Walking transmission mechanism and three-dimensional storage robot

Abstract

The utility model provides a walking transmission mechanism and a three-dimensional storage robot, and relates to the technical field of storage logistics, the walking transmission mechanism comprises a walking motor, a walking speed reducer, a walking gear box, a primary rail transmission shaft and a secondary rail transmission shaft, the walking motor is in driving connection with the walking speed reducer, the walking speed reducer is in driving connection with the walking gear box, and the primary rail transmission shaft is in driving connection with the secondary rail transmission shaft. The primary rail transmission shaft and the secondary rail transmission shaft are perpendicular to each other and are in driving connection with the walking gear box, primary rail walking wheels are arranged at two ends of the primary rail transmission shaft in a transmission mode, and secondary rail walking wheels are arranged at two ends of the secondary rail transmission shaft in a transmission mode. Compared with the prior art, a gear box integrated transmission system is adopted to replace traditional chain belt transmission, and positioning errors caused by looseness of a transmission chain are eliminated. Due to the design that the walking wheels are directly driven by the orthogonal shaft system, the intermediate transmission link is omitted, and assembly working hours and maintenance requirements are reduced.

Description

Technical Field

[0001] This utility model relates to the field of warehousing and logistics technology, and in particular to a walking transmission mechanism and a three-dimensional warehousing robot. Background Technology

[0002] In automated warehousing, in order to save manpower and improve work efficiency, automated warehousing robots are usually used to move goods. Automated warehousing robots are logistics equipment that move pallets of goods in four directions on a plane in automated warehouses. The operation mode is realized by the coordinated operation of two independent transmission mechanisms: the lifting transmission mechanism and the walking transmission mechanism.

[0003] Existing automated storage and retrieval systems (AS / RS) robots generally include a frame, lifting linkages located at the front and rear ends of the frame, and rotatable guide wheels mounted at both ends of the lifting linkages. The frame also includes an outer frame and an inner plate, with the lifting linkages located between the outer frame and the inner plate. During transport, a motor on the frame drives the guide wheels to rotate via a transmission structure, thereby moving the entire AS / RS robot to achieve transport. For example, utility model patent CN222098644U also discloses an AS / RS robot, which includes a frame body. The inner sides of the front and rear ends of the frame body have receiving areas. Two sets of symmetrical lifting linkages are installed in the receiving areas on both sides. The middle ends of the two sets of lifting linkages have slots that penetrate the lifting linkages. Cranks are correspondingly connected to the slots. A lifting drive gearbox and a lifting driven gearbox are fixed on the opposite end walls of the receiving areas on both sides. The outer ends of the cranks have rotating shafts. By setting curved slots on the lifting connecting rod, the contour of which is a closed function curve, and designing the crank as a combination of a driving crank and a driven crank, the crank smoothly engages with the slot through a bushing fitted in its middle, which reduces the torque required for the driving crank, thereby reducing the size of the drive gearbox and drive motor and lowering costs.

[0004] The aforementioned automated storage and retrieval system robot features fixed wheels. However, traditional fixed wheels use linkages, chains, sprockets, and synchronous belts and pulleys for transmission. This type of transmission is inaccurate, and the chains and belts require tensioning and regular maintenance. Installation is cumbersome and time-consuming, increasing production costs. Utility Model Content

[0005] In view of this, one of the objectives of this utility model is to provide a walking transmission mechanism to solve the technical problems of the fixed walking wheels of the existing three-dimensional warehouse robot using linkages, chains, sprockets, synchronous belts and pulleys for transmission. This transmission is not precise, the chains and belts need to be tensioned and regularly maintained, and the installation is cumbersome and time-consuming, as well as increasing production costs.

[0006] The second objective of this utility model is to provide a three-dimensional warehouse robot containing a walking transmission mechanism.

[0007] To achieve one of the above objectives, this utility model provides a walking transmission mechanism, including a walking motor, a walking reducer, a walking gearbox, a main rail drive shaft, and a sub-rail drive shaft. The walking motor is driven and connected to the walking reducer, and the walking reducer is driven and connected to the walking gearbox. The main rail drive shaft and the sub-rail drive shaft are perpendicularly arranged on the walking gearbox and driven and connected to the walking gearbox. Main rail walking wheels are driven at both ends of the main rail drive shaft, and sub-rail walking wheels are driven at both ends of the sub-rail drive shaft.

[0008] Optionally, the traveling gearbox includes a main rail traveling gearbox, which includes a main rail traveling transmission input gear and a main rail traveling transmission output gear. The output shaft of the traveling reducer is drivingly connected to the main rail traveling transmission input gear. The main rail traveling transmission input gear is meshed with an intermediate gear, the intermediate gear is meshed with the main rail traveling transmission output gear, and the main rail traveling transmission output gear is drivingly connected to the main rail transmission shaft.

[0009] Optionally, the travel gearbox further includes a reversing gearbox, which includes a sub-rail travel transmission input bevel gear and a sub-rail travel transmission output bevel gear. The sub-rail travel transmission input bevel gear is coaxially arranged with the main rail travel transmission input gear and is drivenly connected to the output shaft of the travel reducer. The sub-rail travel transmission output bevel gear is perpendicular to the sub-rail travel transmission input bevel gear and is meshed with the sub-rail travel transmission input bevel gear. The sub-rail travel transmission output bevel gear is drivenly connected to the sub-rail transmission shaft.

[0010] Optionally, the main rail traveling gearbox is mounted on the left inner plate or the right inner plate via the reversing box;

[0011] Alternatively, the main track gearbox may be located on the inner plate.

[0012] Optionally, the left inner plate or the right inner plate is provided with a mounting position adapted to the reversing box, and a clearance position adapted to the main rail traveling gearbox;

[0013] Alternatively, the left inner plate or the right inner plate may be provided with a mounting position adapted to the main rail traveling gearbox, and a clearance position adapted to the reversing box.

[0014] Optionally, it also includes a sub-rail travel gearbox, which is fixedly mounted on the left inner plate or the right inner plate. The sub-rail drive shaft is connected to the sub-rail travel gearbox, and the sub-rail travel gearbox is connected to a plurality of the sub-rail travel wheels.

[0015] Optionally, the sub-rail travel gearbox is a gear set composed of several sub-rail travel gears.

[0016] Optionally, the sub-rail traveling gear is provided with a gear shaft, and the sub-rail traveling wheel is directly sleeved on the gear shaft or connected to the gear shaft through a wheel hub.

[0017] To achieve the second objective mentioned above, this utility model provides a three-dimensional warehousing robot, including any of the aforementioned walking transmission mechanisms, as well as a lifting transmission mechanism, an outer frame, and an inner plate. The outer frame includes a left outer frame, a right outer frame, a rear outer frame, and a front outer frame. The inner plate includes a left inner plate, a right inner plate, a rear inner plate, and a front inner plate. The walking transmission mechanism is disposed on the left inner plate or the right inner plate. The lifting transmission mechanism includes a lifting link, which is disposed between the rear outer frame and the rear inner plate, and between the front outer frame and the front inner plate.

[0018] Optionally, the main rail traveling wheels are fixedly mounted on both sides of the lifting connecting rod, and the main rail transmission shaft of the traveling transmission mechanism is connected to the main rail traveling wheels.

[0019] The walking transmission mechanism and three-dimensional warehousing robot provided by this utility model have the following technical effects:

[0020] This type of walking transmission mechanism mainly consists of a walking motor, a walking reducer, a walking gearbox, a main rail drive shaft, and a secondary rail drive shaft. The walking motor is driven by the walking reducer, which is in turn driven by the walking gearbox. The main rail drive shaft and the secondary rail drive shaft are perpendicularly mounted on the walking gearbox and are driven by it. Main rail wheels are driven at both ends of the main rail drive shaft, and secondary rail wheels are driven at both ends of the secondary rail drive shaft. Compared with existing technologies, this integrated gearbox transmission system replaces the traditional chain and belt drive, eliminating positioning errors caused by slack in the transmission chain. The orthogonal shaft system directly drives the walking wheels, eliminating intermediate transmission links and reducing assembly time and maintenance requirements. The rigid gear transmission structure avoids the accumulation of elastic deformation, improving displacement control accuracy. The modular gearbox design facilitates installation and debugging, reducing manufacturing costs. Attached Figure Description

[0021] 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.

[0022] Figure 1This is a schematic diagram of the transmission structure of a preferred embodiment of the three-dimensional storage robot of this utility model, which includes a lifting transmission mechanism and a walking transmission mechanism.

[0023] Figure 2 yes Figure 1 A schematic diagram of the chassis structure of a three-dimensional warehousing robot;

[0024] Figure 3 yes Figure 1 A schematic diagram of the walking transmission mechanism of a three-dimensional warehouse robot;

[0025] Figure 4 yes Figure 3 A partial structural diagram of the travel transmission mechanism;

[0026] Figure 5 yes Figure 4 A schematic diagram of the internal gear arrangement structure;

[0027] Figure 6 yes Figure 1 Schematic diagram of the installation of the walking gearbox of the automated warehouse robot;

[0028] Figure 6a yes Figure 6 Top view of the installation of the central travel gearbox;

[0029] Figure 6b yes Figure 1 Another installation diagram of the walking gearbox of the automated warehouse robot;

[0030] Figure 7 yes Figure 1 A schematic diagram of the right inner panel structure of the automated warehouse robot;

[0031] Figure 8 yes Figure 1 A schematic diagram of the sub-rail walking gearbox structure of a three-dimensional warehousing robot;

[0032] Figure 9 yes Figure 1 A schematic diagram of the connection structure between the sub-rail walking wheels and the gear shaft of the three-dimensional warehousing robot;

[0033] Figure 10 yes Figure 9 A cross-sectional view along the AA direction;

[0034] Figure 11 yes Figure 1 Another schematic diagram of the connection between the sub-rail walking wheels and the gear shaft of the automated storage robot;

[0035] Figure 12 yes Figure 11 A cross-sectional view along the BB direction;

[0036] Figure 13 This is a three-dimensional structural schematic diagram of another preferred embodiment of the three-dimensional storage robot of this utility model;

[0037] Figure 14 yes Figure 13 Top view.

[0038] in, Figures 1-14 :

[0039] 01. Left inner panel; 02. Right inner panel; 021. Mounting position; 022. Clearance position; 03. Rear inner panel; 04. Front inner panel; 05. Left outer frame; 06. Right outer frame; 07. Rear outer frame; 08. Front outer frame; 09. Inner middle panel;

[0040] H, Lifting linkage;

[0041] 1. Travel motor; 2. Travel reducer; 3. Travel gearbox; 31. Main rail travel gearbox; 311. Main rail travel transmission input gear; 312. Main rail travel transmission output gear; 313. Intermediate gear; 32. Reversing box; 321. Sub-rail travel transmission input bevel gear; 322. Sub-rail travel transmission output bevel gear; 4. Main rail drive shaft; 5. Sub-rail drive shaft; 51. Sub-rail travel gearbox; 6. Main rail travel wheel; 7. Sub-rail travel wheel; 71. Gear shaft; 72. Wheel hub. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0043] In existing technologies, automated storage and retrieval systems (AS / RS) robots typically employ chain and sprocket or synchronous belt drive structures to achieve their locomotion. Traditional transmission methods suffer from insufficient precision, frequent maintenance, and complex installation, impacting equipment operating efficiency and reliability. In warehousing environments requiring high-precision positioning and long-term stable operation, the transmission mechanism is prone to loosening and wear, leading to increased positioning deviations and more frequent downtime for maintenance.

[0044] To address these issues, researchers discovered that the core flaw in traditional transmission structures lies in the elastic deformation and accumulated backlash in the power transmission process. By analyzing the mechanical characteristics of gear drives and shaft drives, they realized that rigid transmission systems can effectively eliminate transmission backlash. Based on the need for optimized spatial layout, a solution was proposed to integrate vertical transmission into the same gearbox, thereby constructing a compact transmission system.

[0045] Therefore, as Figure 1-10 As shown, this utility model provides a three-dimensional warehousing robot, which includes a walking transmission mechanism, which further includes a walking motor 1, a walking reducer 2, a walking gearbox 3, a main rail drive shaft 4, and a sub-rail drive shaft 5. The walking motor 1 is driven by the walking reducer 2, and the walking reducer 2 is driven by the walking gearbox 3. The main rail drive shaft 4 and the sub-rail drive shaft 5 are perpendicularly arranged on the walking gearbox 3 and are driven by the walking gearbox 3. Main rail walking wheels 6 are provided at both ends of the main rail drive shaft 4, and sub-rail walking wheels 7 are provided at both ends of the sub-rail drive shaft 5.

[0046] The travel motor 1 is the power source driving the travel transmission mechanism. Specifically, it can be a servo motor with an encoder for precise control of travel speed and displacement. The travel reducer 2 is a drive unit integrating a reduction device. Specifically, it can be a planetary gear reducer directly connected to the motor to achieve torque amplification and speed regulation. The travel gearbox 3 is a housing assembly containing multi-stage gear transmission. The main rail drive shaft 4 is a drive shaft arranged longitudinally along the equipment. The secondary rail drive shaft 5 is a drive shaft arranged perpendicular to the main rail drive shaft 4. The main rail travel wheel 6 is located at the end of the main rail drive shaft 4, and the secondary rail travel wheel 7 is located at the end of the secondary rail drive shaft 5.

[0047] Specifically, the travel motor 1 is connected to the input shaft of the travel reducer 2 via a coupling, transmitting power to the reduction mechanism. The output shaft after reduction is connected to the input gear of the travel gearbox 3 via a spline, driving the gear set inside the gearbox. The gearbox contains an orthogonally arranged transmission shaft system. The main rail drive shaft 4 receives power through a spur gear pair, while the secondary rail drive shaft 5 achieves 90-degree power steering through a bevel gear pair. Both ends of the main rail drive shaft 4 are connected to the main rail travel wheels 6 via flanges, and both ends of the secondary rail drive shaft 5 are supported by bearing seats for the secondary rail travel wheels 7. When the motor starts, power is distributed to the two vertical drive shafts via the reduction mechanism and gearbox, driving the four sets of travel wheels to rotate synchronously, enabling the equipment to move in four directions on the intersecting tracks.

[0048] Compared to existing technologies, the use of an integrated gearbox transmission system to replace traditional chain and belt drives eliminates positioning errors caused by slack in the transmission chain. The design of orthogonal shafts directly driving the wheels eliminates intermediate transmission links, reducing assembly time and maintenance requirements. The rigid gear transmission structure avoids the accumulation of elastic deformation, improving displacement control accuracy. The modular gearbox design facilitates installation and debugging, reducing manufacturing costs.

[0049] Through the above technical solutions, this utility model effectively solves the problems of low precision and frequent maintenance in traditional transmission mechanisms. The gear transmission system ensures the synchronization and stability of power transmission, enabling precise positioning of the equipment in complex track networks. The integrated transmission structure reduces the number of parts, lowers the probability of failure, and extends the equipment maintenance cycle. The orthogonal transmission shaft layout optimizes space utilization and provides a structural foundation for expanding equipment functionality.

[0050] As a preferred embodiment, such as Figure 3-5 As shown, the travel gearbox 3 includes a main rail travel gearbox 31, which includes a main rail travel transmission input gear 311 and a main rail travel transmission output gear 312. The output shaft of the travel reducer 2 is connected to the main rail travel transmission input gear 311. The main rail travel transmission input gear 311 is meshed with an intermediate gear 313. The intermediate gear 313 is meshed with the main rail travel transmission output gear 312. The main rail travel transmission output gear 312 is connected to the main rail transmission shaft 4.

[0051] The input gear 311 of the main rail travel transmission receives the output power from the travel reducer 2. It can be implemented using a helical gear or a spur gear and is used to transmit power to the intermediate gear 313. The intermediate gear 313 is a transition gear located between the input gear and the output gear. It can be implemented using a double gear or an idler gear and is used to adjust the transmission ratio and change the direction of power transmission. The output gear 312 of the main rail travel transmission outputs power to the main rail drive shaft 4. It can be implemented using a gear of the same type as the input gear and transmits power to the main rail travel wheel 6 through meshing.

[0052] Specifically, the output shaft of the travel reducer 2 is fixed to the input gear 311 of the main rail travel transmission via a key connection or coupling. When the input gear rotates, it drives the intermediate gear 313 to rotate, which in turn drives the output gear to rotate. The output gear is connected to the main rail transmission shaft 4 via a spline or flange, thereby transmitting power to the main rail travel wheel 6. During this process, the number of teeth on the intermediate gear 313 can be adjusted according to the transmission ratio requirements, and the modules of the input gear and the output gear remain consistent to ensure meshing accuracy.

[0053] like Figure 3 and Figure 4As shown, the travel transmission mechanism also includes a reversing box 32, which includes a sub-rail travel transmission input bevel gear 321 and a sub-rail travel transmission output bevel gear 322. The sub-rail travel transmission input bevel gear 321 is coaxially arranged with the main rail travel transmission input gear 311 and is driven connected to the output shaft of the travel reducer 2. The sub-rail travel transmission output bevel gear 322 is perpendicular to the sub-rail travel transmission input bevel gear 321 and is meshed with the sub-rail travel transmission input bevel gear 321 for transmission. The sub-rail travel transmission output bevel gear 322 is driven connected to the sub-rail transmission shaft 5.

[0054] The reversing gearbox 32 is a housing structure used to change the direction of power transmission, converting the horizontal axial power of the travel reducer 2 into power perpendicular to the direction of the main rail drive shaft 4. The sub-rail travel transmission input bevel gear 321 is a bevel gear coaxially mounted with the output shaft of the travel reducer 2; specifically, it can be a spiral bevel gear or a straight bevel gear, used to receive the power input from the travel reducer 2. The sub-rail travel transmission output bevel gear 322 is a bevel gear that meshes perpendicularly with the input bevel gear; specifically, the power transmission direction can be changed through a bevel gear pair with a meshing angle of 90 degrees, thereby driving the sub-rail drive shaft 5 to rotate.

[0055] Specifically, the output shaft of the travel reducer 2 simultaneously drives the main rail travel transmission input gear 311 and the sub-rail travel transmission input bevel gear 321 to rotate. The sub-rail travel transmission input bevel gear 321, through perpendicular meshing with the sub-rail travel transmission output bevel gear 322, converts the horizontal rotational motion into rotational motion perpendicular to the main rail transmission shaft 4, thereby driving the sub-rail transmission shaft 5 to rotate. The sub-rail transmission shaft 5 enables the robot to move along the sub-rail direction via the sub-rail travel wheels 7 at both ends.

[0056] As a preferred embodiment, such as Figure 2 , Figure 6 and Figure 6a As shown, the main rail traveling gearbox 31 is mounted on the right inner plate 02 via the reversing box 32, as... Figure 7 As shown, the right inner plate 02 has a mounting position 021 adapted to the reversing gearbox 32 and a clearance position 022 adapted to the main rail travel gearbox 31. The mounting position 021 is a positioning structure for fixing the reversing gearbox 32, which can be implemented by positioning holes or slots. Its function is to ensure the installation accuracy and stability of the reversing gearbox 32 on the right inner plate 02. The clearance position 022 is a reserved space for the main rail travel gearbox 31, which can be implemented by grooves or openings. Its function is to prevent structural interference between the main rail travel gearbox 31 and the right inner plate 02, and to ensure the freedom of movement of the transmission components.

[0057] The left inner plate 01 and right inner plate 02 described in this embodiment are supporting structural components on both sides of the interior of the three-dimensional storage robot. They can be formed by processing metal sheets. Their function is to provide a fixed mounting position 021 for the gearbox and to bear the load of the transmission components.

[0058] Specifically, a mounting position 021 is provided on the right inner plate 02, which can be aligned with the mounting position 021 of the reversing gearbox 32 through the positioning hole, and quick assembly can be achieved using fasteners; the groove structure of the clearance position 022 is designed around the outer contour of the main rail traveling gearbox 31. As a result, the reversing gearbox 32 and the main rail traveling gearbox 31 do not need to be repeatedly adjusted in position during the installation process, effectively reducing assembly errors.

[0059] Or such as Figure 6b As shown, the main rail traveling gearbox 31 is mounted on the right inner plate 02, that is, the right inner plate 02 has a mounting position for the main rail traveling gearbox 31.

[0060] like Figure 1 As shown, the subrail travel gearbox 51 is fixedly mounted on the right inner plate 02. The subrail drive shaft 5 is connected to the subrail travel gearbox 51, and the subrail travel gearbox 51 is connected to several subrail travel wheels 7.

[0061] like Figure 8 As shown, the subrail travel gearbox 51 is a gear transmission device used to transmit power to the subrail drive shaft 5. Specifically, it can be implemented by using a gear row structure formed by multiple meshing gears, and the power splitting and transmission can be achieved through the gear meshing relationship.

[0062] Specifically, the subrail travel gearbox 51 is fixed to the preset mounting position 021 on the right inner plate 02, achieving rigid fixation through bolt connection. The subrail drive shaft 5 is connected to the input end of the subrail travel gearbox 51, transmitting power to the inside of the gearbox. The gear set structure inside the gearbox distributes power to multiple output ends, each output end being connected to the corresponding subrail travel wheel 7 via a gear shaft 71. When the subrail drive shaft 5 rotates, power is transmitted to each subrail travel wheel 7 through gear meshing in the gearbox, driving them to rotate synchronously. The rigid fixing method of the gearbox avoids gear misalignment caused by vibration during transmission, and the gear meshing transmission eliminates the tension adjustment requirements of chain or belt drives.

[0063] like Figure 13 and Figure 14As shown, as an alternative implementation, an inner middle plate 09 is also included. In this case, the left and right inner plates are not included. Both ends of the inner middle plate 09 are directly mounted on the left outer frame 05 and the right outer frame 06, and are mortised and tenoned to the left and right outer frames 05 and 06. The inner middle plate 09 is located between the front outer frame 07 and the rear outer frame 08, and is parallel to the front and rear outer frames 07 and 08. The traveling gearbox 3 is directly fixed to the inner middle plate 09. Relatively speaking, this method shortens the assembly dimension chain, better ensures installation accuracy, and reduces the offset and deformation of the sub-rail drive shaft 5 and the mother rail drive shaft 7 during installation. During long-term operation, offset and deformation will generate continuous noise and damage the structure.

[0064] Furthermore, such as Figure 9-12 As shown, the sub-rail traveling gear is equipped with a gear shaft 71. The sub-rail traveling wheel 7 is directly sleeved on the gear shaft 71 or connected to the gear shaft 71 via a hub 72. The gear shaft 71 is a rigid shaft used to transmit power and support the sub-rail traveling wheel 7. Specifically, it can be made of alloy steel and machined into a stepped shaft structure. Its surface can be provided with keyways or splines to achieve torque transmission. The hub 72 is a transition component connecting the gear shaft 71 and the traveling wheel. Specifically, it can be a flange structure or an interference fit sleeve. Its inner hole is clearance-fitted with the gear shaft 71 and fixed by set screws.

[0065] Specifically, the gear shaft 71 of the sub-rail travel gear is designed to extend to the travel wheel mounting position 021. The inner hole of the travel wheel can be directly fitted onto the outer surface of the gear shaft 71, achieving synchronous rotation through a key connection or interference fit. Alternatively, the hub 72 is fixed to the end of the gear shaft 71, and the travel wheel is bolted to the flange face of the hub 72. In this case, the torque of the gear shaft 71 is transmitted to the travel wheel through the hub 72. Both methods establish a rigid transmission relationship between the travel wheel and the gear shaft 71, avoiding elastic deformation as seen in belt or chain drives.

[0066] In addition, this utility model also provides a three-dimensional warehousing robot, such as Figure 1 and Figure 2 As shown, it includes a walking transmission mechanism, a lifting transmission mechanism, an outer frame, and an inner panel. The outer frame includes a left outer frame 05, a right outer frame 06, a rear outer frame 07, and a front outer frame 08. The inner panel includes a left inner panel 01, a right inner panel 02, a rear inner panel 03, and a front inner panel 04. The walking transmission mechanism is located on the left inner panel 01 or the right inner panel 02. The lifting transmission mechanism includes a lifting link H, which is located between the rear outer frame 07 and the rear inner panel 03, and between the front outer frame 08 and the front inner panel 04.

[0067] The lifting transmission mechanism is a mechanical structure used to raise and lower the six wheels of the main rail. The outer frame is the external support structure of the robot, which can be made of metal profiles or high-strength composite materials, and is used to support internal components and maintain overall rigidity. The inner plate is the internal mounting base plate that mates with the outer frame, and can be made of stamped steel plate or aluminum alloy plate, and is used to fix the walking transmission mechanism and distribute the load.

[0068] In this embodiment, the walking transmission mechanism is integrated on the right inner plate 02. The main rail drive shaft 4 and the sub-rail drive shaft 5 are driven by the gearbox, so that the main rail walking wheel 6 and the sub-rail walking wheel 7 move on mutually perpendicular tracks.

[0069] like Figure 1 As shown, the main rail traveling wheels 6 are fixedly mounted on both sides of the lifting connecting rod H, and the main rail transmission shaft 4 of the traveling transmission mechanism is connected to the main rail traveling wheels 6 for transmission.

[0070] The main rail traveling wheel 6 is a wheel used to move along the main rail. Specifically, the wheel can be made of metal or high-strength composite material and is connected to the lifting linkage H for lifting and lowering. The lifting linkage H is located between the outer frame and the inner plate. Specifically, it can be a rectangular cross-section steel beam or aluminum alloy profile, with mounting holes on both sides for fixing the main rail traveling wheel 6 to provide rigid support and transmit lifting force.

[0071] Specifically, the main rail traveling wheels 6 are symmetrically arranged on both sides of the lifting link H, and the two ends of the main rail drive shaft 4 are respectively connected to the main rail traveling wheels 6 on both sides. The power of the traveling transmission mechanism is directly transmitted to the main rail traveling wheels 6 through the main rail drive shaft 4, driving the wheels to roll along the main rail. The lifting and lowering of the main rail traveling wheels 6 is driven by the lifting and lowering of the lifting link H, thereby realizing the reversal of the main rail traveling wheels 6 and the sub-rail traveling wheels 7.

[0072] In the description of this utility model, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0073] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0074] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A walking drive mechanism characterized by, The device includes a travel motor, a travel reducer, a travel gearbox, a main rail drive shaft, and a sub-rail drive shaft. The travel motor is driven and connected to the travel reducer, and the travel reducer is driven and connected to the travel gearbox. The main rail drive shaft and the sub-rail drive shaft are perpendicularly mounted on the travel gearbox and driven and connected to the travel gearbox. Main rail travel wheels are driven at both ends of the main rail drive shaft, and sub-rail travel wheels are driven at both ends of the sub-rail drive shaft.

2. The walking drive mechanism of claim 1, wherein, The traveling gearbox includes a main rail traveling gearbox, which includes a main rail traveling transmission input gear and a main rail traveling transmission output gear. The output shaft of the traveling reducer is drivingly connected to the main rail traveling transmission input gear. The main rail traveling transmission input gear is drivingly connected to the main rail traveling transmission output gear through an intermediate gear, or directly through meshing with the main rail traveling transmission output gear. The main rail traveling transmission output gear is drivingly connected to the main rail transmission shaft.

3. The walking drive mechanism of claim 2, wherein, The travel gearbox also includes a reversing gearbox, which includes a sub-rail travel transmission input bevel gear and a sub-rail travel transmission output bevel gear. The sub-rail travel transmission input bevel gear is coaxially arranged with the main rail travel transmission input gear and is drivenly connected to the output shaft of the travel reducer. The sub-rail travel transmission output bevel gear is perpendicular to the sub-rail travel transmission input bevel gear and is meshed with the sub-rail travel transmission input bevel gear. The sub-rail travel transmission output bevel gear is drivenly connected to the sub-rail transmission shaft.

4. The walking drive mechanism of claim 3, wherein, The main track traveling gearbox is mounted on the left inner plate or the right inner plate via the reversing box; Alternatively, the main track gearbox may be located on the inner plate.

5. The walking drive mechanism of claim 4, wherein, The left inner plate or the right inner plate is provided with a mounting position adapted to the reversing box, and a clearance position adapted to the main rail traveling gearbox; Alternatively, the left inner plate or the right inner plate may be provided with a mounting position adapted to the main rail traveling gearbox, and a clearance position adapted to the reversing box.

6. The walking drive mechanism of claim 4, wherein, It also includes a sub-rail travel gearbox, which is fixedly mounted on the left inner plate or the right inner plate. The sub-rail drive shaft is connected to the sub-rail travel gearbox, and the sub-rail travel gearbox is connected to several sub-rail travel wheels.

7. The walking drive mechanism of claim 6, wherein, The sub-rail travel gearbox is a gear set composed of several sub-rail travel gears.

8. The walking drive mechanism of claim 7, wherein, The sub-rail traveling gear is provided with a gear shaft, and the sub-rail traveling wheel is directly sleeved on the gear shaft or connected to the gear shaft through a wheel hub.

9. A stereoscopic warehousing robot, characterized in that, The system includes the walking transmission mechanism according to any one of claims 1-8, and further includes a lifting transmission mechanism, an outer frame, and an inner plate. The outer frame includes a left outer frame, a right outer frame, a rear outer frame, and a front outer frame. The inner plate includes a left inner plate, a right inner plate, a rear inner plate, and a front inner plate. The walking transmission mechanism is disposed on the left inner plate or the right inner plate. The lifting transmission mechanism includes a lifting link, which is disposed between the rear outer frame and the rear inner plate, and between the front outer frame and the front inner plate.

10. The stereoscopic warehouse robot according to claim 9, characterized in that, The main rail traveling wheels are fixedly mounted on both sides of the lifting connecting rod, and the main rail transmission shaft of the traveling transmission mechanism is connected to the main rail traveling wheels.

Images