3D omni-directional logistics carrying equipment

Abstract

The utility model discloses 3D (three-dimensional) omni-directional logistics carrying equipment which comprises a carrying robot, the carrying robot comprises a vehicle body device, a composite running driving wheel device, a telescopic driving wheel device and a pallet fork device, the pallet fork device is arranged at the top of the vehicle body device, and the telescopic driving wheel device is arranged at the bottom of the vehicle body device; the composite traveling driving wheel device is arranged at the bottom of the telescopic driving wheel device, the pallet fork device is used for taking and placing goods, the telescopic driving wheel device is used for adjusting the position of a composite traveling wheel, and the composite traveling driving wheel device is used for driving the transfer robot to move; the goods shelf stand columns are provided with tooth holes used for lifting of the composite form wheels. The 3D omni-directional logistics carrying equipment is convenient to use, gear teeth on the composite traveling wheels are meshed with gear holes in a special goods shelf through the telescopic driving wheel device installed on the vehicle body device, and the 3D omni-directional logistics carrying equipment ascends and descends along the goods shelf; the pallet fork is installed on the vehicle body device and driven by a motor to pick and place goods.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics, and in particular to a 3D omnidirectional logistics handling device. Background Art

[0002] With the rapid development of science and technology, especially the rapid development of e-commerce and express delivery industries, the cost of human resources has been continuously increasing. In order to improve the utilization efficiency of warehouses and reduce costs, enterprises are increasingly using intelligent warehousing and vertical warehouses. At present, intelligent warehousing automation equipment includes: AGV, RGV, two-way shuttles, four-way shuttles, stackers and their supporting various conveyor lines to realize the automatic handling of goods. With the market's use of intelligent three-dimensional warehousing, the above-mentioned automation equipment has highlighted certain shortcomings and limitations: AGV can only run on the ground, RGV, stackers can only run on tracks; shuttles are important handling tools for vertical warehouses and intensive warehouses. At present, there are mainly two-way shuttles and four-way shuttles. Both shuttles require supporting elevators or stackers to change layers, which makes the construction and use costs of the three-dimensional warehousing system high, and the scheduling lacks flexibility; and AGV, RGV, stackers, shuttles and other equipment have complex structures, high failure rates, high production and maintenance costs, low production efficiency, etc.

[0003] Based on the above situation, the utility model proposes a 3D omnidirectional logistics handling equipment, which can effectively solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to provide a 3D omnidirectional logistics handling equipment. The 3D omnidirectional logistics handling equipment of the utility model is easy to use. The composite driving wheel device is installed at the four corners of the vehicle body device. The composite driving wheel can not only move forward and backward, and change direction at right angles on the spot, but also can be installed on the vehicle body device. The telescopic driving wheel device makes the gear on the composite driving wheel and the tooth hole on the special shelf engage, and the shelf is lifted and lowered; the fork is installed on the vehicle body device, and the motor is driven to pick up and put the goods. Not only can it realize the transportation of goods on the ground, but it can also climb on the shelf to pick up and put the goods, thereby realizing 3D omnidirectional logistics transportation.

[0005] The utility model is realized by the following technical solutions:

[0006] A 3D omnidirectional logistics handling equipment, comprising:

[0007] A handling robot comprises a vehicle body device, a compound driving wheel device, a telescopic driving wheel device and a fork device, wherein the fork device is arranged on the top of the vehicle body device, the telescopic driving wheel device is arranged on the bottom of the vehicle body device, the compound driving wheel device is arranged on the bottom of the telescopic driving wheel device, the fork device is used to pick up and place goods, the telescopic driving wheel device is used to adjust the position of the compound driving wheel, and the compound driving wheel device is used to drive the handling robot to move;

[0008] Shelf columns, each of which is provided with tooth holes for composite wheel lifting, and each of which is provided with a lifting channel for a handling robot to lift;

[0009] Wherein, the transport robot is arranged in the lifting channel.

[0010] The purpose of the utility model is to provide a 3D omnidirectional logistics handling equipment. The 3D omnidirectional logistics handling equipment of the utility model is easy to use. The composite driving wheel device is installed at the four corners of the vehicle body device. The composite driving wheel can not only move forward and backward, and change direction at right angles on the spot, but also can be installed on the vehicle body device. The telescopic driving wheel device makes the gear on the composite driving wheel and the tooth hole on the special shelf engage, and the shelf is lifted and lowered; the fork is installed on the vehicle body device, and the motor is driven to pick up and put the goods. Not only can it realize the transportation of goods on the ground, but it can also climb on the shelf to pick up and put the goods, thereby realizing 3D omnidirectional logistics transportation.

[0011] Preferably, the compound travel driving wheel device includes a top plate, a large gear, a small gear, a motor fixing bracket, a first reduction motor, a compound travel wheel, a motor and a planetary reducer. The large gear and the small gear are both rotatably connected to the bottom of the top plate, the large gear and the small gear are meshed, the motor fixing bracket is arranged at the bottom of the large gear, the compound travel wheel is rotatably connected to the motor fixing bracket, a slider is provided on the top of the top plate, the small gear is connected to the first reduction motor, a gear is provided in the middle of the compound travel wheel, and the motor is connected to the compound travel wheel through a planetary reducer.

[0012] Preferably, the composite running wheel is a polyurethane rubber-coated wheel.

[0013] Preferably, the telescopic driving wheel device includes a bidirectional screw, a first screw nut, a second screw nut, a first screw nut fixing frame, a second screw nut fixing frame and a second reduction motor, the first screw nut and the second screw nut are respectively threadedly connected to both sides of the bidirectional screw, two ends of the first screw nut are fixedly connected to a group of composite traveling wheels through the first screw nut fixing frame, and two ends of the second screw nut are fixedly connected to another group of composite traveling wheels through the second screw nut fixing frame, a driving sprocket is connected to the second reduction motor, a passive sprocket is provided at one end of the bidirectional screw, and the driving sprocket and the passive sprocket are connected by chain transmission.

[0014] Preferably, the fork device includes two third reduction motors and a conveying mechanism respectively arranged on both sides of the third reduction motors, the conveying mechanism includes an upper fork body, a middle fork body and a lower fork body, the two third reduction motors are fixed at the bottom of the lower fork body, and one third reduction motor drives the middle fork body and the lower fork body corresponding to a conveying mechanism to move through a chain / gear.

[0015] Compared with the prior art, the utility model has the following advantages and beneficial effects:

[0016] The 3D omnidirectional logistics handling equipment of the utility model is easy to use. The compound driving wheel device is installed at the four corners of the vehicle body device. The compound driving wheel can not only move forward and backward and change direction at right angles on the spot, but also can be lifted and lowered along the shelf by meshing the gear teeth on the compound driving wheel with the tooth holes on the special shelf through the telescopic driving wheel device installed on the vehicle body device; the fork is installed on the vehicle body device and driven by the motor to pick up and put the goods. It can not only realize the transportation of goods on the ground, but also climb on the shelf to pick up and put the goods, thus realizing 3D omnidirectional logistics handling;

[0017] In a three-dimensional storage system and a shelf system for a three-dimensional storage system, so as to at least partially solve the problems in the prior art;

[0018] The goods can be transported on the ground and on automatic climbing shelves without lifting equipment, which is highly efficient; the structure is compact, easy to process, install and debug, easy to maintain, and the overall cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the handling robot of the utility model;

[0021] Figure 3 This is a schematic diagram of the top view of the transport robot of the utility model;

[0022] Figure 4 This is a front view structural diagram of the transport robot of the utility model;

[0023] Figure 5 This is a side structural diagram of the handling robot of the utility model;

[0024] Figure 6 It is a schematic diagram of the top view of the telescopic driving wheel device of the utility model;

[0025] Figure 7 This is a front view structural diagram of the telescopic driving wheel device of the utility model;

[0026] Figure 8 It is a schematic diagram of the top view of the fork device of the utility model;

[0027] Fig. 9 This is a front view structural diagram of the fork device of the utility model;

[0028] Fig.10 This is a front view structural diagram of the composite travel driving wheel device of the utility model;

[0029] Fig.11 It is a side view structural schematic diagram of the composite travel driving wheel device of the utility model;

[0030] Fig.12 It is a schematic diagram of the top view of the structure of the composite travel driving wheel device of the utility model. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the utility model, the preferred implementation scheme of the utility model is described below in conjunction with specific embodiments. However, it should be understood that the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted. The positional relationship described in the drawings is only used for illustrative purposes and cannot be understood as a limitation on this patent.

[0032] Embodiment 1:

[0033] like Figures 1 to 12 As shown, the utility model provides a 3D omnidirectional logistics handling equipment, including:

[0034] The handling robot 100 comprises a vehicle body device 1, a compound driving wheel device 2, a telescopic driving wheel device 3 and a fork device 4, wherein the fork device 4 is arranged on the top of the vehicle body device 1, the telescopic driving wheel device 3 is arranged on the bottom of the vehicle body device 1, the compound driving wheel device 2 is arranged on the bottom of the telescopic driving wheel device 3, the fork device 4 is used to pick up and place goods, the telescopic driving wheel device 3 is used to adjust the position of the compound driving wheel 203, and the compound driving wheel device 2 is used to drive the handling robot 100 to move;

[0035] The shelf column 5 is provided with tooth holes for composite wheel lifting, and the shelf column 5 is provided with a lifting channel for the handling robot 100 to lift;

[0036] The transport robot 100 is arranged in a lifting channel.

[0037] Embodiment 2:

[0038] like Figures 1 to 12 As shown, the utility model provides a 3D omnidirectional logistics handling equipment, including:

[0039] The handling robot 100 comprises a vehicle body device 1, a compound driving wheel device 2, a telescopic driving wheel device 3 and a fork device 4, wherein the fork device 4 is arranged on the top of the vehicle body device 1, the telescopic driving wheel device 3 is arranged on the bottom of the vehicle body device 1, the compound driving wheel device 2 is arranged on the bottom of the telescopic driving wheel device 3, the fork device 4 is used to pick up and place goods, the telescopic driving wheel device 3 is used to adjust the position of the compound driving wheel 203, and the compound driving wheel device 2 is used to drive the handling robot 100 to move;

[0040] The shelf column 5 is provided with tooth holes for composite wheel lifting, and the shelf column 5 is provided with a lifting channel for the handling robot 100 to lift;

[0041] The transport robot 100 is arranged in a lifting channel.

[0042] The compound travel driving wheel device 2 includes a top plate 206, a large gear 205, a small gear 208, a motor fixing bracket 204, a first reduction motor 207, a compound travel wheel 203, a motor and a planetary reducer 210. The large gear 205 and the small gear 208 are both rotatably connected to the bottom of the top plate 206, the large gear 205 and the small gear 208 are meshed, the motor fixing bracket 204 is arranged at the bottom of the large gear 205, the compound travel wheel 203 is rotatably connected to the motor fixing bracket 204, a slider 209 is arranged on the top of the top plate 206, the small gear 208 is connected to the first reduction motor 207, a gear 202 is arranged in the middle of the compound travel wheel 203, and the motor is connected to the compound travel wheel 203 through the planetary reducer 210.

[0043] The first reduction motor 207 can drive the pinion 208 to rotate, and the pinion 208 drives the large gear 205 to rotate, so that the motor fixing bracket 204 rotates, that is, the compound driving wheel 203 rotates, and the motor drives the compound driving wheel 203 to operate through the planetary reducer 210. The four sets of compound driving wheel devices 2 rotate 90 degrees at the same time, so that the 3D omnidirectional logistics handling robot 100 can achieve right-angle reversal. The slider 209 on the compound driving wheel device 2 cooperates with the slide rail on the body device 1, wherein the front and rear sets of wheels are connected by a screw nut fixing plate, and the telescopic driving wheel device 3 drives the two sets of wheels to move.

[0044] Furthermore, in another embodiment, the composite running wheel 203 is a polyurethane rubber-coated wheel.

[0045] Furthermore, in another embodiment, the telescopic driving wheel device 3 includes a bidirectional screw 305, a first screw nut 304, a second screw nut 303, a first screw nut fixing frame 302, a second screw nut fixing frame 301 and a second reduction motor 309, the first screw nut 304 and the second screw nut 303 are respectively threadedly connected to the two sides of the bidirectional screw 305, the two ends of the first screw nut 304 are fixedly connected to a group of composite running wheels 203 through the first screw nut fixing frame 302, the two ends of the second screw nut 303 are fixedly connected to another group of composite running wheels 203 through the second screw nut fixing frame 301, the second reduction motor 309 is connected to a driving sprocket 308, one end of the bidirectional screw 305 is provided with a passive sprocket 306, and the driving sprocket 308 and the passive sprocket 306 are connected by a chain 307.

[0046] The second reduction motor 309 drives the bidirectional screw 305 to rotate, and drives the two sets of composite driving wheels 203 on both sides to move in the opposite direction through the first screw nut 304 and the second screw nut 303. When the 3D omnidirectional logistics handling robot 100 enters the lane, it first changes direction at a right angle so that the composite driving wheel 203 faces the shelf column 5, and then extends the telescopic driving wheel device 3 to cooperate with the tooth holes on the shelf column 5, and then the intelligent driving wheel operates to achieve the purpose of the 3D omnidirectional logistics handling robot 100 climbing the shelf; after the 3D omnidirectional logistics handling robot 100 picks up the goods with the fork on it, the intelligent driving wheel reverses and comes down from the shelf; the telescopic driving wheel device 3 retracts and detaches from the shelf.

[0047] Furthermore, in another embodiment, the fork device 4 includes two third reduction motors 404 and a transport mechanism respectively arranged on both sides of the third reduction motor 404, the transport mechanism includes an upper fork body 403, a middle fork body 402 and a lower fork body 401, the two third reduction motors 404 are fixed at the bottom of the lower fork body 401, and one third reduction motor 404 drives the middle fork body 402 and the lower fork body 401 of a corresponding transport mechanism to move through a chain / gear.

[0048] The two third reduction motors 404 respectively drive the middle fork body 402 and the lower fork body 401 on the transport mechanisms at both sides to extend or retract.

[0049] The working principle of one embodiment of the utility model is as follows:

[0050] A 3D omnidirectional logistics handling equipment, which realizes the forward and backward travel of the vehicle and the right-angle reversal of rotation on the spot by setting the driving motor through the electronic control software program; the telescopic driving wheel device 3 can make the driving wheel move forward to engage with the tooth holes of the shelf column 5 and climb upward along the shelf column 5; the fork device 4 is fixed on the vehicle body, which is composed of a lower fork body 401, a middle fork body 402 and an upper fork body 403. The third reduction motor 404 is fixed on the lower fork body 401 to drive the sprocket on the shaft, and the sprockets on the middle fork body 402 and the upper fork body 403 are connected by a chain to drive the upper fork body 403 and the middle fork body 402 to move forward or backward, so as to achieve the purpose of picking up and releasing goods.

[0051] According to the description and drawings of the present invention, those skilled in the art can easily manufacture or use the 3D omnidirectional logistics handling equipment of the present invention, and can produce the positive effects recorded in the present invention.

[0052] Unless otherwise specified, in the present invention, the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicating orientation or positional relationships are based on the orientation or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the orientation or positional relationship in the present invention are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood in conjunction with the drawings and according to specific circumstances.

[0053] Unless otherwise specified and limited, in the present invention, the terms "disposed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A 3D omnidirectional logistics handling equipment, characterized in that: include: A handling robot comprises a vehicle body device, a compound driving wheel device, a telescopic driving wheel device and a fork device, wherein the fork device is arranged on the top of the vehicle body device, the telescopic driving wheel device is arranged on the bottom of the vehicle body device, the compound driving wheel device is arranged on the bottom of the telescopic driving wheel device, the fork device is used to pick up and place goods, the telescopic driving wheel device is used to adjust the position of the compound driving wheel, and the compound driving wheel device is used to drive the handling robot to move; Shelf columns, each of which is provided with tooth holes for composite wheel lifting, and each of which is provided with a lifting channel for a handling robot to lift; Wherein, the transport robot is arranged in the lifting channel.

2. The 3D omnidirectional logistics handling equipment according to claim 1, characterized in that: The compound travel driving wheel device includes a top plate, a large gear, a small gear, a motor fixing bracket, a first reduction motor, a compound travel wheel, a motor and a planetary reducer. The large gear and the small gear are both rotatably connected to the bottom of the top plate, the large gear and the small gear are meshed, the motor fixing bracket is arranged at the bottom of the large gear, the compound travel wheel is rotatably connected to the motor fixing bracket, a slider is arranged on the top of the top plate, the small gear is connected to the first reduction motor, a gear is arranged in the middle of the compound travel wheel, and the motor is connected to the compound travel wheel through the planetary reducer.

3. The 3D omnidirectional logistics handling equipment according to claim 2, characterized in that: The composite running wheel is a polyurethane rubber-coated wheel.

4. The 3D omnidirectional logistics handling equipment according to claim 2, characterized in that: The telescopic driving wheel device includes a bidirectional screw, a first screw nut, a second screw nut, a first screw nut fixing frame, a second screw nut fixing frame and a second reduction motor. The first screw nut and the second screw nut are respectively threadedly connected to both sides of the bidirectional screw. Both ends of the first screw nut are fixedly connected to a group of composite traveling wheels through the first screw nut fixing frame, and both ends of the second screw nut are fixedly connected to another group of composite traveling wheels through the second screw nut fixing frame. A driving sprocket is connected to the second reduction motor, and a passive sprocket is provided at one end of the bidirectional screw. The driving sprocket and the passive sprocket are connected through a chain transmission.

5. The 3D omnidirectional logistics handling equipment according to claim 1, characterized in that: The fork device includes two third reduction motors and a transport mechanism respectively arranged on both sides of the third reduction motors, the transport mechanism includes an upper fork body, a middle fork body and a lower fork body, the two third reduction motors are fixed at the bottom of the lower fork body, and one third reduction motor drives the middle fork body and the lower fork body corresponding to a transport mechanism to move through a chain / gear.

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