the first sliding part and the second sliding part, which can increase adjustment range of the distance between the first driving wheel and the second driving wheel. 
     In an implementation, the telescopic mechanism includes a first lead screw, a second lead screw and a driving apparatus arranged on the body, an axis of the first lead screw is parallel to the preset direction, and a first threaded hole cooperated with the first lead screw is arranged on the first sliding part; and the first lead screw is rotatably connected with the body; an axis of the second lead screw is parallel to a preset direction, and a second threaded hole cooperated with the second lead screw is arranged on the second sliding part; the second lead screw is rotatably connected with the body; and the driving apparatus is connected with the first lead screw and the second lead screw in a transmission way. 
     In an implementation, the driving apparatus includes: a rotating apparatus and a drive shaft, an axis of the drive shaft, the axis of the first lead screw and the axis of the second lead screw are arranged collinearly, one end of the drive shaft is connected with the first lead screw in a transmission way, the other end of the drive shaft is connected with the second lead screw in a transmission way, and the rotating apparatus is connected with the drive shaft in a transmission way. 
     In an implementation, the rotating apparatus is arranged on the body. 
     In an implementation, the climbing component includes two climbing units set at an interval along a vertical direction of the preset direction. 
     By arranging two climbing units, the two climbing units can jointly drive the warehousing robot to climb the shelf. 
     In an implementation, first driving wheels of the two climbing units are connected by a universal coupling. 
     In an implementation, second driving wheels of the two climbing units are connected by a universal coupling. 
     In an implementation, the warehousing robot further includes a sensor, configured to detect pressure to the first driving wheel and the second driving wheel from the track, to control the telescopic mechanism to telescope. 
     By arranging the sensor, after the first driving wheel is docked with the track and the second driving wheel is docked with the track, the telescopic mechanism is controlled to stop working, to avoid too much resisting force of the track to the first driving wheel and the second driving wheel. 
     In an implementation, the warehousing robot further includes a torque detection apparatus, and the torque detection apparatus is configured to detect torque of the rotating apparatus, to control the telescopic mechanism to telescope. 
     By arranging the torque detection apparatus, in the process of climbing the shelf, if the torque of the rotating apparatus is detected to be less than the preset torque, the distance between the first driving wheel and the second driving wheel is appropriately increased by the telescopic mechanism, to avoid the first driving wheel and the second driving wheel being separated from the corresponding track. 
     In an implementation, the telescopic mechanism is a non-self-locking mechanism. 
     In an implementation, two ends of the telescopic mechanism are provided with position-limiting parts, and the position-limiting parts are configured to cooperate with guiding parts on the shelf to realize limitation of positions of the first driving wheel and the second driving wheel along a preset direction. 
     By arranging the position-limiting parts, the position-limiting parts are cooperated with the guiding parts, in the process of the warehousing robot climbing the shelf, if the distance between the tracks is shortened, and then the position-limiting parts are squeezed, the distance between the first driving wheel and the second driving wheel is appropriately reduced; and if the distance between the tracks is increased, and then the position-limiting parts are pulled. The distance between the first driving wheel and the second driving wheel is appropriately increased, which can avoid the first driving wheel and the second driving wheel being separated from the track or too much squeezing force to the first driving wheel and the second driving wheel. 
     In an implementation, the position-limiting parts include a first guide wheel and a second guide wheel set at an interval along a preset direction, and the guiding part is sandwiched between the first guide wheel and the second guide wheel. 
     In an implementation, the warehousing robot further includes an elastomer, the elastomer connects with the body and the underframe, and undergoes elastic deformation when the body slides relative to the underframe along a preset direction. 
     By arranging the elastomer, when a relative movement between the body and the underframe occurs, the elastomer undergoes elastic deformation, and when the warehousing robot climbs the shelf to separate the underframe from the ground, the body and the underframe return to an initial position under the action of the elastic force of the elastomer. 
     In an implementation, the elastomer includes springs, and the number of the springs is two; and two spring connectors are set at an interval on the body along a preset direction, one end of each of the springs is connected with one of the spring connectors, and the other end of each of the springs is connected with the underframe. 
     In combination with the above technical solutions, for the warehousing robot of the embodiment of the present application, the climbing component is slidably connected with the underframe, and the climbing component is configured to dock with the track on the shelf, and drive the warehousing robot to climb along the shelf after completing a docking; compared with the fixed connection of the climbing component and the underframe, when the distance between the warehousing robot and the first climbing track is not equal to the distance between the warehousing robot and the second climbing track, the position of the driving wheel on the climbing component can be adjusted, so that the driving wheel is docked with the track, and the climbing component will slide on the underframe without dragging the underframe to move on the ground, thereby avoiding damage to the walking mechanism and improving the service life. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a schematic structural diagram of a warehousing robot provided by an embodiment of the present application; 
         FIG. 2  is a schematic structural diagram of a first climbing unit in the warehousing robot provided by an embodiment of the present application; 
         FIG. 3  is a partial enlarged view of B of  FIG. 2 ; 
         FIG. 4  is a partial enlarged view of A of  FIG. 1 ; 
         FIG. 5  is a schematic diagram of the connection between a first climbing unit and a second climbing unit of the warehousing robot provided by an embodiment of the present application; 
         FIG. 6  is a schematic diagram of the connection between a climbing component and a underframe of the warehousing robot provided by an embodiment of the present application; 
         FIG. 7  is an explosive view of the warehousing robot provided by an embodiment of the present application; and 
         FIG. 8  is a schematic diagram of the cooperation between the warehousing robot and the track provided by an embodiment of the present application. 
     
    
    
     DESCRIPTION OF REFERENCE NUMBERS 
     
         
         
           
               1 : First climbing track; 
               2 : Second climbing track; 
               3 : Third climbing track; 
               4 : Fourth climbing track; 
               10 : First climbing unit; 
               20 : Underframe; 
               30 : Universal coupling; 
               40 : First driving motor; 
               50 : Second driving motor; 
               60 : Second climbing unit; 
               70 : First guide wheel; 
               80 : Second guide wheel; 
               101 : First driving wheel; 
               102 : Second driving wheel; 
               103 : Body; 
               104 : First sliding part; 
               105 : Second sliding part; 
               106 : First lead screw; 
               107 : Second lead screw; 
               108 : Drive shaft; 
               109 : Spring; 
               201 : Sliding rail; 
               601 : Third driving wheel; 
               602 : Fourth driving wheel; 
               1031 : Bearing hole; 
               1032 : First rolling bearing; 
               1033 : Second rolling bearing; 
               1034 : Backstop ring; 
               1035 : Column; 
               1036 : Casing pipe. 
               1061 : Backstop part 
           
         
       
    
     DESCRIPTION OF EMBODIMENTS 
     In order to make the object, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described below clearly and completely in conjunction with the accompanying drawings of the embodiments of the present application. Apparently, the described embodiments are a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skilled in the art without creative effort shall fall within the protection scope of the present application. 
     In the present application, unless otherwise specified, the terms “install”, “couple”, “connect”, “fix” and other terms should be interpreted broadly. For example, the connection may be fixed, detachable, or integrated, and may be mechanical, electrical or be able to communicate with each other; it may be direct connection or indirectly connected through intermediate media, and it may be internal connection between two elements or interaction between two elements, unless otherwise explicitly defined. For those of ordinary skilled in the art, the specific meanings of the above-mentioned terms of the present application can be understood according to specific circumstances. 
       FIG. 1  is a schematic structural diagram of a warehousing robot provided by an embodiment of the present application;  FIG. 2  is a schematic structural diagram of a first climbing unit in the warehousing robot provided by an embodiment of the present application;  FIG. 3  is a partial enlarged view of B of  FIG. 2 ;  FIG. 4  is a partial enlarged view of A of  FIG. 1 ;  FIG. 5  is a schematic diagram of the connection between a first climbing unit and a second climbing unit of the warehousing robot provided by an embodiment of the present application;  FIG. 6  is a schematic diagram of the connection between a climbing component and a underframe of the warehousing robot provided by an embodiment of the present application;  FIG. 7  is an explosive view of the warehousing robot provided by an embodiment of the present application; and  FIG. 8  is a schematic diagram of the cooperation between the warehousing robot and the track provided by an embodiment of the present application. 
     Please refer to  FIG. 1  to  FIG. 7 , this embodiment provides a warehousing robot, including a climbing component and an underframe  20 ; the climbing component is configured to dock with the track on the shelf, and drive the warehousing robot to climb along the shelf after completing a docking; and the climbing component is slidably connected with the underframe  20  to enable the climbing component to slide relative to the underframe  20  along a preset direction in a horizontal plane during a docking process of the climbing component and the track. 
     Continuing to refer to  FIG. 8 , in this embodiment, a first driving wheel  101 , a second driving wheel  102 , a third driving wheel  601 , and a fourth driving wheel  602  are arranged on the climbing component. The climbing component is docked with the track to cooperate each driving wheel with the different track on the shelf Exemplarily, a first climbing track  1 , a second climbing track  2 , a third climbing track  3 , and a fourth climbing track  4  are arranged on the shelf, when the warehousing robot climbs the shelf, the first driving wheel  101  is cooperated with the first climbing track  1 , the second driving wheel  102  is cooperated with the second climbing track  2 , the third driving wheel  601  is cooperated with the third climbing track  3 , and the fourth driving wheel  602  is cooperated with the fourth climbing track  4 . 
     Further, the warehousing robot also includes a power apparatus, and the power apparatus is connected with the first driving wheel  101 , the second driving wheel  102 , the third driving wheel  601 , and the fourth driving wheel  602  in a transmission way. When the warehousing robot climbs the shelf, the power apparatus drives the first driving wheel  101 , the second driving wheel  102 , the third driving wheel  601 , and the fourth driving wheel  602  to rotate, to drive the whole warehousing robot to move along a direction perpendicular to a vertical direction. 
     In this embodiment, a walking mechanism is arranged on the underframe  20 , and the walking mechanism is configured to drive the warehousing robot to move on the ground. 
     In this embodiment, the climbing component is slidably connected with the underframe  20 . Specifically, a sliding rail  201  with a center line parallel to the preset direction may be arranged on the underframe  20 , and the climbing component is slidably connected with the sliding rail  201 . Of course, a sliding column with a center line parallel to the preset direction may also be arranged on the underframe  20 , a sliding hole is arranged on the climbing component correspondingly, and the sliding column is inserted into the sliding hole, which can also realize the sliding connection between the underframe  20  and the climbing component. 
     In this embodiment, the climbing component includes a body  103  and a climbing unit, the climbing unit is arranged on the body  103  and the body  103  is slidably connected with the underframe  20 . The climbing unit has the telescopic mechanism and the first driving wheel  101  and the second driving wheel  102  arranged along the preset direction, the first driving wheel  101  and the second driving wheel  102  are arranged at both ends of the telescopic mechanism, to dock with the track under the driving action of the telescopic mechanism. 
     Specifically, the climbing component includes a first climbing unit  10 , the first climbing unit  10  has the telescopic mechanism and the first driving wheel  101  and the second driving wheel  102  arranged along the preset direction, and the first driving wheel  101  and the second driving wheel  102  is configured to dock with the track; and the first driving wheel  101  and the second driving wheel  102  are arranged at both ends of the telescopic mechanism, to dock with the track under the driving action of the telescopic mechanism. The telescopic mechanism is configured to adjust a distance between the first driving wheel  101  and the second driving wheel  102  along the preset direction, so that the first driving wheel  101  and the second driving wheel  102  are docked with corresponding track. Specifically, the climbing component in this embodiment further includes a second climbing unit  60 , the second climbing unit  60  and the first climbing unit  10  are set at an interval along the vertical direction of the preset direction, the first climbing unit  10  and the second climbing unit  60  are located in a same horizontal plane, and the second climbing unit  60  includes the third driving wheel  601  and the fourth driving wheel  602 . The first climbing unit  10  and the second climbing unit  60  jointly drive the warehousing robot to climb the shelf. Further, the second climbing unit  60  also includes a telescopic mechanism, and the telescopic mechanism is configured to adjust a distance between the third driving wheel  601  and the fourth driving wheel  602 . The distance between the first driving wheel  101  and the second driving wheel  102  and the distance between the third driving wheel  601  and the fourth driving wheel  602  can be adjusted by the telescopic mechanism, so that the first climbing unit  10  is suitable for shelves with different distances between the first climbing track  1  and the second climbing track  2 , and the second climbing unit  60  is suitable for shelves with different distances between the third climbing track  3  and the fourth climbing track  4  at the same time, which improves versatility of the warehousing robot. 
     Continuing to refer to  FIG. 8 , in this embodiment, the preset direction is a direction in the plane where the center lines of the first climbing track  1  and the second climbing track  2  are located and perpendicular to the center line of the first climbing track  1 . 
     The climbing unit includes: a first sliding part  104  and a second sliding part  105 , the first driving wheel  101  is arranged on the first sliding part  104 , the second driving wheel  102  is arranged on the second sliding part  105 . The telescopic mechanism is connected with the first sliding part  104  and the second sliding part  105 , to drive the first sliding part  104  and the second sliding part  105  to move along the preset direction. 
     Specifically, the first climbing unit  10  includes: the body  103 , the first sliding part  104  and the second sliding part  105 . The body  103  is slidably connected with the underframe  20 , the first driving wheel  101  is arranged on the first sliding part  104 , and the second driving wheel  102  is arranged on the second sliding part  105 ; and the telescopic mechanism is connected with the body  103 , the first sliding part  104  and the second sliding part  105 , to drive the first sliding part  104  and the second sliding part  105  to move along the preset direction. 
     The telescopic mechanism can drive the first sliding part  104  and the second sliding part  105  to move towards opposite directions. Compared with the telescopic mechanism only driving the first sliding part  104  to move, it can quickly adjust the distance between the first driving wheel  101  and the second driving wheel  102 . In addition, based on the movement of the first sliding part  104 , the second sliding part  105  also moves, which can increase the adjustment range of the distance between the first driving wheel  101  and the second driving wheel  102 . 
     Specifically, in order to ensure that the warehousing robot can be driven to move when the first driving wheel  101  rotates, the first driving wheel  101  may be a chain wheel. Correspondingly, a chain is arranged on the first climbing track  1 , the chain wheel cooperates with the chain, to drive the warehousing robot to move when the chain wheel rotates; or the first driving wheel  101  is a gear, at this time, a rack can be arranged on the first climbing track  1 , and the gear cooperates with the rack, to drive the warehousing robot to move when the gear rotates. Similarly, a structure of the second driving wheel  102  may be the same as that of the first driving wheel  101 . Refer to the description of the first driving wheel  101 , which will not be repeated here. 
     A working process of the warehousing robot provided in this embodiment is as follows: the warehousing robot is driven by the walking mechanism on the underframe  20  to move until the first climbing unit  10  is located between the first climbing track  1  and the second climbing track  2  and the second climbing unit  60  is located between the third climbing track  3  and the fourth climbing track  4 . After that, the first sliding part  104  and the second sliding part  105  are driven to move along the preset direction by the telescopic mechanism, to adjust the distance between the first driving wheel  101  and the second driving wheel  102 , so that the first driving wheel  101  is cooperated with the first climbing track  1 , and the second driving wheel  102  is cooperated with the second climbing track  2 . In the above process, the distance between the third driving wheel  601  and the fourth driving wheel  602  is adjusted by the telescopic mechanism on the second climbing unit  60 , so that the third driving wheel  601  is cooperated with the third climbing track  3 , and the fourth driving wheel  602  is cooperated with the fourth climbing track  4 . And then, the first driving wheel  101 , the second driving wheel  102 , the third driving wheel  601 , and the fourth driving wheel  602  are driven to rotate by the power apparatus, and then the warehousing robot is driven to move along the direction perpendicular to the horizontal plane. If the distance between the warehousing robot and the first climbing track  1  is less than the distance between the warehousing robot and the second climbing track  2 , after the first driving wheel  101  contacts with the first climbing track  1 , the body  103  will be enabled to move towards the second climbing track  2  until the second driving wheel  102  contacts with the second climbing track  2 . On the contrary, if the distance between the warehousing robot and the first climbing track  1  is greater than the distance between the warehousing robot and the second climbing track  2 , after the second driving wheel contacts with the second climbing track  2 , the body  103  will be enabled to move towards the first climbing track  1  until the first driving wheel  101  contacts with the first climbing track  1 . 
     For the warehousing robot provided in this embodiment, the climbing component is slidably connected with the underframe  20 , and the climbing component is configured to dock with the track on the shelf, and drive the warehousing robot to climb along the shelf after completing a docking. Compared with the fixed connection of the climbing component and the underframe  20 , when the distance between the warehousing robot and the first climbing track  1  is not equal to the distance between the warehousing robot and the second climbing track  2 , the position of the driving wheel on the climbing component can be adjusted, so that the driving wheel is docked with the track, and the climbing component will slide on the underframe  20  without dragging the underframe  20  to move on the ground, thereby avoiding damage to the walking mechanism and improving the service life. 
     Continuing to refer to  FIG. 1  to  FIG. 4 , in this embodiment, the first sliding part  104  and the second sliding part  105  are also slidably connected with the sliding rail  201 . The first sliding part  104  and the second sliding part  105  may be further fixed, to improve stationarity of the movement of the first sliding part  104  and the second sliding part  105 . 
     In this embodiment, the telescopic mechanism may include a telescopic cylinder and/or a lead screw. When the telescopic mechanism includes the telescopic cylinder, the telescopic mechanism may include a first telescopic cylinder, a piston rod of the first telescopic cylinder is connected with the first sliding part  104 , a cylinder body of the first telescopic cylinder is connected with the body  103 , and a center line of the first telescopic cylinder is parallel to a preset direction. When the piston rod extends from the cylinder body or the piston rod retracts to the cylinder body, the first sliding part  104  can be driven to move along the preset direction. The telescopic mechanism may also include a second telescopic cylinder, a cylinder body of the second telescopic cylinder is connected with the body  103 , the piston rod of the second telescopic cylinder is connected with the second sliding part  105 , and a center line of the second telescopic cylinder is parallel to a preset direction. When the piston rod extends from or retracts to the cylinder body, the second sliding part  105  can be driven to move, so as to adjust the distance between the first driving wheel  101  and the second driving wheel  102 . Where the first telescopic cylinder and the second telescopic cylinder may be hydraulic cylinders or pneumatic cylinders. 
     In this embodiment, when the telescopic mechanism includes the lead screw, the telescopic mechanism may include a first lead screw  106  and a driving apparatus arranged on the body  103 , an axis of the first lead screw  106  is parallel to the preset direction, and a first threaded hole cooperated with the first lead screw  106  is arranged on the first sliding part  104 . The first lead screw  106  can be rotatably connected with the body  103 , and the driving apparatus is connected with the first lead screw  106  in a transmission way, to drive the first lead screw  106  to rotate. 
     Continuing to refer to  FIG. 2  and  FIG. 3 , a bearing hole  1031  is arranged on the body  103 , the bearing hole  1031  includes a first hole section facing the first sliding part  104  and a second hole section facing the second sliding part  105 , and an aperture of the second hole section is less than an aperture of the first hole section; a first rolling bearing  1032  is arranged in the first hole section, a second rolling bearing  1033  is arranged in the second hole section; and an end of the first lead screw  106  facing the body  103  has a journal which is inserted into an inner ring of the first rolling bearing  1032  and the second rolling bearing  1033 , to realize a rotatable connection between the first lead screw  106  and the body  103 . Taking an orientation shown in  FIG. 2  as an example, since the aperture of the second hole section is less than the aperture of the first hole section, a left end of the second hole section can prevent the first rolling bearing  1032  from moving towards the right, further prevent the first lead screw  106  from moving towards the right. In order to prevent the first lead screw  106  from moving towards the left, a backstop ring  1034  is clamped on the inner wall of the first hole section, the backstop ring  1034  is located on the left side of the first rolling bearing  1032 , the backstop ring  1034  can prevent the first rolling bearing  1032  from moving towards the left. A backstop part  1061  is arranged at the right end of the journal, the backstop part  1061  presses against the inner ring of the second rolling bearing  1033 , at the same time, a casing pipe  1036  is arranged between the first rolling bearing  1032  and the second rolling bearing  1033 , the casing pipe  1036  presses against the inner ring of the first rolling bearing  1032  and the inner ring of the second rolling bearing  1033 , the backstop part  1061  can press against the backstop ring  1034  through the second rolling bearing  1033 , the casing pipe  1036  and the first rolling bearing  1032 , to prevent the first lead screw  106  from moving towards the left. 
     Continuing to refer to  FIG. 2 , when the telescopic mechanism includes the lead screw, the telescopic mechanism also includes a second lead screw  107 , an axis of the second lead screw  107  is parallel to the preset direction, and a second thread hole cooperated with the second lead screw  107  is arranged on the second sliding part  105 ; and the second lead screw  107  is rotatably connected with the body  103 , and the driving apparatus is connected with the second lead screw  107  in a transmission way, to drive the second lead screw  107  to rotate. 
     In this embodiment, a connection mode between the second lead screw  107  and the body  103  is substantially the same as a connection mode between the first lead screw  106  and the body  103 . Refer to the description of the connection mode between the first lead screw  106  and the body  103 , which will not be repeated here. 
     Of course, in this embodiment, the first sliding part  104  may be connected with the body  103  through the telescopic cylinder, at the same time, the second sliding part  105  is connected with the body  103  through the lead screw; of course, the first sliding part  104  may also be connected with the body  103  through the lead screw, at the same time, the second sliding part  105  is connected with the body  103  through the telescopic cylinder. 
     In this embodiment, in order to improve strength of the connection between the first sliding part  104  and the body  103 , a first sliding hole with a center line parallel to the preset direction may be arranged on the first sliding part  104 , correspondingly, a first sliding block is arranged on the body  103 , and the first sliding block is slidably arranged in the first sliding hole. Similarly, a second sliding hole with a center line parallel to the preset direction may be arranged on the second sliding part  105 , a second sliding block is arranged on the body  103 , and the second sliding block is slidably arranged in the second sliding hole. 
     In an implementation, the driving apparatus can be independently connected with the first lead screw  106  and the second lead screw  107  in a transmission way, to realize independent control of the first lead screw  106  and the second lead screw  107 . For example, the driving apparatus includes a first motor connected with the first lead screw  106  in a transmission way, and a second motor connected with the second lead screw  107  in a transmission way. When at work, rotation directions and rotation speeds of the first lead screw  106  and the second lead screw  107  may be the same or different, that is, moving directions and moving speeds of the first sliding part  104  and the second sliding part  105  may be the same or different. 
     In the other implementation, the driving apparatus includes: the rotating apparatus and a drive shaft  108 , an axis of the drive shaft  108 , the axis of the first lead screw  106 , and the axis of the second lead screw  107  are arranged collinearly, one end of the drive shaft  108  is connected with the first lead screw  106  in a transmission way, and the other end of the drive shaft  108  is connected with the second lead screw  107  in a transmission way. The rotating apparatus is arranged on the body  103 , and the rotating apparatus is connected with the drive shaft  108  in a transmission way, to drive the drive shaft  108  to rotate. The first lead screw  106  and the second lead screw  107  can be driven to rotate synchronously through the drive shaft  108 , that is, the first sliding part  104  and the second sliding part  105  can be driven to move towards the body  103  at the same time, or to move away from the body  103  at the same time at the same moving speed. Such arrangement can ensure that the distance between the first sliding part  104  and the body  103  is equal to the distance between the second sliding part  105  and the body  103 , and keep a center of gravity of the warehousing robot stable while adjusting the distance between the first driving wheel  101  and the second driving wheel  102 . 
     Specifically, the driving shaft  108  may be connected with the first lead screw  106  and the second lead screw  107  through a universal coupling. 
     Continuing to refer to  FIG. 8 , in this embodiment, the telescopic mechanism is a non-self-locking mechanism, and the two ends of the telescopic mechanism are provided with position-limiting parts which are configured to cooperate with the guiding parts on the shelf to realize the limitation of positions of the first driving wheel  101  and the second driving wheel  102  along a preset direction. The position-limiting parts and the guiding parts are cooperated, in the process of warehousing robot climbing the shelf, if the distance between the first climbing track  1  and the second climbing track  2  is shortened, and then the position-limiting parts will be squeezed, the distance between the first driving wheel  101  and the second driving wheel  102  is appropriately reduced; and if the distance between the first climbing track  1  and the second climbing track  2  is increased, and then the position-limiting parts are pulled. The distance between the first driving wheel  101  and the second driving wheel  102  is appropriately increased, which can avoid the first driving wheel  101  and the second driving wheel  102  being separated from the track or too much squeezing force to the first driving wheel  101  and the second driving wheel  102 . 
     Specifically, the position-limiting parts include a first guide wheel  70  and a second guide wheel  80  set at an interval along a preset direction, and the guiding part is sandwiched between the first guide wheel  70  and the second guide wheel  80 . The first guide wheel  70  and the second guide wheel  80  can rotate, so that the friction between the guiding part and the first guide wheel  70  as well as the second guide wheel  80  is small, thereby reducing the resisting force during climbing. 
     In an implementation, the first guide wheel  70  and the second guide wheel  80  are set at an interval on the first sliding part  104 , correspondingly, the first guide wheel  70  and the second guide wheel  80  are also arranged on the second sliding part  105 . The guiding part is a backstop plate arranged on the track, and the first guide wheel  70  and the second guide wheel  80  are sandwiched on both sides of the backstop plate. 
     Specifically, the first lead screw  106  and the second lead screw  107  may be non-self-locking lead screws. When the first sliding part  104  is subjected to a force along the preset direction, the first lead screw  106  will rotate, and the first sliding part  104  will move along the direction of the force. Similarly, when the second sliding part  105  is subjected to a force along the preset direction, the second lead screw  107  will rotate, and the second sliding part  105  will move along the direction of the force. With this arrangement, in the process of the warehousing robot climbing the shelf, if the distance between the first climbing track  1  and the second climbing track  2  is shortened, the position-limiting parts on the first sliding part  104  and the second sliding part  105  are squeezed, and the distance between the first sliding part  104  and the second sliding part  105  can be appropriately shortened by the rotation of the first lead screw  106  and the second lead screw  107 , to avoid too much squeezing force. In the process of the warehousing robot climbing the shelf, if the distance between the first climbing track  1  and the second climbing track  2  is increased, the position-limiting parts on the first sliding part  104  and the second sliding part  105  are pulled, and the distance between the first sliding part  104  and the second sliding part  105  can be appropriately increased by the rotation of the first lead screw  106  and the second lead screw  107 , to avoid the first driving wheel  101  and the second driving wheel  102  being separated from the corresponding climbing track. Exemplarily, the first lead screw  106  and the second lead screw  107  may be ball screws, or other lead screws with a friction angle smaller than a helix angle. It is worth noting that after the first driving wheel  101  and the second driving wheel  102  are docked with the track, the rotating apparatus connected with the first lead screw  106  and the second lead screw  107  in a transmission way is also a non-self-locking apparatus, that is, the first lead screw  106  and the second lead screw  107  are allowed to rotate freely. 
     The rotating apparatus is not restricted in this embodiment, as long as the rotating apparatus can drive the drive shaft  108  to rotate. For example, the rotating apparatus may include a rotating motor, and a main shaft of the rotating motor is connected with the drive shaft  108  in a transmission way. Specifically, a first pulley is arranged on the drive shaft  108 , a second pulley is arranged on the main shaft of the rotating motor, and a transmission belt cooperates with the first pulley and the second pulley, to realize the transmission connection between the rotating motor and the drive shaft  108 . In order to avoid sliding between the transmission belt and the first pulley as well as the second pulley, the transmission belt can be a synchronous belt, and the corresponding first pulley and the second pulley are toothed pulleys. 
     In an implementation, the warehousing robot further includes a sensor, configured to detect the pressure to the first driving wheel  101  and the second driving wheel  102  from the track, so as to control the telescopic mechanism to telescope. When the pressure to the first driving wheel  101  and the second driving wheel  102  from the track reaches a preset value, the telescopic mechanism is controlled to stop working. After the first driving wheel  101  is docked with the first climbing track  1 , and the second driving wheel  102  is docked with the second climbing track  2 , the telescopic mechanism is controlled to stop working, so as to avoid too much resisting force to the first driving wheel  101  from the first climbing track  1  and too much resisting force to the second driving wheel  102  from the second climbing track  2 . 
     It is worth noting that the preset value is a minimum pressure to the first driving wheel  101  when ensuring that the first driving wheel  101  is docked with the first climbing track  1  and the second driving wheel  102  is docked with the second climbing track  2 . 
     Specifically, the sensor may be a pressure sensor arranged on the first driving wheel  101  and/or the second driving wheel  102 . 
     In other embodiments, the warehousing robot further includes a torque detection apparatus, the torque detection apparatus is configured to detect the torque of the rotating apparatus, to control the telescopic mechanism to telescope. Exemplarily, when the pressure to the first driving wheel  101  reaches a preset value, the torque corresponding to the rotating apparatus is the preset torque. Therefore, when the torque of the rotating apparatus is detected to reach the preset torque, the rotating motor is controlled to stop rotating. In the process of climbing the shelf, if it is detected that the torque of the rotating apparatus is less than the preset torque, the distance between the first driving wheel  101  and the second driving wheel  102  is appropriately increased through the telescopic mechanism, to avoid the first driving wheel  101  and the second driving wheel  102  being separated from the corresponding climbing track. 
     The warehousing robot provided in this embodiment may include a controller which is connected with the sensor or the torque detection apparatus, to control the telescopic mechanism to work according to data provided by the sensor or the torque detection apparatus. 
     In this embodiment, the rotating apparatus may be the rotating motor, the corresponding torque detection apparatus is configured to detect the torque of the rotating motor. 
     The docking process of the warehousing robot and the climbing track provided in this embodiment is as follows: the warehousing robot moves until the first climbing unit  10  is located between the first climbing track  1  and the second climbing track  2 , the second climbing unit  60  is located between the third climbing track  3  and the fourth climbing track  4 , then the first lead screw  106  and the second lead screw  107  are driven to rotate by the rotating motor, and then the first sliding part  104  and the second sliding part  105  are driven to move away from the body  103 , so that the first driving wheel  101  contacts with the first climbing track  1 , and the second driving wheel  102  contacts with the second climbing track  2 . When it is detected that the torque of the rotating motor reaches the preset value, the rotating motor is controlled to stop working. At this time, the first driving wheel  101  is docked with the first climbing track  1 , and the second driving wheel  102  is docked with the second climbing track  2 . In the above process, the distance between the third driving wheel  601  and the fourth driving wheel  602  is adjusted by the telescopic mechanism on the second climbing unit  60 , so that the third driving wheel  601  is docked with the third climbing track  3 , and the fourth driving wheel  602  is docked with the fourth climbing track  4 . 
     In this embodiment, the warehousing robot further includes an elastomer which is connected with the body  103  and the underframe  20 , and the elastomer undergoes elastic deformation when the body  103  slides along the preset direction. When the relative move between the body  103  and the underframe  20  occurs, the elastomer undergoes elastic deformation. When the warehousing robot climbs the shelf to separate the underframe  20  from the ground, the body  103  and the underframe  20  return to an initial position under the action of the elastic force of the elastomer. Where the initial position is the relative position between the underframe  20  and the body  103  when the elastomer is not elastically deformed. 
     Specifically, there may be various kinds of elastomers, for example, the elastomer may include a rubber block connected with the body  103  and the underframe  20 , or the elastomer may include an elastic strip connected with the body  103  and the underframe  20 . In this embodiment, the elastomer includes a spring  109 , a center line of the spring  109  is parallel to a preset direction, one end of the spring  109  is connected with the body  103 , and the other end of the spring  109  is connected with the underframe  20 . Compared with the rubber block, the spring  109  has a longer service life. 
     Further, the number of the springs  109  is two; and two spring connectors are set at an interval on the body  103  along the preset direction, one end of each spring  109  is connected with one spring connector, and the other end of each spring  109  is connected with the underframe  20 . When the body  103  moves relative to the underframe  20 , the two springs  109  both undergo elastic deformation. Compared with only one spring  109  set, the elastic force is increased and time for the body  103  and the underframe  20  to return to the initial position is shortened. 
     Continuing to refer to  FIG. 4 , in this embodiment, the spring connector includes a column  1035  with a center line parallel to the preset direction, and a part of the spring  109  is sleeved on the column  1035 . When the spring  109  is compressed, the column  1035  can play a guiding role, to avoid the spring  109  tilting after being subjected to a force. 
     Continuing to refer to  FIG. 5  to  FIG. 8 . In this embodiment, the climbing component includes two climbing units set at an interval along the vertical direction of the preset direction. The first driving wheels  101  of the two climbing units are connected by a universal coupling  30 , and the second driving wheels  102  of the two climbing units are connected by the universal coupling  30 . 
     Specifically, the climbing component includes a first climbing unit  10  and a second climbing unit  60  set at an interval along the vertical direction of the preset direction, the first driving wheel  101  and the second driving wheel  102  are arranged on the first climbing unit  10 , and the third driving wheel  601  and the fourth driving wheel  602  are arranged on the second climbing unit  60 . The first driving wheel  101  and the third driving wheel  601  are connected by the universal coupling  30 , and the second driving wheel  102  and the fourth driving wheel  602  are connected by the universal coupling  30 . Such arrangement can avoid the third driving wheel  601  and the fourth driving wheel  602  on the second climbing unit  60  being affected when the first climbing unit  10  adjusts the distance between the first driving wheel  101  and the second driving wheel  102 , that is, the distance between the two driving wheels on different climbing units can be adjusted independently. 
     Continuing to refer to  FIG. 5  and  FIG. 8 , four climbing tracks are arranged on the shelf, and each driving wheel on the first climbing unit  10  and the second climbing unit  60  is docked with one climbing track. The power apparatus may include a first driving motor  40  which is connected with the first driving wheel  101  on the first climbing unit  10  in a transmission way, and a second driving motor  50  which is connected with the second driving wheel  102  on the first climbing unit  10  in a transmission way. 
     In this embodiment, the structures of the first climbing unit  10  and the second climbing unit  60  are substantially the same. Refer to the description of the first climbing unit  10 , which will not be repeated here. 
     Finally, it should be noted that the above embodiments are merely intended to illustrate the technical solutions of the present application, rather than limiting them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skilled in the art should understand that it is still possible to modify the technical solutions described in the foregoing embodiments, or to equivalently replace some or all of the technical features thereof; and these modifications or substitutions do not preclude the nature of the respective technical solutions from the scope of the technical solutions of the embodiments of the present application.