Walking gear box, walking transmission mechanism and three-dimensional storage robot

Abstract

The utility model provides a walking gear box, a walking transmission mechanism and a three-dimensional storage robot, and relates to the technical field of storage logistics, a sub-rail walking transmission input gear of the walking gear box is installed on an output shaft of a speed reducer, and a middle transition gear is arranged on one side of the sub-rail walking transmission input gear; the main rail walking transmission input bevel gear is in meshed transmission connection with the main rail walking transmission input gear and is in meshed transmission connection with the auxiliary rail walking transmission input gear, the auxiliary rail walking transmission output gear is in meshed transmission connection with the middle transition gear, and the main rail walking transmission input bevel gear is coaxial with the auxiliary rail walking transmission input gear and is perpendicular to and in meshed transmission connection with the main rail walking transmission input bevel gear. According to the utility model, two sets of transmission systems are integrated in the same box body, and the assembly reference deviation of a split type design is eliminated through a coaxial input and bevel gear vertical meshing structure. The problem that a split type gearbox is low in installation precision is effectively solved, and assembly links are reduced through integrated design.

Description

Technical Field

[0001] This utility model relates to the field of warehousing and logistics technology, and in particular to a walking gearbox, 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 (AS / RS) robot features fixed walking wheels, which are typically driven by a walking transmission mechanism. The traditional walking drive mechanism's gearbox generally includes a main track walking gearbox and a reversing gearbox. The main track walking gearbox and the reversing gearbox are two separate structures, which reduces installation accuracy. Furthermore, the perpendicular arrangement of the walking transmission motor and the sub-track transmission shaft also facilitates the internal layout of the entire AS / RS robot. Utility Model Content

[0005] In view of this, one of the objectives of this utility model is to provide a traveling gearbox to solve the technical problem of poor installation accuracy in the prior art, which uses a main rail traveling gearbox and a reversing gearbox as two separate structures.

[0006] The second objective of this utility model is to provide a walking transmission mechanism containing a walking gearbox.

[0007] The third objective of this utility model is to provide a three-dimensional warehouse robot containing a walking transmission mechanism.

[0008] To achieve one of the above objectives, this utility model provides a traveling gearbox, including a sub-rail traveling transmission input gear, a sub-rail traveling transmission output gear, a main rail traveling transmission input bevel gear, and a main rail traveling transmission output bevel gear. The sub-rail traveling transmission input gear is mounted on the output shaft of the reducer. The sub-rail traveling transmission output gear is meshed with the sub-rail traveling transmission input gear. The main rail traveling transmission input bevel gear is coaxially arranged with the sub-rail traveling transmission input gear. The main rail traveling transmission output bevel gear is perpendicular to and meshed with the main rail traveling transmission input bevel gear.

[0009] Optionally, it also includes an intermediate transition gear, which is located on one side of the sub-rail travel transmission input gear and is simultaneously meshed and connected to both the sub-rail travel transmission input gear and the sub-rail travel transmission output gear.

[0010] Optionally, the subrail travel transmission output gear is sleeved on the subrail transmission shaft, and the rotation of the subrail travel transmission output gear drives the subrail transmission shaft to rotate;

[0011] The main rail travel transmission output bevel gear is sleeved on the main rail transmission shaft, and the rotation of the main rail travel transmission output bevel gear drives the main rail transmission shaft to rotate.

[0012] To achieve the second objective mentioned above, this utility model provides a walking transmission mechanism, including any of the walking gearboxes described above, and further including a walking motor, a walking reducer, a sub-rail drive shaft, and a main rail drive shaft. The walking motor is driven by the walking reducer, the walking reducer is driven by the walking gearbox, and the walking gearbox is driven by both the sub-rail drive shaft and the main rail drive shaft. The sub-rail drive shaft and the main rail drive shaft are perpendicular to each other.

[0013] Optionally, the travel reducer is parallel to the sub-rail drive shaft and perpendicular to the main rail drive shaft.

[0014] Optionally, the traveling gearbox includes a housing, and the sub-rail traveling transmission input gear, the intermediate transition gear, the sub-rail traveling transmission output gear, the main rail traveling transmission input bevel gear, and the main rail traveling transmission output bevel gear are all installed inside the housing. The housing has a vertical mounting surface, and the mounting surface has a stop.

[0015] Optionally, the traveling gearbox is mounted on the left inner plate or the right inner plate via the mounting surface, and the left inner plate or the right inner plate is provided with a clearance position for the main rail transmission part of the traveling gearbox and a stop mounting position corresponding to the stop.

[0016] To achieve the third 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, 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.

[0017] Optionally, the lifting transmission mechanism includes a lifting motor, a lifting reduction motor, and a lifting gearbox. The lifting motor is driven by the lifting reduction motor, and the lifting reduction motor is driven by the lifting gearbox. The lifting gearbox has a lifting connecting shaft on one side and two spaced-apart driving connecting shafts on the opposite side. The lifting connecting 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.

[0018] Optionally, the walking motor and the lifting motor form a first accommodating area, and the battery is located in the first accommodating area;

[0019] The side of the lifting shaft opposite to the lifting motor forms a second accommodating area, which is used to accommodate electrical components.

[0020] The walking gearbox provided by this utility model has the following technical effects:

[0021] This type of traveling gearbox mainly consists of a sub-rail travel transmission input gear, an intermediate transition gear, a sub-rail travel transmission output gear, a main rail travel transmission input bevel gear, and a main rail travel transmission output bevel gear. The sub-rail travel transmission input gear is mounted on the output shaft of the reducer. The intermediate transition gear is located on one side of the sub-rail travel transmission input gear and meshes with it. The sub-rail travel transmission output gear meshes with the intermediate transition gear. The main rail travel transmission input bevel gear is coaxially arranged with the sub-rail travel transmission input gear, and the main rail travel transmission output bevel gear is perpendicular to and meshes with the main rail travel transmission input bevel gear. This invention integrates two transmission systems into a single housing. Through the coaxial input and perpendicular meshing structure of the bevel gears, it eliminates assembly datum deviations in split designs. This effectively solves the problem of low installation accuracy in split gearboxes and reduces assembly steps through integrated design. Attached Figure Description

[0022] 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.

[0023] Figure 1 This 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.

[0024] Figure 2 yes Figure 1 A schematic diagram of the chassis structure of a three-dimensional warehousing robot;

[0025] Figure 3 yes Figure 1 A schematic diagram of the walking transmission mechanism of a three-dimensional warehouse robot;

[0026] Figure 4 yes Figure 3 A partial structural diagram of the travel transmission mechanism;

[0027] Figure 5 yes Figure 4 A schematic diagram of the internal gear arrangement structure;

[0028] Figure 6 yes Figure 1 Schematic diagram of the installation of the walking gearbox of the automated warehouse robot;

[0029] Figure 7 yes Figure 1 A schematic diagram of the right inner panel structure of the automated warehouse robot;

[0030] Figure 8 yes Figure 6 Schematic diagram of different installation methods for the medium-speed gearbox.

[0031] in, Figures 1-8 :

[0032] 1. Lifting transmission mechanism; 11. Lifting motor; 12. Lifting geared motor; 13. Lifting gearbox; 14. Lifting coupling; 15. Drive coupling;

[0033] 2. Travel transmission mechanism; 21. Travel motor; 22. Travel reducer; 23. Travel gearbox; 231. Subrail travel transmission input gear; 232. Intermediate transition gear; 233. Subrail travel transmission output gear; 234. Main rail travel transmission input bevel gear; 235. Main rail travel transmission output bevel gear; 236. Housing; 2361. Stop; 2362. Mounting surface; 24. Main rail drive shaft; 25. Subrail drive shaft;

[0034] 3. Battery;

[0035] 41. Left outer frame; 42. Right outer frame; 43. Back outer frame; 44. Front outer frame;

[0036] 51. Left inner panel; 52. Right inner panel; 521. Stop mounting position; 522. Clearance position; 53. Rear inner panel; 54. Front inner panel;

[0037] 6. First containment area;

[0038] 7. Second containment area. Detailed Implementation

[0039] 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.

[0040] In existing technologies, automated storage and retrieval systems (AS / RS) robots typically employ a design consisting of a main track gearbox 23 and a reversing gearbox. This split structure makes it difficult to control the installation accuracy.

[0041] To address these issues, engineers discovered that the structural redundancy of the split gearbox was a key factor restricting spatial layout and installation accuracy. Analysis of the transmission path revealed that the sub-rail and main rail transmissions shared a common power source, prompting an attempt to integrate the two transmission systems into a single gearbox. Further research into gear meshing revealed that bevel gears could achieve power transmission between vertical axes, while parallel-axis gear sets maintained transmission efficiency. This led to an integrated design approach combining spur gears and bevel gears for transmission.

[0042] Therefore, as Figure 4 and Figure 5 As shown, this utility model provides a travel gearbox 23, which includes a sub-rail travel transmission input gear 231, an intermediate transition gear 232, a sub-rail travel transmission output gear 233, a main rail travel transmission input bevel gear 234, and a main rail travel transmission output bevel gear 235. The sub-rail travel transmission input gear 231 is mounted on the output shaft of the reducer. The intermediate transition gear 232 is located to the side of the sub-rail travel transmission input gear 231 and meshes with it. The sub-rail travel transmission output gear 233 meshes with the intermediate transition gear 232. The main rail travel transmission input bevel gear 234 is coaxially arranged with the sub-rail travel transmission input gear 231, and the main rail travel transmission output bevel gear 235 meshes perpendicularly with the main rail travel transmission input bevel gear 234.

[0043] The input gear 231 of the sub-rail travel transmission is the initial transmission component that receives the output power from the reducer. Its tooth number and module are designed according to the transmission ratio requirements, and it is used to transmit power to the intermediate transition gear. The intermediate transition gear 232 is the transmission medium located between the input gear and the output gear, and the transmission ratio is adjusted by different tooth numbers. The input bevel gear 234 of the main rail travel transmission is the key component for realizing power steering. Specifically, it can be a spiral bevel gear, whose axis coincides with the axis of the input gear 231 of the sub-rail travel transmission, realizing coaxial dual output function. The output bevel gear 235 of the main rail travel transmission is the actuator for vertical power output. Specifically, it can be a bevel gear set paired with the input bevel gear, which changes the power transmission direction through 90-degree meshing.

[0044] In detail, the reducer output shaft drives the sub-rail travel transmission input gear 231 to rotate, and transmits power to the sub-rail travel transmission output gear 233 through the intermediate transition gear 232, forming a parallel shaft transmission chain. Simultaneously, the mother rail input bevel gear, coaxial with the sub-rail input gear, drives the mother rail output bevel gear to rotate, achieving vertical power output. Both transmission systems share an input shaft, and the spatial arrangement of the gear sets ensures that the sub-rail transmission shaft 25 and the mother rail transmission shaft 24 form an orthogonal layout, achieving planar bidirectional power distribution within a single housing.

[0045] It should be noted that the travel gearbox 23 in this embodiment may not include the intermediate transition gear 232. The intermediate transition gear 232 is provided to solve the problem of excessive gearbox volume caused by the large gear radius when only two gears are used, provided that the sub-rail travel transmission input gear 231 and sub-rail travel transmission output gear 233 have a sufficient center distance. That is, it only includes the sub-rail travel transmission input gear 231, sub-rail travel transmission output gear 233, main rail travel transmission input bevel gear 234, and main rail travel transmission output bevel gear 235. The sub-rail travel transmission input gear 231 is mounted on the output shaft of the reducer. The sub-rail travel transmission output gear 233 is meshed with the sub-rail travel transmission input gear 231. The main rail travel transmission input bevel gear 234 is coaxially arranged with the sub-rail travel transmission input gear 235. The main rail travel transmission output bevel gear 235 is perpendicular to and meshes with the main rail travel transmission input bevel gear 234.

[0046] Compared to existing technologies, the main gearbox and reversing gearbox require independent installation and positioning, resulting in cumulative assembly errors. This invention integrates the two transmission systems into a single housing, eliminating assembly datum deviations in separate designs through a coaxial input structure that meshes perpendicularly with bevel gears. This effectively solves the problem of low installation accuracy in separate gearboxes and reduces assembly steps through integrated design.

[0047] In a preferred embodiment, the sub-rail travel transmission output gear 233 is sleeved on the sub-rail transmission shaft 25, and the rotation of the sub-rail travel transmission output gear 233 drives the sub-rail transmission shaft 25 to rotate. Similarly, the main rail travel transmission output bevel gear 235 is sleeved on the main rail transmission shaft 24, and the rotation of the main rail travel transmission output bevel gear 235 drives the main rail transmission shaft 24 to rotate.

[0048] Specifically, the output gear 233 of the sub-rail travel transmission is rigidly connected to the sub-rail drive shaft 25 via a sleeve. When the intermediate transition gear 232 drives the output gear 233 to rotate, the gear directly drives the sub-rail drive shaft 25 to rotate synchronously, thereby transmitting power to the travel wheel connected to the sub-rail drive shaft 25. The output bevel gear 235 of the main rail travel transmission is fixed to the main rail drive shaft 24 via an interference fit or key connection. When the input bevel gear 234 of the main rail travel transmission drives the output bevel gear 235 to rotate, the circumferential torque of the bevel gear is directly transmitted to the main rail drive shaft 24, causing the main rail drive shaft 24 to rotate synchronously around its axis, thereby driving the travel wheel connected to the main rail drive shaft 24 to achieve linear motion. This design avoids intermediate transmission links such as chains and belts that may exist in traditional transmission structures, thus simplifying the power transmission path.

[0049] This utility model also provides a walking transmission mechanism 2, such as Figure 1 and Figure 3-5As shown, it includes a travel gearbox 23, a travel motor 21, a travel reducer 22, a sub-rail drive shaft 25, and a main rail drive shaft 24. The travel motor 21 is connected to the travel reducer 22, the travel reducer 22 is connected to the travel gearbox 23, and the travel gearbox 23 is connected to both the sub-rail drive shaft 25 and the main rail drive shaft 24. The sub-rail drive shaft 25 and the main rail drive shaft 24 are perpendicular to each other.

[0050] The travel reducer 22 is a device that converts the high speed output of the travel motor 21 into a low speed and increases torque. Specifically, it can be implemented using a worm gear reducer or a planetary gear reducer to match the input requirements of the travel gearbox 23. The sub-rail drive shaft 25 is a rotating shaft used to transmit power in the sub-rail direction. Specifically, it can be a hollow or solid shaft structure, and its surface can be provided with keyways or splines to achieve a fixed connection with gears. The main rail drive shaft 24 is a rotating shaft used to transmit power in the main rail direction. Its axis is perpendicular to the sub-rail drive shaft 25, and the power direction can be reversed using a bevel gear set.

[0051] Specifically, the travel motor 21 outputs power to the travel reducer 22, which then transmits the reduced power to the travel gearbox 23. The travel gearbox 23 distributes power to the sub-rail drive shaft 25 and the main rail drive shaft 24 via an internal gear set. The sub-rail drive shaft 25 transmits power through parallel meshing cylindrical gears, while the main rail drive shaft 24 reverses the power direction through a vertically meshing bevel gear set. The vertical arrangement of the sub-rail drive shaft 25 and the main rail drive shaft 24 ensures that the transmission paths in the two directions do not interfere with each other. The integrated design of the travel gearbox 23 avoids the installation errors caused by the separation of the main rail gearbox and the reversing gearbox in traditional structures.

[0052] like Figure 1 and Figure 3 As shown, the travel reducer 22 is parallel to the sub-rail drive shaft 25 and perpendicular to the main rail drive shaft 24. The arrangement of the travel reducer 22 parallel to the sub-rail drive shaft 25 extends the power transmission path, while its perpendicular arrangement to the main rail drive shaft 24 creates a right-angle transition between the driving direction of the main rail drive shaft 24 and the output direction of the travel reducer 22, thus achieving independent dual-shaft transmission within a limited space. The output power of the travel reducer 22 is transmitted to the main rail drive shaft 24 through a bevel gear set within the gearbox, while the sub-rail drive shaft 25 directly receives power through a parallel gear set, forming a compact three-dimensional transmission layout.

[0053] like Figure 4As shown, the traveling gearbox 23 includes a housing 236, and the sub-rail traveling transmission input gear 231, intermediate transition gear 232, sub-rail traveling transmission output gear 233, main rail traveling transmission input bevel gear 234 and main rail traveling transmission output bevel gear 235 are all installed inside the housing 236. The housing 236 is provided with a vertical mounting surface 2362, and the mounting surface 2362 is provided with a stop 2361.

[0054] In this embodiment, the outer shell 236 refers to a closed box structure that encloses the transmission gear set, used to integrate the transmission gear sets of the sub-rail and the main rail and isolate external dust interference. The mounting surface 2362 is a vertical positioning reference surface set on the side of the outer shell 236, used to realize the vertical positioning installation between the travel gear box 23 and the inner plate. The inner plate here can be the left inner plate 51 or the right inner plate 52, depending on the actual production needs. This utility model does not limit this.

[0055] The stop 2361 refers to the annular boss structure set on the mounting surface 2362, which achieves positioning by cooperating with the groove on the left inner plate 51 or the right inner plate 52.

[0056] Specifically, the travel gearbox 23 integrates the sub-rail drive gear set and the mother rail bevel gear set within a single housing 236, forming a compact transmission unit. The vertical mounting surface 2362 of the housing 236 forms a positioning reference on the inner plate plane, and the stop 2361 structure inserted into the corresponding positioning hole in the inner plate also forms a positioning reference.

[0057] Furthermore, such as Figure 6 and Figure 7 As shown, the traveling gearbox 23 is mounted on the left inner plate 51 or the right inner plate 52 via the mounting surface 2362. The left inner plate 51 or the right inner plate 52 is provided with a clearance position 522 for the main rail transmission part of the traveling gearbox 23 and a stop mounting position 521 corresponding to the stop 2361. In this embodiment, it is preferably mounted on the right inner plate 52.

[0058] The stop 2361 refers to the protruding positioning structure on the mounting surface 2362, which can be implemented as a ring-shaped boss. Its function is to limit the displacement deviation of the gearbox relative to the inner plate. The clearance 522 is a space reserved on the right inner plate 52 for the mother rail drive shaft 24 or bevel gear assembly. It can be implemented by milling to form an opening structure. Its function is to prevent interference between the transmission components and the inner plate. The stop mounting position 521 is a positioning area on the inner plate that mates with the stop 2361 structure. Its function is to enable quick alignment and installation of the gearbox and the inner plate.

[0059] The outer casing 236 of the traveling gearbox 23 is fixed to the right inner plate 52 by a vertical mounting surface 2362. The stop 2361 on the mounting surface 2362 is embedded in the corresponding stop mounting position 521 of the inner plate, forming a radial constraint. The clearance position 522 of the inner plate provides room for movement of the feed rail drive output bevel gear and drive shaft, preventing the gear from colliding with the inner plate when rotating.

[0060] The working and fixing method of the traveling gearbox 23 in this embodiment can greatly reduce the deformation of the right inner plate 52 caused by the opening of large mounting holes / avoidance holes, which in turn leads to the misalignment of the mounting holes of the sub-rail drive shaft 25 and the main rail drive shaft 24.

[0061] like Figure 8 As shown, the walking gearbox 23 has multiple installation methods, including fixing in the middle, fixing on the left, and fixing on the right. Regardless of the fixing method, it is within the protection scope of this utility model.

[0062] This utility model also provides a three-dimensional warehousing robot, such as Figure 1 and Figure 2 As shown, the device includes a walking transmission mechanism 2, a lifting transmission mechanism 1, 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 walking transmission mechanism 2, and the battery 3 are all located within the rectangular structure formed by the inner panel.

[0063] 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.

[0064] 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.

[0065] Furthermore, such as Figure 1 As shown, the lifting transmission mechanism 1 includes a lifting motor 11, a lifting reduction motor 12, and a lifting gearbox 13. The lifting motor 11 is driven by the lifting reduction motor 12, and the lifting reduction motor 12 is driven by 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, which is located at a non-edge position of the lifting gearbox 13. The lifting motor 11 is driven by the drive gear.

[0066] Specifically, the power output from the lifting motor 11 is reduced and amplified by the lifting reduction motor 12 before being transmitted to the lifting gearbox 13. The drive gear, as the core of power distribution, transmits torque to the lifting coupling 14 and the two drive couplings 15 respectively. The design of the drive gear being located at a non-edge position in the gearbox makes the internal space distribution of the gearbox more balanced.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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 traveling gearbox, characterized in that, It includes a sub-rail travel transmission input gear, a sub-rail travel transmission output gear, a main rail travel transmission input bevel gear, and a main rail travel transmission output bevel gear. The sub-rail travel transmission input gear is mounted on the output shaft of the reducer. The sub-rail travel transmission output gear is meshed with the sub-rail travel transmission input gear. The main rail travel transmission input bevel gear is coaxially arranged with the sub-rail travel transmission input gear. The main rail travel transmission output bevel gear is perpendicular to and meshes with the main rail travel transmission input bevel gear.

2. The traveling gearbox according to claim 1, characterized in that, It also includes an intermediate transition gear, which is located on one side of the sub-rail travel transmission input gear and is simultaneously meshed and connected to both the sub-rail travel transmission input gear and the sub-rail travel transmission output gear.

3. The traveling gearbox according to claim 1, characterized in that, The subrail travel transmission output gear is sleeved on the subrail transmission shaft, and the rotation of the subrail travel transmission output gear drives the subrail transmission shaft to rotate. The main rail travel transmission output bevel gear is sleeved on the main rail transmission shaft, and the rotation of the main rail travel transmission output bevel gear drives the main rail transmission shaft to rotate.

4. A walking transmission mechanism, characterized in that, The traveling gearbox, as described in any one of claims 1-3, further includes a traveling motor, a traveling reducer, a sub-rail drive shaft, and a main rail drive shaft. The traveling motor is driven by the traveling reducer, the traveling reducer is driven by the traveling gearbox, and the traveling gearbox is driven by both the sub-rail drive shaft and the main rail drive shaft. The sub-rail drive shaft and the main rail drive shaft are perpendicular to each other.

5. The walking transmission mechanism according to claim 4, characterized in that, The travel reducer is parallel to the sub-rail drive shaft and perpendicular to the main rail drive shaft.

6. The walking transmission mechanism according to claim 4, characterized in that, The traveling gearbox includes a housing, and the sub-rail traveling transmission input gear, the intermediate transition gear, the sub-rail traveling transmission output gear, the main rail traveling transmission input bevel gear, and the main rail traveling transmission output bevel gear are all installed inside the housing. The housing has a vertical mounting surface, and the mounting surface has a stop.

7. The walking transmission mechanism according to claim 6, characterized in that, The traveling gearbox is mounted on the left inner plate or the right inner plate via the mounting surface. The left inner plate or the right inner plate is provided with a clearance position for the main rail transmission part of the traveling gearbox and a stop mounting position corresponding to the stop.

8. A three-dimensional warehousing robot, characterized in that, The walking transmission mechanism, including any one of claims 4-7, further includes a lifting 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.

9. The automated storage and retrieval system robot according to claim 8, characterized in that, The lifting transmission mechanism includes a lifting motor, a lifting reduction motor, and a lifting gearbox. The lifting motor is driven by the lifting reduction motor, and the lifting reduction motor is driven by the lifting gearbox. The lifting gearbox has a lifting connecting shaft on one side and two spaced-apart driving connecting shafts on the opposite side. The lifting connecting 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.

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.

Images