Walking device and three-dimensional storage robot

Abstract

The utility model discloses a walking device and a three-dimensional storage robot, the walking device comprises a rack, two walking driving mechanisms, two mother rail transmission shafts and two walking transmission mechanisms, and the two walking transmission mechanisms are respectively arranged at two corners of the rack along the diagonal direction of the rack. The walking transmission mechanism comprises a primary rail transmission mechanism and a secondary rail transmission mechanism; the walking driving mechanism is connected with the walking power input end of the mother rail transmission mechanism, and the mother rail transmission shaft is connected with the first walking power output end of the mother rail transmission mechanism. The sub-rail transmission mechanism comprises a reversing gear set and a sub-rail transmission gear set, the reversing gear set comprises a sub-rail transmission shaft, a reversing input bevel gear and a reversing output bevel gear, the reversing input bevel gear and the reversing output bevel gear are meshed with each other, and a driven sub-rail gear of the sub-rail transmission gear set is a second walking power output end. Due to the adoption of the two driving devices, the total driving power is increased, and heavier goods can be transported at a higher transportation speed.

Description

Technical Field

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

[0002] With the development of intelligent and automated technology, automated storage and retrieval systems (AS / RS) robots are widely used in AS / RS. AS / RS consists of storage racks that are several, a dozen, or even dozens of layers high. Each storage rack includes multiple storage units, and adjacent storage units are connected by main rails and sub-rails arranged in a cross shape. AS / RS robots move on the main rails and sub-rails to automatically complete the storage and scheduling of goods.

[0003] The automated storage and retrieval system (AS / RS) robot has two independent wheel systems: the main track wheels drive the robot to move on the main track, and the secondary track wheels drive the robot to move on the secondary tracks. In existing walking devices, both the secondary track movement and the main track movement are usually driven by a single walking drive unit. However, due to the thickness of the robot body, the size of the drive unit cannot be larger, which limits the drive power. Utility Model Content

[0004] The purpose of this invention is to overcome the above-mentioned defects in the existing technology and provide a walking device and a three-dimensional warehouse robot that avoids the use of long-shaft sub-rail drive shafts and / or main rail drive shafts.

[0005] To achieve the above objectives, this utility model provides a walking device, comprising: a frame and two walking drive mechanisms mounted on the frame; two main rail drive shafts; and two walking transmission mechanisms; the two walking transmission mechanisms are respectively mounted at two corners of the frame along the diagonal direction of the frame.

[0006] The walking transmission mechanism includes:

[0007] The main rail transmission mechanism includes a driving main rail gear and a driven main rail gear that mesh with each other. The driving main rail gear and the driven main rail gear are arranged side by side along a first direction. The driving main rail gear is the input end of the travel power, and the driven main rail gear is the output end of the first travel power. Two travel drive mechanisms are respectively connected to the two input ends of the travel power, and two main rail transmission shafts are connected to the two output ends of the first travel power.

[0008] A subrail drive mechanism, the subrail drive mechanism comprising a reversing gear set and a subrail drive gear set;

[0009] The reversing gear set includes a sub-rail drive shaft and a reversing input bevel gear and a reversing output bevel gear that mesh with each other. The reversing input bevel gear is coaxially arranged with the driving mother rail gear, and the sub-rail drive shaft is connected to the reversing output bevel gear.

[0010] The subrail drive gear set is mounted on the frame. The subrail drive gear set includes a driving subrail gear and a driven subrail gear that mesh with each other. The driving subrail gear and the driven subrail gear are arranged side by side along a second direction. The driving subrail gear is connected to the subrail drive shaft. The driven subrail gear is the second walking power output end. The second direction intersects with the first direction.

[0011] This utility model also provides a three-dimensional warehouse robot, including the above-mentioned walking device.

[0012] Implementing the embodiments of this utility model will have the following beneficial effects:

[0013] This utility model provides a walking device and an automated storage and retrieval system (AS / RS) robot. The walking device employs two walking transmission mechanisms, two walking drive mechanisms, and two parallel main rail drive shafts. The main rail wheels and sub-rail wheels at different locations can be controlled to rotate separately, which facilitates the suppression of the AS / RS robot's body tilt from the control end, thereby reducing the possibility of "derailment". On the other hand, by adopting two drive devices, the total drive power is relatively increased, which is beneficial for transporting heavier goods at a higher transport speed. Attached Figure Description

[0014] 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.

[0015] in:

[0016] Figure 1 This is a schematic diagram of an automated storage robot provided by this utility model.

[0017] Figure 2 This is another schematic diagram of the three-dimensional warehousing robot provided by this utility model.

[0018] Figure 3 This is a schematic diagram of a walking device provided by this utility model.

[0019] Figure 4 This is another schematic diagram of the three-dimensional warehousing robot provided by this utility model.

[0020] 1000 - 3D warehouse robot, 10 - frame, 20 - walking drive mechanism, 201 - walking motor, 202 - walking reducer, 30 - main rail drive shaft, 40 - main rail walking wheel, 50 - sub-rail walking wheel, 60 - universal coupling;

[0021] 100-Travel transmission mechanism, 1-Main rail transmission mechanism, 11-Driving main rail gear, 12-Driven main rail gear, 13-Travel power input end, 14-First travel power output end, 2-Sub-rail transmission mechanism, 21-Reversing gear set, 211-Sub-rail transmission shaft, 212-Reversing input bevel gear, 213-Reversing output bevel gear, 22-Sub-rail transmission gear set, 221-Driving sub-rail gear, 222-Driven sub-rail gear, 223-Intermediate gear, 224-Second travel power output end, X-First direction, Y-Second direction. Detailed Implementation

[0022] 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.

[0023] Reference Figures 1-3 This utility model discloses a walking device, including: a frame 10, two walking drive mechanisms 20, two main rail drive shafts 30, main rail walking wheels 40, sub-rail walking wheels 50 and two walking transmission mechanisms 100, with the two walking transmission mechanisms 100 respectively located at the two corners of the frame 10 along the diagonal direction of the frame 10.

[0024] The traveling transmission mechanism 100 includes: a main rail transmission mechanism 1 and a sub-rail transmission mechanism 2.

[0025] The main rail transmission mechanism 1 includes a driving main rail gear 21 and a driven main rail gear 22 that mesh with each other. The driving main rail gear 21 and the driven main rail gear 22 are arranged side by side along the first direction X. The driving main rail gear 21 is the walking power input end 23, and the driven main rail gear 22 is the first walking power output end 24. The walking drive mechanism 20 is connected to the walking power input end 23, and the main rail transmission shaft 30 is connected to the first walking power output end 24.

[0026] The subrail transmission mechanism 2 includes a reversing gear set 21 and a subrail transmission gear set 22;

[0027] The reversing gear set 21 includes a sub-rail drive shaft 211 and a reversing input bevel gear 212 and a reversing output bevel gear 213 that mesh with each other. The reversing input bevel gear 212 is coaxially arranged with the driving mother rail gear 21, and the sub-rail drive shaft 211 is connected to the reversing output bevel gear 213.

[0028] The subrail transmission gear set 22 includes a driving subrail gear 221 and a driven subrail gear 222 that mesh with each other. The driving subrail gear 221 and the driven subrail gear 222 are arranged side by side along the second direction Y. The driving subrail gear 221 is connected to the subrail transmission shaft 211, and the driven subrail gear 222 is the second travel power output end 224. The second direction Y intersects with the first direction X.

[0029] Optionally, the sub-rail drive gear set 22 is mounted on the frame 10, and the reversing gear set 21 and the main rail drive mechanism 1 can be mounted in the same housing. Alternatively, the reversing gear set 21 and the main rail drive mechanism 1 can be mounted in two separate housings. The main rail drive mechanism 1 and the reversing gear set 21 are mounted in the housing within the frame 10, while the sub-rail drive gear set 22 is mounted on the frame. This reduces the volume occupied by the walking transmission mechanism 100 within the frame 10, reduces the size and thickness of the automated storage robot 1000, or further saves the installation volume within the frame 10.

[0030] Optionally, the main rail transmission mechanism 1 also includes a chain (not shown in the figure), which is sleeved around the driving main rail gear 11 and the driven main rail gear 12, and the driving main rail gear 11 and the driven main rail gear 12 respectively mesh with the chain. The sprocket and chain transmission form can easily increase the distance between the main rail transmission shaft 30 and the travel drive mechanism 20, avoid interference problems of related parts on the main rail transmission shaft 30, and facilitate installation.

[0031] It should be noted that the driving mother rail gear 21 and the driven mother rail gear 22 are arranged side by side along the first direction X. The rotation of the driving mother rail gear 21 drives the driven mother rail gear 22 to rotate, and the driven mother rail gear 22 drives the mother rail traveling wheel 40 to rotate. The first direction X is the traveling direction of the mother rail traveling wheel 40. At the same time as the driving mother rail gear 21 rotates, the reversing input bevel gear 212 rotates coaxially with the driving mother rail gear 21. The rotation of the reversing input bevel gear 212 drives the reversing output bevel gear 213 that meshes with it to rotate. The driving daughter rail gear 221 rotates coaxially with the reversing output bevel gear 213 through the daughter rail transmission shaft 211. The rotation of the driving daughter rail gear 221 drives the driven daughter rail gear 222 to rotate, and the driven daughter rail gear 222 drives the daughter rail traveling wheel 50 to rotate. The second direction Y is the traveling direction of the daughter rail traveling wheel 50.

[0032] By installing the main rail drive mechanism 1 and the reversing gear set 21 inside the frame 10, and setting the sub-rail drive mechanism 2 on the frame 10, the volume occupied by the walking drive mechanism 100 inside the frame 10 is reduced, further reducing the size and thickness of the automated storage robot, or further saving the installation volume inside the frame 10.

[0033] Two walking drive mechanisms 20 are respectively connected to the walking power input ends 23 of two walking transmission mechanisms 100, and two main rail drive shafts 30 are respectively connected to the first walking power output ends 24 of the two walking transmission mechanisms 100. One or both ends of the main rail drive shaft 30 are connected to a main rail walking wheel 40. One or both ends of the sub-rail drive shafts 211 of the two walking transmission mechanisms 100 are connected to a second walking power output end 224, and the second walking power output end 224 is respectively connected to a sub-rail walking wheel 50.

[0034] Optional, refer to Figure 1 One end of each of the two main rail drive shafts 30 is connected to a main rail traveling wheel 40, and one end of each of the two sub-rail drive shafts 211 is connected to a sub-rail traveling wheel 50. The main rail traveling wheel 40 connected to the main rail drive shaft 30 is the driving wheel, and the other main rail traveling wheels 40 are the driven wheels. Since the two traveling transmission mechanisms 100 are respectively located at the two corners of the frame 10, the tilting of the automated storage and retrieval system 1000 can be prevented. Furthermore, the use of long main rail drive shafts 30 and long sub-rail drive shafts 211 is avoided, preventing the formation of an upper and lower cross structure, thus reducing the thickness and size of the automated storage and retrieval system 1000.

[0035] Optional, refer to Figure 4 Each end of one of the two main rail drive shafts 30 is connected to a main rail traveling wheel 40, and each end of one of the two sub-rail drive shafts 211 is connected to a sub-rail traveling wheel 50. Therefore, all the main rail traveling wheels 40 and sub-rail traveling wheels 50 are drive wheels, improving the stability of the warehouse robot 1000's movement.

[0036] Alternatively, one end of each of the two main rail drive shafts 30 can be connected to a main rail traveling wheel 40, and the two ends of each of the two sub-rail drive shafts 211 can be connected to a sub-rail traveling wheel 50. Using a short main rail drive shaft 30 can reduce the influence of torsional deformation.

[0037] Optionally, each end of one of the two main rail drive shafts 30 can be connected to a main rail travel wheel 40, and one end of each of the two sub-rail drive shafts 211 can be connected to a sub-rail travel wheel 50. Using a short sub-rail drive shaft 211 reduces the impact of torsional deformation.

[0038] It is understandable that by setting up two walking drive mechanisms 20, two walking transmission mechanisms 100 and two parallel main rail transmission shafts 30, the main rail walking wheels 40 and the sub-rail walking wheels 50 in different parts can be controlled to rotate separately, which makes it easier to suppress the body tilt of the three-dimensional warehouse robot from the control end, thereby reducing the possibility of "derailment".

[0039] Optionally, the number of driven subrail gears 222 in a subrail transmission mechanism 2 is at least one, and the number of second travel power output ends 224 is at least one. (Refer to...) Figure 2 , Figure 3 When there are two or more driven sub-rail gears 222, each driven sub-rail gear 222 is arranged sequentially along the second direction Y, and an intermediate gear 223 is arranged between two adjacent driven gears, and the intermediate gear 223 meshes with the two adjacent driven gears.

[0040] Specifically, Figure 3 Taking a single subrail transmission mechanism 2 with two driven subrail gears 222 as an example, each second walking power output end 224 is connected to a subrail walking wheel 50 to increase the number of subrail walking wheels 50 and ensure the stability of the walking of the subrail walking wheels 50. The number of driven subrail gears 222 can be adjusted according to the actual number of subrail walking wheels 50 and the size of the three-dimensional warehouse robot 1000.

[0041] In one specific embodiment, the first walking power output end 24 is a through hole (not shown in the figure), through which the main rail drive shaft 30 passes, and the two ends of the main rail drive shaft 30 are respectively connected to the main rail walking wheels 40. The two main rail walking wheels 40 arranged opposite each other along the second direction Y are connected by a main rail drive shaft 30, facilitating synchronous control of the main rail walking wheels 40 at both ends. When the driven main rail gear 22 rotates, the main rail walking wheels 40 at both ends of the main rail drive shaft 30 rotate coaxially with the driven main rail gear 22.

[0042] In other embodiments, the first walking power output end 24 is a blind hole (not shown in the figure), one end of the main rail drive shaft 30 is accommodated in the blind hole, and the other end of the main rail drive shaft 30 is connected to the main rail traveling wheel 40. Thus, only one main rail traveling wheel 40 is connected through one main rail drive shaft 30, and the main rail drive shaft 30 and the main rail traveling wheel 40 are correspondingly arranged, which facilitates targeted maintenance and replacement.

[0043] Furthermore, referring to Figure 1 The walking drive mechanism 20 includes a walking motor 201 and a walking reducer 202 connected to the walking motor 201. The walking reducer 202 is connected to the walking power input end 23.

[0044] Understandably, the travel motor 201 often outputs high-speed but low-torque rotational power. The travel reducer 202 converts the high-speed rotation of the motor into low-speed rotation to meet the speed requirements. While reducing the speed, the travel reducer 202 increases the output torque, reduces the wear of transmission components, reduces the maintenance cost of the equipment, and extends its service life.

[0045] Furthermore, referring to Figure 4 Both ends of the main rail drive shaft 30 are connected to the main rail traveling wheel 40 via universal couplings 60.

[0046] Understandably, the universal coupling 60 effectively transmits torque and motion, connecting the main rail drive shaft 30 and the main rail traveling wheel 40 to maintain transmission efficiency and motion stability. The universal coupling 60 has angular compensation capability; even when the axes of the main rail drive shaft 30 and the main rail traveling wheel 40 are misaligned or have a certain error, the universal coupling 60 can ensure smooth transmission.

[0047] This utility model also discloses a three-dimensional warehouse robot 1000, which includes the walking device in the above embodiments.

[0048] 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 walking device, characterized in that, include: A frame and two walking drive mechanisms mounted on the frame; Two main rail drive shafts; And two walking transmission mechanisms; Along the diagonal direction of the frame, the two walking transmission mechanisms are respectively located at the two corners of the frame; The walking transmission mechanism includes: A mother rail transmission mechanism includes a driving mother rail gear and a driven mother rail gear that mesh with each other. The driving mother rail gear and the driven mother rail gear are arranged side by side along a first direction. The driving mother rail gear is the input end of the travel power, and the driven mother rail gear is the output end of the first travel power. The two walking drive mechanisms are respectively connected to the two walking power input ends, and the two main rail drive shafts are connected to the two first walking power output ends; A subrail drive mechanism, the subrail drive mechanism comprising a reversing gear set and a subrail drive gear set; The reversing gear set includes a sub-rail drive shaft and a reversing input bevel gear and a reversing output bevel gear that mesh with each other. The reversing input bevel gear is coaxially arranged with the driving mother rail gear, and the sub-rail drive shaft is connected to the reversing output bevel gear. The subrail drive gear set is mounted on the frame. The subrail drive gear set includes a driving subrail gear and a driven subrail gear that mesh with each other. The driving subrail gear and the driven subrail gear are arranged side by side along a second direction. The driving subrail gear is connected to the subrail drive shaft. The driven subrail gear is the second walking power output end. The second direction intersects with the first direction.

2. The walking device according to claim 1, characterized in that, It also includes the main rail travel wheel and the sub-rail travel wheel; One or both ends of the two main rail drive shafts are connected to a main rail traveling wheel; one or both ends of the two sub-rail drive shafts of the two traveling transmission mechanisms are connected to a second traveling power output end, and the second traveling power output end is respectively connected to a sub-rail traveling wheel.

3. The walking device according to claim 2, characterized in that, Both ends of the main rail drive shaft are connected to the main rail traveling wheels via universal couplings.

4. The walking device according to claim 1, characterized in that, The number of driven subrail gears in one of the subrail transmission mechanisms is at least one.

5. The walking device according to claim 4, characterized in that, The number of the second travel power output ends in one of the said subrail transmission mechanisms is at least one.

6. The walking device according to claim 4, characterized in that, When there are two or more driven sub-rail gears, each driven sub-rail gear is arranged sequentially along the second direction, and an intermediate gear is arranged between two adjacent driven sub-rail gears, and the intermediate gear meshes with the two adjacent driven sub-rail gears.

7. The walking device according to claim 2, characterized in that, The first walking power output end is a through hole, through which the main rail drive shaft passes. Both ends of the main rail drive shaft are connected to the main rail walking wheel, or... The first walking power output end is a blind hole, one end of the main rail drive shaft is accommodated in the blind hole, and the other end of the main rail drive shaft is connected to the main rail walking wheel.

8. The walking device according to claim 1, characterized in that, The main rail transmission mechanism also includes a chain, which is sleeved on the driving main rail gear and the driven main rail gear, and the driving main rail gear and the driven main rail gear respectively mesh with the chain.

9. The walking device according to claim 1, characterized in that, The walking drive mechanism includes a walking motor and a walking reducer connected to the walking motor, and the walking reducer is connected to the walking power input end.

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

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