Three-dimensional storage robot

Abstract

The utility model relates to a three-dimensional storage robot which comprises a frame, a driven moving part, a communication control assembly, two driving moving parts and two pallet fork assemblies, the frame is provided with a first containing area, a second containing area and two third containing areas, the driven moving part is arranged in the first containing area, and the two driving moving parts are arranged in the two third containing areas correspondingly; the communication control assembly can control the driving wheel to rotate and control the pallet fork assembly to slide in the first direction. According to the three-dimensional storage robot, by reasonably planning the positions of the communication control assembly, the driven moving part, the two driving moving parts and the two pallet fork assemblies, the driven moving part and the two driving moving parts can define a large area in a limited space; the communication control assembly can conveniently carry out wire arrangement operation with the two active moving parts located on the two sides of the communication control assembly and the two pallet fork assemblies, so that the overall structure is compact, the integration degree is high, the size is small, and operation in a warehouse with the compact space requirement is facilitated.

Description

Technical Field

[0001] The present application relates to the field of warehousing and logistics technology, and in particular to a three-dimensional warehousing robot. Background Art

[0002] In a high-rise warehouse, shelves are generally arranged to store goods, and the flow of goods between the shelves and the warehouse floor requires the intervention of staff and handling equipment.

[0003] In the related technology, most of the forward-moving unmanned forklifts are used to move goods between the shelves and the warehouse floor. However, the internal electrical layout of the forward-moving unmanned forklift is relatively loose, the overall volume is large, and the turning radius is also large, which is not suitable for operation in the three-dimensional warehouse with relatively compact space requirements. Utility Model Content

[0004] Based on this, it is necessary to provide a three-dimensional storage robot to address the problem that the forklift is large in size and is not suitable for operation in a three-dimensional warehouse with relatively compact space requirements.

[0005] A three-dimensional storage robot, comprising:

[0006] A frame having a first accommodating area, a second accommodating area and two third accommodating areas, wherein the second accommodating area and the two third accommodating areas are arranged perpendicular to the first accommodating area, and the two third accommodating areas are symmetrically arranged on both sides of the second accommodating area;

[0007] A driven moving member is arranged in the first accommodating area, and each of the active moving members has a driving wheel;

[0008] Two active moving members are respectively arranged in the two third accommodating areas, and the active moving members have driving wheels;

[0009] Two fork assemblies, respectively disposed in the two third accommodating areas, each of the fork assemblies having a low-position fork capable of sliding in the third accommodating area along a first direction, wherein the first direction is perpendicular to the first accommodating area;

[0010] The communication control component is arranged in the second accommodating area and can control the driving wheel to rotate and control the low-position fork to slide along the first direction.

[0011] In one embodiment, the fork assembly is disposed between the communication control assembly and the active moving member along a second direction, and the second direction is parallel to the first accommodating area.

[0012] In one embodiment, the active moving member further includes a mounting frame, a driving component and a second driven wheel, the driving wheel and the second driven wheel are arranged on the mounting frame at intervals along the first direction, and the driving wheel is located between the second driven wheel and the driven moving member, the driving component is transmission-connected to the driving wheel, the communication control component is electrically connected to the driving component, and the driving wheel is controlled to rotate through the driving component.

[0013] In one embodiment, the fork assembly further includes a driver, the driver is transmission-connected to the fork assembly, and the communication control assembly is electrically connected to the driver so as to control the fork assembly to move along the first direction through the driver.

[0014] In one embodiment, the low-position fork includes a base and a low-position fork arm, the low-position fork arm is connected to the base for movement along the height direction, the driver has two driving parts, the base and the low-position fork arm are connected to the two driving parts respectively, the base can move along the first direction under the drive of the driver, and the low-position fork arm can be raised and lowered along the height direction under the drive of the driver, and the height direction is perpendicular to the first direction and the second direction.

[0015] In one embodiment, the driver is disposed between the active moving member and the driven moving member along the first direction.

[0016] In one of the embodiments, the three-dimensional storage robot also includes a high-position fork, which includes a lifting frame and a high-position fork arm, the lifting frame is arranged on the frame, and the high-position fork arm is slidably arranged on the lifting frame along a height direction, and the height direction is perpendicular to the first direction and the second direction.

[0017] In one of the embodiments, two high-position fork arms are arranged at intervals along the second direction, and the two high-position fork arms are respectively arranged at intervals with the two low-position forks along the height direction.

[0018] In one embodiment, the active moving part also includes a mounting frame and a driving component, the driving component is disposed on the mounting frame and is transmission-connected to the driving wheel, and the communication control component is electrically connected to the driving component to control the driving wheel to rotate through the driving component.

[0019] In one embodiment, the active moving member further includes a second driven wheel, the active wheel and the second driven wheel are arranged on the mounting frame at intervals along the first direction, and the active wheel is located between the second driven wheel and the driven moving member.

[0020] The above-mentioned three-dimensional storage robot, by reasonably planning the positions of the communication control component, the driven moving part, the two active moving parts and the two fork assemblies, can be arranged into a larger area within a limited space by the driven moving part and the two active moving parts, so as to ensure the stability of the three-dimensional storage robot during the movement, so that the communication control component can be convenient for the wiring operation with the two active moving parts and the two fork assemblies located on both sides thereof, thereby making the three-dimensional storage robot have a compact overall structure, a relatively high degree of integration and a small size while ensuring the use effect, so as to facilitate operation in warehouses with compact space requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG. 1 is a schematic diagram of a partial structure of a three-dimensional storage robot according to some embodiments of the present application.

[0022] FIG. 2 is a schematic diagram of a portion of the structure of the three-dimensional storage robot according to some embodiments of the present application from another perspective.

[0023] FIG3 is a schematic diagram of the structure of a three-dimensional storage robot according to some embodiments of the present application.

[0024] FIG. 4 is a partial enlarged view of portion A of FIG. 3 .

[0025] FIG5 is a schematic diagram of the structure of the three-dimensional storage robot according to some embodiments of the present application from another perspective.

[0026] Reference numerals:

[0027] 1. Vehicle frame; 11. First storage area; 12. Second storage area; 13. Third storage area;

[0028] 2. Driven moving parts;

[0029] 3. Communication control component; 31. Switching power supply; 32. Controller; 33. Switch; 34. Gateway; 35. Positioning camera;

[0030] 4. Active moving parts;

[0031] 5. Fork assembly; 51. Low fork; 511. Base; 512. Low fork arm; 52. Driver;

[0032] 6. High-position fork; 61. Lifting frame; 62. High-position fork arm;

[0033] 7. Data acquisition and processing components; 71. Circuit board; 72. Wireless network access point; 73. Industrial computer; 74. Antenna;

[0034] 8. Sensors;

[0035] 9. Battery. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0037] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0038] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0039] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0040] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0041] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0042] Referring to Figures 1 and 2, an embodiment of the present application provides a three-dimensional storage robot, including a frame 1, a driven moving part 2, a communication control component 3, two active moving parts 4 and two fork assemblies 5. Among them, the frame 1 is used to provide an installation position for the driven moving part 2, the communication control component 3, the two active moving parts 4 and the two fork assemblies 5, so as to combine the driven moving part 2, the communication control component 3, the two active moving parts 4 and the two fork assemblies 5. The fork assembly 5 is used to fork pick up goods. The active moving part 4 is used to drive the frame 1 to move, and the driven moving part 2 is used to assist the active moving part 4 in driving the frame 1 to move. The communication control component 3 is used to control the fork assembly 5 to fork pick up goods, and control the active moving part 4 to drive the frame 1 to move.

[0043] In the specific configuration, the frame 1 has a first accommodating area 11, a second accommodating area 12 and two third accommodating areas 13. The second accommodating area 12 and the two third accommodating areas 13 are all arranged perpendicular to the first accommodating area 11, and the two third accommodating areas 13 are symmetrically arranged on both sides of the second accommodating area 12. The driven moving member 2 is arranged in the first accommodating area 11, and the driven moving member 2 has a first driven wheel. The two active moving members 4 are respectively arranged in the two third accommodating areas 13, and the active moving member 4 has a driving wheel, and the driving wheel and the driven wheel are arranged at intervals. When the three-dimensional storage robot is placed on the bottom surface, the driving wheel and the driven wheel are in contact with the bottom surface to jointly drive the frame 1 to move on the ground.

[0044] The two fork assemblies 5 are respectively arranged in the two third accommodating areas 13, and each fork assembly 5 has a low-position fork 51 that can slide along the first direction in the third accommodating area 13. The low-position fork 51 is movably mounted on the vehicle body along the first direction, so that the low-position fork 51 can extend out of the front end of the vehicle body or be retracted along the first direction, so that the low-position fork 51 can move forward when in use to fork the cargo pallet on the ground, and then in the process of retracting the low-position fork 51 to the vehicle body, the cargo pallet can be placed on the upper surface of the vehicle body.

[0045] The communication control component 3 is arranged in the second accommodating area 12 so that the communication control component 3 can be located between the two active moving parts 4 and the two fork assemblies 5, so that the communication control component 3 and the two active moving parts 4 and the two fork assemblies 5 located on both sides thereof can perform wiring operations, thereby effectively shortening the wiring length between the communication control component 3 and the active moving parts 4 and between the communication control component 3 and the fork assemblies 5. The communication control component 3 connected to the active moving parts 4 can control the driving wheel to rotate to drive the frame 1 to move. The communication control component 3 connected to the fork assembly 5 can control the low-position fork 51 to slide along the first direction so that the low-position fork 51 can extend out of the front end of the vehicle body or be retracted along the first direction.

[0046] The three-dimensional storage robot of the present application reasonably plans the positions of the communication control component 3, the driven moving part 2, the two active moving parts 4 and the two fork assemblies 5, so that the driven moving part 2 and the two active moving parts 4 can be enclosed in a larger area within a limited space to ensure the stability of the three-dimensional storage robot during movement, so that the communication control component 3 can be conveniently used for wiring operations with the two active moving parts 4 and the two fork assemblies 5 on both sides thereof, thereby ensuring that the three-dimensional storage robot can have a compact overall structure, a relatively high degree of integration, and a small size while ensuring the use effect, so that it is easy to operate in warehouses with compact space requirements.

[0047] Referring to Figures 1 and 2, in one embodiment, the fork assembly 5 is disposed between the communication control assembly 3 and the active moving member 4 along the second direction, and the second direction is parallel to the first accommodating area 11. The fork assembly 5 located between the communication control assembly 3 and the active moving member 4 can be closer to the interior of the frame 1, so that the fork assembly 5 can move on the frame 1 more stably. In addition, by arranging the active moving member 4 closer to the edge of the frame 1, the two active moving members 4 can be enclosed with the driven moving member 2 to form a larger area, so as to ensure the stability of the three-dimensional warehouse robot during movement and reduce the bearing requirements of the three-dimensional warehouse robot on the ground during cargo handling.

[0048] In one embodiment, the fork assembly 5 further includes a driver 52, which is transmission-connected to the low-position fork 51, and the communication control component 3 is electrically connected to the driver 52, so as to control the fork assembly 5 to move in the first direction through the driver 52. That is, the communication control component 3 can give a signal to the controller 32, so that the driver 52 drives the low-position fork 51 to slide in the first direction, so that the low-position fork 51 can extend from the front end of the vehicle body or be retracted in the first direction.

[0049] Specifically, the third accommodating area 13 includes a fork accommodating area and a drive accommodating area arranged along the second direction, the low-position fork 51 is slidably arranged in the fork accommodating area along the first direction, and the active moving member 4 and the driver 52 are both arranged in the drive accommodating area. By arranging the low-position fork 51 in the fork accommodating area alone, the low-position fork 51 can have a larger space for arrangement, and thus the low-position fork 51 can have a larger length along the first direction, thereby increasing the forking area of ​​the low-position fork 51.

[0050] More specifically, the driver 52 is arranged between the active moving part 4 and the driven moving part 2 along the first direction. This structure allows the driver 52 to facilitate wiring operations with the communication control component 3 while allowing the driven moving part 2 and the two active moving parts 4 to enclose a larger area to ensure the stability of the three-dimensional warehouse robot during movement.

[0051] Referring to Fig. 1, Fig. 3 and Fig. 4, in one embodiment, the low-position cargo fork 51 includes a base 511 and a low-position fork arm 512, and the low-position fork arm 512 is connected to the base 511 in a vertical direction. The base 511 can move in a first direction under the drive of the driver 52, so that the base 511 can drive the low-position fork arm 512 to extend out of the front end of the vehicle body or retract in the first direction, so that the low-position fork arm 512 can fork the cargo pallet. The low-position fork arm 512 can be raised and lowered in the vertical direction under the drive of the driver 52, so that the low-position fork arm 512 can lift the forked cargo pallet and then place the cargo pallet at a high place. Wherein, it is perpendicular to the first direction and the second direction.

[0052] Specifically, a lifting member is provided between the base 511 and the low fork arm 512, and the driver 52 has two driving parts. The base 511 is connected to one of the driving parts of the driver 52 by transmission, and the low fork arm 512 is connected to the other driving part of the driver 52 by transmission through the lifting member. When in use, the driver 52 can control the low fork 51 to move relative to the vehicle body in a first direction, so that the low fork 51 has a forward forking state and a backward retracting state. When the low fork 51 is in the forward forking state, the low fork arm 512 of the low fork 51 can fork the cargo pallet, and when the low fork 51 is in the backward retracting state, the driver 52 can control the low fork 51 of the low fork 51 to move relative to the vehicle body in the height direction, and the low fork arm 512 of the low fork 51 can place the forked cargo pallet above the frame 1. Among them, the shape of the low fork arm 512 is not limited, and illustratively, the low fork arm 512 is plate-shaped.

[0053] Referring to FIG. 3 and FIG. 5 , in one embodiment, the three-dimensional storage robot further includes a high-position fork 6, which includes a lifting frame 61 and a high-position fork arm 62. The lifting frame 61 is arranged on the vehicle frame 1, and the high-position fork arm 62 is slidably arranged on the lifting frame 61 along the height direction, and the height direction is perpendicular to the first direction and the second direction. When the low-position fork arm 512 of the low-position fork 51 places the forked cargo pallet above the vehicle frame 1, the high-position fork arm 62 can fork the cargo pallet and lift the cargo pallet so as to transport the cargo pallet to the shelf, thereby realizing the flow of cargo between the shelf and the warehouse floor.

[0054] Specifically, the lifting frame 61 is spaced apart from the first accommodating area 11 in the height direction, so that the lifting frame 61 can be located at the rear side of the frame 1, which is convenient for the high-position fork 6 to be used in conjunction with the low-position fork 51. A driving member is provided on the lifting frame 61, and the high-position fork arm 62 is transmission-connected with the driving member, so that the high-position fork arm 62 can be raised and lowered on the lifting frame 61 in the height direction under the drive of the driving member.

[0055] In one embodiment, two high-position fork arms 62 are arranged at intervals along the second direction, and the two high-position fork arms 62 are arranged at intervals with the two low-position fork arms 512 in the height direction, so that the two high-position fork arms 62 can be used in conjunction with the two low-position fork arms 512. Specifically, the high-position fork arm 62 includes two fork plates arranged at intervals along the second direction, and each fork plate can be staggered with the low-position fork 51 in the height direction, so that the high-position fork arm 62 does not affect the low-position fork 51 from entering and exiting the third accommodating area 13.

[0056] Referring to Fig. 3 and Fig. 5, in one embodiment, the three-dimensional storage robot further includes a data acquisition processing component 7 and a sensor 8, both of which are arranged on a lifting frame 61 to reasonably use the space of the lifting frame 61. The data acquisition processing component 7 is arranged between the sensor 8 and the driven moving part 2 in the height direction, so that the data acquisition processing component 7 is connected with the communication control component 3 and the legend device.

[0057] Specifically, the data acquisition and processing component 7 includes a circuit board 71, a wireless network access point 72 and an industrial computer 73 arranged at intervals along the second direction. The industrial computer 73 can cooperate with the sensor 8 and collect the data detected by the sensor 8 through the interface on the circuit board 71 for real-time processing and analysis. The sensor 8 uses a laser radar to locate and navigate the frame 1, and the sensor 8 is set on the top of the lifting frame 61 to ensure that the sensor 8 can locate and navigate the frame 1. In addition, an antenna 74 connected to the data acquisition and processing component 7 is also provided on the top of the lifting frame 61 to ensure the signal conduction effect.

[0058] Referring to Figures 1, 3 and 5, in one embodiment, a battery 9 is further provided in the second accommodating area 12, and the battery 9 is electrically connected to the communication control component 3, the driven moving part 2, the active moving part 4, the data acquisition processing component 7 and the sensor 8, so that the battery 9 can power the communication control component 3, the driven moving part 2, the active moving part 4, the data acquisition processing component 7 and the sensor 8.

[0059] Specifically, the communication control component 3 includes a switching power supply 31, a controller 32, a switch 33 and a gateway 34 that are connected to each other. The switch 33 is arranged on the controller 32, and the controller 32 is arranged between the switching power supply 31 and the gateway 34 along the first direction. The switching power supply 31 can control the opening and closing of the controller 32, the switch 33 and the gateway 34, and the switch 33 and the gateway 34 can cooperate with the controller 32 to connect to the network. More specifically, a positioning camera 35 is also provided in the second accommodating area 12, and the positioning camera 35 is arranged between the switching power supply 31 and the controller 32 along the first direction to cooperate with the sensor 8 to realize navigation and positioning of the frame 1.

[0060] In one of the embodiments, the driven moving member 2 includes a mounting arm and two first driven wheels, the two first driven wheels are spaced apart on the mounting arm along the second direction, and each first driven wheel is spaced apart from the corresponding driving wheel along the first direction, so that the four first driven wheels can cooperate with the four driving wheels to enclose a directional space, so that the driven moving member 2 and the active moving member 4 can have a better moving effect on the frame 1.

[0061] In one embodiment, the active moving member 4 further includes a mounting frame, a driving component and a second driven wheel, the driving wheel and the second driven wheel are arranged on the mounting frame at intervals along the first direction, and the driving wheel is located between the second driven wheel and the driven moving member 2, the driving component is in transmission connection with the driving wheel, the communication control component 3 is electrically connected with the driving component, and the driving wheel is controlled to rotate by the driving component so that the frame 1 can move and turn. Specifically, the driving component can control the driving wheel to rotate around the first axis and / or the second axis, the first axis is parallel to the frame 1, and the second axis is perpendicular to the frame 1. When the driving component controls the driving wheel to rotate around the first axis, the driving wheel can drive the frame 1 to move forward or backward, and when the driving component controls the driving wheel to rotate around the second axis, the driving wheel can drive the frame 1 to turn.

[0062] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A three-dimensional storage robot, characterized in that: include: A frame having a first accommodating area, a second accommodating area and two third accommodating areas, wherein the second accommodating area and the two third accommodating areas are arranged perpendicular to the first accommodating area, and the two third accommodating areas are symmetrically arranged on both sides of the second accommodating area; A driven moving member, disposed in the first accommodating area, wherein the driven moving member has a first driven wheel; Two active moving members are respectively arranged in the two third accommodating areas, and each of the active moving members has a driving wheel; Two fork assemblies, respectively disposed in the two third accommodating areas, each of the fork assemblies having a low-position fork capable of sliding in the third accommodating area along a first direction, wherein the first direction is perpendicular to the first accommodating area; The communication control component is arranged in the second accommodating area and can control the driving wheel to rotate and control the low-position fork to slide along the first direction.

2. The three-dimensional storage robot according to claim 1, characterized in that: The fork assembly is disposed between the communication control assembly and the active moving member along a second direction, and the second direction is parallel to the first accommodating area.

3. The three-dimensional storage robot according to claim 2, characterized in that: The fork assembly further includes a driver, which is transmission-connected to the fork assembly. The communication control assembly is electrically connected to the driver to control the driver to drive the fork assembly to move along the first direction.

4. The three-dimensional storage robot according to claim 3, characterized in that: The driver is disposed between the active moving member and the driven moving member along the first direction.

5. The three-dimensional storage robot according to claim 3, characterized in that: The low-position fork comprises a base and a low-position fork arm, wherein the low-position fork arm is movably connected to the base along a height direction, the base can move along the first direction under the drive of the driver, and the low-position fork arm can be raised and lowered along the height direction under the drive of the driver, and the height direction is perpendicular to the first direction and the second direction.

6. The three-dimensional storage robot according to claim 2, characterized in that: The three-dimensional storage robot also includes a high-position fork, which includes a lifting frame and a high-position fork arm. The lifting frame is arranged on the frame, and the high-position fork arm is slidably arranged on the lifting frame along a height direction, and the height direction is perpendicular to the first direction and the second direction.

7. The three-dimensional storage robot according to claim 6, characterized in that: Along the second direction, two high-position fork arms are arranged at intervals, and the two high-position fork arms are respectively arranged at intervals with the two low-position forks along the height direction.

8. The three-dimensional storage robot according to claim 6, characterized in that: The three-dimensional storage robot also includes a data acquisition and processing component and a sensor. The data acquisition and processing component and the sensor are both arranged on the lifting frame, and the data acquisition and processing component is arranged between the sensor and the driven moving part along the height direction.

9. The three-dimensional storage robot according to claim 1, characterized in that: The active moving part also includes a mounting frame and a driving component. The driving component is arranged on the mounting frame and is drivingly connected to the driving wheel. The communication control component is electrically connected to the driving component to control the driving component to drive the driving wheel to rotate.

10. The three-dimensional storage robot according to claim 9, characterized in that: The active moving member further comprises a second driven wheel. The active wheel and the second driven wheel are arranged on the mounting frame at intervals along the first direction, and the active wheel is located between the second driven wheel and the driven moving member.

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