An omni-directional transmission module and omni-directional transmission system

Abstract

This invention relates to an apparatus for transferring objects or materials between conveyors, and more particularly to an omnidirectional conveying module and an omnidirectional conveying system. The omnidirectional conveying module includes a module base frame on which transverse wheels and longitudinal wheels are rotatably mounted. Both the transverse and longitudinal wheels are arranged laterally, with the longitudinal wheels located on at least one side of the row of transverse wheels. The rotation axis of the transverse wheels extends longitudinally, and the rotation axis of the longitudinal wheels extends laterally. There are three or more transverse wheels, with one longitudinal wheel corresponding to the position between two adjacent transverse wheels. All transverse wheels are synchronously and in the same direction of transmission and are driven to rotate by a transverse drive unit. Each longitudinal wheel is equipped with a longitudinal synchronous transmission wheel, so that when multiple omnidirectional conveying modules are arranged side-by-side in a direction perpendicular to the omnidirectional conveying module, the longitudinal wheels of each omnidirectional conveying module located on the same longitudinal straight line can be synchronously connected through longitudinal transmission components and driven to rotate synchronously by a longitudinal drive unit.

Description

Technical Field

[0001] This invention relates to an apparatus for transferring objects or materials between conveyors, and more particularly to an omnidirectional transfer module and an omnidirectional transfer system. Background Technology

[0002] With the rapid development of the logistics industry, the requirements for sorting and conveying efficiency and accuracy are becoming increasingly stringent, and traditional sorting and conveying methods are far from meeting these needs. Intelligent conveying, with its omnidirectional and high-efficiency capabilities, is increasingly being used in the field of intelligent logistics warehousing.

[0003] Chinese utility model patent CN209536139U discloses an omnidirectional transport and sorting platform. This platform is constructed by arranging multiple transport modules in a matrix. Each transport module includes two omnidirectional wheels with their rotation axes perpendicular to each other, forming an array of omnidirectional wheels in both the horizontal and vertical directions. This array of omnidirectional wheels enables the driving of items in lateral, vertical, turning, and in-situ rotation, thus achieving omnidirectional transport. However, this platform requires a large number of transport modules, each equipped with an independent drive unit to drive the individual omnidirectional wheels, resulting in high platform costs.

[0004] In response to the aforementioned prior art, Chinese utility model patent CN216188911U discloses an omnidirectional transmission unit and an omnidirectional transmission system. This omnidirectional transmission unit is generally elongated and includes a module base frame and omnidirectional wheels mounted on the module base frame. The omnidirectional wheels include transverse omnidirectional wheels with their rotation axes perpendicular to the length of the module base frame and longitudinal omnidirectional wheels with their rotation axes parallel to the length of the module base frame. The longitudinal omnidirectional wheels are spaced apart from adjacent transverse omnidirectional wheels. The transverse omnidirectional wheels of this transmission unit are connected by a synchronous belt drive and can rotate synchronously under the same drive unit. The longitudinal omnidirectional wheels are coaxially assembled and can also rotate synchronously under the same drive unit. When in use, this type of transmission unit consists of multiple omnidirectional transmission units fixed side by side in a direction perpendicular to its length. The longitudinal omnidirectional wheels of these multiple omnidirectional transmission units are arranged in a row in the longitudinal direction to provide longitudinal driving force for the sorted and transported items. The transverse omnidirectional wheels of each omnidirectional transmission unit are arranged in a row in the transverse direction to provide transverse driving force for the sorted and transported items. This method can efficiently and reliably realize the sorting and transporting of items in both the transverse and longitudinal directions, and the cost is greatly reduced.

[0005] However, when sorted items need to turn or rotate, the rotation speed and direction of all the longitudinal omnidirectional wheels on the same drive shaft are the same, and the driving force they provide to the sorted items is the same magnitude of longitudinal force. This creates resistance to the turning and rotating movements of the sorted items, making the omnidirectional transmission unit less flexible and smooth in achieving turning and rotating transmission, thus affecting transmission efficiency and accuracy. Summary of the Invention

[0006] The purpose of this invention is to provide an omnidirectional transmission module to solve the problems of inflexible turning and circling transmission, reduced transmission efficiency and accuracy of existing omnidirectional transmission modules when reducing costs.

[0007] Meanwhile, the present invention also aims to provide an omnidirectional transmission system to solve the problems of low transmission efficiency and low transmission accuracy of existing omnidirectional transmission systems.

[0008] An omnidirectional transmission module includes a module base frame on which transverse wheels and longitudinal wheels are rotatably mounted. Both the transverse and longitudinal wheels are arranged laterally, with the longitudinal wheels located on at least one side of the row of transverse wheels. The rotation axis of the transverse wheels extends longitudinally, and the rotation axis of the longitudinal wheels extends laterally. There are three or more transverse wheels, with one longitudinal wheel corresponding to the position between two adjacent transverse wheels. All transverse wheels are synchronously and in the same direction, and are driven to rotate by a transverse drive unit. Each longitudinal wheel is equipped with a longitudinal synchronous drive wheel, so that when multiple omnidirectional transmission modules are arranged side-by-side along a direction perpendicular to the omnidirectional transmission module, the longitudinal wheels of each omnidirectional transmission module on the same longitudinal straight line can be synchronously connected through a longitudinal transmission component and driven to rotate synchronously by a longitudinal drive unit.

[0009] Furthermore, the module base frame includes a lateral extension frame, one side of which is connected to a longitudinal wheel mounting frame. The longitudinal wheel mounting frame includes a pair of longitudinal wheel mounting plates, with the longitudinal wheel mounted between the two longitudinal wheel mounting plates. A longitudinal synchronous drive wheel is rotatably mounted on the outside of one of the pair of longitudinal wheel mounting plates.

[0010] Furthermore, the longitudinal wheel mounting frame also includes end plates connected to the ends of the pair of longitudinal wheel mounting plates. The end plates are positioned away from the lateral extension frame, and the end plates on each longitudinal wheel mounting frame are on the same plane so as to be matched with the adjacent omnidirectional transmission module.

[0011] Furthermore, on the side of the lateral extension frame where the longitudinal wheels are located, there are lateral synchronous drive wheels corresponding to each lateral wheel. Each lateral synchronous drive wheel is synchronously connected by a lateral drive member that passes around them once.

[0012] Furthermore, each longitudinal wheel is equipped with a reversing wheel that cooperates with the longitudinal synchronous drive wheel, so that the longitudinal drive component can pass through the lower side of the module base frame to drive and connect adjacent omnidirectional transmission modules.

[0013] Furthermore, each longitudinal wheel is equipped with an independent longitudinal drive unit.

[0014] Beneficial Effects: This invention improves upon existing omnidirectional transmission units, specifically proposing an omnidirectional transmission module. The omnidirectional transmission unit of this invention includes a module base frame, on which transverse wheels and longitudinal wheels are rotatably mounted. Both the transverse and longitudinal wheels are arranged laterally, with the longitudinal wheels positioned on at least one side of the row of transverse wheels for proper matching with other omnidirectional transmission modules. The rotation axis of the transverse wheels extends longitudinally, and the rotation axis of the longitudinal wheels extends laterally. There are three or more transverse wheels, with one longitudinal wheel corresponding to the position between two adjacent transverse wheels, ensuring that the omnidirectional transmission module has at least two longitudinal wheels and can move and turn along the longitudinal direction through the cooperation of these two longitudinal wheels. Each transverse wheel is synchronously and in the same direction, driven to rotate by a transverse drive unit. Each longitudinal wheel is equipped with a longitudinal synchronous drive wheel, so that when multiple omnidirectional transmission modules are arranged side-by-side along a direction perpendicular to the omnidirectional transmission module, the longitudinal wheels of each omnidirectional transmission module on the same longitudinal straight line can be synchronously connected through longitudinal transmission components and driven to rotate synchronously by the longitudinal drive unit. When an omnidirectional transmission module needs to perform steering or turning movements, the lateral wheels on different omnidirectional transmission modules can generate linear velocity differences, and the longitudinal wheels on different longitudinal lines can generate linear velocity differences, so that the vectors of these two differences are superimposed to form the required direction and trajectory of motion. This configuration allows a single omnidirectional transmission module to have independent lateral and longitudinal movement capabilities, as well as the ability to move along curves by superimposing lateral and longitudinal motion vectors. Therefore, while ensuring flexible steering and turning, it improves transmission efficiency and accuracy. Furthermore, omnidirectional transmission modules can be combined as basic units while ensuring synchronized movement, so that the transmission structure composed of omnidirectional transmission modules also has independent lateral and longitudinal movement capabilities, as well as the ability to move along curves by superimposing lateral and longitudinal motion vectors. Therefore, while ensuring flexible steering and turning, it improves transmission efficiency and accuracy.

[0015] An omnidirectional transmission system includes multiple omnidirectional transmission modules arranged side-by-side perpendicular to their length to form an omnidirectional transmission platform. Each omnidirectional transmission module includes a module frame on which transverse wheels and longitudinal wheels are rotatably mounted. Both the transverse and longitudinal wheels are arranged laterally, with the longitudinal wheels located on at least one side of the arranged transverse wheels. The rotation axes of the transverse wheels extend longitudinally, and the rotation axes of the longitudinal wheels extend laterally. There are three or more transverse wheels, with one longitudinal wheel corresponding to the position between two adjacent transverse wheels. All transverse wheels are synchronously and in the same direction and are driven to rotate by a transverse drive unit. At least some of the longitudinal wheels of at least some of the omnidirectional transmission modules are equipped with independent longitudinal drive units, and each longitudinal wheel is equipped with a longitudinal synchronous transmission wheel, so that the longitudinal wheels of each omnidirectional transmission module on the same longitudinal straight line can be synchronously connected through longitudinal transmission components and driven to rotate synchronously by the corresponding longitudinal drive unit.

[0016] Furthermore, the module base frame includes a lateral extension frame, one side of which is connected to a longitudinal wheel mounting frame. The longitudinal wheel mounting frame includes a pair of longitudinal wheel mounting plates, with the longitudinal wheel mounted between the two longitudinal wheel mounting plates. A longitudinal synchronous drive wheel is rotatably mounted on the outside of one of the pair of longitudinal wheel mounting plates.

[0017] Furthermore, the longitudinal wheel mounting frame also includes end plates connected to the ends of the pair of longitudinal wheel mounting plates. The end plates are positioned away from the lateral extension frame, and the end plates on each longitudinal wheel mounting frame are on the same plane so as to be matched with the adjacent omnidirectional transmission module.

[0018] Furthermore, on the side of the lateral extension frame where the longitudinal wheels are located, there are lateral synchronous drive wheels corresponding to each lateral wheel. Each lateral synchronous drive wheel is synchronously connected by a lateral drive member that passes around them once.

[0019] Furthermore, each longitudinal wheel is equipped with a reversing wheel that cooperates with the longitudinal synchronous drive wheel, so that the longitudinal drive component can pass through the lower side of the module base frame to drive and connect adjacent omnidirectional transmission modules.

[0020] Beneficial Effects: This invention improves upon existing omnidirectional transmission systems. The omnidirectional transmission system of this invention includes multiple omnidirectional transmission modules arranged side-by-side perpendicular to their length to form an omnidirectional transmission platform. Each omnidirectional transmission unit includes a module frame, on which transverse wheels and longitudinal wheels are rotatably mounted. Both the transverse and longitudinal wheels are arranged laterally, with the longitudinal wheels positioned on at least one side of the arranged transverse wheels to facilitate compatibility with other omnidirectional transmission modules. The rotation axis of the transverse wheels extends longitudinally, and the rotation axis of the longitudinal wheels extends laterally. There are three or more transverse wheels, with one longitudinal wheel corresponding to the position between two adjacent transverse wheels, ensuring that each omnidirectional transmission module has at least two longitudinal wheels and can move and turn along the longitudinal direction through the cooperation of these two longitudinal wheels. All lateral wheels are synchronously and in the same direction, and are driven to rotate by the lateral drive unit. At least some longitudinal wheels are equipped with independent longitudinal drive units, and each longitudinal wheel is equipped with a longitudinal synchronous transmission wheel. This allows the longitudinal wheels of each omnidirectional transmission module on the same longitudinal straight line to be synchronously connected through longitudinal transmission components and driven to rotate synchronously by the longitudinal drive unit when multiple omnidirectional transmission modules are arranged side by side along a direction perpendicular to the omnidirectional transmission module. When the omnidirectional transmission module needs to perform steering or turning movements, the lateral wheels on different omnidirectional transmission modules can generate linear velocity differences, and the longitudinal wheels on different longitudinal straight lines can generate linear velocity differences, so that the vectors of the two can be superimposed to produce the required motion direction and trajectory. This arrangement allows a single omnidirectional transmission module to have independent lateral and longitudinal movement capabilities, as well as the curved movement capability generated by the superposition of lateral and longitudinal motion vectors, thus improving transmission efficiency and accuracy while ensuring flexible steering and turning. Furthermore, the omnidirectional transmission modules can be combined as basic units to ensure that they move synchronously with each other. This allows the omnidirectional transmission platform composed of the omnidirectional transmission modules to also have independent lateral and longitudinal movement capabilities, as well as the ability to move along curves generated by the superposition of lateral and longitudinal motion vectors. Thus, while ensuring flexible turning and flexible rotation, the transmission efficiency and transmission accuracy of the omnidirectional transmission system are improved. Attached Figure Description

[0021] Figure 1 A schematic diagram of one embodiment of the omnidirectional transmission system described in this invention; Figure 2 for Figure 1 A schematic diagram of the omnidirectional transmission platform outside the axis; Figure 3 for Figure 2 A front view of an omnidirectional transmission module in which the longitudinal wheels are arranged only on one side of the transverse wheels; Figure 4 for Figure 3 Top view; Figure 5 for Figure 2A front view of an omnidirectional transmission module with longitudinal wheels arranged only on both sides of the transverse wheels; Figure 6 for Figure 5 Top view; Figure 7 This is a schematic diagram of another omnidirectional transmission platform. Figure 8 This is a schematic diagram of the structure of the minimum omnidirectional transmission platform.

[0022] In the diagram: 1. Omnidirectional transmission module; 2. Omnidirectional transmission platform; 3. Module base frame; 4. Lateral wheel; 5. Longitudinal wheel; 6. Lateral drive unit; 7. Longitudinal drive unit; 8. Longitudinal synchronous transmission wheel; 9. Longitudinal transmission component; 10. Universal ball unit; 11. Lateral extension frame; 12. Longitudinal wheel mounting frame; 13. Fixed frame; 14. Protective cover; 15. Lateral transmission component; 16. End plate; 17. Lateral synchronous transmission wheel; 18. Reversing wheel; 19. Eccentric reversing wheel; 20. Groove. Detailed Implementation

[0023] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0024] The principle of the omnidirectional transmission system scheme described in this invention is as follows: An omnidirectional transmission system, the structure of which can be referenced Figure 1 As shown. The omnidirectional transmission system includes multiple omnidirectional transmission modules 1, which are arranged side-by-side perpendicular to their length to form an omnidirectional transmission platform 2. The structure of the omnidirectional transmission platform 2 can be found in [reference needed]. Figure 2 As shown. The omnidirectional transmission unit includes a module base frame 3, on which transverse wheels 4 and longitudinal wheels 5 are rotatably mounted, both arranged transversely. At least one side of the row of transverse wheels 4 is provided with a row of longitudinal wheels 5, as can be seen from... Figure 3 , 4 As shown, the longitudinal wheels 5 can be arranged only on one side of the transverse wheels 4; or as can be referred to Figure 5 , 6 As shown, the longitudinal wheels 5 are arranged on both sides of the transverse wheels 4 so that the omnidirectional transmission module 1 has different specifications and can be matched with other omnidirectional transmission modules 1 according to specific needs.

[0025] The rotation axis of the transverse wheel 4 extends longitudinally, and the rotation axis of the longitudinal wheel 5 extends transversely. Based on this, three or more transverse wheels 4 are provided on the module base frame 3, with one longitudinal wheel 5 corresponding to the position between two adjacent transverse wheels 4, so that the omnidirectional transmission module 1 has at least two longitudinal wheels 5, and can achieve longitudinal movement and turning through the cooperation of the two longitudinal wheels 5. Specifically, three transverse wheels 4 can be provided on the module base frame 3. Correspondingly, two longitudinal wheels 5 are provided, each corresponding to a gap between the transverse wheels 4. Of course, four, five, or even more transverse wheels 4 can be provided on the module base frame 3; in this case, three, four, or even more longitudinal wheels 5 are respectively corresponding to a gap between the transverse wheels 4. It should be noted that the specific number of transverse wheels 4 should be determined according to actual needs; the aforementioned "three transverse wheels 4 can be provided on the module base frame 3" and "four or five transverse wheels 4 can be provided on the module base frame 3" are specific examples for illustrative purposes.

[0026] Based on the above, all transverse wheels 4 can be synchronously and in the same direction, and driven to rotate by the transverse drive unit 6. At least some longitudinal wheels 5 are equipped with independent longitudinal drive units 7, and each longitudinal wheel 5 is equipped with a longitudinal synchronous transmission wheel 8, so that when multiple omnidirectional transmission modules 1 are arranged side by side in a direction perpendicular to the omnidirectional transmission module 1, the longitudinal wheels 5 of each omnidirectional transmission module 1 on the same longitudinal straight line can be synchronously connected through longitudinal transmission components 9 and driven to rotate synchronously by the longitudinal drive unit 7. When the omnidirectional transmission module 1 needs to perform steering or turning actions, the transverse wheels 4 on different omnidirectional transmission modules 1 can generate a linear velocity difference, and the longitudinal wheels 5 on different longitudinal straight lines can generate a linear velocity difference, so that the two vectors are superimposed to produce the required motion direction and trajectory. It should be noted that for the same omnidirectional transmission module 1, each of its longitudinal wheels 5 can be equipped with an independent longitudinal drive unit 7, which drives the longitudinal wheels 5 on the same longitudinal line on other omnidirectional transmission modules 1 through the longitudinal synchronous transmission wheel 8 and the longitudinal transmission component 9; or, some longitudinal wheels 5 can be equipped with independent longitudinal drive units 7, and the longitudinal wheels 5 without longitudinal drive units 7 can move under the drive of the longitudinal drive units 7 of the longitudinal wheels 5 on other omnidirectional transmission modules 1 that are on the same longitudinal line. It is important to emphasize that for the same omnidirectional transmission system, all longitudinal wheels 5 on the same longitudinal line can move under the action of one longitudinal drive unit 7. That is, for all longitudinal wheels 5 on the same longitudinal line, only one of them needs to have a longitudinal drive unit 7. Therefore, the omnidirectional transmission module 1 of this omnidirectional transmission system can have different arrangements of longitudinal drive units 7. For example, for an omnidirectional transmission platform 2 of an omnidirectional transmission system with three omnidirectional transmission modules 1, each with three longitudinal wheels 5, it has three rows of longitudinal wheels 5 on the same longitudinal line. The longitudinal drive unit 7 for driving the three rows of longitudinal wheels 5 can be set on the same omnidirectional transmission module 1, and drive the longitudinal wheels 5 on other omnidirectional transmission modules 1 to rotate synchronously through the longitudinal synchronous transmission wheel 8 and the longitudinal transmission component 9; or it can be set on any two longitudinal wheels 5 on the same omnidirectional transmission module 1 to drive other longitudinal wheels 5 located on the same longitudinal line as the two longitudinal wheels 5, and the longitudinal wheels 5 on the other row of the same longitudinal line rotate synchronously under the action of the longitudinal drive unit 7 set on the corresponding longitudinal wheel 5 in any of the other two omnidirectional transmission modules 1; or one longitudinal drive unit 7 can be set on each omnidirectional transmission module 1, and each longitudinal drive unit 7 corresponds to a different arrangement of longitudinal wheels 5. Of course, the aforementioned "omnidirectional transmission platform 2 of an omnidirectional transmission system with three omnidirectional transmission modules 1, each omnidirectional transmission module 1 having three longitudinal wheels 5" is only a specific example for the purpose of illustration.The actual implementation of the omnidirectional transmission system having three additional omnidirectional transmission modules 1 and three additional longitudinal wheels 5 on the omnidirectional transmission module 1 can be referred to the foregoing content, and will not be repeated here.

[0027] The above configuration enables each individual omnidirectional transmission module 1 to possess independent lateral and longitudinal movement capabilities, as well as the ability to move along curves generated by the superposition of lateral and longitudinal motion vectors. This improves transmission efficiency and accuracy while ensuring flexible turning and rotation. Furthermore, the omnidirectional transmission modules 1 can be combined as basic units to form an omnidirectional transmission platform 2, which also possesses independent lateral and longitudinal movement capabilities, as well as the ability to move along curves generated by the superposition of lateral and longitudinal motion vectors. This further improves the transmission efficiency and accuracy of the omnidirectional transmission system while ensuring flexible turning and rotation.

[0028] Based on the above-mentioned principles, the first embodiment of the omnidirectional transmission system of the present invention is as follows: An omnidirectional transmission system includes multiple omnidirectional transmission modules 1, which are arranged side-by-side perpendicular to their length to form an omnidirectional transmission platform 2. Each omnidirectional transmission module 1 includes a module base 3 on which transverse wheels 4 and longitudinal wheels 5 are rotatably mounted. Both the transverse wheels 4 and longitudinal wheels 5 are arranged laterally, with the longitudinal wheels 5 located on at least one side of the row of transverse wheels 4. A row of longitudinal wheels 5 is provided on at least one side of the row of transverse wheels 4; that is, the longitudinal wheels 5 can be arranged only on one side of the transverse wheels 4, or simultaneously on both sides of the transverse wheels 4, allowing the omnidirectional transmission module 1 to have different specifications. The rotation axis of the transverse wheels 4 extends longitudinally, and the rotation axis of the longitudinal wheels 5 extends laterally. In addition, three or more transverse wheels 4 are provided, with one longitudinal wheel 5 corresponding to the position between two adjacent transverse wheels 4. All transverse wheels 4 in the omnidirectional transmission system are synchronously and in the same direction, and are driven to rotate by a transverse drive unit 6; at least some of the longitudinal wheels 5 are equipped with independent longitudinal drive units 7. The drive units and longitudinal drive units 7 are preferably motors. Each longitudinal wheel 5 is equipped with a longitudinal synchronous transmission wheel 8, so that when multiple omnidirectional transmission modules 1 are arranged side by side in a direction perpendicular to the omnidirectional transmission module 1, the longitudinal wheels 5 of each omnidirectional transmission module 1 that are on the same longitudinal straight line can be synchronously connected through the longitudinal transmission member 9 and driven to rotate synchronously by the longitudinal drive unit 7.

[0029] During assembly, the omnidirectional transmission system should include at least one omnidirectional transmission module 1 with rows of longitudinal wheels 5 arranged on both sides of the transverse wheel 4, and several omnidirectional transmission modules 1 with rows of longitudinal wheels 5 arranged only on one side of the transverse wheel 4. For the omnidirectional transmission module 1 with rows of longitudinal wheels 5 arranged on both sides of the transverse wheel 4, either side or both sides can be spliced ​​with the omnidirectional transmission module 1 with rows of longitudinal wheels 5 arranged only on one side of the transverse wheel 4 to form a grid-shaped omnidirectional transmission platform 2. (See reference...) Figure 7 The omnidirectional transmission platform 2 shown has omnidirectional transmission modules 1 arranged on one side of the horizontal wheels 4, with rows of vertical wheels 5 on both sides. Four omnidirectional transmission modules 1, each with rows of vertical wheels 5 on one side only, are arranged and combined to form a five-row, five-column "grid" shaped omnidirectional transmission platform 2. (Or refer to...) Figure 8 A minimal omnidirectional transmission system is presented, comprising only two omnidirectional transmission modules 1. One of the omnidirectional transmission modules 1 has rows of longitudinal wheels 5 on both sides of the transverse wheels 4; the other has rows of longitudinal wheels 5 on only one side of the transverse wheels 4, with the other side used for parallel splicing with the aforementioned omnidirectional transmission module 1. Each of the two omnidirectional transmission modules 1 has three transverse wheels 4 and two longitudinal wheels 5, forming a two-row, two-column "grid" shaped omnidirectional transmission platform 2.

[0030] In use, omnidirectional transport platforms 2 can be arranged in an m×n orthogonal matrix to form an omnidirectional transport system (where m≥1, n≥1), based on actual needs. Each omnidirectional transport platform 2 has the function of linear motion in any direction and rotational motion at any angle within the plane. The assembly and disassembly of each omnidirectional transport platform 2 are independent and do not affect each other. Non-powered omnidirectional ball units 10 are arranged at the junctions of every two and four groups of omnidirectional transport units to improve the transport efficiency and thus enhance the maintainability of the omnidirectional transport system. Based on this, the omnidirectional transport system can achieve functions such as automatic sorting, automatic palletizing, and neat arrangement. For example, a control and identification system can be set up on the omnidirectional transport system. After goods are input into the omnidirectional transport platform 2, the omnidirectional transport platform 2 can sort or palletize the goods to the designated area according to the system's planned route and automatically arrange the goods neatly. Of course, in some application scenarios, the omnidirectional transport platforms can also be arranged into U-shaped, E-shaped, L-shaped, T-shaped, or other structures as required. In a U-shaped conveyor system, m omnidirectional conveyor platforms can be arranged in a row, with n parallel omnidirectional conveyor platforms extending vertically from each end of the row, giving the omnidirectional conveyor system a U-shaped structural appearance. The structures of E-shaped, L-shaped, and T-shaped omnidirectional conveyor systems are as described above and will not be repeated here. It should be emphasized that the U-shaped, E-shaped, L-shaped, and T-shaped omnidirectional conveyor systems are merely specific examples for illustrative purposes. In actual implementation, the omnidirectional conveyor systems can be configured into different shapes to meet various needs.

[0031] The omnidirectional transport system may also include a control system with vision sensors to enable real-time dynamic detection of the goods' position within the system using sensors such as machine vision. When an omnidirectional transport platform 2 completes tasks such as sorting, palletizing, and arranging goods, and the vision sensors can no longer read goods information, the control system can automatically control the start and stop of the drive unit to achieve energy savings. Simultaneously, during sorting, palletizing, or arranging, the control system can effectively guide the omnidirectional transport platform 2 to avoid already covered areas, thereby improving both transport efficiency and overall transport effectiveness.

[0032] The key feature of this embodiment is that, based on the aforementioned structure, the module base frame 3 can include a transversely extending frame 11 for mounting transverse wheels 4. When longitudinal wheels 5 are arranged only on one side of the row of transverse wheels 4, a longitudinal wheel mounting bracket 12 can be connected to one side of the transversely extending frame 11 for mounting the longitudinal wheels 5. In this embodiment, the module base frame 3 is specifically a frame hole structure composed of upright plates, and both the longitudinal wheels 5 and the transverse wheels 4 are installed in the corresponding frame holes of the frame hole structure. The hole walls of the frame holes serve as mounting plates for the pairs of longitudinal wheels 5 on the longitudinal wheel mounting bracket 12, allowing the longitudinal wheels 5 to be installed between the two pairs of longitudinal wheel 5 mounting plates. After the omnidirectional transmission platform 2 of the omnidirectional transmission system is assembled, the omnidirectional transmission platform 2 can be installed as a whole on a fixed frame 13, and a protective cover 14 can be installed on the outside to protect the internal structure of the omnidirectional transmission platform 2. This arrangement has good structural strength, ensuring that the longitudinal wheels 5 are reliably installed on the module base frame 3; on the other hand, this arrangement also facilitates the formation of gaps between the longitudinal wheel mounting brackets 12. Based on this, the longitudinal synchronous drive wheel 8 can be rotatably mounted on the outside of one of the paired longitudinal wheel 5 mounting plates, so that it is exactly within the gap between the longitudinal wheel mounting brackets 12 for the installation and adjustment of the longitudinal drive component 9. When the longitudinal wheel 5 is arranged only on one side of the row of transverse wheels 4, longitudinal wheel mounting brackets 12 can be connected to both sides of the transverse extension frame 11. The specific arrangement of the longitudinal wheel mounting brackets 12 can be referred to the foregoing, and will not be repeated here.

[0033] Based on the aforementioned structure, the longitudinal wheel mounting bracket 12 can further include end plates 16 connected to the ends of the mounting plates of the two paired longitudinal wheels 5, and the end plates 16 are disposed away from the lateral extension frame 11. In this embodiment, the end plate 16 is the wall of the frame hole where the longitudinal wheel 5 is located, excluding the mounting plate of the longitudinal wheel 5. The end plates 16 on each longitudinal wheel mounting bracket 12 are on the same plane so as to be aligned with adjacent omnidirectional transmission modules 1. When assembling the omnidirectional transmission platform 2 of the omnidirectional transmission system, this arrangement can simplify the alignment and positioning of the omnidirectional transmission modules 1, thereby improving the assembly efficiency of the omnidirectional transmission system. Of course, for some omnidirectional transmission modules 1 with special assembly requirements, such as omnidirectional transmission modules 1 that can only be combined with specific omnidirectional transmission modules 1, the end plates 16 on them can be located on different planes. The end plates 16 on the omnidirectional transmission modules 1 that can be combined with the omnidirectional transmission module 1 are also correspondingly disposed on different planes so that the end plates 16 on the two omnidirectional transmission modules 1 can be kept in contact.

[0034] For an omnidirectional transmission module 1 with longitudinal wheels 5 arranged only on one side of the row of transverse wheels 4, a transverse synchronous transmission wheel 17 can be provided on the side of the transverse extension frame 11 opposite to the longitudinal wheels 5. The transverse transmission component 15 is preferably a synchronous belt, and the transverse synchronous transmission wheel 17 is preferably a synchronous pulley. The transverse synchronous transmission wheel 17 is arranged corresponding to each transverse wheel 4 and is synchronously connected via the transverse transmission component 15 that passes around them once. This arrangement effectively ensures that the transverse wheels 4 located on the same omnidirectional transmission module 1 can move under the action of the same transverse drive unit 6, thus having good rotational synchronization; thereby ensuring that the omnidirectional transmission module 1 has a stable motion state during transverse movement and combined steering or rotational motion. For an omnidirectional transmission module 1 with longitudinal wheels 5 arranged on both sides of the row of transverse wheels 4, a transverse synchronous transmission wheel 17 can be provided on either side of the transverse extension frame 11; other arrangements are as described above and will not be repeated here. Of course, the transverse synchronous transmission wheels 17 on the same omnidirectional transmission module 1 can also be connected by the same connecting rod. To ensure that the radial dimensions of the transverse synchronous transmission wheels 17 on the same omnidirectional transmission module 1 are kept consistent, the connecting rod, as a transverse transmission component 15, is simultaneously hinged to the same radial position on each transverse synchronous transmission wheel 17. This linkage of the connecting rods ensures the consistency of rotation of each transverse wheel 4. Connecting rod clearance holes or grooves are provided on the module base frame 3 corresponding to the movement path of the connecting rods to prevent interference between the connecting rods and the module base frame 3.

[0035] Based on the foregoing, each longitudinal wheel 5 can be equipped with a reversing wheel 18 that cooperates with the longitudinal synchronous drive wheel 8, so that the longitudinal drive component 9 can pass through from the lower side of the module base frame 3 to drive and connect adjacent omnidirectional transmission modules 1. The longitudinal drive component 9 is preferably a synchronous belt, and the longitudinal synchronous drive wheel 8 and the reversing wheel 18 are preferably synchronous belt pulleys. Specifically, for the longitudinal wheel 5 located in the middle position of the module base frame 3, two reversing wheels 18 can be correspondingly configured on it. The two reversing wheels 18 are located below the longitudinal synchronous drive wheel 8 and are symmetrically arranged with respect to the longitudinal synchronous drive wheel 8. The synchronous belt first enters from one of the reversing wheels 18 from the side of the longitudinal synchronous drive wheel 8, passes around the longitudinal synchronous drive wheel 8 from the lower side, and then exits from the other reversing wheel 18 from the side of the longitudinal synchronous drive wheel 8. For the longitudinal wheels 5 located at both ends of the module base frame 3, two reversing wheels 18 can be correspondingly configured on them, and one of the reversing wheels 18 is an eccentric reversing wheel 19. The synchronous belt first enters from the eccentric reversing pulley 19 outwards to tension itself, then passes over the longitudinal synchronous transmission pulley 8 from below and exits upwards from the side of the reversing pulley 18 opposite to the longitudinal synchronous transmission pulley 8. The module base frame 3 is provided with a slot 20 to avoid the synchronous belt. This arrangement ensures a larger coverage angle when the longitudinal transmission component 9 covers the longitudinal synchronous transmission pulley 8, making slippage between the longitudinal synchronous transmission pulley 8 and the longitudinal transmission component 9 less likely, thus ensuring the synchronicity and reliability of the transmission between the longitudinal pulleys 5. Alternatively, the longitudinal synchronous transmission pulleys 8 on the same straight line can be connected by the same rigid rod. The radial dimensions of the longitudinal synchronous transmission pulleys 8 on the same straight line are kept consistent, and the rigid rod, as the longitudinal transmission component 9, is simultaneously hinged to the same radial position of each longitudinal synchronous transmission pulley 8. This ensures the consistency of rotation of each longitudinal pulley 5 through the linkage of the connecting rods. The module base frame 3 is provided with rigid rod avoidance holes or rigid rod avoidance slots corresponding to the movement path of the connecting rods to prevent interference between the rigid rod and the module base frame 3.

[0036] Embodiments of the omnidirectional transmission module described in this invention: The embodiments of the omnidirectional transmission module described in this invention are consistent with the scheme principle of the omnidirectional transmission system in this invention and the omnidirectional transmission module 1 described in Embodiment 1, so they will not be repeated here.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present invention shall also be included within the scope of protection of the present invention.

Claims

1. An omnidirectional transmission module, comprising a module base frame, on which transverse wheels and longitudinal wheels are rotatably mounted, both transverse and longitudinal wheels being arranged laterally, with the longitudinal wheels located on at least one side of the row of transverse wheels. The rotation axis of the transverse wheels extends longitudinally, and the rotation axis of the longitudinal wheels extends laterally. There are three or more transverse wheels, with one of the aforementioned longitudinal wheels corresponding to the position between two adjacent transverse wheels. All transverse wheels are synchronously and in the same direction of transmission and are driven to rotate by a transverse drive unit. The module is characterized in that... Each longitudinal wheel is equipped with an independent longitudinal drive unit, a longitudinal synchronous transmission wheel, and a reversing wheel that cooperates with the longitudinal synchronous transmission wheel to allow the longitudinal transmission component to pass through the lower side of the module base frame. This is so that when multiple omnidirectional transmission modules are arranged side by side in a direction perpendicular to the omnidirectional transmission module, the longitudinal wheels of each omnidirectional transmission module on the same longitudinal straight line can be synchronously connected through the longitudinal transmission component and driven to rotate synchronously by the longitudinal drive unit. The module base frame includes a transverse extension frame, and a longitudinal wheel mounting frame is connected to one side of the transverse extension frame. The longitudinal wheel mounting frame includes a pair of longitudinal wheel mounting plates. The module base frame is specifically a frame hole structure composed of vertical plates. The longitudinal wheels and transverse wheels are installed in the corresponding frame holes of the frame hole structure. The hole wall of the frame hole serves as the pair of longitudinal wheel mounting plates on the longitudinal wheel mounting frame, so that the longitudinal wheels can be installed between the two pairs of longitudinal wheel mounting plates. The longitudinal wheel mounting frame also includes an end plate connected to the end of the two pairs of longitudinal wheel mounting plates. The end plate is set away from the transverse extension frame. The end plates on each longitudinal wheel mounting frame are on the same plane so as to be matched with adjacent omnidirectional transmission modules.

2. The omnidirectional transmission module according to claim 1, characterized in that, The longitudinal synchronous drive wheel is mounted on the outside of one of the paired longitudinal wheel mounting plates.

3. The omnidirectional transmission module according to claim 1, characterized in that, On the side of the lateral extension frame where the longitudinal wheels are located, there are lateral synchronous drive wheels corresponding to each lateral wheel. Each lateral synchronous drive wheel is synchronously connected by a lateral drive component that passes around them once.

4. An omnidirectional transmission system, comprising multiple omnidirectional transmission modules arranged side-by-side perpendicular to their length to form an omnidirectional transmission platform; each omnidirectional transmission module includes a module base frame, on which transverse wheels and longitudinal wheels are rotatably mounted, both transverse and longitudinal wheels being arranged laterally, with the longitudinal wheels located on at least one side of the arranged transverse wheels; the rotation axis of the transverse wheels extends longitudinally, and the rotation axis of the longitudinal wheels extends laterally; there are three or more transverse wheels, with one longitudinal wheel corresponding to the position between two adjacent transverse wheels; all transverse wheels are synchronously and in the same direction of transmission and driven to rotate by a transverse drive unit; characterized in that... At least some of the longitudinal wheels of the omnidirectional transmission modules are equipped with independent longitudinal drive units. Each longitudinal wheel is equipped with a longitudinal synchronous transmission wheel and a reversing wheel that cooperates with the longitudinal synchronous transmission wheel to allow the longitudinal transmission component to pass through the lower side of the module base frame. This allows the longitudinal wheels of each omnidirectional transmission module of the omnidirectional transmission platform, which are on the same longitudinal straight line, to be synchronously connected by the longitudinal transmission component and driven to rotate synchronously by the corresponding longitudinal drive unit. The module base frame includes a transverse extension frame. A longitudinal wheel mounting frame is connected to one side of the transverse extension frame. The longitudinal wheel mounting frame includes a pair of longitudinal wheel mounting plates. The longitudinal wheel is mounted between the two pairs of longitudinal wheel mounting plates. The longitudinal wheel mounting frame also includes an end plate connected to the end of the two pairs of longitudinal wheel mounting plates. The end plate is located away from the transverse extension frame. The end plates on each longitudinal wheel mounting frame are on the same plane so as to be matched with adjacent omnidirectional transmission modules.

5. The omnidirectional transmission system according to claim 4, characterized in that, The longitudinal synchronous drive wheel is mounted on the outside of one of the paired longitudinal wheel mounting plates.

6. The omnidirectional transmission system according to claim 5, characterized in that, On the side of the lateral extension frame where the longitudinal wheels are located, there are lateral synchronous drive wheels corresponding to each lateral wheel. Each lateral synchronous drive wheel is synchronously connected by a lateral drive component that passes around them once.

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