Stereo warehouse robot

Abstract

The application relates to a stereoscopic storage robot, which comprises a first frame body, a second frame body arranged in the first frame body and a lifting assembly for driving the second frame body to lift along a vertical direction, and two oppositely arranged auxiliary crank rods, one end of each of the auxiliary crank rods is rotationally connected to the first frame body, the other end of each of the auxiliary crank rods is provided with a supporting part, the supporting part is used for connecting the second frame body, the same gear parts are arranged around the rotation axes of the two auxiliary crank rods as centers, the two gear parts are engaged, the distance from the rotation axes of the auxiliary crank rods to the supporting parts is equal, the distance through which the two auxiliary crank rods relatively rotate is limited by the two gear parts, the distance through which the two auxiliary crank rods relatively rotate is equal, the second frame bodies supported by the two supporting parts can be kept balanced, the smoothness of the reversing is improved, and the abrasion is reduced, so that the service life is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehousing, in particular to a stereoscopic warehousing robot. BACKGROUND

[0002] The automatic stereoscopic warehouse of shelves, referred to as a stereoscopic warehouse. The stereoscopic warehouse is a several-layer, tens-of-layers or even hundreds-of-layers high shelf storage unit for goods. In order to facilitate the taking and placing of materials, the relevant handling equipment is usually a warehousing robot (the warehousing robot can also be referred to as an AGV trolley or a handling trolley) to realize automatic handling, greatly reducing the labor cost and operating cost, and increasing the warehouse storage space.

[0003] Problems exist in the use of the relevant warehousing robot, including that when the warehousing robot is used to carry materials, the materials are inevitably placed in a biased manner, i.e. the center of gravity of the materials is not at the center position of the lifting component, so that the lifting component is prone to deflection, and there is a significant jamming feeling when reversing, which causes the warehousing robot to abnormally wear at the local position where the center of gravity of the materials is located, affecting the service life of the warehousing robot. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a stereoscopic warehousing robot which can effectively solve the problem of unsmooth lifting.

[0005] In order to solve the above technical problems, the present application provides a stereoscopic warehousing robot, comprising:

[0006] a first frame, the first frame being internally provided with a second frame and a lifting assembly for driving the second frame to lift in a vertical direction; and

[0007] two oppositely arranged auxiliary crank rods, one end of each of the auxiliary crank rods being rotatably connected to the first frame, the other end of each of the auxiliary crank rods being provided with a supporting portion, the supporting portion being used to connect the second frame, the two auxiliary crank rods being provided with the same gear portions around the rotation axes as the center, the two gear portions being engaged with each other, and the distance from the rotation axis to the supporting portion of each of the auxiliary crank rods being equal.

[0008] In the above embodiment, when the lifting assembly drives the second frame to lift, the two auxiliary crank rods rotate by the same length due to the same two gear portions, the two auxiliary crank rods are relatively rotated by the second frame lifting, the two auxiliary crank rods are limited to rotate by the two engaged gear portions, and the distance from the rotation axis to the supporting portion of the two auxiliary crank rods is equal, so that the two supporting portions are still in the same horizontal plane when rotating, the second frame supported by the two supporting portions can also be kept balanced, the smoothness of lifting is effectively improved, and the wear of the warehousing robot at the local position where the center of gravity of the materials is located is reduced, so as to prolong the service life.

[0009] In one of the embodiments, the second frame body comprises a main body, and the main body is provided with a second avoiding hole corresponding to the support part;

[0010] The second avoiding hole extends along a straight line direction perpendicular to the vertical direction on the main body, and the support part is arranged in the second avoiding hole and can slide in the second avoiding hole.

[0011] In one of the embodiments, the second frame body further comprises a walking wheel, and the two ends of the main body are provided with mounting hole positions, and the walking wheel is mounted in the mounting hole positions.

[0012] In one of the embodiments, the first frame body is hollow, and the first frame body is provided with two parallel partition plates, and the first frame body is divided into a first cavity and two second cavities located on the two sides of the first cavity by the two partition plates, and the two second frame bodies are correspondingly accommodated in the two second cavities.

[0013] In one of the embodiments, the auxiliary crank rod comprises a rotating shaft, and the rotating shaft is arranged on the partition plate and located in the second cavity.

[0014] In one of the embodiments, the second cavity is provided with a guide part, and the second frame body comprises a guide seat matched with the guide part;

[0015] Under the driving of the lifting assembly, the second frame body reciprocates along the vertical direction under the limitation of the guide seat and the guide part. The movement track of the second frame body is limited by the guide seat and the guide part, and since the two auxiliary crank rods keep the second frame body balanced, the wear of the guide seat and the guide part can be reduced, thereby prolonging the service life.

[0016] In one of the embodiments, the lifting assembly comprises a driver and a jacking head mounted on the power output end of the driver, and the jacking head is connected to the second frame body; under the driving of the driver, the jacking head pushes the second frame body.

[0017] In one of the embodiments, the jacking head comprises a cam, one end of the cam is connected to the power output end of the driver, the other end of the cam is provided with a shaft sleeve, and the shaft sleeve is slidingly connected in the second frame body.

[0018] In one of the embodiments, the main body of the second frame body is provided with a first avoiding hole, and the first avoiding hole extends along a straight line direction perpendicular to the vertical direction on the main body.

[0019] In one of the embodiments, the driver is arranged in the first cavity, and the lifting assembly further comprises a synchronous connecting shaft, and the synchronous connecting shaft is arranged on the two partition plates;

[0020] The two ends of the synchronous connecting shaft are provided with jacking heads, and the driver drives the synchronous connecting shaft to move. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1A perspective structure schematic view of the stereoscopic storage robot under a first perspective is provided for an embodiment of the present application.

[0022] Figure 2 A perspective structure schematic view of the stereoscopic storage robot under a second perspective is provided for an embodiment of the present application.

[0023] Figure 3 A perspective structure schematic view of the second frame body is provided for an embodiment of the present application.

[0024] Figure 4 An exploded schematic view of the second frame body is provided for an embodiment of the present application.

[0025] Figure 5 A perspective structure schematic view of the stereoscopic storage robot under a third perspective is provided for an embodiment of the present application.

[0026] Reference signs:

[0027] 100, first frame body;

[0028] 11, first cavity; 12, second cavity; 13, partition plate; 14, guide member;

[0029] 200, second frame body;

[0030] 21, main body member; 22, walking wheel; 23, guide seat; 24, auxiliary crank rod;

[0031] 211, first avoiding hole; 212, second avoiding hole; 213, groove; 214, mounting hole position;

[0032] 241, gear part; 242, rotating shaft; 243, support part;

[0033] 300, lifting assembly;

[0034] 31, driver; 32, jacking head; 33, synchronous connecting shaft;

[0035] 321, cam; 322, shaft sleeve; 323, input end. DETAILED DESCRIPTION

[0036] In order to make the above objectives, features and advantages of the present application more apparent and comprehensible, the specific embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, a lot of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0037] In the description of the application, it should be understood that, if there are terms "center", "length", "height", "upper", "lower", "top", "bottom", "inner", "outer", "radial", "circumferential" and the like, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings, and is only for the purpose of facilitating the description of the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0038] In addition, if there are terms "first", "second", these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one feature. In the description of the application, if the term "multiple" appears, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise explicitly specified.

[0039] In this application, unless otherwise explicitly specified and limited, if the terms "mounting", "connection", "connection", "fixing" and the like appear, these terms should be broadly understood. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0040] In this application, unless otherwise explicitly specified and limited, if there are similar descriptions such as "first feature on the second feature", the meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" of the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height.

[0041] It should be noted that if an element is referred to as "fixed to" or "provided on" another element, it can be directly on another element or there can be a middle element. If an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. If there is, the terms "up", "down" and similar expressions used in this application are only for the purpose of illustration, and do not indicate the only implementation.

[0042] Reference Figure 1 , 2As shown, in some embodiments of the present application, the present application provides a stereoscopic storage robot, comprising: a first frame body 100 and a second frame body 200, wherein the second frame body 200 is accommodated in the first frame body 100. The stereoscopic storage robot further comprises a lifting assembly 300, which is also installed in the first frame body 100, and drives the second frame body 200 to lift along the vertical direction through the lifting assembly 300. Specifically, the second frame body 200 is installed with a walking wheel 22. Although not shown, it can be understood that the first frame body 100 is provided with a roller, and the rolling direction of the walking wheel 22 is different from that of the roller. The walking wheel 22 is lifted by the lifting assembly 300 to realize the switching of the walking wheel 22 or the roller to contact with different tracks, so as to realize the reversing of the stereoscopic storage robot in different tracks, that is, the reversing of the stereoscopic storage robot.

[0043] More specifically, at least two second frame bodies 200 are accommodated in the first frame body 100, and the stereoscopic storage robot is supported by the walking wheels 22 on the plurality of second frame bodies 200, so that the stereoscopic storage robot is more stable when the walking wheels 22 control the movement of the stereoscopic storage robot.

[0044] In the present scheme, the number of second frame bodies 200 is two, the first frame body 100 is hollow inside, the first frame body 100 is provided with two parallel partitions 13, the hollow inside space of the first frame body 100 is divided into a first cavity 11 and two second cavities 12 located on both sides of the first cavity 11 by the two partitions 13, and the two second frame bodies 200 are respectively arranged in the two second cavities 12.

[0045] At the same time, in combination with Figure 3 、 4 As shown, the first frame body 100 comprises a main body 21, and the walking wheels 22 are arranged at both ends of the main body 21. Exemplarily, the main body 21 is provided with a through mounting hole 214 at both ends, the walking wheels 22 are mounted in the mounting hole 214, and part of the walking wheels 22 protrudes from the mounting hole 214, so that when the walking wheels 22 contact with the corresponding track, the main body 21 will not interfere with the track.

[0046] Further, the second cavity 12 is provided with a guide 14, and the second frame body 200 comprises a guide seat 23 connected with the guide 14. Under the drive of the lifting assembly 300, the second frame body 200 reciprocates along the vertical direction under the limitation of the guide seat 23 and the guide 14. The movement direction of the second frame body 200 is guided by the guide seat 23 and the guide 14, which can reduce the stress on the power output shaft of the lifting assembly 300 and protect the lifting assembly 300.

[0047] More specifically, the main body 21 is provided with two grooves 213, which are symmetrically arranged with the center line of the main body 21, and the guide seat 23 is installed in the groove 213. In order to ensure the structural strength of the second frame body 200, the width of the main body 21 in the vertical direction is large, and the length of the guide seat 23 is limited. In order to facilitate the guide seat 23 to be inserted and realized that the guide 14 penetrates the main body 21 while being inserted in the guide seat 23, the groove 213 is arranged at the position corresponding to the installation of the guide seat 23 to reduce the thickness of the main body 21, facilitating the insertion of the guide seat 23.

[0048] However, when using the stereoscopic storage robot to carry goods, it is generally difficult to accurately place the goods at the center position of the stereoscopic storage robot, which causes the center of gravity of the goods to deviate to one side of the stereoscopic storage robot, which will make the guide 14 and the guide seat 23 on one side of the main body 21 bear more force, thereby causing the main body 21 to tilt, the guide 14 and the guide seat 23 to be blocked with each other, and causing great damage to the guide 14 and the guide seat 23.

[0049] In order to solve the above problems, in some embodiments of the present application, the stereoscopic storage robot further comprises two oppositely arranged auxiliary curved rods 24, one end of the auxiliary curved rod 24 is rotatably connected to the first frame body 100, the other end is provided with a supporting part 243, the supporting part 243 is used to connect the second frame body 200, one end of the two auxiliary curved rods 24 has the same gear part 241, and the two gear parts 241 are engaged. When reversing, the two auxiliary curved rods 24 rotate in opposite directions. The distance from the rotation axis to the supporting part 243 of the two auxiliary curved rods 24 is equal.

[0050] In the present scheme, the two oppositely arranged auxiliary curved rods 24 are auxiliary curved rods 24 with the same shape and size, the tooth shapes of the gear parts 241 on the two auxiliary curved rods 24 are the same, one of the auxiliary curved rods 24 rotates through a certain angle, and the other auxiliary curved rod 24 rotates through the same angle due to the mutual engagement of the two gear parts 241, the paths passed by the two supporting parts 243 are opposite, and the two supporting parts 243 are still on the same horizontal plane. And the two supporting parts 243 support the second frame body 200, and through the two supporting parts 243, the position of the second frame body 200 in the horizontal direction can be ensured, so that the lifting reliability of the second frame body 200 is high, so as to avoid the inclination of the main body 21, thereby protecting the guide 14 and the guide seat 23.

[0051] It can be understood that the shapes and sizes of the two auxiliary curved rods 24 can also be different, but the distance from the rotation axis in the two auxiliary curved rods 24 to the support part 243 needs to be the same. In addition, in the present scheme, the gear part 241 is integrally formed on the edge of the auxiliary curved rod 24, and the gear part 241 is arranged in a ring around the rotation axis. However, the auxiliary curved rod 24 and the gear part 241 can also adopt a split design, and the auxiliary curved rod 24 and the gear part 241 are connected through a connecting piece, and only the arrangement direction of the gear part 241 needs to be circumferentially arranged around the rotation axis of the auxiliary curved rod 24.

[0052] The gear parts 241 in the two auxiliary curved rods 24 have the same specifications, and when the gear parts 241 are engaged in transmission, the two auxiliary curved rods 24 are driven to rotate by the same angle. In the case that the distance from the ends of the two auxiliary curved rods 24 to the crank rotation center is the same, the ends of the two auxiliary curved rods 24 move by the same height in the vertical direction. That is, the support parts 243 move by the same height in the vertical direction. Because the support parts 243 support the second frame body 200, the second frame body 200 can always be kept in a horizontal state, so that the second frame body 200 smoothly and stably rises along the top guide 14 under the action of the jacking force.

[0053] Specifically, one end of the auxiliary curved rod 24 is provided with a rotating shaft 242, the rotating shaft 242 is installed on the partition plate 13, and the auxiliary curved rod 24 is located in the second cavity 12. The gear part 241 and the rotating shaft 242 are arranged on the same end of the auxiliary curved rod 24, and the teeth of the gear part 241 are arranged in the circumferential direction of the rotating shaft 242, so that the two gear parts 241 stably engage when the auxiliary curved rod 24 rotates around the axis of the rotating shaft 242.

[0054] Among them, the first frame body 100 and the second frame body 200 include but are not limited to the guide mechanism of the guide 14 and the guide seat 23 to limit the lifting track of the second frame body 200, and the first frame body 100 and the second frame body 200 can also limit the lifting track through common guide mechanisms such as sliding blocks, ball screws, etc.

[0055] Furthermore, the main body 21 has a second clearance hole 212 corresponding to the support portion 243. The support portion 243 passes through the second clearance hole 212. More specifically, the second clearance hole 212 extends on the main body 21 in a straight line direction perpendicular to the vertical direction. For example, the support portion 243 and the second clearance hole 212 are in clearance fit, and the support portion 243 can slide within the second clearance hole 212, reducing the friction generated by the sliding of the support portion 243 within the second clearance hole 212. Under the drive of the lifting assembly 300, the second frame 200 realizes vertical lifting and lowering, while the second frame 200 drives the auxiliary crank 24 to rotate around the axis of the rotating shaft 242. Since the rotation of the auxiliary crank 24 is also restricted by the meshing of the gear portion 241, the two auxiliary cranks 24 can also limit the position of the second frame 200 in the horizontal direction.

[0056] It should be noted that the rotating shaft 242 on the auxiliary crank 24 includes, but is not limited to, being installed in the second cavity 12. The rotating shaft 242 of the auxiliary crank 24 only needs to be installed on the first frame 100 or on a base surface fixed relative to the first frame 100 to achieve the balance of the second frame 200.

[0057] like Figure 4 As shown, and in combination Figure 5 In some embodiments of this application, the lifting assembly 300 includes a driver 31 and a lifting head 32 mounted on the power output end of the driver 31. The lifting head 32 is connected to the second frame 200. Driven by the driver 31, the lifting head 32 pushes the second frame 200, enabling the second frame 200 to perform reciprocating lifting motion. In a specific working process, the second frame 200 is raised, and the traveling wheels 22 can move towards the second cavity 12. Finally, the traveling wheels 22 can be retracted into the second cavity 12. At this time, the rollers of the first frame 100 contact the corresponding tracks, and the rollers of the first frame 100 cooperate with the corresponding tracks to drive the automated storage robot to move along the first direction. The second frame 200 falls downwards, and the walking wheels 22 contact the corresponding tracks. As the second frame 200 continues to descend, the first frame 100 is raised relative to the second frame 200, causing the rollers of the first frame 100 to disengage from the corresponding tracks. The walking wheels 22 then cooperate with the corresponding tracks to drive the automated storage and retrieval robot to move in a second direction different from the first direction. This enables the automated storage and retrieval robot to move on tracks in different directions, thereby improving the robot's degree of freedom of movement.

[0058] The second frame body 200 can be moved to at least three stations under the driving of the driver 31, the three stations including a first station, a second station and a third station. When the second frame body 200 is at the first station, the second frame body 200 is lifted to the highest position, at which the rollers are in contact with the sub-track, so that the stereoscopic warehouse robot moves in the first direction, and the second frame body 200 is lifted to receive the materials. When the second frame body 200 is at the second station, the second frame body 200 is lowered below the upper surface of the first frame body 100, and the walking wheels 22 are higher than the lower surface of the first frame body 100, the rollers are still in contact with the sub-track, and the materials are placed on the first frame body 100. When the second frame body 200 is at the third station, the second frame body 200 is lowered to the lowest position, at which the walking wheels 22 are lower than the lower surface of the first frame body 100, and the first frame body 100 is lifted relatively to make the rollers disengage from the sub-track, the walking wheels 22 are in contact with the mother track, so that the stereoscopic warehouse robot moves in the second direction, and the stereoscopic warehouse robot completes the switching track at the third station. The stereoscopic warehouse robot is reversed by the second frame body 200 through sequentially passing through the first station, the second station and the third station, or sequentially passing through the third station, the second station and the first station.

[0059] Specifically, the jacking head 32 includes a cam 321, one end of the cam 321 being an input end 323, the input end 323 being connected with the power output end of the driver 31. The other end of the cam 321 is provided with a shaft sleeve 322, the shaft sleeve 322 being slidingly connected in the second frame body 200. The output shaft of the driver 31 is connected with the input end 323. The cam 321 rotates around the axis direction of the input end 323, and the shaft sleeve 322 rotates around the axis direction of the input end 323. The lifting distance of the second frame body 200 is twice the distance between the two ends of the cam 321.

[0060] In cooperation with the cam 321, the main body 21 of the second frame body 200 is provided with a first avoiding hole 211, the first avoiding hole 211 extending on the main body 21 along a straight line direction perpendicular to the vertical direction. The extending direction of the first avoiding hole 211 is parallel to the extending direction of the second avoiding hole 212. The first avoiding hole 211 is in gap cooperation with the shaft sleeve 322, and the shaft sleeve 322 can slide in the first avoiding hole 211.

[0061] More specifically, the shaft sleeve 322 is provided with the cam 321 at both ends, the cams 321 at both ends of the shaft sleeve 322 being symmetrically arranged, the shaft sleeve 322 being arranged in the first avoiding hole 211, and the two cams 321 being arranged on both sides of the main body 21, one side of the cam 321 being connected with the driver 31, and the other side of the cam 321 being connected with the inner wall of the second cavity 12, so that the position of the jacking head 32 is more stable. In addition, since the jacking head 32 pushes the second frame body 200, the weight of the second frame body 200 and the weight of the materials carried on the second frame body 200 will act on the jacking head 32. In order to reduce the stress at the connection between the jacking head 32 and the driver 31, two supporting points are arranged for the jacking head 32, thereby improving the stability of the lifting assembly 300 in operation.

[0062] It should be noted that the lifting assembly 300 includes but is not limited to the cam 321 to achieve the function of lifting the second frame 200, and other drivers such as air cylinder, linear motor, and transmission modes such as worm and gear, rack and pinion can also achieve the lifting function of the components, which should also be considered as the specific embodiments of the present application.

[0063] Further, the driver 31 is arranged in the first cavity 11, and the lifting assembly 300 further comprises a synchronous connecting shaft 33 arranged on the two partition plates 13. The synchronous connecting shaft 33 is provided with lifting heads 32 at both ends, and the driver 31 drives the synchronous connecting shaft 33 to move. The same driver 31 can drive the second frame 200 in the two second cavities 12 to lift.

[0064] Since the driver 31 drives the lifting head 32 to rotate and push the second frame 200, in order to increase the torque, the driver 31 needs to be matched with a corresponding reducer in addition to the motor. The reducer can not only increase the torque but also reduce the moment of inertia of the lifting head 32, improve the stability, precision and service life of the lifting head 32. In the present scheme, the synchronous connecting shaft 33 is used as the power output shaft of the driver 31, so that the same driver 31 drives two lifting heads 32 to lift the second frame 200, so as to reduce the use of the driver 31, reduce the manufacturing cost, simplify the structure, make the structure more compact, expand the space available inside the stereoscopic storage robot, and reduce the overall weight.

[0065] In addition, compared with the related art of using multiple drivers to independently control the lifting of each second frame 200, in the related art, in order to ensure that multiple second frames 200 are lifted to the same height, the driver needs to be synchronized. The related synchronization processing method includes the synchronization of mechanical structures such as gearboxes, or the use of controllers through logical control methods to make multiple drivers move synchronously. However, the above method will make the structure of the stereoscopic storage robot more complex, and the introduction of control logic is easy to cause control errors, resulting in low stability of work.

[0066] As Figure 3 , 4As shown, in the present scheme, the working principle that the second frame body 200 can smoothly lift includes: the two ends of the main body 21 are provided with symmetrically arranged guide holes, the guide holes are fixedly connected with guide seats 23, the guide seats 23 are slidably connected with guide members 14 arranged in the second cavity 12; the first avoiding hole 211 is arranged in the middle of the main body 21, the shaft sleeve 322 in the jacking head 32 is arranged in the first avoiding hole 211, the shaft sleeve 322 can slide in the first avoiding hole 211 when the jacking head 32 rotates, the lifting assembly 300 is drivingly connected with the jacking head 32, for driving the jacking head 32 to rotate, and driving the second frame body 200 to vertically lift under the guidance of the guide seats 23 and the guide members 14; two symmetrically arranged second avoiding holes 212 are further arranged between the two end guide holes of the main body 21 and the first avoiding hole 211, and are respectively connected with the support portions 243 on the two auxiliary curved rods 24, the support portions 243 are inserted in the second avoiding holes 212, and the support portions 243 can slide in the second avoiding holes 212 when the second frame body 200 vertically lifts. Specifically, the two auxiliary curved rods 24 are symmetrically arranged relative to the rotation axis of the jacking head 32, the two auxiliary curved rods 24 are drivingly connected through the meshing of the gear portions 241, the movement distances of the auxiliary curved rods 24 are ensured to be equal and opposite, the two support portions 243 are always kept on the same horizontal plane, and then the balance of the second frame body 200 is kept by the two support portions 243 connected with the second frame body 200.

[0067] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present disclosure.

[0068] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A stereoscopic warehousing robot, characterized in that, The utility model relates to a first frame (100) is built in second frame (200) and the lifting assembly (300) for driving second frame (200) elevating along vertical direction, and the utility model relates to a kind of auxiliary crank rod (24) of two opposite settings, one end of the auxiliary crank rod (24) is rotatably connected in the first frame (100), and support part (243) is equipped on the other end, and the support part (243) is used to connect the second frame (200), and the same gear part (241) is ringed with the rotation axis as center in two auxiliary crank rods (24), and two gear parts (241) are engaged, and the distance of each auxiliary crank rod (24) is equal to the rotation axis to the support part (243); Wherein one auxiliary crank rod (24) rotates through certain angle, is limited by two gear parts (241) mutual engagement, another auxiliary crank rod (24) rotates through identical angle, and two support parts (243) are still in the same horizontal plane, and two support parts (243) receive second frame (200); The second frame (200) includes a main body (21), and the main body (21) is provided with a second avoiding hole (212) corresponding to the support part (243); The second avoiding hole (212) extends along a straight line direction perpendicular to the vertical direction on the main body (21), the support part (243) is arranged in the second avoiding hole (212), and the support part (243) can slide in the second avoiding hole (212); The first frame (100) is hollow, and two parallel partition plates (13) are arranged in the first frame (100), so that the first frame (100) is divided into a first cavity (11) and two second cavities (12) located on both sides of the first cavity (11) by the two partition plates (13), and the two second frames (200) are correspondingly accommodated in the two second cavities (12); The auxiliary crank rod (24) comprises a rotating shaft (242), and the rotating shaft (242) is arranged on the partition plate (13), and the auxiliary crank rod (24) is located in the second cavity (12). The second frame (200) further comprises a walking wheel (22), and the main body (21) is provided with a mounting hole (214) at both ends, and the walking wheel (22) is mounted in the mounting hole (214). The second cavity (12) is provided with a guide member (14), and the second frame (200) comprises a guide seat (23) connected with the guide member (14); 2. The stereoscopic warehouse robot according to claim 1, characterized in that, Under the driving of the lifting assembly (300), the second frame (200) reciprocates along the vertical direction under the limitation of the guide seat (23) and the guide member (14).

3. The stereoscopic warehouse robot according to claim 1, wherein, The lifting assembly (300) comprises a driver (31) and a jacking head (32) mounted on the power output end of the driver (31), and the jacking head (32) is connected to the second frame (200); under the driving of the driver (31), the jacking head (32) pushes the second frame (200). ​ 4. The cube robot according to any one of claims 1 or 3, wherein, ​ 5. The stereoscopic warehouse robot according to claim 4, characterized in that, The jacking head (32) comprises a cam (321), one end of the cam (321) is connected to the power output end of the driver (31), and the other end of the cam (321) is provided with a shaft sleeve (322) which is slidingly connected in the second frame body (200).

6. The stereoscopic warehouse robot according to claim 5, wherein, The main body (21) of the second frame body (200) is provided with a first avoiding hole (211) which extends on the main body (21) along a straight line direction perpendicular to the vertical direction.

7. The stereoscopic warehouse robot according to claim 4, wherein, The driver (31) is arranged in the first cavity (11), and the lifting assembly (300) further comprises a synchronous connecting shaft (33) which is arranged on the two partition plates (13); The two ends of the synchronous connecting shaft (33) are provided with the jacking head (32), and the driver (31) drives the synchronous connecting shaft (33) to move.

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