Three-dimensional storage robot

Abstract

The invention discloses a three-dimensional storage robot which comprises a rack, two primary rail transmission mechanisms, two walking driving mechanisms, primary rail walking wheels, secondary rail walking wheels, two jacking transmission mechanisms, a jacking driving mechanism and two walking transmission mechanisms. Each walking transmission mechanism comprises a walking power input end, a first walking power output end and a second walking power output end, the walking power input end is connected with a walking driving mechanism, and the walking driving mechanism rotates to drive the first walking power output end and the second walking power output end to rotate; the first walking power output end is connected with the mother rail transmission mechanism to drive the mother rail transmission mechanism to rotate, the two ends of the mother rail transmission mechanism are connected with the mother rail walking wheels respectively, and the second walking power output end is connected with the child rail walking wheels to drive the child rail walking wheels to rotate. The vertical cross structure can be prevented from being formed, and the thickness and size of the three-dimensional storage robot are reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent robot transportation technology, and more specifically, to a three-dimensional warehousing 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 trains. 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 achieved by a set of walking devices, and the switching of the wheel train and the lifting / lowering of the cargo pallet are achieved by the same set of mechanisms called lifting reversing devices.

[0004] The walking device of the existing three-dimensional storage robot usually includes a walking drive mechanism, a main rail transmission shaft and a sub-rail transmission shaft. The two ends of the main rail transmission shaft are connected to the main rail walking wheels, and the two ends of the sub-rail transmission shaft are connected to the sub-rail walking wheels. The lengths of the main 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 main rail transmission shaft and the sub-rail transmission shaft are arranged in an up-down cross. The jacking reversing device usually includes a jacking drive mechanism, a jacking synchronous coupling, and two jacking gear boxes. The jacking drive mechanism drives the jacking synchronous coupling to rotate. The jacking synchronous coupling is a long shaft that spans the two opposite sides of the three-dimensional storage robot and is approximately the same length or width as the three-dimensional storage robot. The two jacking gear boxes are arranged on the inner sides of the two opposite ends of the three-dimensional storage robot and are respectively connected to the two ends of the jacking synchronous coupling. The above-mentioned walking device and jacking and reversing device include three long axes of the mother rail transmission shaft, the sub-rail transmission shaft and the jacking synchronous coupling shaft. The three long axes are all accommodated in the frame, and the three long axes are basically the same length as the length or width of the frame, which will inevitably form an upper and lower cross structure, which will not only increase the thickness of the three-dimensional storage robot, but also the use of long axes will easily destroy 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 of the prior art and provide a three-dimensional storage robot to avoid forming an upper and lower cross structure and reduce the thickness and size of the three-dimensional storage robot.

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

[0007] A three-dimensional storage robot, comprising:

[0008] A frame, the frame comprising a first side wall and a second side wall arranged opposite to each other along a first direction, and a third side wall and a fourth side wall respectively connected to the first side wall and the second side wall and arranged opposite to each other along a second direction;

[0009] Two mother rail transmission mechanisms, the two mother rail transmission mechanisms are respectively arranged close to the first side wall and the second side wall and extend along the second direction;

[0010] Two travel drive mechanisms;

[0011] Mother rail running wheel;

[0012] Sub-rail running wheels;

[0013] Two travel transmission mechanisms are respectively arranged on the first side wall and the second side wall, each of the travel transmission mechanisms comprises a travel power input end, a first travel power output end and a second travel power output end, the travel power input end is connected to one of the travel drive mechanisms, the travel drive mechanism rotates to drive the first travel power output end and the second travel power output end to rotate respectively, the first travel power output end is connected to the mother rail transmission mechanism to drive the mother rail transmission mechanism to rotate, the two ends of the mother rail transmission mechanism are respectively connected to the mother rail walking wheels, the second travel power output end is connected to the sub-rail walking wheels to drive the sub-rail walking wheels to rotate;

[0014] two lifting transmission mechanisms, respectively disposed on the third side wall and the fourth side wall; and

[0015] A lifting drive mechanism is provided between the two lifting transmission mechanisms, and the lifting drive mechanism drives the lifting transmission mechanism to rotate.

[0016] Implementing the embodiments of the present invention will have the following beneficial effects:

[0017] The embodiment of the present invention avoids the use of a sub-rail transmission shaft that spans the frame by directly connecting the second travel power output end of the travel transmission mechanism to the sub-rail travel wheel; the jacking transmission mechanism is respectively arranged on the third side wall and the fourth side wall that are relatively arranged along the second direction, so that the jacking drive mechanism is located between the two jacking transmission mechanisms, and the mother rail transmission mechanism extends along the second direction, which is equivalent to making the rotation axis of the jacking transmission mechanism parallel to the axis of the mother rail transmission mechanism. Therefore, the technical solution of the present invention will not form an upper and lower cross structure inside the frame, reduce the thickness and size of the three-dimensional storage robot, and avoid the space inside the frame from being destroyed, which is beneficial to saving the installation volume inside the frame and making it possible to install batteries of larger specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] in:

[0020] Figure 1 This is a schematic diagram of the three-dimensional storage robot provided by the present invention.

[0021] Figure 2 It is a schematic diagram of the travel transmission mechanism provided by the present invention.

[0022] Figure 3 It is a schematic diagram of the walking device provided by the present invention.

[0023] Figure 4 This is another schematic diagram of the three-dimensional storage robot provided by the present invention.

[0024] Figure 5 yes Figure 4 A schematic diagram of the lifting transmission mechanism.

[0025] Figure 6 It is a schematic diagram of the lifting and reversing actuator in the three-dimensional storage robot provided by the present invention.

[0026] Figure 7 This is another schematic diagram of the three-dimensional storage robot provided by the present invention.

[0027] Figure 8 yes Figure 7 A schematic diagram of the lifting transmission mechanism.

[0028] Fig. 9 This is another schematic diagram of the three-dimensional storage robot provided by the present invention.

[0029] Fig.10 yes Fig. 9 A schematic diagram of the lifting transmission mechanism.

[0030] 1000-Three-dimensional storage robot:

[0031] 1-frame, 11-first side wall, 12-second side wall, 13-third side wall, 14-fourth side wall, 2-mother rail transmission shaft, 3-travel drive mechanism, 31-travel motor, 32-travel reducer, 4-mother rail travel wheel, 5-sub-rail travel wheel, 100-travel transmission mechanism: 6-box, 7-gear set, 71-mother rail transmission gear set, 714-active mother rail gear, 712-driven mother rail gear, 713-travel power input end, 714-travel power output end, 72-reversing gear set, 721-reversing output shaft, 722-reversing input bevel gear, 723-reversing output bevel gear, 23-sub-rail transmission gear set, 731-active sub-rail gear, 732-driven sub-rail gear, 8-universal coupling; X-first direction, Y-second direction;

[0032] 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

[0033] 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.

[0034] Reference Figure 1-Figure 3 The present invention discloses a three-dimensional storage robot 1000, comprising:

[0035] A frame 1, the frame 1 comprising a first side wall 11 and a second side wall 12 arranged opposite to each other along a first direction X, and a third side wall 13 and a fourth side wall 14 respectively connecting the first side wall 11 and the second side wall 12 and arranged opposite to each other along a second direction Y;

[0036] Two mother rail transmission mechanisms, which are respectively arranged close to the first side wall 11 and the second side wall 12 and extend along the second direction Y;

[0037] Two travel drive mechanisms 3;

[0038] Mother rail running wheel 4;

[0039] Sub-rail running wheel 5;

[0040] Two travel transmission mechanisms 100 are respectively arranged on the first side wall 11 and the second side wall 12, each of which includes a travel power input end 713, a first travel power output end 714 and a second travel power output end 733, the travel power input end 713 is connected to a travel drive mechanism 3, the travel drive mechanism 3 rotates to drive the first travel power output end 713 and the second travel power output end 733 to rotate respectively, the first travel power output end 713 is connected to the mother rail transmission mechanism to drive the mother rail transmission mechanism to rotate, the two ends of the mother rail transmission mechanism are respectively connected to the mother rail walking wheel 4, the second travel power output end 733 is connected to the sub-rail walking wheel 5 to drive the sub-rail walking wheel 5 to rotate;

[0041] Two lifting transmission mechanisms 300 are respectively disposed on the third side wall 13 and the fourth side wall 14; and

[0042] The jacking drive mechanism 20 is arranged between the two jacking transmission mechanisms 30, and the jacking drive mechanism 20 drives the jacking transmission mechanism 30 to rotate.

[0043] Furthermore, the travel drive mechanism 3 includes a travel motor 31 and a travel reducer 32 connected to the travel motor 31, and the travel reducer 32 is connected to the travel power input terminal 713. The travel motor 31 usually outputs high-speed but low-torque rotational power, and the travel reducer 32 converts the high-speed rotation of the motor into low-speed rotation to meet the rotation speed requirement. The travel reducer 32 increases the output torque while reducing the rotation speed, reduces the wear of the drive components, reduces the maintenance cost of the equipment, and prolongs the service life.

[0044] Further, refer to Figure 1 In a specific embodiment, the mother rail transmission mechanism is a mother rail transmission shaft 2, 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 2 are respectively connected to the mother rail travel wheels 4. In this embodiment, one travel transmission mechanism 100 drives two mother rail travel wheels 4 to move synchronously through the mother rail transmission shaft 2.

[0045] Further, refer to Figure 1The two ends of the mother rail transmission shaft 2 are connected to the mother rail running wheel 4 through the universal coupling 8. The universal coupling 8 effectively transmits torque and motion, and the mother rail transmission shaft 2 and the mother rail running wheel 4 are connected through the universal coupling 8 to maintain transmission efficiency and motion stability. The universal coupling 8 has angular compensation capability. When the axes of the mother rail transmission shaft 2 and the mother rail running wheel 4 are not aligned or there is a certain error, the universal coupling 8 can ensure smooth transmission.

[0046] 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 4 through a coupling.

[0047] It can be understood that the embodiment of the present invention avoids the use of a sub-rail transmission shaft across the frame by directly connecting the second travel power output end 733 of the travel transmission mechanism 100 to the sub-rail travel wheel 5; by respectively arranging the jacking transmission mechanism 30 on the third side wall 13 and the fourth side wall 14 that are relatively arranged along the second direction Y, so that the jacking drive mechanism 20 is located between the two jacking transmission mechanisms 30, and the mother rail transmission mechanism extends along the second direction Y, which is equivalent to making the rotation axis of the jacking transmission mechanism 30 parallel to the axis of the mother rail transmission mechanism. Therefore, the technical solution of the present invention will not form an upper and lower cross structure inside the frame 1, reduce the thickness and size of the three-dimensional storage robot 1000, and avoid the destruction of the space inside the frame 1, which is conducive to saving the installation volume inside the frame and makes it possible to install batteries of larger specifications.

[0048] In a specific embodiment, referring to Figure 1-Figure 3 The travel transmission mechanism 100 includes a main rail transmission gear set 71, a reversing gear set 72 and a sub-rail transmission gear set 73.

[0049] The mother rail transmission gear set 71 includes an active mother rail gear 714 and a driven mother rail gear 712 that are meshed with each other. The active mother rail gear 714 and the driven mother rail gear 712 are arranged side by side along the first direction X. The active mother rail gear 714 is a walking power input end 713, and the walking power input end 713 is used to connect the walking drive mechanism 3. The driven mother rail gear 712 is a first walking power output end 714, and the first walking power output end 714 is used to connect the mother rail transmission shaft 2, and the mother rail transmission shaft 2 is used to connect the mother rail walking wheel 4.

[0050] The reversing gear set 72 includes a reversing output shaft 721 and a reversing input bevel gear 722 and a reversing output bevel gear 723 that mesh with each other. The reversing input bevel gear 722 is arranged on one side of the driven mother rail gear 712 along the second direction Y and remains relatively stationary with the driven mother rail gear 712. The reversing input bevel gear 722 is coaxially arranged with the driven mother rail gear 712, and the reversing output shaft 721 is connected to the reversing output bevel gear 723.

[0051] The sub-rail transmission gear set 73 includes a driving sub-rail gear 731 and a driven sub-rail gear 732 that are meshed with each other. The driving sub-rail gear 731 and the driven sub-rail gear 732 are arranged side by side along the second direction Y. The driving sub-rail gear 731 is connected to the reversing output shaft 721, and the driven sub-rail gear 732 is the second walking power output end 733. The second walking power output end 733 is used to connect the sub-rail walking wheel 5.

[0052] It should be noted that, in this embodiment, the active mother rail gear 714 and the driven mother rail gear 712 are arranged side by side along the first direction X, and the rotation of the active mother rail gear 714 drives the driven mother rail gear 712 to rotate, and the driven mother rail gear 712 thereby drives the mother rail walking wheel 4 to rotate, and the first direction X is the walking direction of the mother rail walking wheel 4; at the same time, the reversing input bevel gear 722 rotates coaxially with the driven mother rail gear 712 through the reversing output shaft 721, and the reversing input bevel gear 722 is arranged on one side of the driven mother rail gear 712 along the second direction Y, and the reversing input bevel gear 722 drives the reversing output bevel gear 723 to rotate, and the reversing output bevel gear 723 rotates coaxially with the active sub-rail gear 731, and the active sub-rail gear 731 drives the driven sub-rail gear 732 to rotate, and the driven sub-rail gear 732 thereby drives the sub-rail walking wheel 5 to rotate, and the second direction Y is the walking direction of the sub-rail walking wheel 5.

[0053] Furthermore, the travel transmission mechanism 100 further includes a box body 6 , in which the main rail transmission gear set 71 , the reversing gear set 72 and the sub-rail transmission gear set 73 are all arranged.

[0054] It can be understood that the travel transmission mechanism 100 of the above embodiment, by concentrating all the mother rail transmission gear sets 71, the reversing gear sets 72 and the sub-rail transmission gear sets 73 in a box body 6, 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 1, 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 1.

[0055] The travel transmission mechanism 100 of the above embodiment uses the driven mother rail gear 712 as the first travel power output terminal 714 and the driven sub-rail gear 732 as the second travel power output terminal 733. The first travel power output terminal 714 and the second travel power output terminal 733 are respectively arranged on different gears, thereby improving the transmission accuracy and transmission stability and reducing the operating noise.

[0056] In a specific embodiment, 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.

[0057] Specifically, Figure 3 Only two driven mother rail gears 712 are provided as an example, and the number of driven mother rail gears 712 can be adjusted according to the size of the actual box 6; each driven sub-rail gear 732 is respectively connected to a sub-rail running wheel 5, Figure 3 In the example of setting two sub-rail running wheels 5 , two driven sub-rail gears 732 are set, and the number of driven sub-rail gears 732 can be adjusted according to the actual number of sub-rail running wheels 5 and the size of the box 6 .

[0058] In a specific embodiment, the number of the second travel power output ends 733 is at least one, and the second travel power output ends 733 are arranged side by side, and each second travel power output end 733 is respectively connected to a sub-rail travel wheel.

[0059] Specifically, each second travel power output end 733 is connected to a sub-rail travel wheel 5. Figure 2 Taking setting two second walking power output ends 733 as an example, two sub-rail walking wheels 5 are set, and the sub-rail walking wheels 5 are increased to ensure the walking stability of the sub-rail walking wheels 5. The number of the second walking power output ends 733 can be adjusted according to the actual number of sub-rail walking wheels 5.

[0060] In a specific embodiment, referring to Figure 1 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 .

[0061] Specific, combined Figure 5The 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 4 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.

[0062] It is understandable that by connecting the lifting transmission mechanism 30 at the two opposite ends of the frame 1 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 driving shaft 2 can avoid damaging the integrity of the internal space of the frame 1, and further reduce the size and thickness of the three-dimensional storage robot 1000.

[0063] In another specific embodiment, referring to 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.

[0064] 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 drive 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 drive output end 201 and the lifting transmission input end 301.

[0065] Specific, combined Fig.10The 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 4 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 jacked up, thereby realizing the jacking and loading of the goods and the reversing drive.

[0066] 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.

[0067] In another specific embodiment, referring to 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.

[0068] 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.

[0069] Specific, combined Figure 8The 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 4 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.

[0070] 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 the two jacking couplings 204, so as to improve the mechanical efficiency of the jacking drive mechanism 20.

[0071] In a specific embodiment, in combination Figure 4-Figure 6 The three-dimensional storage robot 1000 also includes a lifting and reversing actuator 40, a lifting component 50 and a lifting pallet. 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 pallet is arranged above the frame 1, and the lifting pallet is fixedly connected to the lifting component 50; the mother rail walking wheel 4 is arranged on the lifting component 50, and the sub-rail walking wheel 5 is arranged on the frame 1.

[0072] 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.

[0073] 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.

[0074] 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 4 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 5 have been separated from the sub-rail, and the three-dimensional storage robot can move along the mother rail.

[0075] In a specific embodiment, in combination Figure 4 , Figure 6 The 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] In a specific embodiment, referring to Figure 4The lifting reversing device further includes a guide device 60 disposed between the frame 1 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 1 and the lifting member 50, respectively.

[0080] 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 three-dimensional storage robot, characterized in that: include: A frame, the frame comprising a first side wall and a second side wall arranged opposite to each other along a first direction, and a third side wall and a fourth side wall respectively connected to the first side wall and the second side wall and arranged opposite to each other along a second direction; Two mother rail transmission mechanisms, the two mother rail transmission mechanisms are respectively arranged close to the first side wall and the second side wall and extend along the second direction; Two travel drive mechanisms; Mother rail running wheel; Sub-rail running wheels; Two travel transmission mechanisms are respectively arranged on the first side wall and the second side wall, each of the travel transmission mechanisms comprises a travel power input end, a first travel power output end and a second travel power output end, the travel power input end is connected to one of the travel drive mechanisms, the travel drive mechanism rotates to drive the first travel power output end and the second travel power output end to rotate respectively, the first travel power output end is connected to the mother rail transmission mechanism to drive the mother rail transmission mechanism to rotate, the two ends of the mother rail transmission mechanism are respectively connected to the mother rail walking wheels, the second travel power output end is connected to the sub-rail walking wheels to drive the sub-rail walking wheels to rotate; Two lifting transmission mechanisms are respectively arranged on the third side wall and the fourth side wall; as well as A lifting drive mechanism is provided between the two lifting transmission mechanisms, and the lifting drive mechanism drives the lifting transmission mechanism to rotate.

2. The three-dimensional storage robot according to claim 1, characterized in that: The travel transmission mechanism includes a main rail transmission gear set, a reversing gear set and a sub-rail transmission gear set; The mother rail transmission gear set comprises a driving mother rail gear and a driven mother rail gear meshing with each other, the driving mother rail gear and the driven mother rail gear are arranged side by side along the first direction, the driving mother rail gear is the input end of the travel power, and the driven mother rail gear is the output end of the first travel power; 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, 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.

3. The three-dimensional storage robot according to claim 2, characterized in that: The travel transmission mechanism further comprises a box body, and the mother rail transmission gear set, the reversing gear set and the sub-rail transmission gear set are all arranged in the box body.

4. The three-dimensional storage robot according to claim 2 or 3, characterized in that: The number of the driven mother rail gear is at least 1, and the number of the driven sub-rail gear is at least 1; The number of the second travel power output ends is at least one, and the second travel power output ends are arranged side by side, and the second travel power output ends are respectively connected to one of the sub-rail travel wheels.

5. The three-dimensional storage robot according to claim 1 or 2, 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 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 transmission mechanisms; Alternatively, the jacking drive mechanism includes a jacking motor, two jacking reducers and two transmission mechanisms, the jacking motor includes two output shafts arranged opposite to each other, the two 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 one of the transmission mechanisms.

6. The three-dimensional storage robot according to claim 5, characterized in that: It 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.

7. The three-dimensional storage robot according to claim 6, characterized in that: The lifting and reversing actuator includes a crank and an actuator component. The crank includes a rotating part and a connecting rod connected in sequence. The actuator component is arranged at an end of the connecting rod away from the rotating part. The rotating part is connected to the lifting transmission output end of the lifting transmission mechanism. The actuator component is connected to the lifting component. The lifting transmission mechanism drives the crank to rotate. The rotation of the crank drives the actuator component to rotate. The actuator component drives the lifting component to move up and down.

8. The three-dimensional storage robot according to claim 7, characterized in that: The actuating member is a protrusion disposed on the connecting rod, and the lifting member is provided with a notch, and the notch accommodates the protrusion; Alternatively, the actuating member is a notch provided on the connecting rod, and the lifting member is provided with a protrusion, which is accommodated in the notch.

9. The three-dimensional storage robot according to claim 6, characterized in that: It also includes a guiding device arranged between the frame and the lifting member, and the guiding device is used to guide the lifting member in a vertical direction.

10. The three-dimensional storage robot according to claim 1, characterized in that: Both ends of the mother rail transmission mechanism are connected to the mother rail running wheels through universal couplings.

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