Driving device and three-dimensional storage robot

Abstract

The utility model discloses a driving device and a three-dimensional storage robot. The driving device comprises a rack and a steering wheel driving assembly arranged on the rack. The steering wheel driving assembly comprises a first steering wheel assembly, a second steering wheel assembly, a third steering wheel assembly and a fourth steering wheel assembly, the first steering wheel assembly and the second steering wheel assembly are arranged at the rear end of the rack, and the third steering wheel assembly and the fourth steering wheel assembly are arranged at the front end of the rack. By arranging the four steering wheel assemblies, the steering direction of each steering wheel is controllable, the twisting effect is eliminated, motion control is facilitated, all the steering wheels are independently driven, and the total driving force is high.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot transportation technology, and more specifically, to a drive device and a three-dimensional warehousing robot. Background Technology

[0002] With the development of intelligent and automated technology, modern automated warehouses typically employ automated storage and retrieval systems (AS / RS) to assist in the handling of goods. Drive units propel these robots to move and operate. A common drive mechanism in existing technology is a combination of drive wheels and omnidirectional wheels. The drive wheels serve as the power source, while the omnidirectional wheels roll and turn along with the robot body.

[0003] Because the omnidirectional wheel exhibits its motion characteristics through friction with the ground, there is an offset distance between the projection of the omnidirectional wheel's rolling center and its turning center on the horizontal plane. When the robot makes a large turn, the omnidirectional wheel will suddenly twist. When this happens to the warehousing robot body, it manifests as a short-term twist. The irregular twisting of the body makes the movement of the body difficult to control. When the weight of the goods being transported is very large, the twisting effect of the body will be more obvious, affecting both the body and the goods being transported. Utility Model Content

[0004] The purpose of this invention is to overcome the above-mentioned defects in the existing technology and provide a driving device and a three-dimensional warehousing robot that eliminates the torsional effect and facilitates motion control.

[0005] To achieve the above objectives, the present invention provides a drive device, comprising: a frame and a steering wheel drive assembly mounted on the frame;

[0006] The steering wheel drive assembly includes a first steering wheel assembly, a second steering wheel assembly, a third steering wheel assembly, and a fourth steering wheel assembly. The first steering wheel assembly and the second steering wheel assembly are respectively disposed at the rear end of the frame, and the third steering wheel assembly and the fourth steering wheel assembly are respectively disposed at the front end of the frame.

[0007] This utility model provides another type of three-dimensional storage robot, including any of the above-mentioned drive devices.

[0008] Implementing the embodiments of this utility model will have the following beneficial effects:

[0009] The drive device provided by this utility model includes: a frame and a steering wheel drive assembly mounted on the frame; the steering wheel drive assembly includes a first steering wheel assembly, a second steering wheel assembly, a third steering wheel assembly, and a fourth steering wheel assembly. The first and second steering wheel assemblies are respectively located at the rear end of the frame, and the third and fourth steering wheel assemblies are respectively located at the front end of the frame. By setting four steering wheel assemblies, the direction of each steering wheel is controllable, eliminating the torsional effect, facilitating motion control, and each steering wheel is driven independently, resulting in a strong overall driving force. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] in:

[0012] Figure 1 This is a schematic diagram of an automated storage robot provided by this utility model.

[0013] Figure 2 This is another schematic diagram of the three-dimensional warehousing robot provided by this utility model.

[0014] Figure 3 This is a schematic diagram of a support component in the drive device provided by this utility model.

[0015] Figure 4 This is a schematic diagram of a steering wheel drive assembly in the drive device provided by this utility model.

[0016] 100-Automatic Warehouse Robot, 1-Frame, 11-Frame Base Plate, 12-First Mounting Hole, 13-Second Mounting Hole, 14-First Mounting Slot, 15-Second Mounting Slot;

[0017] 2-Steering wheel drive assembly, 201-First steering wheel assembly, 202-Second steering wheel assembly, 203-Third steering wheel assembly, 204-Fourth steering wheel assembly, 21-Traveling wheel, 22-Mounting part, 221-Mounting plate, 222-Support plate, 23-Steering drive part, 231-Steering drive motor, 232-Steering drive gear, 233-Turntable bearing, 24-Traveling drive part, 241-Traveling drive motor;

[0018] 3-Supporting component, 31-Supporting base plate, 32-Supporting side plate, 33-Supporting crossbeam, 34-Rotating shaft. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Reference Figure 1 , Figure 2 The present invention discloses a driving device, comprising: a frame 1 and a steering wheel drive assembly 2 mounted on the frame 1;

[0021] The steering wheel drive assembly 2 includes a first steering wheel assembly 201, a second steering wheel assembly 202, a third steering wheel assembly 203, and a fourth steering wheel assembly 204. The first steering wheel assembly 201 and the second steering wheel assembly 202 are respectively located at the rear end of the frame 1, and the third steering wheel assembly 203 and the fourth steering wheel assembly 204 are respectively located at the front end of the frame 1.

[0022] It is understood that by setting four steering wheel drive components 2, the steering of each steering wheel can be controlled, eliminating the torsional effect, facilitating motion control, and each steering wheel is driven independently, resulting in strong overall driving force.

[0023] In one specific embodiment, reference is made to Figure 2 The first steering wheel assembly 201 and the second steering wheel assembly 202 are floatingly connected to the frame 1, so that each steering wheel can effectively contact the ground and better adapt to the warehouse environment with undulating ground.

[0024] Furthermore, referring to Figure 2 , Figure 3 The frame 1 has a frame base plate 11 at the bottom, and the support assembly 3 is fixedly connected to the frame base plate 11. The support assembly 3 includes a support base plate 31, a support side plate 32, a support crossbeam 33 and a rotating shaft 34. The support base plate 31 is fixedly connected to the frame base plate 11, the support side plate 32 is connected to the support base plate 31, and the two ends of the support crossbeam 33 are respectively connected to the first steering wheel assembly 201 and the second steering wheel assembly 202. The support crossbeam 33 is rotatably connected to the support side plate 32 through the rotating shaft 34.

[0025] Understandably, since the support beam 33 is rotatably connected to the support side plate 32 via the pivot 34, the first steering wheel assembly 201 and the second steering wheel assembly 202 are floatingly connected to the frame 1. When the warehouse floor is uneven, the support beam 33 rotates along the central axis of the pivot 34, thereby adjusting the height of the first steering wheel assembly 201 and the second steering wheel assembly 202 at both ends of the support beam 33, so that the steering wheels of the first steering wheel assembly 201 and the second steering wheel assembly 202 can effectively contact the ground and adapt to the warehouse floor environment.

[0026] Furthermore, referring to Figure 2 The rear end of the frame 1 is provided with a first mounting hole 12 and a second mounting hole 13, and the first steering wheel assembly 201 and the second steering wheel assembly 202 are respectively accommodated in the first mounting hole 12 and the second mounting hole 13.

[0027] Understandably, when the frame 1 is a shell with thickness, the rear end of the frame 1 is provided with a first mounting hole 12 and a second mounting hole 13. The first steering wheel assembly 201 and the second steering wheel assembly 202 pass through the first mounting hole 12 and the second mounting hole 13 respectively and contact the ground. The frame base plate 11 connects the first mounting hole 12 and the second mounting hole 13, and the frame base plate 11 is disposed between the first mounting hole 12 and the second mounting hole 13 to support the assembly 3.

[0028] In one specific embodiment, reference is made to Figure 4 The steering wheel drive assembly 2 includes a traveling wheel 21, a mounting part 22, a steering drive part 23, and a traveling drive part 24. The mounting part 22 is fixed to the frame 1. The traveling wheel 21, the steering drive part 23, and the traveling drive part 24 are all connected to the mounting part 22. The steering drive part 23 is used to adjust the steering of the traveling wheel 21, and the traveling drive part 24 drives the traveling wheel 21 to rotate.

[0029] It is understood that the first steering wheel assembly 201, the second steering wheel assembly 202, the third steering wheel assembly 203, and the fourth steering wheel assembly 204 all include a traveling wheel 21, a mounting part 22, a steering drive part 23, and a traveling drive part 24. The steering drive part 23 is used to adjust the steering of the traveling wheel 21, and the traveling drive part 24 drives the traveling wheel 21 to rotate. Thus, each traveling wheel 21 of the four steering wheel drive assemblies 2 is driven independently, resulting in a strong overall driving force. The steering of each traveling wheel 21 of the four steering wheel drive assemblies 2 is independently controllable, eliminating the torsional effect and facilitating motion control.

[0030] Furthermore, referring to Figure 4 The mounting section 22 includes a mounting plate 221 and a support plate 222, with the support plate 222 connecting the mounting plate 221 and the travel drive section 24. The travel drive section 24 includes a travel drive motor 241, which is coaxially connected to the travel wheel 21 and fixedly connected to the support plate 222. The travel drive motors 241 of the four steering wheel drive assemblies 2 drive the travel wheel 21 to move independently and controllably, with a strong overall driving force.

[0031] Furthermore, referring to Figure 4The steering drive unit 23 includes a steering drive motor 231, a steering drive gear 232, and a turntable bearing 233. The steering drive motor 231 is fixed to the mounting plate 221, the steering drive gear 232 is coaxially connected to the steering drive motor 231, and the turntable bearing 233 is inserted and installed in the mounting plate 221. The outer ring of the turntable bearing 233 meshes with the steering drive gear 232, and the inner ring of the turntable bearing 233 is fixedly connected to the frame 1.

[0032] It is understandable that the steering drive motor 231 drives the steering drive gear 232 to rotate, which in turn drives the outer ring of the turntable bearing 233 to rotate, thereby driving the mounting plate 221 and the traveling wheel 21 to rotate. The steering of each traveling wheel 21 of the four steering wheel drive components 2 is controllable, eliminating the torsional effect and facilitating motion control.

[0033] In one specific embodiment, reference is made to Figure 2 The front end of the frame 1 is provided with a first mounting slot 14 with an opening facing the ground, and the third steering wheel assembly 203 is disposed in the first mounting slot 14; the front end of the frame 1 is also provided with a second mounting slot 15 with an opening facing the ground, the second mounting slot 15 and the first mounting slot 14 are spaced apart, and the fourth steering wheel assembly 204 is disposed in the second mounting slot 15.

[0034] Optionally, the third steering wheel assembly 203 and the fourth steering wheel assembly 204 can also be floatingly connected to the frame 1 via the support assembly 3. The installation method of the third steering wheel assembly 203 and the fourth steering wheel assembly 204 can be adjusted according to the specifications and dimensions of the frame 1.

[0035] Reference Figure 1 This utility model discloses a three-dimensional warehouse robot 100, which includes any of the driving devices in the above embodiments.

[0036] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A driving device, characterized in that, include: The frame and the steering wheel drive assembly mounted on the frame; The steering wheel drive assembly includes a first steering wheel assembly, a second steering wheel assembly, a third steering wheel assembly, and a fourth steering wheel assembly. The first steering wheel assembly and the second steering wheel assembly are respectively disposed at the rear end of the frame, and the third steering wheel assembly and the fourth steering wheel assembly are respectively disposed at the front end of the frame.

2. The driving device according to claim 1, characterized in that, The first steering wheel assembly and the second steering wheel assembly are floatingly connected to the frame.

3. The driving device according to claim 2, characterized in that, The bottom of the frame is provided with a frame base plate, and the support components are fixedly connected to the frame base plate; The support components include: A supporting base plate is fixedly connected to the frame base plate. A supporting side plate is provided, which is connected to the supporting base plate. A support beam, the two ends of which are respectively connected to the first steering wheel assembly and the second steering wheel assembly; A pivot shaft is used to rotatably connect the support beam to the support side plate.

4. The driving device according to claim 1, characterized in that, The steering wheel drive assembly includes: a traveling wheel, a mounting part, a steering drive part, and a traveling drive part; The mounting part is fixed to the frame, and the walking wheel, the steering drive part and the walking drive part are all connected to the mounting part. The steering drive part is used to adjust the steering of the walking wheel, and the walking drive part drives the walking wheel to rotate.

5. The driving device according to claim 4, characterized in that, The mounting part includes a mounting plate and a support plate, and the support plate connects the mounting plate and the walking drive unit.

6. The driving device according to claim 5, characterized in that, The walking drive unit includes a walking drive motor, which is coaxially connected to the walking wheel and fixedly connected to the support plate.

7. The driving device according to claim 5, characterized in that, The steering drive unit includes: A steering drive motor, which is fixed to the mounting plate; A steering drive gear, which is coaxially connected to the steering drive motor; A turntable bearing is inserted and installed inside the mounting plate. The outer ring of the turntable bearing meshes with the steering drive gear, and the inner ring of the turntable bearing is fixedly connected to the frame.

8. The driving device according to claim 1, characterized in that, The rear end of the frame is provided with a first mounting hole and a second mounting hole, and the first steering wheel assembly and the second steering wheel assembly are respectively accommodated in the first mounting hole and the second mounting hole.

9. The driving device according to claim 1, characterized in that, The front end of the frame is provided with a first mounting slot with an opening facing the ground, and the third steering wheel assembly is disposed in the first mounting slot; The front end of the frame is also provided with a second mounting slot with an opening facing the ground. The second mounting slot and the first mounting slot are spaced apart, and the fourth steering wheel assembly is disposed in the second mounting slot.

10. A three-dimensional warehousing robot, characterized in that, Includes the drive device as described in any one of claims 1 to 9.

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