CN211811617U - A go up unloading robot for automatic access intelligent warehouse - Google Patents

Abstract

The utility model relates to an intelligence warehouse technical field especially relates to an go up unloading robot for automatic access intelligence warehouse. Including the chassis and fix the stand on the chassis, install the translation mechanism that is used for the drive to go up the movement of unloading robot on the chassis, the direction slip is equipped with flexible arm on the stand, anti-tilt mechanism is still installed at the top of stand, anti-tilt mechanism is including preventing inclining wheelset and preventing inclining the guide rail, it is used for fixed with goods shelves to prevent inclining the guide rail, prevent inclining the wheelset including pressing from both sides the wheel pair and preventing inclining the concave wheel, press from both sides the gyro wheel pair including two parallel arrangement's gyro wheel, the axis of rotation of gyro wheel sets up with preventing inclining the concave wheel perpendicularly with the axis of rotation, prevent inclining the guide rail centre gripping between two gyro wheels and transversely insert in preventing inclining the circumference recess of concave wheel. Through adopting the utility model discloses an go up unloading robot, avoided going up the condition that unloading robot took place to empty, improved the stability and the security of going up unloading robot operation.

Description

A go up unloading robot for automatic access intelligent warehouse

Technical Field

The utility model relates to an intelligence warehouse technical field especially relates to an go up unloading robot for automatic access intelligence warehouse.

Background

In recent years, with the rapid development of the logistics industry, intelligent warehouses for storing goods are also developed rapidly. The intelligent warehouse can realize the self-storage and the taking-out of the goods, and the automation of the goods storage process is improved. At present, be provided with goods shelves, conveyer and go up unloading robot usually in the intelligent warehouse, go up the unloading robot then mainly used with the goods on the conveyer transport to the goods shelves in the intelligent warehouse on, then be provided with the translation tunnel that supplies the unloading robot to pass in the goods shelves usually.

Be provided with a plurality of storage check that are used for depositing the goods on the goods shelves usually, these storage check's height differs, this makes go up the height that unloading robot needs the adjustment manipulator when the access goods, but manipulator height adjustment can cause the change of unloading robot focus on can leading to the fact, thereby cause the situation of unloading robot unstability on very easily, especially when the goods of manipulator transport is heavier, facing to the rising of goods, the problem of empting still appears very easily in the unloading robot, thereby be unfavorable for the safe operation of unloading robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an go up unloading robot for automatic access intelligent warehouse for solve among the prior art along with the adjustment of going up unloading robot manipulator height, go up the unloading robot and appear empting the technical problem of unstability easily.

In order to achieve the above object, the utility model provides an go up unloading robot for automatic access intelligent warehouse adopts following technical scheme:

the utility model provides a go up unloading robot for automatic access intelligent warehouse includes the chassis and fixes the stand on the chassis, install the translation mechanism that is used for the drive to go up unloading robot and removes on the chassis, the direction slides on the stand and is equipped with flexible arm, anti-tilt mechanism is still installed at the top of stand, anti-tilt mechanism is including preventing inclining the wheelset and preventing inclining the guide rail, it is used for fixing with goods shelves to prevent inclining the guide rail, it includes pinch roller pair and anti-inclination wheel to prevent inclining the wheel, pinch roller pair includes two parallel arrangement's gyro wheel, the axis of rotation of gyro wheel sets up with preventing inclining the rotation axis of indent wheel is perpendicular, prevent inclining the guide rail centre gripping between two gyro wheels and transversely insert in preventing inclining the circumference recess of indent wheel.

Further, a mounting plate is mounted at the top of the upright post, and the anti-roll wheel set is fixed on the mounting plate.

Furthermore, the two anti-roll wheel sets are arranged on two sides of the mounting plate in a mirror symmetry mode.

Furthermore, the cross section of the anti-tilt guide rail is L-shaped, the anti-tilt guide rail comprises two folded edges arranged at an included angle, one of the two folded edges is used for being fixedly connected with the goods shelf, and the other folded edge is used for being clamped between the two rollers and transversely inserted into the circumferential groove of the anti-tilt wheel.

Further, the translation mechanism comprises a first guide structure and a first driving structure, the first guide structure comprises a translation guide rail and a translation concave wheel which are guided and clamped, the first driving structure comprises a rack and a first motor, a driving shaft of the first motor is in meshing transmission assembly with the rack, and the first motor is fixed on the loading and unloading robot.

Further, install the elevating system who is used for driving flexible arm adjustment from top to bottom on the stand, elevating system includes second guide structure and second drive structure.

Further, the second drive structure includes second motor and drive chain, meshing transmission between the drive shaft of drive chain and second motor, drive chain extends the setting along vertical direction, flexible arm is fixed with drive chain.

Further, the second guide structure comprises a guide groove, a walking wheel and a side deviation wheel, the guide groove is formed in the stand column, the walking wheel and the side deviation wheel are fixedly connected with the feeding and discharging robot, the side deviation wheel is assembled in the guide groove in a guiding sliding mode, and the walking wheel is used for being in top pressure contact with the surface of the stand column.

Further, a control box is further arranged on the bottom frame.

Further, the top of the upright post is also provided with a sliding contact which is used for being in conductive contact with the sliding contact line.

The embodiment of the utility model provides an go up unloading robot for automatic access intelligent warehouse compares with prior art, and its beneficial effect lies in: through adopting the utility model discloses a go up unloading robot, press from both sides the wheel and to avoid the stand about the direction to empty, prevent empting of unloading robot sliding direction (fore-and-aft direction) that the anti-tilt wheel can avoid, make the top of stand only can slide along preventing inclining the guide rail like this to the condition of empting has been taken place to the unloading robot on having avoided, has improved the stability and the security of unloading robot operation.

Drawings

Fig. 1 is a schematic diagram of an overall structure of an intelligent warehouse for automatic access of electrical components according to an embodiment of the present invention;

fig. 2 is a schematic Y-direction view of a shelf assembly of an intelligent warehouse for automatic storage and retrieval of electrical components according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a rack assembly X of the intelligent warehouse for automatically accessing electrical components according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a shelf assembly of an intelligent warehouse for automatic storage and retrieval of electrical components according to an embodiment of the present invention;

FIG. 5 is an enlarged view of a portion of FIG. 4 at A;

FIG. 6 is a partial enlarged view of FIG. 4 at B;

fig. 7 is a schematic perspective view of a loading and unloading robot for an intelligent warehouse for automatically storing and taking electrical components according to an embodiment of the present invention;

fig. 8 is a schematic structural view of an anti-tilting wheel set of an intelligent warehouse for automatic access of electrical components according to an embodiment of the present invention;

fig. 9 is a second motor structure diagram of a second driving structure of the intelligent warehouse for automatic access of electrical components according to the embodiment of the present invention;

fig. 10 is a schematic view of a lower sprocket structure of a second driving structure of an intelligent warehouse for automatic storage of electrical components according to an embodiment of the present invention;

fig. 11 is a schematic view of a first motor structure of a first driving structure of an intelligent warehouse for automatic access of electrical components according to an embodiment of the present invention;

fig. 12 is a schematic view of a translating concave wheel structure of a first guiding structure of an intelligent warehouse for automatic accessing of electrical components according to an embodiment of the present invention;

fig. 13 is a schematic top view of a telescoping robotic arm for an intelligent warehouse for automated storage and retrieval of electrical components in accordance with an embodiment of the present invention;

fig. 14 is a schematic bottom view of a telescopic robot arm of an intelligent warehouse for automatic storage and retrieval of electrical components according to an embodiment of the present invention;

fig. 15 is a schematic structural view of a third motor of the telescopic mechanical arm of the intelligent warehouse for automatically storing and taking electrical components according to the embodiment of the invention;

in the figure, 1-a shelf assembly, 2-a loading and unloading robot, 3-a jacking mechanism, 4-a main transportation way, 5-a branch transportation way, 6-goods, 7-a storage grid, 8-a support leg, 9-a translation roadway, 10-a translation guide rail, 11-a rack, 12-an anti-tilting guide rail, 13-a trolley line, 14-a chassis, 15-a telescopic mechanical arm, 16-a driving chain, 17-an anti-tilting wheel group, 18-a sliding contact, 19-a second driving structure, 20-a second guiding structure, 21-a control box, 22-a first guiding structure, 23-a first driving structure, 24-a lower chain group, 25-an anti-tilting concave wheel, 26-a pinch wheel group, 27-a second motor, 28-an upper chain wheel and 29-a lower chain wheel, 30-a first motor, 31-a first gear, 32-a translational concave wheel, 33-a synchronous belt, 34-a third motor, 35-a pallet fork, 36-a travelling wheel and 37-a side deflection wheel.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

As shown in fig. 1 to 15, a loading and unloading robot 2 (hereinafter referred to as a loading and unloading robot 2) for automatically storing and taking an intelligent warehouse according to a preferred embodiment of the present invention. Go up unloading robot 2 and include chassis 14 and fix the stand on chassis 14, install the translation mechanism that is used for driving go up unloading robot 2 and remove on chassis 14, the direction is slided and is equipped with flexible arm 15 on the stand, anti-tilt mechanism is still installed at the top of stand, anti-tilt mechanism includes anti-tilt wheel set 17 and anti-tilt guide rail 12, anti-tilt guide rail 12 is used for fixing with the goods shelves, anti-tilt wheel set 17 is including pinch roller pair 26 and anti-tilt concave wheel 25, pinch roller pair 26 includes two parallel arrangement's gyro wheel, the axis of rotation of gyro wheel sets up with anti-tilt concave wheel 25's axis of rotation is perpendicular, anti-tilt guide rail 12 centre gripping is between two gyro wheels and transversely inserts in anti-tilt concave wheel 25's circumferential groove.

Specifically, intelligent warehouse includes that the setting is at inside goods shelves subassembly 1, the last unloading robot 2, climbing mechanism 3 and the conveying component in the warehouse in this embodiment. Shelf components 1 are provided with threely altogether in this embodiment, and three shelf components 1 set up in parallel, as shown in fig. 3, each shelf components 1 is the door frame form, and each shelf components 1's inside all is provided with the translation tunnel 9 that supplies the translation of feeding and blanking robot 2 promptly, and each shelf components 1 extends the setting along the X direction in this embodiment, and the setting also extends the setting along the X direction in the translation tunnel 9 of shelf components 1 inside. All be provided with a plurality of storage check 7 in each goods shelves subassembly 1, these storage check 7 distribute in translation tunnel 9's both sides and be the matrix form and arrange. As shown in fig. 2, the shelf assembly 1 is a cubic frame structure in this embodiment, the shelf assembly 1 is formed by welding a vertical rod and a cross beam, and the cross beam is disposed on the outer surface of the shelf assembly 1. In order to realize the support of goods 6, still welded fastening has a plurality of stabilizer blade pairs in goods shelves subassembly 1 in this embodiment, and the stabilizer blade is to including two stabilizer blades 8 that mirror symmetry set up, and a plurality of stabilizer blades 8 have all been welded to both sides (X direction) around each montant in this embodiment. Any two adjacent vertical rods and the corresponding support legs are paired to form the storage lattice 7. When depositing goods 6, the stabilizer blade 8 that corresponds the storage lattice 7 below can support goods 6 to the storage of shelving to goods 6 is realized. In this embodiment, the goods 6 are turnover boxes with sizes matched with the storage grids 7, and corresponding products are placed in the turnover boxes in a unified manner.

Go up unloading robot 2 in this embodiment and be provided with three altogether, three unloading robot 2 of going up respectively with three goods shelves subassembly 1 one-to-one, each unloading robot 2 of going up can remove along the translation tunnel 9 that corresponds goods shelves subassembly 1. As shown in fig. 3, the feeding and discharging robot 2 in this embodiment is provided with a translation mechanism, a lifting mechanism, and a telescopic mechanical arm 15. The translation mechanism is used for driving the loading and unloading robot 2 to move along the translation roadway 9, and the lifting mechanism is used for lifting the telescopic mechanical arm 15 to a height position corresponding to the corresponding storage grid 7. The telescopic mechanical arm 15 can perform telescopic movement along the Y direction, so that the goods 6 are stored in the corresponding storage grid 7. The tunnel robot in this embodiment includes a bottom frame 14 and a vertical column disposed on the bottom frame 14, the vertical column is vertically fixed on the bottom frame 14, and the telescopic mechanical arm 15 in this embodiment is slidably mounted on the vertical column. In this embodiment, the chassis 14 is further provided with a control box 21, and various electronic components for controlling the loading and unloading robot 2 to move are mounted in the control box 21.

The translation mechanism in the embodiment comprises a first guide structure 22 and a first driving structure 23, the first guide structure 22 is arranged to extend along the translation roadway 9, and the first guide structure 22 is used for limiting the degree of freedom of the loading and unloading robot 2 so as to enable the loading and unloading robot 2 to translate along the translation roadway 9 in a guiding manner; the first driving structure 23 is used for driving the loading and unloading robot 2 to move along the translation roadway 9 in a guiding manner. Specifically, first guide structure 22 includes translation guide rail 10 and translation concave wheel 32 in this embodiment, as shown in fig. 3, fig. 4 and fig. 5, translation guide rail 10 has two, and two translation guide rails 10 all set up in the bottom of shelf component 1, and two translation guide rails 10 set up respectively in translation tunnel 9 left and right sides border position and extend the setting along translation tunnel 9. As shown in fig. 12, the translating concave wheel 32 is a common concave wheel structure in this embodiment, and a ring-shaped groove is provided on the outer circumferential surface of the translating concave wheel 32, and the translating guide rail 10, i.e. the transverse insertion card, is fitted in the ring-shaped groove of the translating concave wheel 32. In the present embodiment, a total of four translational concave wheels 32 are mounted on the chassis 14, wherein two translational concave wheels 32 are inserted and assembled with one translational guide rail 10, and the other two translational concave wheels 32 are inserted and assembled with the other translational guide rail 10. When the feeding and blanking robot 2 translates along the translation roadway 9, the four translation concave wheels 32 roll along the corresponding translation guide rails 10, and the inner walls of the two sides of the translation concave wheels 32 are stopped and limited with the translation guide rails 10, so that the movement of the feeding and blanking robot 2 in the Y direction is limited.

The first driving structure 23 in this embodiment includes a rack 11 and a first motor 30, the rack 11 extends along the translation lane 9, a driving shaft of the first motor 30 is engaged with the rack 11 for transmission, and the first motor 30 is fixed on the loading and unloading robot 2. Specifically, as shown in fig. 5 and 11, in the present embodiment, the rack 11 is fixed at the bottom of the shelf assembly 1 and disposed at a position between the two translation guide rails 10, the driving shaft of the first motor 30 is connected with a speed reducer, the output shaft of the speed reducer is mounted with the first gear 31, and the first motor 30 is directly fixed on the bottom frame 14. When the tunnel robot needs to translate along the X direction, the first motor 30 is started, and the translation driving of the feeding and discharging robot 2 can be realized through the meshing transmission of the first gear 31 and the rack 11.

The lifting mechanism in the embodiment comprises a second guide structure 20 and a second driving structure 19, the second guide structure 20 is arranged to extend along the vertical direction, and the second guide structure 20 is used for limiting the degree of freedom of the telescopic mechanical arm 15 so as to enable the telescopic mechanical arm 15 to move along the vertical direction; the second driving structure 19 is used for driving the telescopic mechanical arm 15 to translate along the vertical direction. Specifically, as shown in fig. 7 and 14, the second guide structure 20 in this embodiment includes a guide groove disposed on the upright, and further includes a traveling wheel 36 and a side deflecting wheel 37 fixedly connected to the telescopic robot arm 15. In this embodiment, the upright is in a quadrangular prism shape, two guide grooves are formed in the upright, the two guide grooves are respectively formed in the left side surface and the right side surface (Y direction) of the upright, in this embodiment, four traveling wheels 36 and four side deflection wheels 37 are arranged, two of the four side deflection wheels 37 are all guided to be inserted into one guide groove, and the other two side deflection wheels 37 are all guided to be inserted into the other guide groove. In this embodiment the four road wheels 36 are in sliding contact with the rear side of the upright. The up-and-down guiding sliding of the telescopic mechanical arm 15 is realized through the guiding and limiting effects of the four walking wheels 36 and the four side deflection wheels 37, and the sliding stability is ensured.

The second driving structure 19 in this embodiment includes a second motor 27 and a driving chain 16, the driving chain 16 and a driving shaft of the second motor 27 are in meshing transmission, the driving chain 16 extends along the vertical direction, and the telescopic mechanical arm 15 is fixed with the driving chain 16. Specifically, as shown in fig. 7, 9 and 10, in this embodiment, the second motor 27 is installed at the top of the upright, the driving shaft of the second motor 27 is also installed with a speed reducer, an output shaft of the speed reducer is installed with an upper sprocket 28, in this embodiment, the bottom frame 14 is correspondingly provided with a lower chain set 24, the lower chain set 24 includes a lower sprocket 29, the upper sprocket 28 and the lower sprocket 29 are respectively located at the upper end and the lower end of the upright, the upper side and the lower side of the driving chain 16 respectively bypass the upper sprocket 28 and the lower sprocket 29, and in this embodiment, the telescopic mechanical arm 15 is fixedly connected with the driving chain 16. When the telescopic mechanical arm 15 needs to be driven to move up and down, the driving chain 16 can be rotated by starting the second motor 27, and the rotating driving chain 16 can drive the telescopic mechanical arm 15 to move up and down.

The telescopic mechanical arm 15 in this embodiment includes a plurality of layers of forks 35 stacked up and down, specifically four layers in this embodiment, and each layer of forks 35 is plate-shaped. The telescopic mechanical arm 15 further comprises a third motor 34 and a timing belt 33, wherein the third motor 34 is used for driving the timing belt 33 to rotate, and the timing belt 33 is used for driving each layer of fork 35 to extend along the Y direction. Because the left and right sides in translation tunnel 9 in this embodiment all is provided with storage check 7, in order to realize the placing of two sides storage check 7 goods 6, flexible arm 15 is two-way flexible in this embodiment, and each layer fork 35 can stretch out and draw back to Y direction positive direction and reverse direction promptly. The specific structure and the telescopic mechanism of the telescopic mechanical arm 15 in the embodiment are the prior art, and are also disclosed in the chinese patent with the publication number CN106429149B and the name of the invention being a manipulator of the intelligent storage loading and unloading robot 2, so the detailed description of the specific structure and the movement mechanism of the telescopic mechanical arm 15 is not repeated in the embodiment.

In order to prevent the situation that the loading and unloading robot 2 is easy to topple due to heavy goods 6, an anti-toppling mechanism is further arranged at the top of the upright column in the embodiment. The anti-tilt mechanism comprises an anti-tilt guide rail 12 and an anti-tilt wheel set 17, wherein the anti-tilt guide rail 12 is arranged on the goods shelf assembly 1 and extends along the translation roadway 9, the anti-tilt wheel set 17 is arranged on the feeding and discharging robot 2, the anti-tilt wheel set 17 comprises an anti-tilt concave wheel 25 and a clamping wheel pair 26, the clamping wheel pair 26 comprises two rollers which are arranged in parallel, the rotating axis of each roller is perpendicular to that of the anti-tilt concave wheel 25, and the anti-tilt guide rail 12 is clamped between the two rollers and transversely inserted into a circumferential groove of the anti-tilt concave wheel 25. Specifically, as shown in fig. 6, 7 and 8, in this embodiment, the anti-roll guide rail 12 is installed at the top of the translation roadway 9, a mounting plate is installed at the top of the upright column, the mounting plate is a rectangular plate, the anti-roll wheel set 17 is installed on the rectangular plate, two anti-roll concave wheels 25 are provided in this embodiment, and two pairs of pinch wheel sets 26 are also provided. Two anti-concave wheels 25 and two pairs of clamping wheel pairs 26 are respectively arranged on the front side and the rear side (X direction) of the rectangular plate in a mirror symmetry manner, each clamping wheel pair 26 comprises two idler wheels, the rotating axes of the two idler wheels are all along the Z direction, and the rotating axis of the anti-concave wheel 25 is along the Y direction. In this embodiment, the two rollers of each pinch roller pair 26 are respectively located on both sides of the anti-roll rail 12, and the anti-roll rail 12 is further transversely inserted into the annular groove of the anti-roll concave wheel 25. The arrangement of the anti-tilting mechanism avoids the situation that the top of the feeding and discharging robot 2 swings, and avoids the problem of easy instability when carrying heavier goods 6. In this embodiment, the anti-roll rail 12 has an L-shaped cross section, and the anti-roll rail 12 includes two folded edges arranged at an included angle, one of the two folded edges is used for being fixedly connected with the rack, and the other folded edge is used for being clamped between the two rollers and being transversely inserted into the circumferential groove of the anti-roll wheel 25. In this embodiment the anti-roll rail 12 is angle iron and the angle formed by the two folds is 90.

In this embodiment, a sliding contact 18 is further installed at the top of the upright column, a sliding contact line 13 is installed at the top of the translation roadway 9, and the sliding contact 18 and the sliding contact line 13 are in conductive contact, so that driving power can be provided for the loading and unloading robot 2. Note that, in the present embodiment, the control box 21 also functions as a distribution box. The operation of each motor on the loading and unloading robot 2 is controlled by the control box 21.

The conveying assembly in this embodiment is a roller type conveying assembly, i.e. a roller type conveyor which is common in daily life. The drum-type conveying assembly is provided with a plurality of rollers, and goods 6 on the rollers are transported by rolling drive of the rollers. As shown in fig. 1, the conveyor assembly in this embodiment includes two main transport lanes 4 and six sub-transport lanes 5, the two main transport lanes 4 extending in the Y direction, and the six sub-transport lanes 5 extending in the X direction. In this embodiment, the grid shelf assembly 1 corresponds to the two sub transportation lanes 5 respectively, and the two sub transportation lanes 5 are located on two sides of the translation roadway 9 respectively. In order to realize the mutual transfer of the main conveying passage 4 and the branch conveying passages 5, a sorting machine is arranged at the switching position of each main conveying passage 4 and each branch conveying passage 5 in the embodiment. Due to the arrangement of the sorting machine as a common structure in daily production, details are not given in the present embodiment. It should be noted that, in the present embodiment, the two ends of the two main transportation paths 4 are respectively a cargo 6 inlet and a cargo 6 outlet. Climbing mechanism 3 can lift the goods 6 on the branch transport way 5 in this embodiment to make things convenient for flexible arm 15 to insert the below of goods 6, then through the flexible arm 15 of elevating system lifting can realize goods 6 from the transport way 5 of branch to the transportation between the unloading robot 2. Since the jacking mechanism 3 is not a protection scheme of the application, the specific structure of the jacking mechanism 3 is not described in detail.

The utility model discloses a working process does: when the feeding and discharging robot 2 walks along the translation roadway 9, the two rollers of the clamping roller pair 26 can be clamped at the two sides of the anti-tilting guide rail 12, so that the top of the upright post is prevented from inclining towards the Y-axis direction, the two anti-tilting concave rollers 25 can be in jacking contact with the bottom surface of the anti-tilting guide rail 12, the top of the upright post is prevented from inclining towards the X-axis direction, and the moving stability of the feeding and discharging robot 2 is ensured.

To sum up, the embodiment of the utility model provides a go up unloading robot 2, it is through adopting the utility model discloses a go up unloading robot 2 has avoided going up unloading robot 2 and has taken place the condition of empting, has improved the stability and the security of going up unloading robot 2 operation.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.

Claims (10)

1. The utility model provides a go up unloading robot for automatic access intelligent warehouse which characterized in that: including chassis (14) and fix the stand on chassis (14), install the translation mechanism that is used for the drive to go up unloading robot (2) and removes on chassis (14), the direction is slided and is equipped with flexible arm (15) on the stand, anti-tilt mechanism is still installed at the top of stand, anti-tilt mechanism is including preventing inclining wheelset (17) and preventing inclining guide rail (12), it is fixed with the goods shelves that prevent inclining guide rail (12), it includes pinch roller pair (26) and prevents inclining concave wheel (25) to prevent inclining wheelset (17), pinch roller pair (26) includes two parallel arrangement's gyro wheel, the axis of rotation of gyro wheel sets up with preventing inclining concave wheel (25)'s axis of rotation is perpendicular, prevent inclining guide rail (12) centre gripping and transversely insert in preventing inclining concave wheel (25)'s circumference recess between two gyro wheels.

2. The loading and unloading robot for the automatic access intelligent warehouse according to claim 1, characterized in that: the mounting panel is installed at the top of stand, prevent inclining wheelset (17) and fix on the mounting panel.

3. The loading and unloading robot for the automatic access intelligent warehouse according to claim 2, characterized in that: the two anti-roll wheel sets (17) are arranged on two sides of the mounting plate in a mirror symmetry mode.

4. The loading and unloading robot for the automatic access intelligent warehouse according to claim 1, characterized in that: the cross section of the anti-tilt guide rail (12) is L-shaped, the anti-tilt guide rail (12) comprises two folded edges arranged at an included angle, one of the two folded edges is fixedly connected with the goods shelf, and the other folded edge is clamped between the two rollers and transversely inserted into a circumferential groove of the anti-tilt concave wheel (25).

5. The loading and unloading robot for the automatic access intelligent warehouse according to claim 1, characterized in that: the translation mechanism comprises a first guide structure (22) and a first driving structure (23), the first guide structure (22) comprises a translation guide rail (10) and a translation concave wheel (32) which are guided to be clamped, the first driving structure (23) comprises a rack (11) and a first motor (30), a driving shaft of the first motor (30) is in meshing transmission assembly with the rack (11), and the first motor (30) is fixed on the feeding and discharging robot (2).

6. The loading and unloading robot for the automatic access intelligent warehouse according to claim 1, characterized in that: the lifting mechanism is used for driving the telescopic mechanical arm (15) to adjust up and down and is installed on the upright column, and the lifting mechanism comprises a second guide structure (20) and a second driving structure (19).

7. The loading and unloading robot for the automatic storage and retrieval intelligent warehouse according to claim 6, characterized in that: the second driving structure (19) comprises a second motor (27) and a driving chain (16), the driving chain (16) and a driving shaft of the second motor (27) are in meshing transmission, the driving chain (16) extends along the vertical direction, and the telescopic mechanical arm (15) is fixed with the driving chain (16).

8. The loading and unloading robot for the automatic storage and retrieval intelligent warehouse according to claim 6, characterized in that: second guide structure (20) include guide way, walking wheel (36) and side deflection wheel (37), the guide way sets up on the stand, walking wheel (36) and side deflection wheel (37) all with go up unloading robot (2) fixed connection, side deflection wheel (37) direction slip assembly is in the guide way, walking wheel (36) are used for with stand surface roof pressure contact.

9. The loading and unloading robot for the automatic access intelligent warehouse according to claim 1, characterized in that: the chassis (14) is also provided with a control box (21).

10. The loading and unloading robot for the automatic access intelligent warehouse according to claim 1, characterized in that: the top of the upright post is also provided with a sliding contact (18) used for being in conductive contact with the sliding contact line (13).

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