Jacking transmission mechanism and three-dimensional storage robot

Abstract

The utility model provides a jacking transmission mechanism and a three-dimensional storage robot, and relates to the technical field of storage logistics, the jacking transmission mechanism is mainly composed of a jacking motor, a jacking speed reducer and a jacking gear box, one side of the jacking gear box is provided with a jacking connecting shaft, the opposite side is provided with two driving connecting shafts which are arranged at intervals, and the jacking connecting shaft is connected with the jacking speed reducer. The jacking connecting shaft and the jacking motor are arranged on the same side, the jacking gearbox comprises a driving gear, the driving gear is arranged at the non-edge position of the jacking gearbox, the jacking motor is in driving connection with the driving gear, and the driving gear is in meshing transmission connection with other gears to drive the jacking connecting shaft and the driving connecting shaft to rotate. According to the technical scheme, the structure of the jacking transmission mechanism is effectively simplified, the number of gears and the size of a gear box are reduced, and manufacturing cost is reduced. The non-edge layout of the driving gear optimizes the power transmission path, so that the torque distribution of the connecting shafts on the two sides is more balanced, and the transmission stability is improved.

Description

Technical Field

[0001] This utility model relates to the field of warehousing and logistics technology, and in particular to a lifting 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 discloses that the lifting motor is located on the left side of the lifting linkage and is driven by the lifting gearbox. Since the lifting motor is connected to the gear at the outermost edge of the lifting gearbox, a relatively large torque is required. At the same time, a relatively large number of gears are needed to achieve the drive connection with the lifting linkage and the drive linkage, which increases the volume of the entire lifting gearbox, thereby increasing the cost and making it difficult to arrange other electrical components. Utility Model Content

[0005] In view of this, one of the objectives of this utility model is to provide a lifting transmission mechanism to solve the technical problems in the prior art where the lifting motor in the three-dimensional storage robot is located on the left side of the lifting shaft and is connected to the gear at the outermost edge of the lifting gearbox, which results in the lifting gearbox needing to transmit a large torque, increasing the volume of the lifting gearbox, increasing costs, and being unfavorable for the arrangement of other electrical components.

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

[0007] To achieve one of the above objectives, this utility model provides a lifting transmission mechanism, including a lifting motor, a lifting reducer, and a lifting gearbox. The lifting motor is driven by the lifting reducer, and the lifting reducer is driven by the lifting gearbox. The lifting gearbox has a lifting coupling shaft on one side and two spaced-apart driving coupling shafts on the opposite side. The lifting coupling shafts are on the same side as the lifting motor. The lifting gearbox includes a driving gear located at a non-edge position of the lifting gearbox. The lifting motor is driven by the driving gear, and the driving gear meshes with other gears to drive the lifting coupling shaft and the driving coupling shaft to rotate.

[0008] Optionally, the other gears include coupling gears and transition gears. There are two coupling gears and three transition gears. The coupling gears are located at both ends of the lifting gearbox. The drive gear is meshed with one of the coupling gears for transmission. The transition gear is located between the drive gear and the other coupling gear and is meshed with both the drive gear and the coupling gear for transmission. Adjacent transition gears are meshed for transmission.

[0009] Optionally, the radius of the coupling gear is larger than the radius of the drive gear.

[0010] Optionally, the radius of the drive gear is larger than the radius of the transition gear.

[0011] Optionally, the three transition gears are staggered vertically.

[0012] Optionally, the transition gear includes a first transition gear, a second transition gear, and a third transition gear. The first transition gear is located obliquely above the drive gear and is meshed with the drive gear for transmission. The third transition gear is located obliquely above another connecting gear and is meshed with the connecting gear for transmission. The second transition gear is located to the side and below the first and third transition gears and is meshed with both the first and third transition gears for transmission.

[0013] To achieve the second objective mentioned above, this utility model provides a three-dimensional warehousing robot, including any of the aforementioned lifting transmission mechanisms, as well as a walking transmission mechanism, a battery, an inner plate, and an outer frame. The inner plate is located within the outer frame, which includes a left outer frame, a right outer frame, a rear outer frame, and a front outer frame. The left outer frame, the right outer frame, the rear outer frame, and the front outer frame form a rectangular structure. The inner plate includes a left inner plate, a right inner plate, a rear inner plate, and a front inner plate. The left inner plate, the right inner plate, the rear inner plate, and the front inner plate form a rectangular structure. The lifting transmission mechanism, the walking transmission mechanism, and the battery are all located within the rectangular structure formed by the inner plate.

[0014] Optionally, the traveling transmission mechanism includes a traveling motor, a traveling reducer, a traveling gearbox, a main rail drive shaft, and a sub-rail drive shaft. The traveling motor is driven to the traveling reducer, the traveling reducer is driven to the traveling gearbox, and the main rail drive shaft and the sub-rail drive shaft are perpendicularly arranged on the traveling gearbox and driven to the traveling gearbox.

[0015] Optionally, the travel reducer is parallel to the sub-rail drive shaft and perpendicular to the main rail drive shaft.

[0016] Optionally, the walking motor and the lifting motor form a first accommodating area, and the battery is located in the first accommodating area;

[0017] The side of the lifting shaft opposite to the lifting motor forms a second accommodating area, which is used to accommodate electrical components.

[0018] The lifting transmission mechanism provided by this utility model has the following technical advantages:

[0019] This lifting transmission mechanism mainly consists of a lifting motor, a lifting reducer, and a lifting gearbox. A lifting coupling shaft is located on one side of the lifting gearbox, and two spaced-apart drive coupling shafts are located on the opposite side. The lifting coupling shafts are on the same side as the lifting motor. The lifting gearbox includes a drive gear located at a non-edge position. The lifting motor is driven by the drive gear, which meshes with other gears to drive the lifting coupling shaft and drive coupling shafts to rotate. Through this technical solution, the present invention effectively simplifies the structure of the lifting transmission mechanism, reduces the number of gears and the size of the gearbox, and lowers manufacturing costs. The non-edge layout of the drive gear optimizes the power transmission path, making the torque distribution on both coupling shafts more balanced and improving transmission stability. Attached Figure Description

[0020] 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.

[0021] Figure 1 This is a structural schematic diagram 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;

[0022] Figure 2 yes Figure 1 A schematic diagram of the chassis structure of a three-dimensional warehousing robot;

[0023] Figure 3 yes Figure 1 A schematic diagram of the lifting transmission mechanism of a three-dimensional warehouse robot;

[0024] Figure 4 yes Figure 3 A partial structural diagram of the central lifting transmission mechanism;

[0025] Figure 5 yes Figure 4 Schematic diagram of the internal gear arrangement structure;

[0026] Figure 6 This is a schematic diagram of the internal structure of a lifting gearbox in the prior art.

[0027] in, Figures 1-6 :

[0028] 1. Lifting transmission mechanism; 11. Lifting motor; 12. Lifting reducer; 13. Lifting gearbox; 131. Drive gear; 132. Coupling gear; 133. First transition gear; 134. Second transition gear; 135. Third transition gear; 14. Lifting coupling; 15. Drive coupling;

[0029] 2. Travel transmission mechanism; 21. Travel motor; 22. Travel reducer; 23. Travel gearbox; 24. Main rail drive shaft; 25. Sub-rail drive shaft;

[0030] 3. Battery;

[0031] 41. Left outer frame; 42. Right outer frame; 43. Back outer frame; 44. Front outer frame;

[0032] 51. Left inner panel; 52. Right inner panel; 53. Rear inner panel; 54. Front inner panel;

[0033] 6. First containment area;

[0034] 7. Second containment area. Detailed Implementation

[0035] 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.

[0036] In existing technologies, automated storage and retrieval systems (AS / RS) robots typically utilize a lifting transmission mechanism 1 and a walking transmission mechanism 2 in tandem to handle goods. The existing lifting transmission mechanism 1 suffers from a large size, primarily because the lifting motor 11 is directly connected to the gears on the edge of the gearbox. This necessitates a greater number of gears for power distribution, resulting in low space utilization within the gearbox and difficulty in optimizing its layout. For example, when the lifting motor 11 is located to the left of the lifting coupling 14, the drive gear 131 is positioned at the edge of the gearbox, requiring multiple intermediate gears to transmit power. This not only increases the number of gears but also enlarges the lateral dimension of the gearbox, impacting the space available for other electrical components.

[0037] To address the aforementioned issues, optimizing the gear layout of the lifting transmission mechanism 1 becomes crucial. In existing technology, the drive gear 131 is located at the edge of the gearbox, requiring multiple intermediate gears to connect the two connecting shafts, thus increasing the number of gears. Analysis revealed that adjusting the drive gear 131 to a non-edge position inside the gearbox can shorten the transmission path and reduce the number of intermediate gears. Furthermore, the meshing method between the drive gear 131 and the connecting gears 132 on both sides directly affects the transmission efficiency. A combination of direct and indirect meshing can reduce the number of gears while ensuring even power distribution. Therefore, it is proposed to position the drive gear 131 in the middle of the gearbox, achieving transmission through direct meshing with one connecting gear 132 and a small number of intermediate gears on the other side, thereby simplifying the structure.

[0038] Therefore, as Figure 1-5As shown, this utility model proposes a lifting transmission mechanism 1, including a lifting motor 11, a lifting reducer 12, and a lifting gearbox 13. The lifting motor 11 is driven to the lifting reducer 12, and the lifting reducer 12 is driven to the lifting gearbox 13. A lifting coupling shaft 14 is provided on one side of the lifting gearbox 13, and two drive coupling shafts 15 are provided on the opposite side at intervals. The lifting coupling shaft 14 is on the same side as the lifting motor 11. The lifting gearbox 13 includes a drive gear 131, which is located at a non-edge position of the lifting gearbox 13. The lifting motor 11 is driven to the drive gear 131, and the drive gear 131 is meshed with other gears to drive the lifting coupling shaft 14 and the drive coupling shaft 15 to rotate.

[0039] The lifting gearbox 13 is a closed structure for housing and transmitting power. Specifically, it can be implemented by housing a gear set inside a metal casing. The non-edge area refers to the region inside the gearbox away from the side walls. The drive gear 131 directly receives power from the lifting motor 11. Specifically, it can be a helical gear or a spur gear, fixed inside the gearbox via a shaft hole. The drive gear 131 meshes with other gears to transmit rotational motion through gear tooth surface contact. For example, the drive gear 131 directly meshes with the coupling gear 132, or indirectly meshes with it through an intermediate gear.

[0040] Specifically, the power from the lifting motor 11 is sequentially reduced and amplified by the lifting reducer 12 before being input into the lifting gearbox 13. The drive gear 131, as the power input end, is located in the middle of the gearbox, forming an asymmetrical transmission path with the connecting gears 132 on both sides. The drive gear 131 directly meshes with the connecting gear 132 on one side, while the other side is connected to another connecting gear 132 through an intermediate gear set. Because the drive gear 131 is located in a non-edge position, the number of gears on both sides of the transmission path is balanced, reducing the total number of gears. The lifting connecting shaft 14 and the drive connecting shaft 15 rotate synchronously through gear meshing, driving the external lifting mechanism to achieve the lifting action of the cargo pallet.

[0041] In existing 3D warehousing robots, the lifting motor 11 is located on the left side of the lifting coupling 14, and the lifting motor 11 is driven by the lifting gearbox 13. Figure 6 As shown, the lifting gearbox 13 has seven gears that mesh sequentially. The first gear is the drive gear 131, which is connected to the lifting motor 11. When it meshes with the second gear, the tooth surface transmits four times the torque, and the second gear receives four times the torque accordingly. When it meshes with the third gear, the tooth surface transmits one time the torque, which is simultaneously transmitted to the lifting coupling shaft 14 at twice the torque and to the drive coupling shaft 15 at one time the torque. The third to seventh gears all transmit one time the torque.

[0042] This utility model discloses a three-dimensional warehousing robot in which the lifting motor 11 is located on the right side of the lifting coupling 14, and the lifting motor 11 is driven by the lifting gearbox 13. Figure 5 As shown, the lifting gearbox 13 has six gears that mesh sequentially. The second gear is the drive gear 131, which is driven by the lifting motor 11. On one side, it meshes with one of the coupling gears 132, transmitting three times the torque at the meshing point of the teeth. On the other side, it meshes with three transition gears, and the transition gears mesh with another coupling gear 132, transmitting one times the torque at the meshing point of the teeth.

[0043] Compared with the existing technology, the maximum force on the internal gears of this utility model is smaller (3:4), which means that while ensuring the same strength, the module, number of teeth and width can be reduced, thereby reducing the volume of the gearbox; on the other hand, the inner side of the reducer reduces the number of gears and also reduces the volume of the gearbox.

[0044] Through the above technical solution, this application effectively simplifies the structure of the lifting transmission mechanism 1, reduces the number of gears and the size of the gearbox, and lowers manufacturing costs. The non-edge layout of the drive gear 131 optimizes the power transmission path, making the torque distribution of the two connecting shafts more balanced and improving transmission stability.

[0045] Detailed, such as Figure 5 As shown, the lifting gearbox 13 includes a drive gear 131, which is located at a non-edge position. The lifting motor 11 is driven by the drive gear 131. The drive gear 131 is meshed with other gears for transmission. The other gears include coupling gears 132 and transition gears. There are two coupling gears 132 and three transition gears. The coupling gears 132 are located at both ends of the lifting gearbox 13. The drive gear 131 is meshed with one of the coupling gears 132 for transmission. The transition gear is located between the drive gear 131 and the other coupling gear 132, and is meshed with both the drive gear 131 and the coupling gear 132 for transmission. Adjacent transition gears are meshed for transmission.

[0046] The coupling gear 132 is a gear installed at both ends of the lifting gearbox 13. Its function is to mesh with the drive gear 131 or the intermediate gear to transmit power. The intermediate gear is an intermediate transmission gear located between the drive gear 131 and the coupling gear 132. Specifically, it can be implemented by using a spur gear with a small number of teeth. Its function is to extend the power transmission path through multi-stage meshing.

[0047] In this embodiment, the drive gear 131 is arranged in the non-edge area of ​​the middle of the lifting gearbox 13, directly meshing with one of the coupling gears 132, and simultaneously forming an indirect transmission path with the other coupling gear 132 through three sequentially meshing intermediate gears. For example, when the lifting motor 11 drives the drive gear 131 to rotate, power is transmitted to one coupling gear 132 through direct meshing, and simultaneously transmitted to the other coupling gear 132 through three series-connected intermediate gears.

[0048] See also Figure 5 As shown, the radius of the coupling gear 132 is larger than the radius of the drive gear 131. The lifting motor 11 drives the smaller-radius drive gear 131 to rotate. When the drive gear 131 meshes with the larger-radius coupling gear 132, torque amplification is achieved through gear ratio optimization. Since the coupling gear 132 is directly connected to the lifting coupling shaft 14 and the drive coupling shaft 15, the larger radius can improve transmission efficiency. For example, when the drive gear 131 meshes with one of the coupling gears 132, the other coupling gear 132 forms a transmission chain with the drive gear 131 through three intermediate gears. In this case, the radius advantage of the coupling gear 132 can reduce the transmission burden of the intermediate gears, making the overall gearbox layout more compact.

[0049] At the same time, the radius of the drive gear 131 is larger than the radius of the transition gear. For example... Figure 5 As shown, when the drive gear 131 meshes with the first intermediate gear 133, the larger radius of the drive gear 131 can cover more teeth, thereby transmitting greater torque in a single engagement. By designing the drive gear 131 to have a radius larger than all intermediate gears, the number of gears in the transmission path is reduced, and the utilization rate of the internal space of the gearbox is optimized.

[0050] See also Figure 5 As shown, the three transition gears in this embodiment have the same radius and are staggered vertically. The staggered vertical arrangement refers to a layout where the three gears are at different heights in the vertical direction and have a positional offset in the horizontal direction. Specifically, this can be achieved by an alternating distribution, which reduces the lateral space occupied while maintaining meshing between the gears. Specifically, the transition gears include a first transition gear 133, a second transition gear 134, and a third transition gear 135. The first transition gear 133 is located diagonally above the drive gear 131 and meshes with and is connected to the drive gear 131. The third transition gear 135 is located diagonally above the coupling gear 132 and meshes with and is connected to the coupling gear 132. The second transition gear 134 is located to the side and below the first transition gear 133 and the third transition gear 135, and meshes with and is connected to both the first transition gear 133 and the third transition gear 135.

[0051] The rotational power of the drive gear 131 is transmitted upwards through the first intermediate gear 133, then changes direction via the second intermediate gear 134 to the third intermediate gear 135, and finally downwards through the third intermediate gear 135 to the coupling gear 132. The three intermediate gears are arranged in a staggered, non-linear configuration, forming a spatial zigzag transmission path. This arrangement effectively compresses the transmission distance between the drive gear 131 and the coupling gear 132 while maintaining the meshing contact area between the gears to meet the transmission strength requirements.

[0052] This utility model also provides a three-dimensional warehousing robot, such as Figure 1 and Figure 2 As shown, the device includes a lifting transmission mechanism 1, a traveling transmission mechanism 2, a battery 3, an inner panel, and an outer frame. The inner panel is located inside the outer frame. The outer frame includes a left outer frame 41, a right outer frame 42, a rear outer frame 43, and a front outer frame 44. The left outer frame 41, right outer frame 42, rear outer frame 43, and front outer frame 44 form a rectangular structure. The inner panel includes a left inner panel 51, a right inner panel 52, a rear inner panel 53, and a front inner panel 54. The left inner panel 51, right inner panel 52, rear inner panel 53, and front inner panel 54 form a rectangular structure. The lifting transmission mechanism 1, the traveling transmission mechanism 2, and the battery 3 are all located within the rectangular structure formed by the inner panel.

[0053] The inner panel is a supporting structure nested within the outer frame. It can be formed by splicing metal sheets or composite materials and is used to fix core components such as the lifting transmission mechanism 1, the walking transmission mechanism 2, and the battery 3. The rectangular structure it forms optimizes the utilization of internal space. The outer frame is a frame structure that encloses the inner panel. It can be assembled from aluminum alloy profiles or steel frames. The left outer frame 41, right outer frame 42, rear outer frame 43, and front outer frame 44 are connected by bolts or welding to form a closed rectangle, which provides overall structural support and protects the internal components.

[0054] Specifically, the inner panel and the outer frame form a double-layer frame through a nested structure. The left inner panel 51, right inner panel 52, rear inner panel 53, and front inner panel 54 of the inner panel are spaced apart from the corresponding components of the outer frame, forming a closed space to accommodate the lifting transmission mechanism 1, the walking transmission mechanism 2, and the battery 3. The lifting transmission mechanism 1 is installed in the center of the rectangular area of ​​the inner panel, the walking transmission mechanism 2 is arranged on its side, and the battery 3 is distributed according to the remaining space, for example, it can be placed in the gap area between the lifting motor 11 and the walking motor 21.

[0055] Through the above technical solution, this utility model solves the problem of excessive size caused by the dispersed layout of components in the prior art, and optimizes the spatial arrangement of core components, thereby reducing the overall structural complexity.

[0056] As a preferred embodiment, such as Figure 1As shown, the walking transmission mechanism 2 includes a walking motor 21, a walking reducer 22, a walking gearbox 23, a main rail drive shaft 24, and a sub-rail drive shaft 25. The walking motor 21 is driven and connected to the walking reducer 22, and the walking reducer 22 is driven and connected to the walking gearbox 23. The main rail drive shaft 24 and the sub-rail drive shaft 25 are perpendicular to each other on the walking gearbox 23 and are driven and connected to the walking gearbox 23.

[0057] The power output from the walking motor 21 is adjusted by the walking reducer 22 and then transmitted to the walking gearbox 23. The gear sets inside the walking gearbox 23 transmit the power to the mutually perpendicular main track drive shaft 24 and sub-track drive shaft 25. The main track drive shaft 24 and sub-track drive shaft 25 drive their respective walking wheels, enabling the automated storage and retrieval system (AS / RS) robot to move independently along the main track and sub-track directions. The walking reducer 22 is parallel to the sub-track drive shaft 25 and perpendicular to the main track drive shaft 24; this layout makes the transmission path more compact and reduces space occupation.

[0058] As a preferred embodiment, such as Figure 1 As shown, the walking motor 21 and the lifting motor 11 form the first accommodating area 6, and the battery 3 is located in the first accommodating area 6; the side of the lifting shaft 14 opposite to the lifting motor 11 forms the second accommodating area 7, that is, the left side of the lifting shaft 14 is the second accommodating area 7. Since the volume of the lifting gearbox 13 is reduced, the second accommodating area 7 can be used to accommodate electrical components.

[0059] 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.

[0060] 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.

[0061] 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 lifting transmission mechanism, comprising a lifting motor, a lifting reducer, and a lifting gearbox, wherein the lifting motor is drivenly connected to the lifting reducer, the lifting reducer is drivenly connected to the lifting gearbox, a lifting coupling shaft is provided on one side of the lifting gearbox, and two spaced-apart driving coupling shafts are provided on the opposite side, the lifting coupling shafts being on the same side as the lifting motor, characterized in that, The lifting gearbox includes a drive gear located at a non-edge position of the lifting gearbox. The lifting motor is driven by the drive gear, which meshes with other gears to drive the lifting shaft and the drive shaft to rotate.

2. The lifting transmission mechanism according to claim 1, characterized in that, The other gears include coupling gears and transition gears. There are two coupling gears and three transition gears. The coupling gears are located at both ends of the lifting gearbox. The drive gear is meshed with one of the coupling gears for transmission. The transition gear is located between the drive gear and the other coupling gear and is meshed with both the drive gear and the coupling gear for transmission. Adjacent transition gears are meshed for transmission.

3. The lifting transmission mechanism according to claim 2, characterized in that, The radius of the connecting gear is larger than the radius of the driving gear.

4. The lifting transmission mechanism according to claim 2, characterized in that, The radius of the drive gear is larger than the radius of the transition gear.

5. The lifting transmission mechanism according to claim 4, characterized in that, The three transition gears are arranged in a staggered manner, one above the other.

6. The lifting transmission mechanism according to claim 5, characterized in that, The transition gears include a first transition gear, a second transition gear, and a third transition gear. The first transition gear is located diagonally above the drive gear and is meshed with the drive gear for transmission. The third transition gear is located diagonally above another connecting gear and is meshed with the connecting gear for transmission. The second transition gear is located to the side and below the first and third transition gears and is meshed with both the first and third transition gears for transmission.

7. A three-dimensional warehousing robot, characterized in that, The device includes the lifting transmission mechanism according to any one of claims 1-6, and further includes a walking transmission mechanism, a battery, an inner plate, and an outer frame. The inner plate is located within the outer frame. The outer frame includes a left outer frame, a right outer frame, a rear outer frame, and a front outer frame. The left outer frame, the right outer frame, the rear outer frame, and the front outer frame form a rectangular structure. The inner plate includes a left inner plate, a right inner plate, a rear inner plate, and a front inner plate. The left inner plate, the right inner plate, the rear inner plate, and the front inner plate form a rectangular structure. The lifting transmission mechanism, the walking transmission mechanism, and the battery are all located within the rectangular structure formed by the inner plate.

8. The automated storage and retrieval system robot according to claim 7, characterized in that, The walking transmission mechanism includes 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, the walking reducer is driven and connected to the walking gearbox, and 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.

9. The automated storage and retrieval system robot according to claim 8, characterized in that, The travel reducer is parallel to the sub-rail drive shaft and perpendicular to the main rail drive shaft.

10. The automated storage and retrieval system robot according to claim 9, characterized in that, The walking motor and the lifting motor form a first accommodating area, and the battery is located in the first accommodating area; The side of the lifting shaft opposite to the lifting motor forms a second accommodating area, which is used to accommodate electrical components.

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