Omnibearing wheel type intelligent loading and unloading robot for warehouse logistics

Abstract

The invention discloses an all-dimensional wheel type intelligent loading and unloading robot for warehouse logistics, and relates to the technical field of robots. The robot comprises a robot body, multiple sets of all-dimensional moving wheel assemblies are arranged at the bottom of the robot body in the perimeter direction of the robot body, and each all-dimensional moving wheel assembly comprises a mounting frame fixedly mounted at the bottom of the robot body, a Mecanum wheel rotationally arranged on the mounting frame and a first driving mechanism used for driving the Mecanum wheel to rotate; an auxiliary steering wheel mechanism is arranged in the middle of the bottom of the robot body, the mechanical arm is arranged on the robot body, a clamping assembly used for carrying is arranged on the mechanical arm, and the robot body is provided with a forklift assembly opposite to the mechanical arm. Through the omni-directional moving wheel assembly and the auxiliary steering wheel mechanism, the robot can flexibly move in the storage environment and can easily work in a narrow space, and the loading and unloading efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of robotics, specifically, it relates to an all-around wheeled intelligent loading and unloading robot for warehousing and logistics. Background Technology

[0002] With the rapid development of e-commerce and the arrival of the industrial age, the warehousing and logistics industry is facing unprecedented opportunities and challenges. In order to improve the operational efficiency of warehousing and logistics and reduce labor costs, intelligent and automated equipment is being used more and more widely in the field of warehousing and logistics. As a key link in the warehousing and logistics process, the level of automation of loading and unloading operations directly affects the operational efficiency and cost control of the entire logistics system. However, existing loading and unloading equipment is generally fixed on the platform. After loading is completed, the loading and unloading equipment will be idle on the platform, resulting in a certain amount of waste.

[0003] Chinese patent CN213264755U discloses a loading and unloading robot. The device inserts a pallet fork into a pallet with goods placed on it. A moving mechanism drives the loading and unloading robot to the truck bed. Then, an end effector places the goods on the pallet into the truck bed. When the loading and unloading robot is used for unloading, it enters the truck bed with an empty pallet. The end effector places the goods in the truck bed onto the pallet, and then the moving mechanism drives the loading and unloading robot to the warehouse. However, the device uses a common wheeled structure, which requires a large turning radius during turning and movement. It cannot turn on the spot or change direction flexibly, making it difficult to quickly and accurately approach the goods in a confined space, thus affecting loading and unloading efficiency.

[0004] In view of this, the present invention is proposed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an all-round wheeled intelligent loading and unloading robot for warehousing and logistics, which solves the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by the present invention is as follows:

[0007] An intelligent loading and unloading robot for omnidirectional wheeled warehousing and logistics includes: a robot body, with multiple sets of omnidirectional moving wheel assemblies arranged along its circumference at its bottom. The omnidirectional moving wheel assembly includes a mounting frame fixedly installed at the bottom of the robot body, a Mecanum wheel rotatably mounted on the mounting frame, and a first drive mechanism for driving the Mecanum wheel to rotate. An auxiliary steering wheel mechanism is arranged in the center of the bottom of the robot body.

[0008] A robotic arm is mounted on the robot body, and the robotic arm is equipped with a gripping component for handling. The robot body is equipped with a forklift component relative to the robotic arm.

[0009] Optionally, the auxiliary steering wheel mechanism includes:

[0010] A bogie is rotatably mounted on the bottom of the robot body via a first rotating shaft, and the robot body is provided with a second drive mechanism that drives the first rotating shaft to rotate.

[0011] Two sets of steering wheels are rotatably mounted in the bogie via a second rotating shaft, and the bogie is equipped with a third drive mechanism that drives the second rotating shaft to rotate.

[0012] Optionally, the second drive mechanism includes a first motor fixedly mounted on the robot body, a first gear sleeved and fixedly mounted on the drive shaft of the first motor, and a second gear sleeved and fixedly mounted on the first rotating shaft, wherein the second gear meshes with the first gear.

[0013] Optionally, the third drive mechanism includes a second motor fixedly mounted on the bogie, a third gear sleeved and fixedly mounted on the drive shaft of the second motor, and a bevel gear sleeved and fixedly mounted on the second rotating shaft, wherein the third gear meshes with the bevel gear.

[0014] Optionally, the diameter of the first gear is smaller than the diameter of the second gear.

[0015] Optionally, the clamping assembly includes:

[0016] A fixed frame is fixedly mounted on the robotic arm, and a clamping mechanism is provided at the bottom of the fixed frame;

[0017] Two sets of monitoring components are arranged opposite each other on both sides of the mounting frame.

[0018] Optionally, the monitoring component includes an auxiliary frame slidably disposed at the bottom of the fixed frame, a moving mechanism for driving the auxiliary frame to slide, and multiple monitoring cameras disposed on the auxiliary frame.

[0019] Optionally, the forklift assembly includes forks and a lifting mechanism.

[0020] Optionally, multiple sets of lidar and vision sensors are fixedly installed on the robot body along its circumference.

[0021] Optionally, multiple sets of ultrasonic sensors are fixedly installed on the top of the robot body.

[0022] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art. Of course, any product implementing the present invention does not necessarily need to achieve all of the following advantages at the same time:

[0023] 1. Equipped with omnidirectional moving wheel components and auxiliary steering wheel mechanisms, the robot can move flexibly in the warehouse environment, easily operate in confined spaces, and improve loading and unloading efficiency. It also has gripping components and forklift components, which can adapt to the handling of different types of goods, thus improving the robot's versatility and practicality.

[0024] 2. By setting up monitoring components, the position and angle of the monitoring camera can be adjusted according to actual needs, so as to achieve all-round monitoring of goods and the surrounding environment, reduce blind spots, improve the robot's adaptability to complex environments, and more comprehensive visual data helps the robot to more accurately identify the position, shape and other information of goods, thereby more accurately controlling the gripping components to grasp goods and improving the grasping success rate.

[0025] 3. Equipped with lidar, vision sensors, and ultrasonic sensors, the robot can accurately perceive its surrounding environment through the cooperation of multiple components. It can obtain information such as the location and distance of obstacles, as well as the shape and location of goods, providing accurate data support for the robot's path planning and goods identification. At the same time, based on the perceived environmental information, the robot can plan obstacle avoidance paths in real time to avoid collisions with obstacles, and accurately locate the goods for loading and unloading operations, thereby improving the safety and efficiency of robot operations.

[0026] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0027] The accompanying drawings described below are merely some embodiments. Those skilled in the art can obtain other drawings based on these drawings without any creative effort. In the drawings:

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the forklift assembly of the present invention;

[0030] Figure 3 For the present invention Figure 1 A structural diagram from another perspective;

[0031] Figure 4 This is a schematic diagram of the structure of the omnidirectional moving wheel assembly of the present invention;

[0032] Figure 5For the present invention Figure 4 Front view;

[0033] Figure 6 This is a schematic diagram of the auxiliary steering mechanism of the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of the second and third driving mechanisms of the present invention;

[0035] Figure 8 This is a schematic diagram of the structure of the robotic arm of the present invention;

[0036] Figure 9 This is a schematic diagram of the clamping assembly of the present invention;

[0037] Figure 10 This is a schematic diagram of the monitoring component of the present invention.

[0038] The attached diagram lists the components represented by each number as follows:

[0039] 1. Robot body; 2. LiDAR; 3. Vision sensor; 4. Control device; 5. Ultrasonic sensor; 6. Forklift assembly; 61. Forks; 62. Lifting mechanism; 7. Robotic arm; 8. Gripping assembly; 81. Gripping mechanism; 82. Fixing frame; 83. Monitoring assembly; 831. Moving mechanism; 832. Auxiliary frame; 833. Monitoring camera; 9. Omnidirectional moving wheel assembly; 91. First drive mechanism; 92. Mecanum wheel; 93. Mounting frame; 10. Auxiliary steering mechanism; 101. Bogie; 102. Steering wheel; 103. Second drive mechanism; 1031. Second motor; 1032. Third gear; 1033. Bevel gear; 104. First shaft; 105. Third drive mechanism; 1051. First motor; 1052. First gear; 1053. Second gear; 11. Second shaft.

[0040] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0041] The invention will now be described in further detail with reference to the accompanying drawings.

[0042] Please see Figure 1-10As shown, this embodiment provides an omnidirectional wheeled intelligent loading and unloading robot for warehousing and logistics, including a robot body 1, with multiple sets of omnidirectional moving wheel assemblies 9 arranged along its circumference at its bottom. The omnidirectional moving wheel assembly 9 includes a mounting frame 93 fixedly installed at the bottom of the robot body 1, a Mecanum wheel 92 rotatably mounted on the mounting frame 93, and a first drive mechanism 91 for driving the Mecanum wheel 92 to rotate. An auxiliary steering wheel 102 mechanism is arranged in the center of the bottom of the robot body 1, and a robotic arm 7 is arranged on the robot body 1. The robotic arm 7 is provided with a clamping assembly 8 for handling, and a forklift assembly 6 is provided on the robot body 1 relative to the robotic arm 7.

[0043] Specifically, in this embodiment, a control device 4 is fixedly installed on the robot body 1 to control the various devices on it. The wiring and signal transmission methods of the control device 4 and each component are existing technologies. In use, the control device 4 sends commands to the first drive mechanism 91 and the auxiliary steering wheel 102 mechanism of the omnidirectional moving wheel assembly 9. Each mechanism is in a standby state. The initial position and posture of the Mecanum wheel 92 and the auxiliary steering wheel 102 are adapted to the site environment. The first drive mechanism 91 drives the Mecanum wheel 92 to rotate. Utilizing the friction between the roller of the Mecanum wheel 92 and the ground, combined with the rotation speed and steering difference of multiple sets of wheels, the robot can achieve omnidirectional movement such as forward and backward, left and right, diagonal, and stationary rotation. The auxiliary steering wheel 102 mechanism is used to adjust the steering angle and assist in optimizing the movement trajectory to adapt to complex warehouse channels and narrow spaces. When it is necessary to handle small, irregular, or precisely grasped goods, the robotic arm 7 receives control signals to extend and adjust its posture. Based on the size and shape of the goods, component 8 opens and closes via electric or pneumatic means to pick up and transport the goods to designated locations (shelves, transport equipment, etc.), or unload the goods from designated locations. For palletized goods, large boxes, and other goods suitable for forklifts, the forklift component 6 lifts the goods, and then the robot body 1 moves to transfer the goods to the target area, or the reverse operation unloads the goods. After completing one loading and unloading task, the robot repeats the "movement-loading and unloading" steps according to the instructions of the warehouse management system to continuously perform goods handling operations. If an abnormality is encountered (such as low battery or sensor malfunction), a pause, self-check, or return to the charging / repair area process is triggered. The overall structure has a high degree of automation. The omnidirectional moving wheel component 9, together with the auxiliary steering wheel 102 mechanism, makes the robot move flexibly in the warehouse environment and can easily operate in narrow spaces, improving loading and unloading efficiency. It also has a clamping component 8 and a forklift component 6, which can adapt to the handling of different types of goods, improving the robot's versatility and practicality.

[0044] It should be noted that in this embodiment, the device is suitable for e-commerce warehouses, manufacturing raw material warehouses, etc., especially in smart warehouses with high-density storage and multiple SKUs (stock keeping units) mixed storage. With its flexible movement and multiple loading and unloading methods, it can efficiently connect the inbound, in-warehouse handling and outbound links. At the same time, during operation, it relies on the data interaction between the robot control device 4 and the warehouse management system (WMS) and warehouse execution system (WES) to receive task scheduling, cargo location and inventory information. It also needs to coordinate with the AGV scheduling system (if there are AGVs in the warehouse) to avoid path conflicts. Secondly, the omnidirectional moving wheel assembly 9 needs to cooperate with the steering angle algorithm of the auxiliary steering wheel 102 mechanism to ensure smooth movement. The operation switching between the robotic arm 7 and the forklift assembly 6 needs to be judged by sensors (such as the robot body 1 posture sensor and cargo recognition sensor) to prioritize and respond to urgent and high-priority tasks.

[0045] In this embodiment, as Figures 1 to 7 As shown, the auxiliary steering wheel 102 mechanism includes a bogie 101, which is rotatably mounted on the bottom of the robot body 1 via a first rotating shaft 104. The robot body 1 is equipped with a second drive mechanism 103 that drives the first rotating shaft 104 to rotate. Two sets of steering wheels 102 are rotatably mounted within the bogie 101 via a second rotating shaft 11. A third drive mechanism 105 that drives the second rotating shaft 11 to rotate is located within the bogie 101. Specifically, the second drive mechanism 103 drives the first rotating shaft 104 to rotate, thereby rotating the bogie 101 and realizing the mechanism of the auxiliary steering wheel 102. The robot rotates horizontally to adjust its direction of travel. The second shaft 11 is driven to rotate by the third drive mechanism 105, which in turn drives the steering wheel 102 to rotate, further adjusting the steering angle. This, combined with the Mecanum wheel 92, enables more precise steering. Through two levels of rotation control, the robot's steering becomes more flexible and precise, especially in complex warehouse environments, where it can better avoid obstacles and approach goods. At the same time, the auxiliary steering wheel 102 mechanism provides additional support when the robot moves and turns, improving the overall stability of the robot and reducing the risk of tipping over.

[0046] In this embodiment, as Figures 1 to 7 As shown, the second drive mechanism 103 includes a first motor 1051 fixedly mounted on the robot body 1, a first gear 1052 sleeved and fixedly mounted on the drive shaft of the first motor 1051, and a second gear 1053 sleeved and fixedly mounted on the first rotating shaft 104. The second gear 1053 meshes with the first gear 1052. Specifically, when the first motor 1051 is energized, it drives the first gear 1052 to rotate. Since the first gear 1052 meshes with the second gear 1053, it drives the second gear 1053 to rotate, thereby driving the first rotating shaft 104 to rotate, thus realizing the rotation of the bogie 101.

[0047] In this embodiment, as Figures 1 to 7 As shown, the third drive mechanism 105 includes a second motor 1031 fixedly mounted on the bogie 101, a third gear 1032 sleeved and fixedly mounted on the drive shaft of the second motor 1031, and a bevel gear 1033 sleeved and fixedly mounted on the second rotating shaft 11. The third gear 1032 meshes with the bevel gear 1033. When the second motor 1031 is energized, it drives the third gear 1032 to rotate. The third gear 1032 meshes with the bevel gear 1033, causing the bevel gear 1033 to rotate, thereby causing the second rotating shaft 11 to rotate, thus realizing the rotation of the steering wheel 102.

[0048] In this embodiment, as Figure 7 As shown, the diameter of the first gear 1052 is smaller than the diameter of the second gear 1053. Specifically, a lower rotational speed can make the bogie 101 rotate more smoothly, which is convenient for precise control of the steering angle and avoids inaccurate steering due to excessive rotational speed.

[0049] In this embodiment, as Figures 1 to 10As shown, the clamping assembly 8 includes a fixed frame 82, which is fixedly mounted on the robotic arm 7. A clamping mechanism 81 is located at the bottom of the fixed frame 82. Two sets of monitoring components 83 are arranged opposite each other on both sides of the fixed frame 82. Each monitoring component 83 includes an auxiliary frame 832 slidably mounted at the bottom of the fixed frame 82, a moving mechanism 831 for driving the auxiliary frame 832 to slide, and multiple monitoring cameras 833 mounted on the auxiliary frame 832. Specifically, when the robotic arm 7 moves the fixed frame 82 to the vicinity of the cargo handling area, the monitoring components 83 are in their initial position along with the fixed frame 82. The auxiliary frame 832, under the action of the moving mechanism 831, returns to the bottom of the fixed frame 82. At the initial docking position (e.g., at the end of the slide rail), the monitoring camera 833 is powered on and ready to collect environmental information. It receives control signals via the moving mechanism 831 (e.g., electric push rod, lead screw motor, etc.) and drives the auxiliary frame 832 to slide along the slide rail at the bottom of the fixed frame 82. This adjusts the spacing and position of the two sets of monitoring components 83 to adapt to the size of the goods (e.g., when grabbing large goods, the auxiliary frame 832 expands outward to increase the monitoring range; when grabbing small goods, the auxiliary frame 832 retracts inward to focus on the details of the goods). Multiple monitoring cameras 833 are simultaneously activated, collecting images of the goods and surrounding environment from different angles (e.g., front, side). Then, the monitoring cameras 833 transmit the image data. The robot control system uses image recognition algorithms (such as deep learning-based object detection models) to identify the shape, position, and posture of the goods (e.g., whether they are tilted or stacked). It also detects obstacles and people around the goods, providing precise coordinates and safety assessments for the gripping mechanism 81. Based on the goods information fed back by the monitoring component 83, the robotic arm 7 adjusts its posture and controls the gripping mechanism 81 (e.g., grippers, suction cups) to align with the goods. If the goods position deviates, the moving mechanism 831 fine-tunes the position of the auxiliary frame 832, and the camera continuously captures images to dynamically correct the gripping path, ensuring that the gripping mechanism 81 accurately grasps and places the goods. After the goods are loaded and unloaded, the moving mechanism 831 drives the auxiliary frame 832 back to the initial position at the bottom of the fixed frame 82. The monitoring camera 833 enters a low-power standby or off state, waiting for the next operation instruction. The robotic arm 7 drives the fixed frame 82 to leave the work area, ready to perform a new task. Thus, the position and angle of the monitoring camera 833 can be adjusted according to actual needs to achieve all-round monitoring of the goods and the surrounding environment, reduce blind spots, improve the robot's adaptability to complex environments, and more comprehensive visual data helps the robot to more accurately identify the position, shape and other information of the goods, thereby more accurately controlling the gripping component 8 to grasp the goods and improving the grasping success rate.

[0050] It should be noted that by adjusting the spacing of the auxiliary frame 832 and the camera angle, it can adapt to various types of goods such as boxed items, irregularly shaped items, and soft goods. Especially when grasping easily deformable or irregularly shaped goods, multi-angle monitoring can assist the clamping mechanism 81 in optimizing the gripping force and position to avoid damaging the goods. Secondly, in this embodiment, the moving mechanism 831 needs to have high precision and low vibration characteristics (such as precision lead screw transmission and silent synchronous belt) to prevent vibration during sliding from affecting the camera imaging. At the same time, it needs to be equipped with position sensors (such as magnetic rulers and photoelectric limiters) to accurately control the sliding stroke of the auxiliary frame 832 and ensure the repeatability accuracy of monitoring and clamping operations. Furthermore, in addition to assisting operations, the monitoring component 83 can serve as a supplement to safety warnings (such as immediately triggering the robotic arm 7 to pause if personnel are detected entering the work area). The camera needs to have dustproof and oil-proof protection (such as adding a waterproof and breathable cover and a regular cleaning module) to adapt to the dusty and humid environment of warehousing and logistics and ensure long-term stable operation.

[0051] In this embodiment, as Figures 1 to 3 As shown, the forklift assembly 6 includes forks 61 and a lifting mechanism 62. Specifically, the lifting mechanism 62 (such as a hydraulic cylinder or chain lifting structure) of the forklift assembly 6 drives the forks 61 to rise and fall. The forks 61 insert into the pallet slot or the bottom of the goods, lift the goods, and then move in coordination with the robot body 1 to transfer the goods to the target area, or reverse the operation to unload the goods.

[0052] In this embodiment, as Figures 1 to 3 As shown, multiple sets of lidar 2 and vision sensors 3 are fixedly installed along the perimeter of the robot body 1. Multiple sets of ultrasonic sensors 5 are fixedly installed on the top of the robot body 1. Specifically, the lidar 2 emits a laser beam, and the distance to surrounding objects is calculated by measuring the time it takes for the laser to reflect back, thus constructing an environmental map. The vision sensors 3 (cameras) acquire image information of the surrounding environment, and the image recognition algorithm identifies obstacles, cargo, and other target objects. The ultrasonic sensors 5 emit ultrasonic waves, and when the ultrasonic waves encounter obstacles, they reflect back. The sensors calculate the distance to obstacles based on the time difference between emission and reception, and detect obstacles at close range. This enables accurate perception of the surrounding environment, obtaining information such as the position and distance of obstacles, as well as the shape and position of cargo. This provides accurate data support for the robot's path planning and cargo identification. At the same time, based on the perceived environmental information, the robot can plan obstacle avoidance paths in real time to avoid collisions with obstacles, and accurately locate cargo positions for loading and unloading operations, improving the safety and efficiency of robot operations.

[0053] Working principle:

[0054] In operation, the control device 4 sends commands to the first drive mechanism 91 and the auxiliary steering wheel 102 mechanism of the omnidirectional moving wheel assembly 9. Each mechanism is in standby mode. The initial position and posture of the Mecanum wheel 92 and the auxiliary steering wheel 102 adapt to the environment. The first drive mechanism 91 drives the Mecanum wheel 92 to rotate. Utilizing the friction between the rollers of the Mecanum wheel 92 and the ground, combined with the rotational speed and steering difference of multiple sets of wheels, the robot achieves omnidirectional movement, including forward, backward, left, right, diagonal, and stationary rotation. The auxiliary steering wheel 102 mechanism adjusts the steering angle to optimize the movement trajectory and adapt to complex warehouse aisles and confined spaces. When handling small, irregular, or precisely grasped goods, the robotic arm 7 receives control signals, extends, and adjusts its posture. Its gripping component 8 opens and closes electrically or pneumatically according to the size and shape of the goods, completing the grasping and handling of the goods. The robot moves to or unloads goods from designated locations (shelves, transport equipment, etc.). For palletized or large boxed goods suitable for forklift handling, the forklift component 6 lifts the goods, and the robot body 1 moves to transfer the goods to the target area. Alternatively, the robot can unload the goods in reverse. After completing one loading and unloading task, the robot repeats the "movement-loading and unloading" steps according to the instructions of the warehouse management system to continuously perform goods handling operations. If an abnormality is encountered (such as low battery or sensor malfunction), a pause, self-check, or return to the charging / repair area process is triggered. The overall structure has a high degree of automation. The omnidirectional moving wheel component 9, together with the auxiliary steering wheel 102 mechanism, makes the robot move flexibly in the warehouse environment and can easily operate in confined spaces, improving loading and unloading efficiency. It also has a clamping component 8 and a forklift component 6, which can adapt to the handling of different types of goods, improving the robot's versatility and practicality.

[0055] This invention is not limited to the embodiments described above. Anyone should understand that structural changes made under the guidance of this invention, and any technical solutions that are the same as or similar to this invention, fall within the protection scope of this invention. Technical aspects, shapes, and structures not described in detail in this invention are all publicly known technologies.

Claims

1. An all-around wheeled intelligent loading and unloading robot for warehousing and logistics, characterized in that, include: The robot body (1) has multiple sets of omnidirectional moving wheel assemblies (9) along its circumference at its bottom. The omnidirectional moving wheel assembly (9) includes a mounting frame (93) fixedly installed at the bottom of the robot body (1), a Mecanum wheel (92) rotatably mounted on the mounting frame (93), and a first drive mechanism (91) for driving the Mecanum wheel (92) to rotate. An auxiliary steering wheel (102) mechanism is provided at the center of the bottom of the robot body (1). A robotic arm (7) is mounted on the robot body (1), and the robotic arm (7) is provided with a gripping assembly (8) for handling. The robot body (1) is provided with a forklift assembly (6) relative to the robotic arm (7).

2. The all-around wheeled intelligent loading and unloading robot for warehousing and logistics according to claim 1, characterized in that, The auxiliary steering wheel (102) mechanism includes: A bogie (101) is rotatably mounted at the bottom of the robot body (1) via a first rotating shaft (104). The robot body (1) is provided with a second drive mechanism (103) that drives the first rotating shaft (104) to rotate. Two sets of steering wheels (102) are rotatably mounted in the bogie (101) via a second rotating shaft (11). The bogie (101) is provided with a third drive mechanism (105) that drives the second rotating shaft (11) to rotate.

3. The all-around wheeled intelligent loading and unloading robot for warehousing and logistics according to claim 2, characterized in that, The second drive mechanism (103) includes a first motor (1051) fixedly mounted on the robot body (1), a first gear (1052) sleeved and fixedly mounted on the drive shaft of the first motor (1051), and a second gear (1053) sleeved and fixedly mounted on the first rotating shaft (104), wherein the second gear (1053) meshes with the first gear (1052).

4. The all-around wheeled intelligent loading and unloading robot for warehousing and logistics according to claim 2, characterized in that, The third drive mechanism (105) includes a second motor (1031) fixedly mounted on the bogie (101), a third gear (1032) sleeved and fixedly mounted on the drive shaft of the second motor (1031), and a bevel gear (1033) sleeved and fixedly mounted on the second rotating shaft (11), wherein the third gear (1032) meshes with the bevel gear (1033).

5. The all-around wheeled intelligent loading and unloading robot for warehousing and logistics according to claim 3, characterized in that, The diameter of the first gear (1052) is smaller than the diameter of the second gear (1053).

6. The all-around wheeled intelligent loading and unloading robot for warehousing and logistics according to claim 1, characterized in that, The clamping assembly (8) includes: A fixed frame (82) is fixedly mounted on the robotic arm (7), and a clamping mechanism (81) is provided at the bottom of the fixed frame (82). Two sets of monitoring components (83) are arranged opposite each other on both sides of the fixture (82).

7. The all-around wheeled intelligent loading and unloading robot for warehousing and logistics according to claim 6, characterized in that, The monitoring component (83) includes an auxiliary frame (832) slidably disposed at the bottom of the fixed frame (82), a moving mechanism (831) for driving the auxiliary frame (832) to slide, and multiple monitoring cameras (833) disposed on the auxiliary frame (832).

8. The all-around wheeled intelligent loading and unloading robot for warehousing and logistics according to claim 1, characterized in that, The forklift assembly (6) includes forks (61) and a lifting mechanism (62).

9. The all-around wheeled intelligent loading and unloading robot for warehousing and logistics according to claim 1, characterized in that, Multiple sets of lidar (2) and vision sensors (3) are fixedly installed on the robot body (1) along its circumference.

10. The all-around wheeled intelligent loading and unloading robot for warehousing and logistics according to claim 9, characterized in that, Multiple sets of ultrasonic sensors (5) are fixedly installed on the top of the robot body (1).

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