Walking transmission mechanism, walking device and three-dimensional storage robot

Abstract

The invention discloses a walking transmission mechanism, a walking device and a three-dimensional storage robot, the walking transmission mechanism comprises a box body and a gear set arranged in the box body, and the gear set comprises a primary rail transmission gear set, a reversing gear set and a secondary rail transmission gear set; the mother rail transmission gear set comprises a driving mother rail gear and a driven mother rail gear which are meshed with each other, the driving mother rail gear serves as a walking power input end, and the driven mother rail gear serves as a first walking power output end; the reversing gear set comprises a reversing output shaft, a reversing input bevel gear and a reversing output bevel gear, the reversing input bevel gear and the reversing output bevel gear are meshed with each other, the reversing input bevel gear is arranged on one side of the driven mother rail gear and keeps static relative to the driven mother rail gear, and the reversing output shaft is connected with the reversing output bevel gear. The sub-rail transmission gear set comprises a driving sub-rail gear and a driven sub-rail gear which are meshed with each other, the driving sub-rail gear is connected with the reversing output shaft, and the driven sub-rail gear is a second walking power output end. According to the invention, the secondary rail transmission shaft and the primary rail transmission shaft can be prevented from being vertically crossed.

Description

Technical Field

[0001] The present invention relates to the field of intelligent robot transportation technology, and more specifically, to a walking transmission mechanism, a walking device and a three-dimensional storage robot. Background Art

[0002] With the development of intelligent science and technology and automation, three-dimensional storage robots are widely used in three-dimensional warehouses. Three-dimensional warehouses are storage shelves with several layers, dozens of layers or even dozens of layers. Each layer of storage shelves includes multiple storage units. There are cross-shaped mother rails and sub-rails between adjacent storage units. Three-dimensional storage robots walk on the mother rails and sub-rails to automatically complete the storage and dispatch of goods.

[0003] The three-dimensional storage robot has two sets of independent wheel systems. The main rail wheels are responsible for driving the robot to walk on the main rail, and the sub-rail wheels are responsible for driving the robot to walk on the sub-rail. Generally, the movement of the main rail wheels and the sub-rail wheels is realized by a set of walking devices.

[0004] The existing walking device usually includes a walking drive mechanism, a mother rail transmission shaft and a sub-rail transmission shaft. Both ends of the mother rail transmission shaft are connected to the mother rail walking wheels, and both ends of the sub-rail transmission shaft are connected to the sub-rail walking wheels. The lengths of the mother rail transmission shaft and the sub-rail transmission shaft are approximately equal to the length and width of the three-dimensional storage robot, respectively. The mother rail transmission shaft and the sub-rail transmission shaft are arranged in an upper and lower cross shape, which not only increases the thickness of the three-dimensional storage robot, but also the use of two long transmission shafts easily destroys the integrity of the internal space of the frame, which is not conducive to the installation of other components and leads to excessive volume. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned defects in the prior art and provide a walking transmission mechanism, a walking device and a three-dimensional storage robot to avoid the mother rail transmission shaft and the sub-rail transmission shaft being arranged in an up and down cross.

[0006] To achieve the above object, the first technical solution of the present invention is as follows:

[0007] A travel transmission mechanism, comprising:

[0008] The housing; and

[0009] A gear set is arranged in the box, and the gear set includes a mother rail transmission gear set, a reversing gear set and a sub-rail transmission gear set;

[0010] The mother rail transmission gear set includes an active mother rail gear and a driven mother rail gear meshing with each other, the active mother rail gear and the driven mother rail gear are arranged side by side along a first direction, the active mother rail gear is a travel power input end, and the driven mother rail gear is a first travel power output end;

[0011] The reversing gear set comprises a reversing output shaft and a reversing input bevel gear and a reversing output bevel gear meshing with each other, wherein the reversing input bevel gear is arranged on one side of the driven mother rail gear along the second direction and remains relatively stationary with the driven mother rail gear, the reversing input bevel gear is coaxially arranged with the driven mother rail gear, and the reversing output shaft is connected with the reversing output bevel gear;

[0012] The sub-rail transmission gear set includes a driving sub-rail gear and a driven sub-rail gear that mesh with each other, the driving sub-rail gear and the driven sub-rail gear are arranged side by side along the second direction, the driving sub-rail gear is connected to the reversing output shaft, and the driven sub-rail gear is the second walking power output end.

[0013] The second technical solution of the present invention is as follows:

[0014] A walking device, comprising:

[0015] A frame, two travel drive mechanisms, two mother rail transmission mechanisms, mother rail travel wheels, sub-rail travel wheels and two travel transmission mechanisms, wherein the two travel transmission mechanisms are mirror-imaged at opposite ends of the frame, and the travel transmission mechanism is the above-mentioned travel transmission mechanism;

[0016] The two travel drive mechanisms are respectively connected to the travel power input ends of the two travel transmission mechanisms, the two mother rail transmission mechanisms are respectively connected to the first travel power output ends of the two travel transmission mechanisms, the two ends of the mother rail transmission mechanism are respectively connected to a mother rail travel wheel, and the second travel power output ends of the two travel transmission mechanisms are respectively connected to a sub-rail travel wheel.

[0017] The third technical solution of the present invention is as follows:

[0018] A walking device, comprising:

[0019] A frame, four travel drive mechanisms, four mother rail transmission mechanisms, mother rail travel wheels, sub-rail travel wheels and four travel transmission mechanisms, wherein the four travel transmission mechanisms are respectively arranged at the four corners of the frame, and the travel transmission mechanism is the above-mentioned travel transmission mechanism;

[0020] The four walking drive mechanisms are respectively connected to the walking power input ends of the four walking transmission mechanisms, the first walking power output ends of the four walking transmission mechanisms are respectively connected to a mother rail walking wheel through a mother rail transmission mechanism, and the second walking power output ends of the four walking transmission mechanisms are respectively connected to a sub-rail walking wheel.

[0021] The fourth technical solution of the present invention is as follows:

[0022] A three-dimensional storage robot comprises the above-mentioned walking device.

[0023] Implementing the embodiments of the present invention will have the following beneficial effects:

[0024] The travel transmission mechanism of the embodiment of the present invention concentrates all the mother rail transmission gear sets, the reversing gear sets and the sub-rail transmission gear sets in one box, and the gears are meshed in pairs, which has low installation difficulty and high transmission accuracy. It can not only improve the overall stability of the transmission mechanism, but also install it as a whole in the frame, which is more convenient to assemble and occupies a smaller volume, further reducing the size and thickness of the three-dimensional storage robot, or further saving the installation volume in the frame.

[0025] The travel transmission mechanism of the embodiment of the present invention uses the driven mother rail gear as the first travel power output end and the driven sub-rail gear as the second travel power output end. The first travel power output end and the second travel power output end are respectively arranged on different gears, thereby improving the transmission accuracy and transmission stability and reducing the operating noise.

[0026] The walking device of an embodiment of the present invention, in one embodiment, adopts two walking transmission mechanisms, two walking drive mechanisms and two parallel mother rail transmission mechanisms, so as to avoid using long sub-rail transmission shafts, avoid forming an upper and lower cross structure, reduce the thickness and size of the three-dimensional storage robot, and avoid the destruction of the space inside the frame, which is beneficial to saving the installation volume inside the frame and makes it possible to install batteries of larger specifications.

[0027] The walking device of an embodiment of the present invention, another embodiment adopts four walking transmission mechanisms, four mother rail transmission mechanisms and four walking drive mechanisms, avoids the use of long mother rail transmission shafts and long sub-rail transmission shafts, avoids the formation of upper and lower cross structures, and reduces the thickness and size of the three-dimensional storage robot.

[0028] In the three-dimensional storage robot of the embodiment of the present invention, the axes of the two lifting transmission mechanisms are substantially parallel to the transmission shaft of the mother rail transmission mechanism, thereby avoiding the formation of an upper and lower cross structure and reducing the thickness of the three-dimensional storage robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] in:

[0031] Figure 1This is a schematic diagram of the three-dimensional storage robot provided by the present invention.

[0032] Figure 2 It is a schematic diagram of the travel transmission mechanism provided by the present invention.

[0033] Figure 3 It is a schematic diagram of the walking device provided by the present invention.

[0034] Figure 4 This is another schematic diagram of the three-dimensional storage robot provided by the present invention.

[0035] Figure 5 yes Figure 4 A schematic diagram of the lifting and reversing device in the middle.

[0036] Figure 6 It is a schematic diagram of the lifting and reversing actuator in the three-dimensional storage robot provided by the present invention.

[0037] Figure 7 This is another schematic diagram of the three-dimensional storage robot provided by the present invention.

[0038] Figure 8 yes Figure 7 A schematic diagram of the lifting and reversing device in the middle.

[0039] Fig. 9 This is another schematic diagram of the three-dimensional storage robot provided by the present invention.

[0040] Fig.10 yes Fig. 9 A schematic diagram of the lifting and reversing device in the middle.

[0041] 100-travel transmission mechanism: 1-box, 2-gear set, 21-mother rail transmission gear set, 211-active mother rail gear, 212-driven mother rail gear, 213-travel power input end, 214-first travel power output end, 22-reversing gear set, 221-reversing output shaft, 222-reversing input bevel gear 222, 223-reversing output bevel gear 223, 23-sub-rail transmission gear set, 231-active sub-rail gear, 232-driven sub-rail gear, 233-second travel power output end, 3-mother rail transmission shaft 3, X-first direction, Y-second direction;

[0042] 200-travel device: 10-frame, 4-travel drive mechanism, 41-travel motor, 42-travel reducer, 5-parent rail travel wheel, 6-sub-rail travel wheel, 7-universal coupling;

[0043] 1000-three-dimensional storage robot: 20-lifting drive mechanism, 201-drive output end, 202-lifting motor, 2021-motor output shaft, 203-lifting reducer, 204-lifting coupling, 30-lifting transmission mechanism, 300-lifting gearbox, 301-transmission input end, 302-transmission output end, 303-transmission gear, 304-transmission output shaft, 40-lifting reversing actuator, 401-lifting reversing input end, 402-lifting reversing input and output end, 43-crank, 431-rotating part, 432-connecting rod, 44-executing member, 45-protrusion, 451-rotating shaft, 452-sleeve, 453-oil-free bushing, 50-lifting member, 51-notch, 60-guide device, 61-slider, 62-slide rail, 70-battery. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Embodiment 1:

[0046] Reference Figure 1-Figure 3 The present invention discloses a travel transmission mechanism 100, which includes a box body 1 and a gear set 2 arranged in the box body 1, and the gear set 2 includes a mother rail transmission gear set 21, a reversing gear set 22 and a sub-rail transmission gear set 23.

[0047] The mother rail transmission gear set 21 includes an active mother rail gear 211 and a driven mother rail gear 212 that are meshed with each other. The active mother rail gear 211 and the driven mother rail gear 212 are arranged side by side along the first direction X. The active mother rail gear 211 is a travel power input end 213, and the travel power input end 213 is used to connect the travel drive mechanism 4. The driven mother rail gear 212 is a first travel power output end 214, and the first travel power output end 214 is used to connect the mother rail transmission mechanism. The mother rail transmission mechanism is used to connect the mother rail travel wheel 5. In this embodiment, the mother rail transmission mechanism is a mother rail transmission shaft 3, and the mother rail transmission shaft 3 is used to connect the mother rail travel wheel 5.

[0048] The reversing gear set 22 includes a reversing output shaft 221 and a reversing input bevel gear 222 and a reversing output bevel gear 223 that mesh with each other. The reversing input bevel gear 222 is arranged on one side of the driven mother rail gear 212 along the second direction Y and remains relatively stationary with the driven mother rail gear 212. The reversing input bevel gear 222 is coaxially arranged with the driven mother rail gear 212, and the reversing output shaft 221 is connected to the reversing output bevel gear 223.

[0049] The sub-rail transmission gear set 23 includes a driving sub-rail gear 231 and a driven sub-rail gear 232 that are meshed with each other. The driving sub-rail gear 231 and the driven sub-rail gear 232 are arranged side by side along the second direction Y. The driving sub-rail gear 231 is connected to the reversing output shaft 221, and the driven sub-rail gear 232 is the second walking power output end 233. The second walking power output end 233 is used to connect the sub-rail walking wheel 6.

[0050] It should be noted that, in this embodiment, the active mother rail gear 211 and the driven mother rail gear 212 are arranged side by side along the first direction X, and the rotation of the active mother rail gear 211 drives the driven mother rail gear 212 to rotate, and the driven mother rail gear 212 thereby drives the mother rail walking wheel 5 to rotate, and the first direction X is the walking direction of the mother rail walking wheel 5; at the same time, the reversing input bevel gear 222 rotates coaxially with the driven mother rail gear 212 through the reversing output shaft 221, and the reversing input bevel gear 222 is arranged on one side of the driven mother rail gear 212 along the second direction Y, and the reversing input bevel gear 222 drives the reversing output bevel gear 223 to rotate, and the reversing output bevel gear 223 rotates coaxially with the active sub-rail gear 231, and the active sub-rail gear 231 drives the driven sub-rail gear 232 to rotate, and the driven sub-rail gear 232 thereby drives the sub-rail walking wheel 6 to rotate, and the second direction Y is the walking direction of the sub-rail walking wheel 6.

[0051] Further, the number of the first travel power output ends 214 is two, and the two first travel power output ends 214 are arranged opposite to each other, and the two first travel power output ends 214 are respectively connected to the mother rail transmission mechanism, and the ends of the mother rail transmission mechanism away from the first travel power output ends 214 are respectively connected to the mother rail travel wheels, and specifically, the mother rail transmission mechanism is a mother rail transmission shaft 3, and the two first travel power output ends 21 are respectively coaxial shaft holes, and the mother rail transmission shaft 3 passes through the shaft holes, and the two ends of the mother rail transmission shaft 3 are respectively connected to the mother rail travel wheels 5. Then, the two mother rail travel wheels 5 arranged opposite to each other along the second direction Y are connected by a mother rail transmission shaft 3, so as to facilitate synchronous control of the mother rail travel wheels 5 at both ends, and when the driven mother rail gear 212 rotates, the mother rail travel wheels 5 at both ends of the mother rail transmission shaft 3 rotate coaxially with the driven mother rail gear 212. In other embodiments, the first travel power output end 214 may also be a shaft, and the mother rail transmission mechanism may also be other transmission structures such as a coupling. The output shaft of the first travel power output end 214 is connected to the shaft of the mother rail travel wheel 5 through a coupling.

[0052] In other embodiments, the number of the first travel power output end 214 is one, one end of the mother rail transmission mechanism is connected to the first travel power output end 214, and the other end of the mother rail transmission mechanism is connected to the mother rail travel wheel. In this embodiment, only one mother rail travel wheel 5 is connected through a mother rail transmission mechanism, and the mother rail transmission mechanism and the mother rail travel wheel 5 are correspondingly arranged to facilitate targeted maintenance and replacement. The mother rail transmission mechanism can be a mother rail transmission shaft, or it can be other transmission structures such as a coupling, and the first travel power output end 214 can be a shaft or a shaft hole.

[0053] It should be noted that the second walking power output end 233 or the walking power input end 213 can be a shaft or a shaft hole.

[0054] The travel transmission mechanism 100 of the above-mentioned embodiment, by concentrating all the mother rail transmission gear sets 21, the reversing gear sets 22 and the sub-rail transmission gear sets 23 in one box body 1, the gears are meshed in pairs, the installation difficulty is small, and the transmission accuracy is high. It can not only improve the overall stability of the transmission mechanism, but also install it as a whole in the frame 10, which is more convenient to assemble and occupies a smaller volume, further reducing the size and thickness of the three-dimensional storage robot 1000, or further saving the installation volume in the frame 10.

[0055] The travel transmission mechanism 100 of the above embodiment uses the driven mother rail gear 212 as the first travel power output terminal 214 and the driven sub-rail gear 232 as the second travel power output terminal 233. The first travel power output terminal 214 and the second travel power output terminal 233 are respectively arranged on different gears, thereby improving the transmission accuracy and transmission stability and reducing the operating noise.

[0056] In some optional embodiments, the number of the driven mother rail gear 212 is at least one, and the number of the driven sub-rail gear 232 is at least one.

[0057] Specifically, Figure 3 Only two driven mother rail gears 212 are provided as an example, and the number of driven mother rail gears 212 can be adjusted according to the size of the actual box 1; each driven sub-rail gear 232 is respectively connected to a sub-rail running wheel 6, Figure 3 In the example of setting two sub-rail running wheels 6 , two driven sub-rail gears 232 are set, and the number of driven sub-rail gears 232 can be adjusted according to the actual number of sub-rail running wheels 6 and the size of the box 1 .

[0058] In some optional embodiments, the number of the second travel power output ends 233 is at least one, and each second travel power output end 233 is connected to a sub-rail travel wheel 6 .

[0059] Specifically, each second travel power output end 233 is connected to a sub-rail travel wheel 6. Figure 2 Taking setting two second walking power output ends 233 as an example, two sub-rail walking wheels 6 are set, and the sub-rail walking wheels 6 are increased to ensure the walking stability of the sub-rail walking wheels 6. The number of the second walking power output ends 233 can be adjusted according to the actual number of sub-rail walking wheels 6.

[0060] Embodiment 2:

[0061] Reference Figure 1-Figure 3 The present invention discloses a walking device 200, including: a frame 10, two walking drive mechanisms 4, two mother rail transmission mechanisms, mother rail walking wheels 5, sub-rail walking wheels 6 and two walking transmission mechanisms 100, and the two walking transmission mechanisms 100 are respectively mirror-arranged at the opposite ends of the frame 10.

[0062] The two travel drive mechanisms 4 are respectively connected to the travel power input ends 213 of the two travel transmission mechanisms 100, the two mother rail transmission mechanisms are respectively connected to the first travel power output ends 214 of the two travel transmission mechanisms 100, the two ends of the mother rail transmission mechanism are respectively connected to a mother rail travel wheel 5, and the second travel power output ends 233 of the two travel transmission mechanisms 100 are respectively connected to a sub-rail travel wheel 6.

[0063] In this embodiment, the mother rail transmission mechanism is a mother rail transmission shaft 3, which passes through the shaft holes of two oppositely arranged coaxial first travel power output ends 214, and the two ends of the mother rail transmission shaft 3 are respectively connected to the mother rail travel wheels 5.

[0064] Further, refer to Figure 1 The two ends of the mother rail transmission shaft 3 are connected to the mother rail running wheels 5 through universal couplings 7 respectively.

[0065] It can be understood that the universal coupling 7 effectively transmits torque and motion, and connects the mother rail transmission shaft 3 and the mother rail running wheel 5 through the universal coupling 7 to maintain transmission efficiency and stable motion. The universal coupling 7 has angular compensation capability. When the axes of the mother rail transmission shaft 3 and the mother rail running wheel 5 are not aligned or there is a certain error, the universal coupling 7 can ensure smooth transmission.

[0066] In other embodiments, the mother rail transmission mechanism can also be a unit composed of multiple transmission shafts and / or multiple couplings. For example, the mother rail transmission mechanism includes two couplings, and the number of the first travel power output ends 214 is two relatively arranged, and both are output shafts. The output shafts of the two first travel power output ends 214 are respectively connected to the rotating shaft of the mother rail travel wheel 5 through a coupling.

[0067] It can be understood that the embodiment of the present invention avoids the use of sub-rail transmission shafts and the formation of an upper and lower cross structure by adopting two walking transmission mechanisms 100, two walking drive mechanisms 4 and two parallel mother rail transmission mechanisms, thereby reducing the thickness and size of the three-dimensional storage robot 1000 and avoiding the destruction of the space inside the frame 10, which is beneficial to saving the installation volume inside the frame 10 and making it possible to install batteries 70 of larger specifications.

[0068] In another specific embodiment, the walking device 200 may also include: a frame 10, four walking drive mechanisms 4, four mother rail transmission mechanisms, mother rail walking wheels 5, sub-rail walking wheels 6 and four walking transmission mechanisms 100, and the four walking transmission mechanisms 100 are respectively arranged at the four corners of the frame 10.

[0069] The four walking drive mechanisms 4 are respectively connected to the walking power input ends 213 of the four walking transmission mechanisms 100, the first walking power output ends 214 of the four walking transmission mechanisms 100 are respectively connected to a mother rail walking wheel 5 through a mother rail transmission mechanism, and the second walking power output ends 233 of the four walking transmission mechanisms 100 are respectively connected to a sub-rail walking wheel 6.

[0070] It can be understood that by adopting four travel transmission mechanisms 100, four main rail transmission mechanisms and four travel drive mechanisms 4, the use of long main rail transmission shafts 3 and long sub-rail transmission shafts is avoided, the formation of upper and lower cross structures is avoided, and the thickness and size of the three-dimensional storage robot 1000 are reduced.

[0071] In this embodiment, the mother rail transmission mechanism can be a transmission shaft or other transmission structures such as a coupling. For example, the mother rail transmission mechanism is a coupling, preferably a universal coupling, and the travel transmission mechanism 100 includes a first travel power output end 214, and the first travel power output end 214 is a shaft, and the output shaft of the first travel power output end 214 is connected to the rotating shaft of the mother rail travel wheel 5 through the coupling. Alternatively, the mother rail transmission mechanism is a mother rail transmission shaft, and the travel transmission mechanism 100 includes a first travel power output end 214, and the first travel power output end 214 is a shaft hole, one end of the mother rail transmission shaft is connected to the first travel power output end 214, and the other end is connected to the mother rail travel wheel 5.

[0072] Furthermore, the travel drive mechanism 4 includes a travel motor 41 and a travel reducer 42 connected to the travel motor 41, and the travel reducer 42 is connected to the travel power input end 213. It should be noted that the travel power input end 213 can be a shaft or a shaft hole.

[0073] It can be understood that the travel motor 41 often outputs high-speed but low-torque rotational power, and the travel reducer 42 converts the high-speed rotation of the motor into low-speed rotation to meet the speed requirement. The jacking reducer 203 increases the output torque while reducing the speed, reduces the wear of transmission components, reduces the maintenance cost of the equipment, and extends its service life.

[0074] Embodiment 3:

[0075] Reference Figure 1 The present invention discloses a three-dimensional storage robot 1000, including any walking device 200 of the above embodiments.

[0076] In a specific embodiment, the three-dimensional storage robot 1000 also includes a lifting and reversing device, which includes a lifting drive mechanism 20 and two lifting transmission mechanisms 30. The lifting transmission mechanisms 30 are arranged at two opposite ends of the frame 10 close to the mother rail walking wheels 5, and the lifting drive mechanism 20 is arranged between the two lifting transmission mechanisms 30. The lifting drive mechanism 20 drives the lifting transmission mechanism 30 to rotate.

[0077] It can be understood that the driving shafts of the two lifting drive mechanisms 20 are basically parallel to the driving shaft of the parent rail transmission mechanism, avoiding the formation of an upper and lower cross structure and avoiding destroying the integrity of the internal space of the frame 10, which is conducive to making the layout of internal components more compact and reducing the size and thickness of the three-dimensional storage robot 1000.

[0078] Optional, see Figure 1 and Figure 4 There are two lifting drive mechanisms 20 , and the lifting drive mechanism 20 includes a lifting motor 202 and a lifting reducer 203 connected to the lifting motor 202 . The two lifting reducers 203 are respectively connected to the lifting transmission input ends 301 of the lifting transmission mechanism 30 .

[0079] Specific, combined Figure 5 The motor output shaft 2021 of the jacking motor 202 rotates, driving the transmission gear 303 in the jacking gear box 300 to rotate, and the transmission gear 303 drives the transmission output shaft 304 connected to the jacking reversing input end 401 to rotate, thereby driving the jacking reversing input end 401 to rotate, and the rotation of the jacking reversing input end 401 drives the jacking reversing output end 402 to rise or fall, and the rise or fall of the jacking reversing output end 402 drives the jacking component 50 to rise or fall, and the rising or falling movement of the jacking component 50 drives the mother rail walking wheel 5 to move up and down synchronously. At the same time, the jacking component 50 is movably connected with the jacking pallet. During the rising process, the jacking pallet is lifted, thereby realizing the jacking and loading of the goods and the reversing drive.

[0080] It is understandable that by connecting the lifting transmission mechanism 30 at the two opposite ends of the frame 10 to a lifting drive mechanism 20 respectively, and avoiding the use of a long synchronous coupling, not only can the mechanical efficiency of the lifting drive mechanism 20 be improved, but also the problem of high strength requirements of the lifting transmission mechanism 30 caused by the friction between the two ends of the long synchronous coupling and the lifting transmission mechanism 30 can be avoided. Reducing the strength requirements of the lifting transmission mechanism 30 can reduce the size of the lifting transmission mechanism 30, which is also convenient for reducing the size and body thickness of the three-dimensional storage robot 1000. In addition, avoiding the use of a long synchronous coupling and avoiding the cross-intersection of the driving shaft of the lifting transmission mechanism 30 and the mother rail drive shaft 3 can avoid damaging the integrity of the internal space of the frame 10, and further reduce the size and thickness of the three-dimensional storage robot 1000.

[0081] Optional, see Fig. 9 and Fig.10 The lifting drive mechanism 20 includes a lifting motor 202, a lifting reducer 203 connected to the lifting motor 202, and two lifting transmission mechanisms. The lifting reducer 203 includes two driving output ends 201 arranged opposite to each other. The two driving output ends 201 are respectively connected to the lifting transmission input end 301 of the lifting transmission mechanism 30 through a lifting transmission mechanism. It should be noted that the lifting transmission mechanism can be a transmission shaft or a coupling. In this specific embodiment, the lifting transmission mechanism is a lifting coupling 204, and the output shafts of the two driving output ends 201 are respectively connected to the input shaft of the lifting transmission input end 301 through a lifting coupling 204. In other embodiments, the lifting transmission mechanism can also be a lifting transmission shaft, and the two ends of the lifting transmission shaft are respectively connected to the driving output end 201 and the lifting transmission input end 301.

[0082] Specific, combined Fig.10 The motor output shaft 2021 of the jacking motor 202 rotates, and drives the jacking coupling 204 to rotate through the jacking reducer 203, thereby driving the transmission gear 303 in the jacking gear box 300 to rotate, and the transmission gear 303 drives the transmission output shaft 304 connected to the jacking reversing input end 401 to rotate, thereby driving the jacking reversing input end 401 to rotate, and the rotation of the jacking reversing input end 401 drives the jacking reversing output end 402 to rise or fall, and the rise or fall of the jacking reversing output end 402 drives the jacking component 50 to rise or fall, and the rising or falling movement of the jacking component 50 drives the mother rail walking wheel 5 to move and rise synchronously. At the same time, the jacking component 50 is movably connected with the jacking pallet. During the rising process, the jacking pallet is jacked up, thereby realizing the jacking and loading of the goods and the reversing drive.

[0083] It can be understood that by connecting the jacking transmission mechanism 30 respectively through two jacking transmission mechanisms, the use of a long synchronous coupling is avoided, thereby improving the mechanical efficiency of the jacking drive mechanism 20.

[0084] Optional, see Figure 7 and Figure 8 The lifting drive mechanism 20 includes a lifting motor 202, two lifting reducers 203 and two lifting transmission mechanisms. The lifting motor 202 includes two motor output shafts 2021 arranged opposite to each other. The two motor output shafts 2021 are respectively connected to the two lifting reducers 203. The two lifting reducers 203 are respectively connected to the lifting transmission input end 301 of the lifting transmission mechanism 30 through a lifting transmission mechanism.

[0085] It should be noted that the lifting transmission mechanism can be a transmission shaft or a coupling. In this specific embodiment, the lifting transmission mechanism is a lifting coupling 204, and the output shafts of the two lifting reducers 203 are respectively connected to the input shaft of the lifting transmission input end 301 through a lifting coupling 204. In other embodiments, the lifting transmission mechanism can also be a lifting transmission shaft, and the two ends of the lifting transmission shaft are respectively connected to the lifting reducer 203 and the lifting transmission input end 301.

[0086] Specific, combined Figure 8 The motor output shaft 2021 of the jacking motor 202 rotates, and the driving gear set of the jacking reducer 203 drives the jacking coupling 204 to rotate. The rotation of the jacking coupling 204 drives the transmission gear 303 in the jacking gear box 300 to rotate. The transmission gear 303 drives the transmission output shaft 304 connected to the jacking reversing input end 401 to rotate, thereby driving the jacking reversing input end 401 to rotate. The rotation of the jacking reversing input end 401 drives the jacking reversing input and output end 402 to rise or fall. The rise or fall of the jacking reversing input and output end 402 drives the jacking component 50 to rise or fall. The rising or falling movement of the jacking component 50 drives the mother rail walking wheel 5 to rise and fall synchronously. At the same time, the jacking component 50 is movably connected to the jacking pallet. During the rising process, the jacking pallet is jacked, thereby realizing the jacking and loading of the goods and the reversing drive.

[0087] It can be understood that the two motor output shafts 2021 of the jacking motor 202 are respectively connected to the two jacking reducers 203, and the two jacking reducers 203 are respectively connected to the jacking transmission mechanism 30 through two jacking couplings 204, thereby avoiding the use of a long synchronous coupling and improving the mechanical efficiency of the jacking drive mechanism 20.

[0088] In a specific embodiment, in combination Figure 4-Figure 6The lifting and reversing device also includes a lifting and reversing actuator 40, a lifting component 50 and a lifting support plate. The lifting transmission output ends 302 of the two lifting transmission mechanisms 30 are respectively connected to the lifting and reversing input ends 401 of the lifting and reversing actuator 40. The lifting and reversing actuator 40 is used to convert the rotation of the lifting transmission mechanism 30 into a lifting motion. The lifting component 50 is connected to the lifting and reversing actuator 40. The lifting and reversing actuator 40 drives the lifting component 50 to move up and down. The lifting support plate is arranged above the frame 10, and the lifting support plate is movably connected to the lifting component 50; the mother rail walking wheel 5 is arranged on the lifting component 50, and the sub-rail walking wheel 6 is arranged on the frame 10.

[0089] Optionally, the lifting transmission mechanism 30 is a gear transmission mechanism, a sprocket chain transmission mechanism or a synchronous pulley and synchronous belt transmission mechanism.

[0090] Preferably, the lifting transmission mechanism 30 includes a lifting gear box 300, the lifting gear box 300 includes a lifting transmission input end 301 and two lifting transmission output ends 302, the rotation directions of the two lifting transmission output ends 302 are opposite, the two lifting transmission output ends 302 are respectively connected to a lifting reversing actuator 40, the two lifting reversing actuators 40 are mirror-image structures to each other, and the two lifting reversing actuators 40 are connected to a lifting component 50.

[0091] Specifically, the positions of the lifting component 50 include a first position, an intermediate position and a second position, the first position is higher than the intermediate position, and the second position is lower than the intermediate position; when the lifting component 50 is in the intermediate position, the mother rail running wheels 5 have been separated from the mother rail, and at this time, the three-dimensional storage robot can move along the sub-rail; when the lifting component 50 rises, the lifting component 50 is in the first position, and the lifting component 50 has contacted the lifting pallet, and at this time, the three-dimensional storage robot is in a lifting state, and it can still move along the sub-rail through the lifting pallet to carry the cargo pallet; when the lifting component 50 descends, the lifting component 50 is in the second position, and the sub-rail running wheels 6 have been separated from the sub-rail, and the three-dimensional storage robot can move along the mother rail.

[0092] In a specific embodiment, in combination Figure 4 , Figure 6The lifting reversing actuator 40 includes a crank 403 and an actuator 404. The crank 403 includes a rotating portion 431 and a connecting rod 432 connected in sequence. The actuator 404 is arranged at one end of the connecting rod 432 away from the rotating portion 431. The rotating portion 431 is connected to the lifting transmission output end 302 of the lifting transmission mechanism 30. The actuator 404 is connected to the lifting member 50. The lifting transmission mechanism 30 drives the crank 403 to rotate, and the rotation of the crank 403 drives the actuator 404 to rotate, and the actuator 404 drives the lifting member 50 to move up and down. This embodiment adopts the lifting reversing actuator 40 of the crank 403, which has a simpler structure, is more effective and reliable.

[0093] Further, in a specific embodiment, the actuator 404 is a protrusion 405 provided on the connecting rod 432, and the lifting member 50 is provided with a notch 501, and the notch 501 accommodates the protrusion 405; or, in another specific embodiment, the actuator 404 is a notch 501 (not shown) provided on the connecting rod 432, and the lifting member 50 is provided with a protrusion 405, and the protrusion 405 is accommodated in the notch 501. The actuator 404 of this embodiment has a simpler structure, is more effective and reliable.

[0094] Preferably, the protrusion 405 includes a rotating shaft 451 and a sleeve 452 sleeved outside the rotating shaft 451, and the sleeve 452 is accommodated in the notch 501. The protrusion 405 adopts the sleeve 452, and the sleeve 452 can rotate around the rotating shaft 451 during movement, reducing the torque in the lateral direction and improving the stability of the transmission.

[0095] Furthermore, in this embodiment, an oil-free bushing 453 is provided between the shaft sleeve 452 and the rotating shaft 451 to further reduce the friction between the shaft sleeve 452 and the rotating shaft 451 and improve the stability of the structure.

[0096] In a specific embodiment, referring to Figure 4 The lifting reversing device further includes a guide device 60 disposed between the frame 10 and the lifting member 50, and the guide device 60 is used to guide the lifting member 50 in the vertical direction to improve the movement stability of the lifting member 50 in the vertical direction. Specifically, in this embodiment, the guide device 60 includes a slider 61 and a slide rail 62 disposed in the vertical direction, the slider 61 slides along the slide rail 62, and the slide rail 62 and the slider 61 are disposed on the frame 10 and the lifting member 50, respectively.

[0097] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A travel transmission mechanism, characterized in that: include: Box; as well as A gear set is arranged in the box, and the gear set includes a mother rail transmission gear set, a reversing gear set and a sub-rail transmission gear set; The mother rail transmission gear set includes an active mother rail gear and a driven mother rail gear meshing with each other, the active mother rail gear and the driven mother rail gear are arranged side by side along a first direction, the active mother rail gear is a travel power input end, and the driven mother rail gear is a first travel power output end; The reversing gear set comprises a reversing output shaft and a reversing input bevel gear and a reversing output bevel gear meshing with each other, wherein the reversing input bevel gear is arranged on one side of the driven mother rail gear along the second direction and remains relatively stationary with the driven mother rail gear, the reversing input bevel gear is coaxially arranged with the driven mother rail gear, and the reversing output shaft is connected with the reversing output bevel gear; The sub-rail transmission gear set includes a driving sub-rail gear and a driven sub-rail gear that mesh with each other, the driving sub-rail gear and the driven sub-rail gear are arranged side by side along the second direction, the driving sub-rail gear is connected to the reversing output shaft, and the driven sub-rail gear is the second walking power output end.

2. The travel transmission mechanism according to claim 1, characterized in that: The number of the driven mother rail gear is at least one, and the number of the driven sub-rail gear is at least one.

3. The travel transmission mechanism according to claim 1, characterized in that: The number of the second walking power output ends is at least one, and the second walking power output ends are arranged side by side.

4. The travel transmission mechanism according to claim 1, characterized in that: The number of the first travel power output ends is two, and the two first travel power output ends are arranged opposite to each other, the two first travel power output ends are respectively connected to the mother rail transmission mechanism, and the ends of the mother rail transmission mechanism away from the first travel power output end are respectively connected to the mother rail travel wheels; Alternatively, the number of the first travel power output end is one, one end of the mother rail transmission mechanism is connected to the first travel power output end, and the other end of the mother rail transmission mechanism is connected to the mother rail travel wheel.

5. A walking device, characterized in that: include: A frame, two travel drive mechanisms, two mother rail transmission mechanisms, mother rail travel wheels, sub-rail travel wheels and two travel transmission mechanisms, wherein the two travel transmission mechanisms are mirror-imaged at opposite ends of the frame, and the travel transmission mechanism is the travel transmission mechanism according to any one of claims 1 to 4; The two travel drive mechanisms are respectively connected to the travel power input ends of the two travel transmission mechanisms, the two mother rail transmission mechanisms are respectively connected to the first travel power output ends of the two travel transmission mechanisms, the two ends of the mother rail transmission mechanism are respectively connected to a mother rail travel wheel, and the second travel power output ends of the two travel transmission mechanisms are respectively connected to a sub-rail travel wheel.

6. The walking device according to claim 5, characterized in that: The walking drive mechanism comprises a walking motor and a walking reducer connected to the walking motor, and the walking reducer is connected to the walking power input end.

7. The walking device according to claim 5, characterized in that: Both ends of the mother rail transmission mechanism are connected to the mother rail running wheels through universal couplings.

8. A walking device, characterized in that: include: A frame, four travel drive mechanisms, four mother rail transmission mechanisms, mother rail travel wheels, sub-rail travel wheels and four travel transmission mechanisms, wherein the four travel transmission mechanisms are respectively arranged at the four corners of the frame, and the travel transmission mechanism is the travel transmission mechanism according to any one of claims 1 to 4; The four walking drive mechanisms are respectively connected to the walking power input ends of the four walking transmission mechanisms, the first walking power output ends of the four walking transmission mechanisms are respectively connected to a mother rail walking wheel through a mother rail transmission mechanism, and the second walking power output ends of the four walking transmission mechanisms are respectively connected to a sub-rail walking wheel.

9. The walking device according to claim 8, characterized in that: The walking drive mechanism comprises a walking motor and a walking reducer connected to the walking motor, and the walking reducer is connected to the walking power input end.

10. The walking device according to claim 8, characterized in that: The mother rail transmission mechanism is a universal coupling, and the first travel power output end is connected to the mother rail travel wheel through the universal coupling.

11. A three-dimensional storage robot, characterized in that: It comprises a walking device as described in any one of claims 5 to 10.

12. The three-dimensional storage robot according to claim 11, characterized in that: It also includes a jacking reversing device, which includes a jacking drive mechanism and two jacking transmission mechanisms. The jacking transmission mechanisms are arranged at two opposite ends of the frame close to the mother rail walking wheels, and the jacking drive mechanism is arranged between the two jacking transmission mechanisms. The jacking drive mechanism drives the jacking transmission mechanism to rotate.

13. The three-dimensional storage robot according to claim 12, characterized in that: There are two jacking drive mechanisms, each of which comprises a jacking motor and a jacking reducer connected to the jacking motor, and the two jacking reducers are respectively connected to the jacking transmission input ends of the jacking transmission mechanism; Alternatively, the lifting drive mechanism comprises a lifting motor, a lifting reducer connected to the lifting motor and two lifting transmission mechanisms, the lifting reducer comprises two driving output ends arranged opposite to each other, and the two driving output ends are respectively connected to the lifting transmission input end of the lifting transmission mechanism through one of the lifting transmission mechanisms; Alternatively, the jacking drive mechanism includes a jacking motor, two jacking reducers and two jacking transmission mechanisms, the jacking motor includes two motor output shafts arranged opposite to each other, the two motor output shafts are respectively connected to the two jacking reducers, and the ends of the two jacking reducers facing away from the jacking motor are respectively connected to the jacking transmission input end of the jacking transmission mechanism through a jacking transmission mechanism.

14. The three-dimensional storage robot according to claim 12 or 13, characterized in that: The lifting and reversing device also includes a lifting and reversing actuator, a lifting component and a lifting support plate. The lifting transmission output ends of the two lifting transmission mechanisms are respectively connected to the lifting and reversing input ends of the lifting and reversing actuator. The lifting and reversing actuator is used to convert the rotation of the lifting transmission mechanism into a lifting motion. The lifting component is connected to the lifting and reversing actuator. The lifting and reversing actuator drives the lifting component to move up and down. The lifting support plate is arranged above the frame, and the lifting support plate is connected to the lifting component; the mother rail running wheel is arranged on the lifting component, and the sub-rail running wheel is arranged on the frame.

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