Omni-directional travel automated handling robot

Abstract

The application provides an omnidirectional automatic carrying robot, which optimizes a walking module structure to some extent, and enables the robot to omnidirectionally move to meet the taking and placing work of goods in a narrow lane. The omnidirectional automatic carrying robot provided by the application comprises a vehicle body module and a moving module. The vehicle body module comprises a chassis, and the moving module comprises a first balance beam assembly connected with the chassis. At least one end of the first balance beam assembly is provided with a first rudder wheel assembly. A second rudder wheel assembly is arranged on the chassis, and the first rudder wheel assembly and the second rudder wheel assembly are arranged along opposite angles of the chassis. The first rudder wheel assembly and the second rudder wheel assembly each comprise a mounting seat, a steering member, a main drive and a driving wheel. The driving wheel is rotationally connected with the mounting seat. An output end of the main drive is connected with the driving wheel. An output end of the steering member is connected with the mounting seat to drive the mounting seat to rotate.

Description

Technical Field

[0001] This utility model relates to the field of handling robot equipment technology, and in particular to an omnidirectional automatic handling robot. Background Technology

[0002] With the automation and intelligent development of the logistics and warehousing industry, automated material handling robots have been widely used in modern warehousing systems. These robots are typically equipped with navigation systems and robotic arms or forks, enabling them to autonomously complete the tasks of handling, storing, and picking goods. In traditional automated warehouse designs, shelves are usually arranged in a grid pattern, forming parallel aisles for the handling robots to travel through.

[0003] Existing automated material handling systems typically involve robots traveling in a straight line along an aisle to the target shelf location, then rotating to adjust their posture so that their forks align with the shelf for storing and retrieving goods. In this mode, when the robot reaches the target shelf location, it needs to stop moving forward and then rotate 90 degrees to align with the shelf. This rotation requires sufficient space to avoid collisions with adjacent aisles or shelves, which limits the aisle width and restricts the density of shelf placement and overall storage capacity in the warehouse.

[0004] Therefore, there is an urgent need to provide an omnidirectional autonomous transport robot to address the problems existing in the current technology to some extent. Utility Model Content

[0005] The purpose of this invention is to provide an omnidirectional automatic transport robot, which optimizes the walking module structure to a certain extent, enabling the robot to travel in all directions to meet the needs of picking up and placing goods in narrow alleys.

[0006] This utility model provides an omnidirectional autonomous transport robot, including a vehicle body module and a driving module. The vehicle body module includes a chassis, and the driving module includes a first balance beam assembly connected to the chassis. At least one end of the first balance beam assembly is provided with a first steering wheel assembly, and a second steering wheel assembly is provided on the chassis. The first and second steering wheel assemblies are arranged diagonally along the chassis. Both the first and second steering wheel assemblies include a mounting base, a steering component, a main drive, and a drive wheel. The drive wheel is rotatably connected to the mounting base, the output end of the main drive is connected to the drive wheel, and the output end of the steering component is connected to the mounting base to drive the mounting base to rotate.

[0007] Wherein, the first balance beam assembly is provided with the first steering wheel assembly at both ends, the chassis is provided with the second steering wheel assembly corresponding to the first steering wheel assembly, or the first balance beam assembly is provided with the first steering wheel assembly at one end and the first universal joint assembly at the other end, the chassis is provided with the second steering wheel assembly at a position diagonally opposite to the first steering wheel assembly, and the second universal joint assembly is provided at a position diagonally opposite to the first universal joint assembly.

[0008] Specifically, the steering component includes a steering drive, a steering gear, and a meshing wheel; the output end of the steering drive is connected to the steering gear, the steering gear meshes with the meshing wheel, and the meshing wheel is connected to the mounting base.

[0009] Furthermore, the first balance beam assembly includes a crossbeam and a positioning plate, the positioning plate being connected to the end of the crossbeam, and the meshing wheel being rotatably connected to the positioning plate.

[0010] Furthermore, the first balance beam assembly includes a support base and a rotating shaft; one end of the support base is connected to the chassis, and the other end has a positioning hole; the crossbeam has an alignment hole corresponding to the position of the positioning hole; the rotating shaft passes through the positioning hole and the alignment hole, and the end of the rotating shaft is fixedly connected to the positioning hole; the alignment hole and the rotating shaft are in clearance fit, so that the crossbeam can rotate relative to the support base.

[0011] Furthermore, the first balance beam assembly also includes a bushing and a sealing element; the bushing is installed in the alignment hole, the rotating shaft passes through the bushing, and the rotating shaft is rotatably connected to the bushing; the sealing element is provided corresponding to the positioning hole, and the rotating shaft is connected to the sealing element.

[0012] Both the first universal assembly and the second universal assembly include universal wheels and connecting seats. The connecting seats are fixedly connected to the end of the crossbeam, and the universal wheels are connected to the connecting seats.

[0013] Specifically, the omnidirectional automatic transport robot provided by this utility model further includes a lifting module and a picking and placing module; the vehicle module also includes a fixed gantry, which is mounted on the chassis, the lifting module is mounted vertically on the fixed gantry, the picking and placing module is connected to the lifting module, and the lifting module can drive the picking and placing module to reciprocate in the vertical direction; the picking and placing module is arranged horizontally, and the picking and placing module includes forks, which can reciprocate in the horizontal direction.

[0014] Furthermore, the lifting module includes a supporting gantry, a guide wheel component, a first roller, a lifting drive, and a traction component; the fixed gantry forms a first guide groove, the supporting gantry is U-shaped, and the first roller is connected to both longitudinal beams on both sides of the supporting gantry, with the first roller rolling within the first guide groove; the lifting drive extends vertically, with its positioning end connected to the chassis and its telescopic end connected to the positioning beam of the supporting gantry; the guide wheel component is connected to the positioning beam, and one end of the traction component is connected to the fixed gantry, while the other end passes around the guide wheel component and connects to the loading / unloading module.

[0015] Furthermore, the loading and unloading module includes a support frame and a second roller; a second guide groove is formed on the inner side of the two longitudinal beams of the supporting gantry, the second roller is connected to the support frame and can roll in the second guide groove; the forks are connected to the support frame.

[0016] Compared with existing technologies, the omnidirectional autonomous transport robot provided by this utility model has the following advantages: The omnidirectional automatic transport robot provided by this utility model includes a vehicle body module and a driving module. The vehicle body module includes a chassis, and the driving module includes a first balance beam assembly connected to the chassis. At least one end of the first balance beam assembly is provided with a first steering wheel assembly, and a second steering wheel assembly is provided on the chassis. The first and second steering wheel assemblies are arranged diagonally along the chassis. Both the first and second steering wheel assemblies include a mounting base, a steering component, a main drive, and a drive wheel. The drive wheel is rotatably connected to the mounting base. The output end of the main drive is connected to the drive wheel, and the output end of the steering component is connected to the mounting base to drive the mounting base to rotate.

[0017] This analysis shows that the chassis can provide a mounting base for the second steering wheel assembly in the driving module, and the driving module in this application also includes a first balance beam assembly, which can provide a mounting base for the first steering wheel assembly.

[0018] Since at least one end of the first balance beam assembly in this application is provided with a first steering wheel assembly, and the chassis is provided with a second steering wheel assembly, and based on the example of only setting one first steering wheel assembly and one second steering wheel assembly, the first steering wheel assembly and the second steering wheel assembly are arranged diagonally along the chassis. It can be understood that when one first steering wheel assembly and one second steering wheel assembly are set, the other end of the first balance beam assembly and the other side of the chassis can be equipped with casters, thereby forming four-point support and ensuring the stability of the overall robot operation.

[0019] The first and second steering wheel assemblies in this application both include a mounting base, a steering component, a main drive, and a drive wheel. The drive wheel is rotatably connected to the mounting base, so that when the main drive is started, it can drive the drive wheel to rotate relative to the mounting base, enabling the robot to walk. When it is necessary to change the direction of travel, the steering component drives the mounting base to rotate, thereby driving the drive wheel to change direction. Then, after the main drive is restarted, the drive wheel can drive the robot to walk in the changed direction.

[0020] Therefore, when facing narrow aisles, the robot provided in this application can change the direction of travel of the drive wheels so that the overall direction of travel of the robot is perpendicular to the direction of picking and placing goods with the forks. Thus, when the robot reaches the designated position, the forks can directly face the shelves, and the picking and placing operations can be carried out directly without adjusting the direction of the robot to face the shelves. Therefore, there is no need for rotation space, and the shelves on both sides of the aisle can be arranged with minimal spacing, thereby improving the utilization rate of the overall warehouse space. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the omnidirectional autonomous transport robot provided in an embodiment of the present utility model; Figure 2 A schematic diagram of the chassis structure of the omnidirectional autonomous transport robot provided in this embodiment of the utility model; Figure 3 This is a structural schematic diagram of the balance beam assembly and steering wheel assembly in the omnidirectional autonomous transport robot provided in this embodiment of the utility model; Figure 4 A schematic diagram of the steering wheel assembly in the omnidirectional autonomous transport robot provided in this embodiment of the utility model; Figure 5 A partial cross-sectional view of the steering wheel assembly in an omnidirectional autonomous transport robot provided in an embodiment of this utility model; Figure 6 This utility model provides a schematic diagram of the lifting module in an omnidirectional automatic transport robot. Figure 7 This is a schematic diagram of the picking and placing module in the omnidirectional automatic transport robot provided in this embodiment of the utility model.

[0023] In the diagram: 1-Chassis; 2-First balance beam assembly; 201-Crossbeam; 202-Support seat; 203-Sealing component; 204-Positioning plate; 205-Rotating shaft; 206-Busset; 3-Fixing plate; 4-First steering wheel assembly; 5-Second steering wheel assembly; 6-First universal joint assembly; 601-Universal wheel; 602-Connecting seat; 7-Second universal joint assembly; 8-Drive wheel; 9-Main drive; 10-Mounting seat; 11-Steering drive; 12-Steering gear; 13-Meshing wheel; 14-Fixed mast; 15-Supporting mast; 16-Guide wheel assembly; 17-First roller; 18-Lifting drive; 19-Traction component; 20-Bearing bracket; 21-Second roller; 22-Forklift; 2201-Position sensor; 2202-Obstacle detection mechanism; 2203-Buffer contact edge. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0025] In the description of the embodiments of this application, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing the 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. Therefore, they should not be construed as limitations on the utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of the embodiments of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "connect" 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] As used herein, the term “and / or” includes any one of the relevant items listed and any combination of any two or more items.

[0029] For ease of description, spatial relation terms such as “above,” “upper,” “below,” and “lower” may be used herein to describe the relationship between one element and another as shown in the accompanying drawings. Such spatial relation terms are intended to include not only the orientation depicted in the drawings but also the different orientations of the device during use or operation.

[0030] The terminology used herein is for the purpose of describing various examples only and is not intended to limit this disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms “comprising,” “including,” and “having” enumerate the stated features, quantities, operations, components, elements, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0031] Variations in the shapes shown in the accompanying drawings may occur due to manufacturing techniques and / or tolerances. Therefore, the examples described herein are not limited to the specific shapes shown in the accompanying drawings, but include changes in shape that may occur during manufacturing.

[0032] The features of the examples described herein can be combined in various ways that will be apparent upon understanding the disclosure of this application. Furthermore, although the examples described herein have various constructions, other constructions are possible, as will be apparent upon understanding the disclosure of this application. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis that they can be implemented by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0033] like Figures 1-5As shown, the omnidirectional autonomous transport robot provided in this application includes a vehicle body module and a driving module. The vehicle body module includes a chassis 1, and the driving module includes a first balance beam assembly 2 connected to the chassis 1. At least one end of the first balance beam assembly 2 is provided with a first steering wheel assembly 4, and a second steering wheel assembly 5 is provided on the chassis 1. The first steering wheel assembly 4 and the second steering wheel assembly 5 are arranged diagonally along the chassis 1. Both the first steering wheel assembly 4 and the second steering wheel assembly 5 include a mounting base 10, a steering component, a main drive 9, and a drive wheel 8. The drive wheel 8 is rotatably connected to the mounting base 10, the output end of the main drive 9 is connected to the drive wheel 8, and the output end of the steering component is connected to the mounting base 10 to drive the mounting base 10 to rotate.

[0034] Compared with existing technologies, the omnidirectional autonomous transport robot provided by this utility model has the following advantages: The omnidirectional automatic transport robot provided by this utility model can provide an installation foundation for the second steering wheel assembly 5 in the driving module through the chassis 1. The driving module in this application includes a first balance beam assembly 2, which can provide an installation foundation for the first steering wheel assembly 4 and the second steering wheel assembly 5.

[0035] The chassis 1 of this application is also equipped with a fixing plate 3. The fixing plate can provide an installation base for the second steering wheel assembly 5 and the second universal assembly 7. The chassis 1 is provided with two fixing plates 3 for installing the second steering wheel assembly 5 and the second universal assembly 7.

[0036] Since at least one end of the first balance beam assembly 2 in this application is provided with a first steering wheel assembly 4, and the fixed plate 3 is provided with a second steering wheel assembly 5, and based on the example of only setting one first steering wheel assembly 4 and one second steering wheel assembly 5, the first steering wheel assembly 4 and the second steering wheel assembly 5 are arranged diagonally along the chassis 1. It can be understood that when one first steering wheel assembly 4 and one second steering wheel assembly 5 are set, the first balance beam assembly 2 and the fixed plate 3 on the other side of the chassis 1 can both be equipped with universal wheels 601, thereby forming four-point support and ensuring the stability of the overall robot operation.

[0037] The first steering wheel assembly 4 and the second steering wheel assembly 5 in this application both include a mounting base 10, a steering component, a main drive 9, and a drive wheel 8. The drive wheel 8 is rotatably connected to the mounting base 10, so that when the main drive 9 is started, it can drive the drive wheel 8 to rotate relative to the mounting base 10, thereby enabling the robot to walk. When it is necessary to change the direction of travel, the steering component drives the mounting base 10 to rotate, thereby driving the drive wheel 8 to change direction. Then, after the main drive 9 is started again, the drive wheel 8 can drive the robot to walk in the changed direction.

[0038] Therefore, when the robot provided in this application faces a narrow aisle, it can change the walking direction of the drive wheel 8 so that the overall walking direction of the robot is perpendicular to the picking and placing direction of the forks 22. Thus, when the robot reaches the designated position, the forks 22 can directly face the shelf, and the picking and placing operation can be performed directly without adjusting the direction of the robot to make the forks 22 face the shelf. Therefore, there is no need for rotation space, and the shelves on both sides of the aisle can be arranged with the minimum interval, improving the utilization rate of the overall warehouse space.

[0039] Based on the above structure, this application can adopt two implementation methods. In one method, the first balance beam assembly 2 is provided with a first steering wheel assembly 4 at both ends, and the chassis 1 is provided with two opposing fixing plates 3, and the fixing plates 3 are connected to a second steering wheel assembly 5.

[0040] In this method, there are a total of four steering wheel components, and the direction can be adjusted simultaneously, thereby ensuring that the overall robot's direction of travel follows the target direction.

[0041] Another configuration has a first steering wheel assembly 4 at one end of the first balance beam assembly 2 and a first universal assembly 6 at the other end. One of the fixed plates 3 of the base plate has a second steering wheel assembly 5, and the other fixed plate 3 has a second universal assembly 7.

[0042] The second method is Figure 2 The structure shown is such that the first steering wheel assembly 4 and the second steering wheel assembly 5 are arranged diagonally on the chassis 1, and the first universal joint assembly 6 and the second universal joint assembly 7 are set at the other diagonal of the chassis 1, thus forming a four-point support. Since the first universal joint assembly 6 and the second universal joint assembly 7 are driven wheels, there is no need to set a drive, which can reduce the weight of the overall robot and reduce production costs.

[0043] Optionally, such as Figure 3 Combination Figure 4 As shown, the steering component in this application includes a steering drive 11, a steering gear 12, and a meshing wheel 13; the output end of the steering drive 11 is connected to the steering gear 12, the steering gear 12 meshes with the meshing wheel 13, and the meshing wheel 13 is connected to the mounting base 10.

[0044] Both the main drive 9 and the steering drive 11 in this application can be driven motors. By utilizing the meshing of the steering gear 12 and the meshing wheel 13, the direction of the drive wheel 8 can be changed. On the other hand, after changing the direction, the position can be stabilized through the meshing between the teeth, thus avoiding directional deviation during travel.

[0045] During operation, the steering drive 11 drives the steering gear 12 to rotate, thereby causing the meshing wheel 13 to rotate. Since the meshing wheel 13 is fixedly connected to the mounting base 10, it can drive the mounting base 10 to change direction, thereby changing the direction of the drive wheel 8.

[0046] Optionally, such as Figure 3 As shown, the first balance beam assembly 2 in this application includes a crossbeam 201 and a positioning plate 204. The positioning plate 204 is connected to the end of the crossbeam 201, and the meshing wheel 13 is rotatably connected to the positioning plate 204.

[0047] The crossbeam 201 provides a mounting base for the aforementioned caster wheel 601 and drive wheel 8, enabling four-point positioning and support. Since the mounting base 10 needs to rotate via the meshing wheel 13 in this application, a positioning plate 204 is connected to the end of the crossbeam 201 to provide a mounting base for the meshing wheel 13. By rotatably connecting the meshing wheel 13 to the positioning plate 204, the meshing wheel 13 can rotate relative to the positioning plate 204, thereby achieving the aforementioned purpose of changing the direction of travel of the drive wheel 8.

[0048] Optionally, such as Figure 3 Combination Figure 5 As shown, the first balance beam assembly 2 in this application includes a support base 202 and a rotating shaft 205; one end of the support base 202 is connected to the chassis 1, and the other end has a positioning hole. The crossbeam 201 has an alignment hole corresponding to the position of the positioning hole. The rotating shaft 205 passes through the positioning hole and the alignment hole, and the end of the rotating shaft 205 is fixedly connected to the positioning hole. The alignment hole and the rotating shaft 205 are clearance-fitted, so that the crossbeam 201 can rotate relative to the support base 202.

[0049] The support base 202 provides an installation foundation for the crossbeam 201. Since one end of the support base 202 is connected to the chassis 1 and extends vertically, a certain installation interval is provided between the crossbeam 201 and the chassis 1. This installation interval is just enough to install the drive wheel 8 and the caster wheel 601.

[0050] Preferably, since a rotating shaft 205 is further installed on the end of the support base 202 away from the chassis 1, and the rotating shaft 205 is fixedly connected to the support base 202, and the crossbeam 201 is rotatably connected to the rotating shaft 205, the crossbeam 201 can rotate relative to the support base 202 when there is undulation on the contact surface of either the drive wheel 8 or the universal wheel 601. This allows the drive wheel 8 and the universal wheel 601 to follow the undulation of the ground, thus forming a three-point structure with the other drive wheel 8 and universal wheel 601. Even if one point undulates, the smooth movement of the entire robot can be guaranteed.

[0051] Optionally, such as Figure 3 Combination Figure 5 As shown, the first balance beam assembly 2 in this application also includes a bushing 206 and a sealing member 203; the bushing 206 is installed in the alignment hole, the rotating shaft 205 passes through the bushing 206, and the rotating shaft 205 is rotatably connected to the bushing 206; the sealing member 203 is provided corresponding to the positioning hole, and the rotating shaft 205 is connected to the sealing member 203.

[0052] By setting a bushing 206 in the alignment hole, friction can occur between the bushing 206 and the rotating shaft 205, thereby avoiding wear on the crossbeam 201 and ensuring the service life of the overall structure.

[0053] Preferably, the bushing 206 in this application can be a coaxial bushing 206 or a non-metallic bushing 206. Since the copper bushing 206 can be quickly separated from the metal support 202 by knocking when it is under maintenance or fails, and the non-metallic bushing 206 can be removed by damaging it, neither will affect the structure of the crossbeam 201, thus reducing maintenance costs.

[0054] Optionally, such as Figure 3 As shown, the first universal assembly 6 and the second universal assembly 7 in this application both include a universal wheel 601 and a connecting seat 602. The connecting seat 602 is fixedly connected to the end of the crossbeam 201, and the universal wheel 601 is connected to the connecting seat 602.

[0055] Of course, such as Figure 1 Combination Figure 6 and Figure 7 As shown, the omnidirectional automatic transport robot provided by this utility model also includes a lifting module and a picking and placing module; the vehicle module also includes a fixed mast 14, which is mounted on the chassis 1. The lifting module is mounted on the fixed mast 14 in a vertical direction. The picking and placing module is connected to the lifting module, and the lifting module can drive the picking and placing module to reciprocate in the vertical direction; the picking and placing module is arranged in a horizontal direction, and the picking and placing module includes a fork 22, which can reciprocate in the horizontal direction.

[0056] The fixed gantry 14 provides a foundation for the installation of the lifting module and guides its lifting movement. The loading / unloading module is connected to the lifting module, enabling the lifting module to drive the loading / unloading module to lift and thus pick up or place goods.

[0057] In operation, the handling robot provided in this application operates as follows: when the robot reaches the corresponding position on the shelf, the lifting module performs a lifting and lowering motion, thereby driving the picking and placing module to a designated height. The robot then moves towards the shelf, allowing the forks 22 to enter the pallet holding the goods. The lifting module then rises, lifting the pallet, and the robot reverses, removing the goods from the shelf. Finally, the lifting module lowers to retrieve the goods. During the placing process, the lifting module transports the goods to the shelf at the designated height and then moves forward. Upon reaching the designated position, the lifting module lowers, placing the pallet on the shelf. The robot then reverses, disengaging the forks 22 from the pallet, and finally, the lifting module lowers, completing one placing process.

[0058] Based on this, such as Figure 6 As shown, the lifting module in this application includes a supporting gantry 15, a guide wheel component 16, a first roller 17, a lifting drive 18, and a traction component 19. The fixed gantry 14 has a first guide groove, the supporting gantry 15 is U-shaped, and the first roller 17 is connected to the longitudinal beams on both sides of the supporting gantry 15. The first roller 17 rolls in the first guide groove. The lifting drive 18 extends vertically, the positioning end of the lifting drive 18 is connected to the chassis 1, and the telescopic end is connected to the positioning beam of the supporting gantry 15. The guide wheel component 16 is connected to the positioning beam, and one end of the traction component 19 is connected to the fixed gantry 14, and the other end passes around the guide wheel component 16 and is connected to the loading and unloading module.

[0059] The fixed gantry 14 has a C-shaped cross-section, thus forming the first guide groove mentioned above. The first roller 17 rolls in the first guide groove, thereby enabling the supporting gantry 15 to move only in the vertical direction.

[0060] It is understood that the lifting drive 18 in this application is a cylinder or a hydraulic cylinder, so that the lifting gantry 15 can be raised or lowered by extending or retracting the lifting drive 18.

[0061] Because the positioning beam of the supporting gantry 15 in this application is connected to a guide wheel assembly, and one end of the traction member 19 is connected to the fixed gantry 14, while the other end is connected to the loading / unloading module, when the supporting gantry 15 rises, it can drive the guide wheel assembly to rise. Since one end of the traction member 19 is connected to the fixed gantry 14, the rise of the guide wheel assembly can drive the connection end between the traction member 19 and the loading / unloading module to rise, thereby driving the loading / unloading module to rise. The descent process of the loading / unloading module is the reverse of the rising process, and will not be described in detail here.

[0062] It should be noted that the guide wheel assembly in this application can adopt a rolling wheel structure such as a pulley, sprocket or bearing, and the traction component 19 can adopt a structure such as a wire rope or chain.

[0063] Optionally, such as Figure 1 Combination Figure 7 As shown, the loading and unloading module in this application includes a support frame 20 and a second roller 21; a second guide groove is formed on the inner side of the two longitudinal beams of the supporting gantry 15, the second roller 21 is connected to the support frame 20 and can roll in the second guide groove; the fork 22 is connected to the support frame 20.

[0064] The cross-sections of the two longitudinal beams of the support gantry 15 in this application are C-shaped, thereby forming the aforementioned second guide groove structure. By setting the second roller 21 on the support frame 20, the second roller 21 can roll in the second guide groove, so that the support frame 20 can only reciprocate in the vertical direction, ensuring the stability of the movement of the support frame 20.

[0065] By connecting the forks 22 to the support frame 20, the lifting and lowering movement of the forks 22 can be achieved.

[0066] Preferably, such as Figure 7 As shown, the fork 22 in this application is provided with a buffer contact edge 2203 at the end, which can reduce the damage to the goods or fork 22 when it collides with the bracket or goods. Furthermore, the fork 22 is also provided with an obstacle detection mechanism 2202 at the end, which can reduce the problem of the robot colliding with obstacles during the movement or picking up and placing of goods.

[0067] Of course, the support frame 20 in this application is also equipped with a position sensor 2201, which can detect whether the forks 22 have reached the appropriate position for picking up and placing goods, thereby ensuring the stability of the picking up and placing process.

[0068] The aforementioned positioning sensor 2201 and obstacle detection mechanism 2202 are commonly used structures and detection components in existing robots, and will not be described in detail here.

[0069] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An omnidirectional autonomous transport robot, characterized in that, Includes the vehicle body module and the driving module; The vehicle body module includes a chassis, and the driving module includes a first balance beam assembly connected to the chassis. At least one end of the first balance beam assembly is provided with a first steering wheel assembly, and a second steering wheel assembly is provided on the chassis. The first steering wheel assembly and the second steering wheel assembly are arranged diagonally along the chassis. Both the first steering wheel assembly and the second steering wheel assembly include a mounting base, a steering component, a main drive, and a drive wheel. The drive wheel is rotatably connected to the mounting base, the output end of the main drive is connected to the drive wheel, and the output end of the steering component is connected to the mounting base to drive the mounting base to rotate.

2. The omnidirectional automated transport robot according to claim 1, characterized in that, The first balance beam assembly has a first steering wheel assembly at both ends. The chassis has a second steering wheel assembly corresponding to the first steering wheel assembly, or the first balance beam assembly has a first steering wheel assembly at one end and a first universal joint at the other end. The chassis has a second steering wheel assembly at a position diagonally opposite to the first steering wheel assembly and a second universal joint at a position diagonally opposite to the first universal joint.

3. The omnidirectional automated transport robot according to claim 2, characterized in that, The steering component includes a steering drive, a steering gear, and a meshing wheel; The output end of the steering drive is connected to the steering gear, the steering gear meshes with the meshing wheel, and the meshing wheel is connected to the mounting base.

4. The omnidirectional automated transport robot according to claim 3, characterized in that, The first balance beam assembly includes a crossbeam and a positioning plate, the positioning plate being connected to the end of the crossbeam, and the meshing wheel being rotatably connected to the positioning plate.

5. The omnidirectional automated transport robot according to claim 4, characterized in that, The first balance beam assembly includes a support base and a pivot. One end of the support base is connected to the chassis, and the other end has a positioning hole. The crossbeam has an alignment hole corresponding to the position of the positioning hole. The rotating shaft passes through the positioning hole and the alignment hole, and the end of the rotating shaft is fixedly connected to the positioning hole. The alignment hole and the rotating shaft are in clearance fit, so that the crossbeam can rotate relative to the support base.

6. The omnidirectional automated transport robot according to claim 5, characterized in that, The first balance beam assembly also includes a bushing and a sealing element; The bushing is installed in the alignment hole, the rotating shaft passes through the bushing, and the rotating shaft is rotatably connected to the bushing; The sealing element is provided corresponding to the positioning hole, and the rotating shaft is connected to the sealing element.

7. The omnidirectional automated transport robot according to claim 4, characterized in that, Both the first universal assembly and the second universal assembly include universal wheels and connecting seats. The connecting seats are fixedly connected to the end of the crossbeam, and the universal wheels are connected to the connecting seats.

8. The omnidirectional automated transport robot according to claim 1, characterized in that, It also includes a lifting module and a goods loading / unloading module; The vehicle body module also includes a fixed gantry, which is mounted on the chassis. The lifting module is mounted vertically on the fixed gantry. The cargo retrieval module is connected to the lifting module, and the lifting module can drive the cargo retrieval module to reciprocate in the vertical direction. The picking and placing module is arranged horizontally, and the picking and placing module includes a fork that can reciprocate in the horizontal direction.

9. The omnidirectional automated transport robot according to claim 8, characterized in that, The lifting module includes a supporting gantry, a guide wheel component, a first roller, a lifting drive, and a traction component; The fixed gantry has a first guide groove, the supporting gantry is U-shaped, and the first rollers are connected to the longitudinal beams on both sides of the supporting gantry. The first rollers roll within the first guide groove. The lifting drive extends vertically, with its positioning end connected to the chassis and its telescopic end connected to the positioning beam of the supporting gantry. The guide wheel component is connected to the positioning beam, one end of the traction component is connected to the fixed gantry, and the other end passes around the guide wheel component and is connected to the loading and unloading module.

10. The omnidirectional automated transport robot according to claim 9, characterized in that, The loading and unloading module includes a support frame and a second roller; The inner sides of the two longitudinal beams of the supporting gantry are formed with a second guide groove, and the second roller is connected to the support frame and can roll in the second guide groove; The forks are connected to the support frame.

Images