An omnidirectional stacking robot

Abstract

The present application relates to the technical field of automatic handling equipment, and discloses an omnidirectional stacking robot, including a vehicle body, two steering wheel assemblies are fixedly provided on one side of the bottom of the vehicle body, the inner side of the vehicle body is rotatably connected to a swing bridge frame through a connecting shaft, two driving steering wheel assemblies are fixedly provided at the bottom of the swing bridge frame, and both sides of the top of the swing bridge frame are fixedly connected to reducers. The present invention controls the movement of the vehicle body through a walking absolute value motor, controls the deflection of the driving steering wheel assembly through a steering absolute value motor, and cooperates with the steering wheel assembly on one side of the vehicle body to realize the mobile control of four-point full servo drive, thereby ensuring the stability and flexibility of the vehicle body. At the same time, the driving mechanism cooperates with the moving mechanism to drive the adjusting roller to adjust the position of the pallet according to the pressure sensor, thereby reducing the influence of the eccentricity of the pallet cargo stacking on the omnidirectional movement, and further improving the driving stability of the stacking robot.

Description

Technical Field

[0001] The present application relates to the technical field of automatic handling equipment, and in particular to an omnidirectional stacking robot. Background Art

[0002] Automated guided vehicles (AGVs) are widely used in warehousing, logistics, automobile, retail and other industries to achieve unmanned automatic handling operations. Forklift-type automated guided vehicles are usually used for logistics operations in narrow passages and limited spaces. Existing forklift-type automated guided vehicles include a traveling mechanism arranged on the vehicle body. Through the electromagnetic or optical automatic guidance device on the vehicle body, the traveling mechanism is controlled by a computer to automatically move along the specified guidance path. A gantry assembly is arranged on the vehicle body, and a fork is movably arranged on one side of the gantry assembly. When the automated guided vehicle moves to the target position, the lifting mechanism on the gantry assembly moves to lift the fork to the target height. The automatic guidance device then controls the movement of the vehicle body so that the fork is extended to the bottom of the pallet in a rated posture. After the fork is lifted, the fork picks up the goods. The traveling mechanism is usually controlled by a set of fixed load wheels, and the steering is controlled by a single steering wheel or a double steering wheel to achieve straight line and arc walking.

[0003] However, traditional automated guided vehicles require a certain amount of space to complete their movement when performing stacking operations. After picking up and placing goods, the automated guided vehicles need to move and turn in the turning space between the shelves, which makes it difficult for automated guided vehicles to adapt to warehouses with increasingly dense storage and increasingly smaller spaces. Some warehouses have narrow working aisles and limited space, and the automated guided vehicles have a small rotation adjustment space, and cannot flexibly complete movements such as straight lines, arcs, translations, and rotations on the spot, making it difficult for automated guided vehicles to meet narrow aisle operations and reducing warehouse space utilization. Summary of the invention

[0004] The present application proposes an omnidirectional stacking robot, which has the advantages of being able to travel in all directions and flexible in steering, and is used to solve the problem of inconvenient steering and the need to reserve turning space between shelves, resulting in reduced space utilization.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical scheme: an omnidirectional stacking robot, comprising a vehicle body, two steering wheel assemblies are fixedly arranged on one side of the bottom of the vehicle body, a swing bridge is rotatably connected to the inner side of the vehicle body through a connecting shaft, two driving steering wheel assemblies are fixedly arranged at the bottom of the swing bridge, both sides of the top of the swing bridge are fixedly connected to a reducer, a steering absolute value motor is fixedly installed on the top of the reducer, the steering absolute value motor cooperates with the reducer to control the steering of the corresponding driving steering wheel assembly, and both sides of the bottom of the swing bridge are fixedly connected to a walking absolute value motor;

[0006] The walking absolute value motor is used to control the steering wheel in the corresponding driving steering wheel assembly to rotate at a rated speed to drive the vehicle body to move forward. The steering absolute value motor cooperates with the reducer to drive the steering wheel in the corresponding driving steering wheel assembly to deflect the rated angle. The steering wheel assembly can adjust its own deflection angle.

[0007] Preferably, a gantry assembly is fixedly provided on one side of the vehicle body, a lifting plate is slidably connected to the inner side of the gantry assembly, and two forks are fixedly connected to one side of the lifting plate.

[0008] Preferably, a lithium battery is fixedly installed on the inner side of the vehicle body, two hydraulic cylinders are fixedly connected to one side of the vehicle body, a hydraulic drive assembly is fixedly installed on the inner side of the vehicle body, and shock-absorbing springs are fixedly connected to both sides of the top of the swing bridge.

[0009] Preferably, a pressure sensor is further included, two support plates are movably provided on one side of the vehicle body, both sides of the support plates are rotatably connected with adjustment rollers, both sides of the fork are provided with avoidance grooves, an adjustment shaft is rotatably sleeved at the top position of the support plate, and one end of the adjustment roller is fixedly connected to the adjustment shaft;

[0010] The number of the pressure sensors is set to at least two, and the pressure sensors are used to detect the pressure of the pallet carried by each of the two forks. A driving mechanism is provided in one of the two support plates, and a moving mechanism is provided on one side of the vehicle body. The driving mechanism drives the adjusting roller to rotate according to the pressure difference detected by the pressure sensors corresponding to the two forks, so that the adjusting roller drives the pallet to move in the direction in which the center of gravity is close to the center of the two forks, and the moving mechanism is used to drive the support plate to rise and fall.

[0011] Preferably, the driving mechanism includes an adjusting motor, the adjusting motor is fixedly connected to the support plate, the output end of the adjusting motor is transmission-connected with a driving gear, one side of one of the two support plates is rotationally connected with a transmission shaft, the outer side of the transmission shaft is fixedly sleeved with a transmission gear, the transmission gear and the driving gear are meshed with each other, and one end of the transmission shaft is fixedly connected to the adjusting roller.

[0012] Preferably, the moving mechanism includes an adjusting frame, both sides of the adjusting frame are fixedly connected with connecting plates, the connecting plates are slidably connected to the door frame assembly, one side of the vehicle body is fixedly connected with an adjusting cylinder, and the output end of the adjusting cylinder is fixedly connected to the adjusting frame.

[0013] Preferably, an adjusting sleeve is clamped on the outer side of the support plate, and the adjusting sleeve can drive the support plate to rise and fall, the pressure sensor is fixedly connected to the adjusting sleeve, and the adjusting sleeve is fixedly connected to the adjusting frame, one side of the support plate is rotatably connected to a movable cylinder, one side of the movable cylinder is rotatably connected to a support shaft, a clamping roller is fixedly sleeved on the outer side of the support shaft, and electric push rods are hinged on both sides of the support plate, and the output end of the electric push rod is hinged to the movable cylinder.

[0014] Preferably, the support shaft is located in the movable cylinder and is fixedly connected to a first friction plate on one side, a sliding plug is movably provided on the inner side of the movable cylinder, a movable rod is fixedly connected to the bottom of the sliding plug, an adjusting rod is fixedly connected to the top of the sliding plug, a movable plate is fixedly connected to the top of the adjusting rod, a second friction plate is slidably connected to the top of the movable cylinder, one side of the second friction plate and the movable plate are arranged as inclined surfaces, two push rods are fixedly provided on the bottom of the vehicle body, and an adjusting spring is fixedly connected to one side of the bottom of the second friction plate.

[0015] Preferably, the adjusting roller is configured as a rubber roller, and the position of the push rod corresponds to the position of the movable rod when the movable cylinder is in a vertical state.

[0016] Preferably, the sliding plug is slidably connected to the movable cylinder, a connecting hole is provided on one side of the support shaft body, the support shaft is configured as a hollow shaft, an outer fixed sleeve of the pressure roller is provided with an elastic rubber sleeve, and an adjustment hole is provided on the roller body of the pressure roller.

[0017] The beneficial effects of the present invention are as follows:

[0018] The present application provides an omnidirectional stacking robot, which realizes four-point servo drive by controlling the deflection of the steering wheel assembly and the coordination of the steering wheel assembly through the steering absolute value motor, so that the vehicle body can perform multiple omnidirectional movements including linear movement, arc movement, lateral movement and rotation on the spot, which is convenient for the vehicle body to carry out cargo handling in the space with narrow spacing between shelves, thereby achieving the effect of improving the driving stability and steering flexibility of the stacking robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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 are briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without creative work:

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2It is a bottom view schematic diagram of the structure of the present invention;

[0022] Figure 3 It is a schematic diagram of the internal structure of the vehicle body of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the adjustment frame in the second embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of the pressure roller in the second embodiment of the present invention;

[0025] Figure 6 It is a schematic cross-sectional view of the fork structure in the second embodiment of the present invention;

[0026] Figure 7 It is a schematic cross-sectional view of the structure of the adjusting roller in the second embodiment of the present invention;

[0027] Figure 8 It is a schematic cross-sectional view of the structure of the movable cylinder in the second embodiment of the present invention;

[0028] Fig. 9 For the present invention Figure 8 A magnified view of the structure at A;

[0029] Fig.10 It is a schematic cross-sectional view of the structure of the adjusting sleeve in the second embodiment of the present invention;

[0030] Fig.11 It is a structural schematic diagram of the regulating motor in the second embodiment of the present invention;

[0031] Fig.12 This is a schematic diagram of the structure of the electric push rod in the second embodiment of the present invention.

[0032] In the figure: 1-car body, 2-steering wheel assembly, 3-fork, 4-travel absolute value motor, 5-driving steering wheel assembly, 6-lithium battery, 7-shock-absorbing spring, 8-swinging bridge, 9-steering absolute value motor, 10-reducer, 11-connecting shaft, 12-hydraulic drive assembly, 13-hydraulic cylinder, 14-gantry assembly, 15-lifting plate, 16-adjusting motor, 17-pressure sensor, 18-transmission gear, 19-driving gear, 20-transmission shaft, 21- Adjusting sleeve, 22-supporting plate, 23-adjusting shaft, 24-adjusting roller, 25-adjusting frame, 26-adjusting cylinder, 27-movable cylinder, 28-sliding plug, 29-pressing roller, 30-supporting shaft, 31-electric push rod, 32-movable plate, 33-friction plate No. 1, 34-adjusting hole, 35-connecting hole, 36-adjusting spring, 37-movable rod, 38-thrust rod, 39-connecting plate, 40-adjusting rod, 41-elastic rubber sleeve, 42-friction plate No. 2. 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] Embodiment 1, as Figure 1-Figure 3 A stacking robot with omnidirectional travel comprises a vehicle body 1, two steering wheel assemblies 2 are fixedly arranged on one side of the bottom of the vehicle body 1, and the two steering wheel assemblies 2 are symmetrically arranged about the center line of the vehicle body 1. The inner side of the vehicle body 1 is rotatably connected to a swing bridge frame 8 through a connecting shaft 11, and the axis of the connecting shaft 11 is colinear with the center line of the swing bridge frame 8. Two driving steering wheel assemblies 5 are fixedly arranged at the bottom of the swing bridge frame 8, and the two driving steering wheel assemblies 5 are symmetrically arranged about the center line of the swing bridge frame 8. A reducer 10 is fixedly connected to both sides of the top of the swing bridge frame 8, and a steering absolute value motor 9 is fixedly installed on the top of the reducer 10. The output end of the steering absolute value motor 9 is transmission-connected to the input end of the reducer 10, and the steering absolute value motor 9 cooperates with the reducer 10 to control the steering of the corresponding driving steering wheel assembly 5. A walking absolute value motor 4 is fixedly connected to both sides of the bottom of the swing bridge frame 8, and the walking absolute value motor 4 corresponds to the two driving steering wheel assemblies 5 respectively, and the output end of the walking absolute value motor 4 is transmission-connected to the input end of the driving steering wheel assembly 5.

[0035] When the vehicle body 1 is moving, the two walking absolute value motors 4 respectively control the steering wheels in the corresponding driving steering wheel assemblies 5 to rotate at a rated speed, and the two steering absolute value motors 9 cooperate with the reducer 10 to control the steering wheels in the corresponding driving steering wheel assemblies 5 to deflect the rated angles. The two steering wheel assemblies 2 can adjust their own deflection angles while providing support. The steering wheels in the driving steering wheel assembly 5 and the steering wheel assembly 2 can deflect the rated angles respectively to adjust the moving direction of the vehicle body 1, so that the vehicle body 1 can complete multiple omnidirectional movements including linear movement, arc movement, lateral movement and rotation on the spot, thereby improving the flexibility of the stacking robot. After picking up and placing goods, the stacking robot can directly drive sideways and straight away, which can meet the needs of narrow channel operations, avoid turning in the alley, save the space occupied by the shelves in the logistics warehouse, and is safe and efficient. The stacking robot adopts a four-point full servo drive structure to ensure stability and accuracy during driving.

[0036] Shock-absorbing springs 7 are fixedly connected to both sides of the top of the swing bridge 8, one end of the shock-absorbing spring 7 is fixedly connected to the vehicle body 1, and the shock-absorbing spring 7 is used to provide elastic support to the swing bridge 8, improve the effective contact between the steering wheel and the ground when passing through gullies and other adverse working conditions, and ensure the driving stability of the vehicle body 1. A lithium battery 6 is fixedly arranged on the inner side of the vehicle body 1, and a gantry assembly 14 is fixedly arranged on one side of the vehicle body 1. Two hydraulic cylinders 13 are fixedly connected to one side of the vehicle body 1. The two hydraulic cylinders 13 are located on both sides of the gantry assembly 14 and are opposite to the center line of the gantry assembly 14. The hydraulic cylinder 13 is used to drive the lifting mechanism in the gantry assembly 14 to move. The hydraulic drive assembly 12 is fixedly arranged on the inner side of the vehicle body 1. The inner side of the gantry assembly 14 is slidably connected with a lifting plate 15. Two forks 3 are fixedly connected to one side of the lifting plate 15. The two forks 3 and the lifting plate 15 form a fork frame. The two forks 3 correspond to the positions of the two steering wheel assemblies 2 respectively. The bottom of the fork 3 can fit with the vehicle body 1 to ensure stable support during the transportation of goods. The gantry assembly 14 drives the fork frame to rise and fall through the lifting mechanism to complete the forking of goods.

[0037] Embodiment 2, as Figure 4-Figure 12 On the basis of the first embodiment, two support plates 22 are movably provided on one side of the vehicle body 1, and the two support plates 22 correspond to the two forks 3 respectively. The shape of the support plate 22 is adapted to the shape of the fork 3, and the support plate 22 is located at the top of the steering wheel assembly 2. Adjusting rollers 24 are rotatably connected on both sides of the support plate 22. Avoidance grooves are provided on both sides of the fork 3, and the positions of the avoidance grooves correspond to the positions of the adjusting rollers 24. An adjusting shaft 23 is rotatably sleeved at the top position of the support plate 22, and one end of the adjusting roller 24 is fixedly connected to the adjusting shaft 23 in a coaxial manner. The top roller body of the adjusting roller 24 extends out of the support plate 22, and an adjusting motor 16 is fixedly connected to one side of one of the two support plates 22, and the output end of the adjusting motor 16 is transmission-connected to the driving gear 19.

[0038] See also Figure 7 , also includes a pressure sensor 17, one side of one of the two support plates 22 is rotatably connected to a transmission shaft 20, the outer side of the transmission shaft 20 is fixedly sleeved with a transmission gear 18, the transmission gear 18 and the driving gear 19 are meshed with each other, one end of the transmission shaft 20 is fixedly connected to an adjusting roller 24, the number of pressure sensors 17 is set to at least two, and the number of pressure sensors 17 corresponding to a single support plate 22 is at least one, an adjustment frame 25 is provided on one side of the vehicle body 1, the adjustment frame 25 is located on one side of the lifting plate 15, and connecting plates 39 are fixedly connected on both sides of the adjustment frame 25, the connecting plate 39 is slidably connected to the door frame assembly 14, and the connecting plate 39 can slide and rise relative to the door frame assembly 14, and an adjusting cylinder 26 is fixedly connected to one side of the vehicle body 1, and the output end of the adjusting cylinder 26 is fixedly connected to the adjusting frame 25.

[0039] When goods are stacked on a pallet, the center of gravity of the goods may easily shift in the width direction of the two forks due to placement errors or irregular workpiece structures. This may cause the center of gravity of the pallet to shift in the width direction of the two forks after the three forks pick up the pallet, which may easily affect the driving stability of the automatic guided vehicle.

[0040] After the stacking robot forks the goods, the lifting plate 15 drives the fork 3 to descend. Fig.10 , the fork 3 moves to the bottom and fits with the vehicle body 1. At this time, the top of the adjusting roller 24 extends out relative to the top surface of the fork 3, thereby supporting the pallet. The pressure sensor 17 at the bottom of the support plate 22 detects the force of the corresponding support plate 22. When the difference between the detection values ​​of the pressure sensors 17 corresponding to the two support plates 22 is greater than the threshold value, the controller controls the adjusting motor 16 to drive the driving gear 19 to rotate the rated angle according to the detected difference, and the driving gear 19 drives the transmission gear 18 to rotate. The transmission gear 18 cooperates with the transmission shaft 20 to drive the adjusting roller 24 to rotate. While supporting the pallet, the adjusting roller 24 drives the pallet to move in the width direction of the fork 3.

[0041] The adjustment is stopped when the values ​​detected by the two pressure sensors 17 are less than the threshold value or reach the rated maximum adjustable distance of the pallet, thereby adjusting the center of gravity of the pallet without contacting the forks 3 at the bottom of the pallet, and avoiding additional wear on the pallet and the forks 3 while making the center of gravity of the pallet 3 close to the center of the two forks 3, thereby ensuring the stability of the body of the stacking robot when performing on-the-spot rotation and other turning actions, and further ensuring the reliability and flexibility of the stacking robot when moving in all directions. After the adjustment is completed, the adjusting cylinder 26 drives the adjusting frame 25 to descend, the adjusting frame 25 drives the supporting plate 22 to descend, and the supporting plate 22 drives the adjusting roller 24 to descend, so that the forks 3 support the pallet again.

[0042] An adjusting sleeve 21 is clamped on the outer side of the support plate 22, and the adjusting sleeve 21 can drive the support plate 22 to rise and fall. The pressure sensor 17 is located between the support plate 22 and the adjusting sleeve 21, and the pressure sensor 17 is fixedly connected to the adjusting sleeve 21. The adjusting sleeve 21 is fixedly connected to the adjusting frame 25. The lifting and lowering of the adjusting frame 25 drives the lifting and lowering of the adjusting sleeve 21, and the adjusting sleeve 21 drives the support plate 22 to move. The pressure sensor 17 detects the pressure value between the support plate 22 and the adjusting sleeve 21. A movable cylinder 27 is rotatably connected to one side of the support plate 22, and a support shaft 30 is rotatably connected to one side of the movable cylinder 27. A clamping roller 29 is fixedly sleeved on the outer side of the support shaft 30. The height difference between the clamping roller 29 and the corresponding adjusting roller 24 is adapted to the thickness of the support plate of the pallet. Electric push rods 31 are hinged on both sides of the support plate 22, and the output end of the electric push rod 31 is hinged to the movable cylinder 27.

[0043] When the adjusting roller 24 supports the pallet, the electric push rod 31 contracts and drives the movable cylinder 27 to rotate to vertical. The movable cylinder 27 drives the clamping roller 29 to rotate. The clamping roller 29 presses against the edge of the pallet to ensure effective contact between the pallet and the adjusting roller 24. When the center of the pallet deviates from the center between the two adjusting rollers 24, the friction between the single adjusting roller 24 and the pallet is prevented from being too small to cause slipping, resulting in deflection of the pallet during the adjustment process, thereby ensuring the stability of the adjustment process and further improving the reliability of the use of the stacking robot.

[0044] The support shaft 30 is located in one side of the movable cylinder 27 and is fixedly connected to the first friction plate 33. A sliding plug 28 is movably provided on the inner side of the movable cylinder 27. A movable rod 37 is fixedly connected to the bottom of the sliding plug 28. An adjusting rod 40 is fixedly connected to the top of the sliding plug 28. A movable plate 32 is fixedly connected to the top of the adjusting rod 40. A second friction plate 42 is slidably connected to the top of the movable cylinder 27. The second friction plate 42 can move in the normal direction of the first friction plate 33 relative to the movable cylinder 27. One side of the second friction plate 42 and the first friction plate 33 are both set as friction surfaces. One side of the second friction plate 42 and the movable plate 32 are set as inclined surfaces. The two inclined surfaces are matched with each other. Two push rods 38 are fixedly provided at the bottom of the vehicle body 1. The position of the push rods 38 corresponds to the position of the movable rod 37 when the movable cylinder 27 is in a vertical state. An adjusting spring 36 is fixedly connected to one side of the bottom of the No. 2 friction plate 42. The adjusting spring 36 is used to drive the No. 2 friction plate 42 to reset.

[0045] The adjusting roller 24 is set as a rubber roller, and the pressing roller 29 presses the pallet with the center of gravity offset in the length direction onto the adjusting roller 24 to ensure the effective contact between the pallet and the adjusting roller 24. After the pallet is adjusted, the adjusting frame 25 drives the adjusting sleeve 21 to descend, the adjusting sleeve 21 drives the supporting plate 22 to descend, and the supporting plate 22 cooperates with the movable cylinder 27 to drive the pressing roller 29 to descend. At the same time, the movable rod 37 moves relative to the push rod 38, and the push rod 38 resists the movable rod 37, so that the movable rod 37 cooperates with the sliding plug 28 and the adjusting rod 40 to drive the movable plate 3 2 moves, the inclined surface of the movable plate 32 abuts against the second friction plate 42, pushing the second friction plate 42 close to the first friction plate 33, when the bottom of the pallet contacts the fork 3, the first friction plate 33 fits with the second friction plate 42, thereby limiting the rotation of the first friction plate 33, and the first friction plate 33 cooperates with the support shaft 30 to limit the rotation of the clamping roller 29, so that the clamping roller 29 is locked after the adjustment is completed, so that the clamping roller 29 cooperates with the fork 3 to fix the pallet, thereby preventing the pallet from deviating when the stacking robot turns, and further improving the stability of the vehicle body.

[0046] The sliding plug 28 is slidably connected with the movable cylinder 27, and a sliding seal is arranged between the sliding plug 28 and the movable cylinder 27. A connecting hole 35 is provided on one side of the shaft body of the support shaft 30. The support shaft 30 is arranged as a hollow shaft. The connecting hole 35 cooperates with the cavity of the support shaft 30 to communicate with the cavity of the movable cylinder 27 and the cavity of the pressing roller 29. An elastic rubber sleeve 41 is provided on the outer fixed sleeve of the pressing roller 29. An adjusting hole 34 is provided on the roller body of the pressing roller 29. When the sliding plug 28 rises relative to the movable cylinder 27, the gas at the top is passed through the connecting hole 35 and the adjusting hole 34. The node hole 34 is pressed into the inner side of the elastic rubber sleeve 41, causing the elastic rubber sleeve 41 to expand. While the clamping roller 29 clamps the pallet, the pressure exerted by the clamping roller 29 on the pallet is increased to ensure effective clamping. This can avoid excessive pressure provided by the clamping roller 29 when adjusting the center of gravity of the pallet, which would cause excessive friction between the adjusting roller 24 and the pallet and generate additional wear, thus affecting the service life of the adjusting roller 24. After the adjustment is completed, the clamping force is increased to ensure the stability of the pallet during transportation, thereby further improving the reliability of the operation of the stacking robot.

[0047] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An omnidirectional stacking robot, characterized in that: The vehicle comprises a vehicle body (1), two steering wheel assemblies (2) are fixedly arranged on one side of the bottom of the vehicle body (1), a swing bridge (8) is rotatably connected to the inner side of the vehicle body (1) via a connecting shaft (11), two driving steering wheel assemblies (5) are fixedly arranged on the bottom of the swing bridge (8), a reducer (10) is fixedly connected to both sides of the top of the swing bridge (8), a steering absolute value motor (9) is fixedly installed on the top of the reducer (10), the steering absolute value motor (9) cooperates with the reducer (10) to control the steering of the corresponding driving steering wheel assembly (5), and a walking absolute value motor (4) is fixedly connected to both sides of the bottom of the swing bridge (8); The walking absolute value motor (4) is used to control the steering wheel in the corresponding driving steering wheel assembly (5) to rotate at a rated speed to drive the vehicle body (1) to move forward, and the steering absolute value motor (9) cooperates with the reducer (10) to drive the steering wheel in the corresponding driving steering wheel assembly (5) to deflect to a rated angle, and the steering wheel assembly (2) can adjust its own deflection angle; A gantry assembly (14) is fixedly provided on one side of the vehicle body (1), a lifting plate (15) is slidably connected to the inner side of the gantry assembly (14), and two forks (3) are fixedly connected to one side of the lifting plate (15); It also includes a pressure sensor (17), two support plates (22) are movably provided on one side of the vehicle body (1), both sides of the support plate (22) are rotatably connected to adjustment rollers (24), both sides of the fork (3) are provided with avoidance grooves, an adjustment shaft (23) is rotatably sleeved at the top position of the support plate (22), and one end of the adjustment roller (24) is fixedly connected to the adjustment shaft (23); The number of the pressure sensors (17) is set to at least two, and the pressure sensors (17) are used to detect the pressure of the pallet respectively carried by the two forks (3). A driving mechanism is provided in one of the two support plates (22), and a moving mechanism is provided on one side of the vehicle body (1). The driving mechanism drives the adjusting roller (24) to rotate according to the pressure difference detected by the pressure sensors (17) corresponding to the two forks (3), so that the adjusting roller (24) drives the pallet to move in a direction in which the center of gravity approaches the center of the two forks (3), and the moving mechanism is used to drive the support plate (22) to rise and fall; The driving mechanism comprises an adjusting motor (16), the adjusting motor (16) being fixedly connected to a support plate (22), an output end of the adjusting motor (16) being drivingly connected to a driving gear (19), one side of one of the two support plates (22) being rotatably connected to a transmission shaft (20), a transmission gear (18) being fixedly sleeved on the outer side of the transmission shaft (20), the transmission gear (18) and the driving gear (19) being meshed with each other, and one end of the transmission shaft (20) being fixedly connected to an adjusting roller (24).

2. The omnidirectional stacking robot according to claim 1, characterized in that: A lithium battery (6) is fixedly arranged on the inner side of the vehicle body (1), two hydraulic cylinders (13) are fixedly connected to one side of the vehicle body (1), a hydraulic drive assembly (12) is fixedly arranged on the inner side of the vehicle body (1), and shock absorbing springs (7) are fixedly connected to both sides of the top of the swing bridge frame (8).

3. The omnidirectional stacking robot according to claim 1, characterized in that: The moving mechanism comprises an adjusting frame (25), both sides of the adjusting frame (25) are fixedly connected to connecting plates (39), the connecting plates (39) are slidably connected to the door frame assembly (14), one side of the vehicle body (1) is fixedly connected to an adjusting oil cylinder (26), and the output end of the adjusting oil cylinder (26) is fixedly connected to the adjusting frame (25).

4. The omnidirectional stacking robot according to claim 3, characterized in that: An adjusting sleeve (21) is clamped on the outer side of the support plate (22), and the adjusting sleeve (21) can drive the support plate (22) to rise and fall. The pressure sensor (17) is fixedly connected to the adjusting sleeve (21), and the adjusting sleeve (21) is fixedly connected to the adjusting frame (25). A movable cylinder (27) is rotatably connected to one side of the support plate (22), and a support shaft (30) is rotatably connected to one side of the movable cylinder (27). A pressure roller (29) is fixedly sleeved on the outer side of the support shaft (30). Electric push rods (31) are hinged on both sides of the support plate (22), and the output end of the electric push rod (31) is hinged to the movable cylinder (27).

5. The omnidirectional stacking robot according to claim 4, characterized in that: The support shaft (30) is located in a movable cylinder (27) and is fixedly connected to a first friction plate (33) on one side thereof; a sliding plug (28) is movably provided on the inner side of the movable cylinder (27); a movable rod (37) is fixedly connected to the bottom of the sliding plug (28); an adjusting rod (40) is fixedly connected to the top of the sliding plug (28); a movable plate (32) is fixedly connected to the top of the adjusting rod (40); a second friction plate (42) is slidably engaged with the top of the movable cylinder (27); one side of the second friction plate (42) and the movable plate (32) are arranged as inclined surfaces; two top rods (38) are fixedly provided on the bottom of the vehicle body (1); and an adjusting spring (36) is fixedly connected to one side of the bottom of the second friction plate (42).

6. The omnidirectional stacking robot according to claim 5, characterized in that: The regulating roller (24) is configured as a rubber roller, and the position of the push rod (38) corresponds to the position of the movable rod (37) when the movable cylinder (27) is in a vertical state.

7. The omnidirectional stacking robot according to claim 5, characterized in that: The sliding plug (28) is slidably sleeved with the movable cylinder (27); a connecting hole (35) is provided on one side of the shaft body of the support shaft (30); the support shaft (30) is configured as a hollow shaft; an outer fixed sleeve of the pressure roller (29) is provided with an elastic rubber sleeve (41); and an adjusting hole (34) is provided on the roller body of the pressure roller (29).

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