WO2020062208A1 - 一种四向穿梭式搬运机器人 - Google Patents

一种四向穿梭式搬运机器人 Download PDF

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Publication number
WO2020062208A1
WO2020062208A1 PCT/CN2018/108953 CN2018108953W WO2020062208A1 WO 2020062208 A1 WO2020062208 A1 WO 2020062208A1 CN 2018108953 W CN2018108953 W CN 2018108953W WO 2020062208 A1 WO2020062208 A1 WO 2020062208A1
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WIPO (PCT)
Prior art keywords
hydraulic cylinder
hydraulic
wheel
driving
handling robot
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PCT/CN2018/108953
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English (en)
French (fr)
Inventor
许庆波
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上海速锐信息技术有限公司
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Application filed by 上海速锐信息技术有限公司 filed Critical 上海速锐信息技术有限公司
Priority to PCT/CN2018/108953 priority Critical patent/WO2020062208A1/zh
Priority to JP2020544822A priority patent/JP7026247B2/ja
Publication of WO2020062208A1 publication Critical patent/WO2020062208A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Definitions

  • the invention relates to storage management and cargo handling equipment, and more particularly, to a four-way shuttle-type robot.
  • Handling robots commonly used in three-dimensional warehouses in the prior art include rail roadway stackers and son-mother car systems.
  • the rail roadway stacker is a lifting and stacking device in an automated three-dimensional warehouse.
  • the rail roadway stacker mainly includes a machine body, a loading platform, a horizontal walking mechanism, a lifting mechanism and a fork mechanism, which can be realized through three-axis coordinated movement.
  • Storage of goods includes a longitudinally-moving shuttle car and a transversely-moving shuttle mother car, and a vertical-moving elevator unit has become a son-mother car system with the shuttle car as its core.
  • a trackway stacker requires a stacker track every 1 or 2 cargo lanes, which is a waste of warehouse space, and the stacker is more difficult to handle for heavy cargo.
  • the son-mother car system is composed of a shuttle mother car and a shuttle car, which is equivalent to two cars. Therefore, the height of the son-mother car system is relatively high. For a three-dimensional warehouse, the number of layers that can be built will decrease accordingly.
  • the son and mother car system has a son car and a mother car, so the total weight is relatively large. The requirements for shelves are higher, the cost of the shelves is higher, and the son and mother cars want to go to different floors because of the weight. Difficult, it is more difficult to transport to different floors with the weight of the cargo itself. Poor running ability.
  • the present disclosure proposes a traveling wheel and a track traveling system with the traveling wheel.
  • a four-way shuttle conveying robot includes a base and a walking wheel installed on the base.
  • the conveying robot includes a driving device for walking, A hydraulic reversing system for changing the direction of travel, an operating system for storing and receiving goods, and a control system; wherein the traveling wheels include a first wheel set for traveling on a first aisle and for driving on a second aisle A second wheel set of which the first wheel set and the second wheel set are at different heights and are used for driving in different directions, and at least one of the first wheel set and the second wheel set is configured to serve as Up and down movable wheel set for reversing;
  • the hydraulic reversing system includes a reversing driving hydraulic cylinder group, a reversing driving mechanism, and a hydraulic pump station, the reversing driving mechanism and the reversing driving hydraulic cylinder
  • the hydraulic cylinders in the group are connected, and the hydraulic pumping station provides power for the hydraulic cylinders for the commutation driving,
  • the reversing driving mechanism may be configured to drive each of the traveling wheels in the liftable wheel set to move synchronously in a vertical direction.
  • the reversing driving mechanism may also be configured to drive each of the traveling wheels in the liftable wheel set to asynchronously move in a vertical direction.
  • the reversing driving mechanism When the reversing driving mechanism can be configured to drive each traveling wheel in the liftable wheel group to move synchronously in the vertical direction, the reversing driving mechanism may include a hydraulic cylinder in the reversing driving hydraulic cylinder group. A connecting block connected to the cylinder rod, and an axle bearing connected to the connecting block for supporting the liftable wheel set.
  • the work system may include a pallet provided on the top of the handling robot for operating a cargo or a tray containing the cargo, and the work system further includes a An operation driving hydraulic cylinder group for driving the pallet to move in a vertical direction, the pallet is connected to a cylinder rod of a hydraulic cylinder in the operation driving hydraulic cylinder group and moves to a position as the cylinder rod moves.
  • the hydraulic cylinders in the operation driving hydraulic cylinder group are connected in series and the respective hydraulic cylinders are configured to be the same.
  • the operation driving hydraulic cylinder may share a hydraulic power unit with the reversing driving hydraulic cylinder group.
  • the first channel may be a main channel, the first group of wheels is a main channel wheel group; the second channel is a sub-channel, and the second wheel group Is a sub-channel wheel set, the main channel and the sub-channel are perpendicular to each other;
  • the traveling driving mechanism includes a power motor and a speed reducer connected to the power motor, and the speed reducer includes two output shafts, and the two The output shafts output power in two vertical directions, and the output power in one direction rotates the main channel wheel shaft of the main channel wheel set through the transmission mechanism; the other direction output power rotates the sub-channel wheel shaft of the sub-channel wheel set through the transmission mechanism.
  • the power motor transmits power to the main channel wheel axle and the sub-channel wheel axle through the reducer and then the transmission device, and the driving wheels in the main channel wheel set are directly fixed on the main channel wheel axle, and the sub-channel shaft
  • the sprocket chain mechanism is then used to drive the short shaft on which the sub-channel wheels are located, so that the driving wheels in the sub-channel wheels are rotated.
  • the main channel wheel axle may be configured to be movable between two positions in the vertical direction, and the position of the output shaft for driving the main channel wheel axle in the reducer is fixed and is located between the two main channel wheel axles. The midpoint of the position is above the horizontal position.
  • the running driving mechanism includes a power motor that drives the walking wheels of the handling robot to walk.
  • the power motor is provided with an encoder for recording the angular displacement of the rotation of the motor and the The encoder transmits the recorded angular displacement to the control system; the control system calculates the actual displacement traveled by the walking wheel through the conversion of the angular displacement, and positions the handling robot according to the actual displacement, thereby The moving robot is controlled to move to or stop at a predetermined position.
  • the handling robot may further include a position calibration system including an interrogator arranged on the handling robot and a transponder arranged on the first channel and the second channel. The control system adjusts the position according to the position information fed back by the position calibration system.
  • the beneficial effects obtained are at least: reducing the weight and volume of the robot, improving the structure, improving the running ability, improving the load capacity, and improving the flexibility of the shuttle car; And improve the efficiency of cargo access.
  • FIG. 1 is a schematic diagram showing a use state of a four-way shuttle handling robot in a first passage and a second passage in a three-dimensional warehouse according to an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram showing another use state of a four-way shuttle robot in a warehouse according to an embodiment of the present disclosure
  • FIG. 3 is a schematic top view of a travel driving device of a four-way shuttle robot according to an embodiment of the present disclosure
  • FIG. 4 is a schematic side view of a travel driving device in the four-way shuttle robot shown in FIG. 3;
  • FIG. 5 shows a schematic diagram of a sub-channel wheel in the handling robot in FIG. 4;
  • FIG. 6A and 6B are schematic diagrams of a main channel wheel of a handling robot, wherein FIG. 6A is a state where the main channel wheel is in a raised position, and FIG. 6B is a state where the main channel wheel is in a dropped position;
  • FIG. 7 is a schematic diagram of an arrangement manner of a commutation driving hydraulic cylinder group in the handling robot in FIG. 4;
  • FIG. 7 is a schematic diagram of an arrangement manner of a commutation driving hydraulic cylinder group in the handling robot in FIG. 4;
  • FIG. 8 illustrates an embodiment of an arrangement of the valves in the reversing driving hydraulic cylinder group in FIG. 7;
  • FIG. 9 illustrates a schematic diagram of a hydraulic reversing system in a four-way shuttle handling robot according to an embodiment of the present disclosure
  • FIG. 10 shows a schematic diagram of a reversing mechanism in one embodiment of the handling robot shown in FIG. 4;
  • FIG. 11 is an enlarged schematic view of a partial structure in the reversing mechanism shown in FIG. 10;
  • FIG. 12 is a schematic diagram showing an arrangement of a main axle in a travel driving device in a four-way shuttle conveyance robot in a preferred embodiment according to the present disclosure.
  • the present disclosure proposes a four-way shuttle robot.
  • FIGS. 1 and 2 are schematic diagrams showing two states of use of a four-way shuttle handling robot (hereinafter referred to as “handling robot”) 100 in a three-dimensional warehouse according to an embodiment of the present disclosure.
  • the handling robot runs on the shelf of the three-dimensional warehouse.
  • the shelves are divided into the main and sub-aisles.
  • the sub-aisles are used to store goods.
  • the main robot and the sub-aisle can enter different sub-aisles through the main aisle. of.
  • the handling robot according to the present disclosure can realize traveling on a rack aisle in a three-dimensional warehouse, reversing a main aisle and a sub aisle, picking and placing goods, and the like. It is shown in FIG. 2 that a handling robot according to the present disclosure can utilize a hoist 200 to reach different heights of cargo levels.
  • a base and a traveling wheel mounted on the base are included.
  • the handling robot includes a traveling driving device for walking, a hydraulic reversing system for changing the traveling direction, an operating system for storing and storing goods, and a control system.
  • the walking wheel includes a first wheel set for traveling on the first passage and a second wheel set for traveling on the second passage.
  • the first and second aisles are usually arranged at different heights and different directions, as described above, so the first and second wheel sets are at different heights and are used to drive in different directions.
  • At least one of the first wheel set and the second wheel set is configured as an up-and-down movable wheel set for reversing.
  • the walking wheels in the first wheel group are main channel wheels 20 that can walk on the main channel (first channel), and the second channel is a sub-channel.
  • the traveling wheel traveling on the second channel is a sub-channel wheel 30.
  • the hydraulic reversing system in the handling robot includes a reversing driving hydraulic cylinder group, a reversing driving mechanism, and a hydraulic pump station.
  • the first passage and the second passage in the three-dimensional warehouse are arranged in different directions.
  • the walking wheels in the first wheel group are main channel wheels 20 that can walk on the main channel (first channel), and the second channel is a sub-channel.
  • the traveling wheel traveling on the second channel is a sub-channel wheel 30.
  • the hydraulic reversing system includes a reversing driving hydraulic cylinder group, a reversing driving mechanism, and a hydraulic pump station.
  • the reversing driving mechanism is connected with the reversing hydraulic cylinder in the reversing driving hydraulic cylinder group.
  • the hydraulic pump station provides power for the reversing driving hydraulic cylinder group 20, and the reversing driving mechanism drives the liftable wheel group to move in the vertical direction according to the instruction of the control system.
  • the main aisle wheel set 20 is a liftable wheel set, and the hydraulic pump station may also be another suitable driving device.
  • the reversing driving mechanism is configured to drive each of the traveling wheels in the liftable wheel set to move synchronously or asynchronously in the vertical direction.
  • the reversing driving mechanism is configured to drive each of the traveling wheels in the liftable wheel group to move synchronously in the vertical direction, so that the conveying robot can smoothly complete the reversing.
  • each of the walking wheels in the liftable wheel set is configured to be able to move asynchronously, which can eliminate the adverse effect of the track slope on the operation.
  • the reversing driving mechanism for driving the traveling wheel to move in the vertical direction includes a connecting block 6-1 connected to a cylinder rod of a hydraulic cylinder in the reversing driving hydraulic cylinder group, and This connecting block is connected to the axle bearing 6-2 for supporting the liftable wheel set.
  • 6-3 is a liftable wheel set
  • 6-4 is a loose nut.
  • the hydraulic cylinders in the reversing driving hydraulic cylinder group are configured as follows: at least one hydraulic cylinder is configured for each axle of the liftable wheel group; each hydraulic cylinder in the reversing driving hydraulic cylinder group is configured identically and connected in series by pipeline Together.
  • the cylinder bodies of the hydraulic cylinders in the reversing driving hydraulic cylinder group can be fixed, and the cavity of each hydraulic cylinder can be filled with liquid in advance.
  • valves and pipelines in the reversing driving hydraulic cylinder group are configured as follows: when the cylinder rod is raised, the hydraulic oil at the hydraulic pump outlet is driven from The lower cavity of the first hydraulic cylinder enters, and the hydraulic oil in the upper cavity of the first hydraulic cylinder enters the lower cavity of the next hydraulic cylinder through the pipeline. The hydraulic oil in the upper cavity of the next hydraulic cylinder enters the next through the pipeline.
  • the lower cavity of the hydraulic cylinder is filled with oil until the lower cavity of each hydraulic cylinder is filled, so that each cylinder rod is in a synchronous lifting process; when the cylinder rod is lowered, the hydraulic oil at the hydraulic pump outlet is from the first
  • the hydraulic oil in the lower cavity of the first hydraulic cylinder enters the upper cavity of the next hydraulic cylinder through the pipeline.
  • the hydraulic oil in the lower cavity of the next hydraulic cylinder enters the next hydraulic cylinder through the pipeline.
  • the upper cavity is filled with oil until the upper cavity of each hydraulic cylinder is filled, so that each cylinder rod is in a synchronous descending process.
  • the hydraulic reversing system When the handling robot is in the position of the first and second aisles and the control system of the handling robot issues a command to change the driving direction, the hydraulic reversing system performs the following operations:
  • the reversing drive mechanism drives each traveling wheel in the liftable wheel set to move up to a raised position in a vertical direction, so that the first wheel set And another wheel group in the second wheel group, which does not act as a liftable wheel group, contacts the new driving passage to complete the commutation.
  • the reversing drive mechanism drives each walking wheel in the liftable wheel set in a vertical direction. Move down to the drop position and make contact with the new driving aisle, so that the other wheels in the first and second wheels that are not acting as liftable wheels are out of contact with the existing driving aisle and complete the change. to.
  • the first wheel set and the second wheel set are configured such that the running directions of the two wheels are perpendicular to each other.
  • the walking directions of the wheel sets of the transport robot can be configured according to the actual situation of the track in the three-dimensional warehouse.
  • the first passage and the second passage in the three-dimensional warehouse are arranged at different heights.
  • the reversing mode of the transport robot traveling from the X direction to the Y direction is as follows: the X-direction traveling wheels are retracted to the machine body and leave the track. The running wheels in the Y direction touch the ground and travel.
  • the first wheel set when the first wheel set is a liftable wheel set, when the handling robot walks on the first passage, the first wheel set is located at a position contacting the first track after being lowered; when When walking on the second channel, the first wheel set is in a raised state.
  • the first channel is a main channel and the first group of wheels is The main channel wheel group 20; the second channel is a sub channel, and the second wheel group is a sub channel wheel group 30, and the main channel and the sub channel are perpendicular to each other.
  • the driving driving mechanism of the handling robot includes a power motor and a speed reducer connected to the power motor.
  • the speed reducer includes two output shafts. The two output shafts output power in two vertical directions, and the output power in one direction makes the main channel through the transmission mechanism.
  • the main channel wheel axle 40 of the wheel set 20 rotates; the output power in the other direction causes the sub-channel wheel axle 50 of the sub-channel wheel set 30 to rotate through the transmission mechanism.
  • the power motor transmits power to the main channel wheel axle 40 and the sub-channel wheel axle 50 through the reducer, and then through the transmission device.
  • the driving wheels in the main channel wheel set are directly fixed to the main channel wheel axle.
  • After the sub-channel wheel axle 50 receives power, it passes through The sprocket chain mechanism is transmitted to the short axis where the sub-channel wheel 30 is located, so that the driving wheels in the sub-channel wheel set are rotated.
  • the main channel wheel axle 40 is configured to be movable between two positions in the vertical direction, and the position of the output shaft in the reducer for driving the main channel wheel axle (the right side in the view) (Shown) is fixed and located at a position where the midpoint of the two positions of the main channel wheel shaft 40 is higher than the horizontal position.
  • two power sources are provided, one of which is used to drive the handling robot, that is, the power motor 70.
  • This power source may be a DC 48V servo motor, referred to as a travel motor. ;
  • Another power source is used for the two functions of the transfer robot and the pallet lifting to realize the loading and unloading and switching of the driving direction of the main channel and the sub-channel.
  • This power source is used for driving the hydraulic system and can be a DC 48V servo
  • the motor may also be a hydraulic pumping station, or it may be simply a hydraulic motor.
  • FIG. 7 shows a hydraulic pump 80 as a power source of the hydraulic system, a reversing driving valve block group 81 for reversing driving, and a jacking driving slider group 82 for lifting, that is, the operating system.
  • the running motor is output in two vertical directions through a speed reducer, and the output power in one direction rotates the wheels in the direction of the main channel through the transmission mechanism.
  • the output power in the other direction causes the wheels in the direction of the sub-channel to rotate through the transmission mechanism.
  • the two shafts output by the running motor are respectively transmitted to the main channel shaft 40 and the sub channel shaft 50 through a sprocket chain mechanism, and the main channel wheel 20 is directly fixed on the main channel shaft. Therefore, the main channel When the shaft rotates, the main channel wheel rotates with it. After the sub-channel shaft obtains power, it can be transmitted to the short shaft where the sub-channel wheel is located through a sprocket chain mechanism, so that the sub-channel wheel 30 can rotate.
  • a sprocket tensioning device may be provided in the sprocket set to ensure accurate meshing between the chain and the sprocket.
  • a sprocket tensioning device may be provided in the sprocket set to ensure accurate meshing between the chain and the sprocket.
  • FIG. 4 there are 7 sprocket tensioning devices 55 in the sprocket set to ensure accurate meshing between the chain and the sprocket.
  • the hydraulic reversing system includes a hydraulic motor, a hydraulic pump, eight hydraulic cylinders, and hydraulic lines and other auxiliary components.
  • the actuator of this hydraulic system is 8 hydraulic cylinders, divided into two groups, a group of 4 hydraulic cylinders, which can be reversed.
  • FIG. 7 shows a schematic diagram of an arrangement of the commutation driving hydraulic cylinder group in the handling robot in FIG. 4;
  • FIG. 8 shows a layout of the valves in the commutation driving hydraulic cylinder group in FIG. 7. The examples.
  • FIG. 9 shows a schematic diagram of a hydraulic reversing system in a four-way shuttle handling robot according to one embodiment of the present disclosure.
  • FIG. 9 is a hydraulic principle diagram of one group of hydraulic cylinders.
  • the first hydraulic cylinder By opening the corresponding solenoid valve 1.1, 1.7, 1.8, 1.9, 1.10 and 1.6, 1.2, 1.3, 1.4, 1.5 to make the hydraulic oil at the hydraulic pump outlet from the lower cavity of the first hydraulic cylinder, the first hydraulic cylinder
  • the hydraulic oil in the upper cavity enters the lower cavity of the second hydraulic cylinder
  • the hydraulic oil in the upper cavity of the second hydraulic cylinder enters the lower cavity of the third hydraulic cylinder
  • the hydraulic oil in the upper cavity of the third hydraulic cylinder enters the fourth hydraulic pressure.
  • the lower chamber of the cylinder and the hydraulic oil in the upper chamber of the fourth hydraulic cylinder reach the oil inlet of the hydraulic pump, then the hydraulic cylinder rod is in a rising process, otherwise the hydraulic cylinder rod is in a descending process. Because the specifications of a group of hydraulic cylinders are the same, the volume of each cavity is the same. The incompressibility of hydraulic oil is used to keep the same volume of hydraulic pressure into each hydraulic cylinder to maintain synchronization.
  • the reversing of the sub-channel and the main channel can be achieved by lifting a group of 4 hydraulic cylinder rods, and the reversing of the 4 hydraulic cylinders is fixed.
  • the lower end of the cylinder rod is connected with a connection block by screws, and the main channel shaft is matched with the connection block through bearings.
  • the main channel axis also moves up and down.
  • the main channel wheel and the sub channel wheel are alternately placed on the track to complete the commutation.
  • the main channel and the sub channel are at different heights.
  • the main channel track is lower than the sub channel.
  • the operating system includes: a pallet provided on the top of the handling robot for operating a cargo or a tray containing the cargo;
  • the operation of the pallet moving in the vertical direction drives the hydraulic cylinder group.
  • the supporting plate is connected with the cylinder rod of the hydraulic cylinder in the driving cylinder group and moves the position according to the movement of the cylinder rod.
  • the hydraulic cylinders in the operational drive cylinder group are connected in series and the individual hydraulic cylinders are configured to be the same.
  • the operation driving hydraulic cylinder shares a hydraulic power unit with the above-mentioned reversing driving hydraulic cylinder group.
  • the hydraulic reversing system includes a hydraulic motor, a hydraulic pump, eight hydraulic cylinders, and hydraulic lines and other auxiliary components.
  • the actuator of this hydraulic system is 8 hydraulic cylinders, which are divided into two groups. One group of 4 hydraulic cylinders is used for direction change, and the other group of hydraulic cylinders is used for operating system.
  • the corresponding solenoid valve is opened, so that a group of 4 hydraulic cylinder rods are raised or lowered simultaneously.
  • Two pallets can be set, and each two hydraulic cylinder rods are connected to a pallet.
  • the pallets are raised and lowered with the lifting and lowering of the cylinder rods, and the pallets can lift or lower the pallets for storing goods, thereby achieving the purpose of storing and receiving goods.
  • the hydraulic oil at the hydraulic pump outlet is entered from the lower cavity of the first hydraulic cylinder, then the first hydraulic cylinder
  • the hydraulic oil in the upper cavity enters the lower cavity of the second hydraulic cylinder
  • the hydraulic oil in the upper cavity of the second hydraulic cylinder enters the lower cavity of the third hydraulic cylinder
  • the hydraulic oil in the upper cavity of the third hydraulic cylinder enters the fourth hydraulic pressure.
  • the lower chamber of the cylinder and the hydraulic oil in the upper chamber of the fourth hydraulic cylinder reach the oil inlet of the hydraulic pump, then the hydraulic cylinder rod is in a rising process, otherwise the hydraulic cylinder rod is in a descending process. Because the specifications of a group of hydraulic cylinders are the same, the volume of each cavity is the same.
  • the incompressibility of hydraulic oil is used to keep the same volume of hydraulic pressure into each hydraulic cylinder to maintain synchronization.
  • control system includes a module for controlling the hydraulic reversing system and the operating system as described above, and can also realize the Positioning and position correction.
  • the travel driving mechanism of the transfer robot includes a power motor that drives the walking wheels of the transfer robot to travel.
  • the power motor is further provided with an encoder for recording the angular displacement of the motor rotation, and the encoder transmits the recorded angular displacement to the control system.
  • the control system calculates the actual displacement amount traveled by the walking wheel through the conversion of the angular displacement amount, and positions the transfer robot according to the actual displacement amount, thereby controlling the transfer robot to move to or stop at a predetermined position.
  • a position calibration system for a four-way shuttle handling robot may include an inquiry machine arranged on the handling robot and the first passageway. And the answering machine on the second channel.
  • the control system of the handling robot adjusts the position according to the position information fed back by the position calibration system.
  • the interrogator may be a laser sensor capable of outputting a signal and reading a return signal;
  • the transponder is a positioning card preset with position information.
  • the power motor may be a motor, or any other suitable motor capable of outputting power according to a control instruction.
  • the four-way shuttle robot in the present disclosure adopts a hydraulic driving method to perform work operations and reversing. Capable of withstanding large loads and speeding up commutation.
  • the four-way shuttle in the present disclosure is that the handling robot can use a hydraulic system to complete the pallet lifting and reversing functions, without the need to arrange other complicated mechanical structures, so that the overall volume and weight of the shuttle truck are greatly reduced.

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Abstract

本发明涉及一种四向穿梭式搬运机器人，其包括基座和安装在基座上的行走轮，该搬运机器人包括行驶驱动装置、液压换向***、作业***以及控制***；其中行走轮包括第一轮组和第二轮组，第一通道和第二通道布置在不同高度和不同方向，第一轮组和第二轮组中的至少一个被配置为可升降轮组；液压换向***包括换向驱动液压缸组、换向驱动机构以及液压泵站，换向驱动机构与换向驱动液压缸组中的换向液压缸连接，液压泵站为换向驱动液压缸组提供动力，换向驱动机构根据控制***的指令来驱动可升降轮组在竖直方向移动。根据本发明的四向穿梭式搬运机器人减少了重量、体积，改进了结构，大大提高了货物存取效率。

Description

一种四向穿梭式搬运机器人 技术领域
本发明涉及仓储管理和货物搬运设备，更具体而言，涉及一种四向穿梭式搬运机器人。
背景技术
近年来，随着土地成本和人工成本的上涨，密集仓储这一概念越来越受到物流公司或者电商公司的关注。自动化立体仓库由于具有很高的空间利用率、很强的出入库能力，已成为企业物流和生产管理不可缺少的仓储技术，在汽车、化工、电子、烟草等行业的应用逐年增长。未来几年，自动化立体仓储***的技术发展趋势之一表现为高速度、高效率、高密度。
但是目前市场上用于立体仓库的搬运机器人非常少，已有的一些产品存在各种各样的问题，例如搬运机器人重量过大，体积过大，灵活度不够，运行能力较差，货物存取效率低下，载重能力不够，稳定性不够等等。
现有技术中立体仓库通常使用的搬运机器人包括有轨巷道堆垛机和子母车***。有轨巷道堆垛机是自动化立体库内的提升和堆垛设备，有轨巷道堆垛机主要包含机体，载货台，水平行走机构，提升机构和货叉机构，可以通过三轴协同运动实现货物的存储。另一种常用的子母车***包括纵向运动穿梭板车与横向运动的穿梭母车、垂直方向运动的升降机组成了以穿梭板车为核心的子母车***。
上述两种搬运机器人存在诸多问题，无法满足当前密集仓储***要求的灵活性、高效率以及大载重能力。举例来说：
有轨巷道堆垛机每1个或每2个货物巷道之间就需要一个堆垛机轨道，对于仓库空间非常浪费，而且堆垛机对于重量较大货物比较难搬运。
子母车***由穿梭母车和穿梭子车组成，相当于两辆车，因此子母车***的高度比较高，对于立体仓库来讲，能够修建的层数就相应的下降。子母车***因为有子车和母车，所以总重量也就比较大，对于货架的要求更高，货架的成本比较高，而且子母车想要到不同楼层，因为重量的原因也会比较困难，本身重量加上货物重量想要运送到不同楼层更加困难。运行能力差。
发明内容
为了解决或者缓解现有技术中的上述问题，本公开内容提出了一种行走轮和带有该行走轮的轨道行走***。
根据本发明的一个方面，提出了一种四向穿梭式搬运机器人，所述搬运机器人包括基座和安装在所述基座上的行走轮，所述搬运机器人包括用于行走的行驶驱动装置、用于改变行驶方向的液压换向***、用于存取货物的作业***以及控制***；其中所述行走轮包括用于在第一通道行走的第一轮组和用于在第二通道上行驶的第二轮组，所述第一轮组和所述第二轮组处于不同高度并且用于在不同方向行驶，所述第一轮组和第二轮组中的至少一个被配置为作为用于换向的可上下移动的可升降轮组；所述液压换向***包括换向驱动液压缸组、换向驱动机构以及液压泵站，所述换向驱动机构与所述换向驱动液压缸组中的换向液压缸连接，所述液压泵站为换向驱动液压缸组提供动力，所述换向驱动机构根据所述控制***的指令来驱动所述可升降轮组在竖直方向移动。
在根据本发明的搬运机器人的一个实施方式中，所述换向驱动机构可以被配置成驱动所述可升降轮组中的各个行走轮在竖直方向同步移动。
在根据本发明的搬运机器人的另一个实施方式中，所述换向驱动机构也可以被配置成驱动所述可升降轮组中的各个行走轮在竖直方向异步移动。
当换向驱动机构可以被配置成驱动所述可升降轮组中的各个行走轮在竖直方向同步移动时，所述换向驱动机构可以包括与所述换向驱动液压缸组中的液压缸的缸杆连接的连接块，和与所述连接块连接的用于支 撑所述可升降轮组的轮轴轴承。
根据本发明的另一个方面，在搬运机器人的一个实施方式中，作业***可以包括设置在搬运机器人顶部的用于对货物或者盛放货物的托盘进行操作的托板，所述作业***还包括用于驱动所述托板在竖直方向运动的操作驱动液压缸组，所述托板与所述操作驱动液压缸组中的液压缸的缸杆连接并且随着所述缸杆的运动而移动位置。优选地，操作驱动液压缸组中的液压缸串联连接并且各个液压缸被配置为相同。
优选地，在根据本发明的搬运机器人的一个实施方式中，操作驱动液压缸可以与换向驱动液压缸组共用一个液压动力装置。
根据本发明的另一个方面，在搬运机器人中，所述第一通道可以为主通道，所述第一组轮为主通道轮组；所述第二通道为子通道，所述第二轮组为子通道轮组，所述主通道和所述子通道相互垂直；所述行驶驱动机构包括动力马达和与所述动力马达连接的减速器，所述减速器包括两个输出轴，所述两个输出轴在两个垂直方向输出动力，一个方向输出动力通过传动机构使主通道轮组的主通道轮轴转动；另一个方向输出动力通过传动机构使子通道轮组的子通道轮轴转动。优选地，动力马达经由所述减速器，然后通过传动装置分别传输动力到主通道轮轴和子通道轮轴上，所述主通道轮组中的驱动轮直接固定在所述主通道轮轴上，子通道轴获得动力以后，再通过链轮链条机构传动到子通道轮所在的短轴上，使子通道轮组中的驱动轮转动。
进一步优选地，主通道轮轴可以被配置成可在竖直方向的两个位置之间移动，所述减速器中的用于驱动所述主通道轮轴的输出轴的位置固定并且处于主通道轮轴两位置中点水平位置偏上的位置处。
根据本发明的搬运机器人的一个优选实施方式中，行驶驱动机构包括动力马达，动力马达驱动搬运机器人的行走轮行走，所述动力马达上设置有用于记录马达转动的角位移量的编码器并且该编码器将记录到的角位移量传送给所述控制***；控制***通过角位移量的转换，计算出行走轮所行走的实际位移量，并且根据该实际位移量来定位所述搬运机器人，从而控制所述搬运机器人移动至或者停止在某预定位置。进一步 优选地，搬运机器人还可以包括位置校准***，所述位置校准***包括布置在所述搬运机器人上的问询机和布置在所述第一通道和所述第二通道上的应答机，所述控制***根据所述位置校准***反馈的位置信息来调整位置。
通过使用根据本公开内容的四向穿梭式搬运机器人，可以获得的有益效果至少在于：减小了机器人重量、体积，改进结构，提升运行能力；提高了载重能力；提高了穿梭车的灵活度；以及提高了货物存取效率。
应当理解，前述大体的描述和后续详尽的描述均为示例性说明和解释，并不应当用作对本公开内容所要求保护内容的限制。
附图说明
参考随附的附图，本公开内容更多的目的、功能和优点将通过本公开内容实施方式的如下描述得以阐明，其中：
图1示出了根据本公开内容的一个实施方式的四向穿梭式搬运机器人在立体仓库中的第一通道和第二通道中的使用状态的示意图；
图2示出了根据本公开内容的一个实施方式中的四向穿梭式机器人在仓库中的另一种使用状态的示意图；
图3示出了根据本公开内容的一个实施方式中的四向穿梭式搬运机器人的行驶驱动装置的俯视示意图；
图4示出了图3所示的四向穿梭式搬运机器人中的行驶驱动装置的侧视示意图；
图5示出了图4中的搬运机器人中的子通道轮的示意图；
图6A和图6B示出了搬运机器人的主通道轮的示意图，其中图6A为主通道轮处于升起的位置的状态，图6B为主通道轮处于落下位置的状态；
图7示出了图4中的搬运机器人中的换向驱动液压缸组的一种布置方式的示意图；
图8示出了图7中的换向驱动液压缸组中的阀门的一种布置方式的实施例；
图9示出了在根据本公开内容的一个实施方式的四向穿梭式搬运机器人中的液压换向***的示意图；
图10示出了图4中所示的搬运机器人的一个实施方式中的换向机构的示意图；
图11位图10中所示的换向机构中的局部结构的放大示意图；图12
图12示出了根据本公开的内容的一个优选实施方式中的四向穿梭式搬运机器人中的行驶驱动装置中的主通道轮轴的布置示意图。
具体实施方式
通过参考示范性实施例，本公开内容的目的和功能以及用于实现这些目的和功能的方法将得以阐明。然而，本公开内容并不受限于以下所公开的示范性实施例；可以通过不同形式来对其加以实现。说明书的实质仅仅是帮助相关领域技术人员综合理解本公开内容的具体细节。
在下文中，将参考附图描述本公开内容的实施例。在附图中，相同的附图标记代表相同或类似的部件，或者相同或类似的步骤。
为了满足在立体仓库中要求非常高的空间利用率、货物出库入库效率要求高、以及搬运货物载荷高的要求，本公开内容提出了一种四向穿梭式搬运机器人。
图1和图2示出了根据本公开内容的一个实施方式的四向穿梭式搬运机器人(下文中简称“搬运机器人”)100在立体仓库中的两种使用状态的示意图。搬运机器人行驶在立体仓库的货架上，货架上通道分为主通道和子通道，子通道是用来存储货物的，通过主通道搬运机器人可以进入不同的子通道，主通道与子通道通常是互相垂直的。根据本公开内容的搬运机器人能够实现在立体仓库的货架通道上行驶、主通道与子通道换向、取放货物等等。图2中示出了根据本公开内容的搬运机器人可以利用提升机200来到达不同高度的货物层。
在根据本公开内容的搬运机器人中，包括基座和安装在所述基座上的行走轮。该搬运机器人包括用于行走的行驶驱动装置、用于改变行驶方向的液压换向***、用于存取货物的作业***以及控制***。在根据本公开内容中的搬运机器人中，在上述的行驶驱动装置、液压换向***、 作业***和控制***在发明人的多次改进之后，都针对立体仓库中的作业要求进行了与现有技术不同的设计。
液压换向***
在下文中结合附图来具体详细描述根据本公开内容的四向穿梭式搬运机器人中的液压换向***。
在根据本公开内容的搬运机器人中，行走轮包括用于在第一通道行走的第一轮组和用于在第二通道上行驶的第二轮组。第一通道和第二通道如上所述通常布置在不同高度和不同方向，因此第一轮组和第二轮组处于不同高度并且用于在不同方向行驶。第一轮组和第二轮组中的至少一个被配置为作为用于换向的可上下移动的可升降轮组。例如，在图3至图12所示的搬运机器人的实施方式中，第一轮组中的行走轮为可以在主通道(第一通道)行走的主通道轮20，第二通道为子通道，在该第二通道上行走的行走轮为子通道轮30。
在搬运机器人中的液压换向***包括换向驱动液压缸组、换向驱动机构以及液压泵站。在立体仓库中的第一通道和第二通道布置在不同方向。
例如，在图3至图8所示的搬运机器人的实施方式中，第一轮组中的行走轮为可以在主通道(第一通道)行走的主通道轮20，第二通道为子通道，在该第二通道上行走的行走轮为子通道轮30。
所述液压换向***包括换向驱动液压缸组、换向驱动机构以及液压泵站。
换向驱动机构与换向驱动液压缸组中的换向液压缸连接。液压泵站为换向驱动液压缸组20提供动力，换向驱动机构根据控制***的指令来驱动可升降轮组在竖直方向移动。在图3所示的搬运机器人中，主通道轮组20为可升降轮组，液压泵站也可以是其他适宜的驱动装置。
在根据本公开内容中的搬运机器人，换向驱动机构被配置成驱动可升降轮组中的各个行走轮在竖直方向同步移动或者异步移动。
优选地，换向驱动机构被配置成驱动可升降轮组中的各个行走轮在竖直方向同步移动，从而能够实现搬运机器人平稳地完成换向。此外， 当搬运机器人处于具有一定坡度的轨道上时，可升降轮组中的各个行走轮被配置为能够异步移动，能够消除轨道坡面对于操作的不利影响。
如图10和图11所示，用于驱动行走轮在竖直方向上移动的换向驱动机构包括与换向驱动液压缸组中的液压缸的缸杆连接的连接块6-1，以及与该连接块连接的用于支撑可升降轮组的轮轴轴承6-2。在图11所示的结构中，6-3为可升降轮组，6-4为放松螺母。
优选地，换向驱动液压缸组中的液压缸配置为：每个可升降轮组的轮轴至少配置有一个液压缸；换向驱动液压缸组中的各个液压缸配置为相同并且通过管路串联在一起。
为了实现可升降轮组中的行走轮的升降，可以把换向驱动液压缸组中的各个液压缸的缸体固定，并且将各个液压缸的各腔体内均预先充满液体。
如图9所示，当搬运机器人需要切换行走通道和切换行走方向时，换向驱动液压缸组中的阀门和管路被配置为：当缸杆上升时，液压泵出油口的液压油从第一个液压缸的下腔进入，则第一个液压缸上腔的液压油经由管路进入下一个液压缸的下腔，该下一个液压缸上腔的液压油经由管路进入再下一个液压缸的下腔，直至各个液压缸的下腔均被充油，从而使得各个缸杆都处在一个同步升起过程；当缸杆下降式，液压泵出油口的液压油从第一个液压缸的上腔进入，则第一个液压缸下腔的液压油经由管路进入下一个液压缸的上腔，该下一个液压缸下腔的液压油经由管路进入再下一个液压缸的上腔，直至各个液压缸的上腔均被充油，从而使得各个缸杆都处在一个同步下降的过程。
当搬运机器人处于既有第一通道和第二通道的位置并且搬运机器人的控制***发出变换行驶方向的指令时，液压换向***进行如下操作：
判断所述搬运机器人的所述可升降轮组是否位于落下的状态并且与行驶通道接触，
如果可升降轮组处于落下位置并且与现有行驶中的行驶通道接触，则换向驱动机构驱动可升降轮组中的各个行走轮在竖直方向向上移动到升起位置，使得第一轮组和第二轮组中的未充当可升降轮组的另一组轮 组与新的行驶通道接触，完成换向。
在另一种行驶状态下，如果可升降轮组处于升起的位置并且未与现有行驶中的行驶通道接触，则换向驱动机构驱动可升降轮组中的各个行走轮在竖直方向向下移动到落下位置并且与新的行驶通道接触，使得第一轮组和第二轮组中的未充当可升降轮组的另一组轮组与现有行驶中的行驶通道脱离接触，完成换向。
优选地，第一轮组和第二轮组被配置为两者的行驶方向相互垂直。当然，搬运机器人的各轮组的行走方向，可以根据立体仓库中轨道的实际情况进行配置。
优选地，立体仓库中的第一通道和第二通道布置在不同高度。通过这样的布置，能够使得在搬运机器人进行换向时，保持搬运机器人基座的固定，可升降轮组上上升和下降的过程中无需对基座进行托举或者不会引起基座的震动，增加的货物的稳定性。
例如，搬运机器人由X方向换向Y方向(Y方向换向X方向亦然)行驶的换向方式为：X方向的行驶轮伸缩至机体，离开轨道。由Y方向的行驶轮接触地面，进行行驶。
在根据本公开内容的搬运机器人，当第一轮组为可升降轮组时，当搬运机器人在第一通道上行走时，第一轮组位于降低后与所述第一轨道接触的位置；当在第二通道上行走时，所述第一轮组处于升起状态。
优选地，在根据本公开内容的具有液压换向***的搬运机器人的一个具体实施方式中，如在图3至图10所示的搬运机器人中，第一通道为主通道，第一组轮为主通道轮组20；第二通道为子通道，第二轮组为子通道轮组30，主通道和子通道相互垂直。搬运机器人的行驶驱动机构包括动力马达和与动力马达连接的减速器，减速器包括两个输出轴，所述两个输出轴在两个垂直方向输出动力，一个方向输出动力通过传动机构使主通道轮组20的主通道轮轴40转动；另一个方向输出动力通过传动机构使子通道轮组30的子通道轮轴50转动。
动力马达经由减速器，然后通过传动装置分别传输动力到主通道轮轴40和子通道轮轴50上，主通道轮组中的驱动轮直接固定在主通道轮 轴上，子通道轮轴50获得动力以后，再通过链轮链条机构传动到子通道轮30所在的短轴上，使子通道轮组中的驱动轮转动。
优选地，如图12所示，主通道轮轴40被配置成可在竖直方向的两个位置之间移动，减速器中的用于驱动主通道轮轴的输出轴的位置(视图中右侧所示)固定并且处于主通道轮轴40两位置中点水平位置偏上的位置处。
下文中，结合图3至图12所示的一个搬运机器人100的实例来进一步来说明上文中所描述的搬运机器人。
如在图3至图10所示的实例中，设置有两个动力源，其中一个动力源用于驱动搬运机器人行驶，也即动力马达70，此动力源可以为直流48V伺服马达，简称行驶马达；另一个动力源用于搬运机器人换向与托盘顶升两个功能、实现取放货物和主通道与子通道的行驶方向切换，此动力源用于液压***驱动，可以为一台直流48V伺服马达，也可以是液压泵站，也可以是简称液压马达。
图7中示出了作为液压***动力源的液压泵80，用于换向驱动的换向驱动阀块组81和用于顶升也即作业***的顶升驱动滑块组82。
行驶马达经过一个减速器在两个垂直方向输出，一个方向的输出动力通过传动机构使主通道方向的轮子转动。另一个方向的输出动力通过传动机构使子通道方向的轮子转动。通过换向使子通道轮或主通道轮在货架轨道上，当主通道轮在轨道上时，搬运机器人就沿着主通道上行驶，反之亦然。
如图4所示，行驶马达输出的两根轴通过链轮链条机构分别传动到主通道轴40和子通道轴50上，而主通道轮20是直接固定在主通道轴上的，因此，主通道轴转动时，主通道轮就随之转动。子通道轴获得动力以后，可以再通过链轮链条机构传动到子通道轮所在的短轴上，使子通道轮30能转动。优选地，为了避免链轮组中链条垂度过大，产生啮合不良和振动现象，在链轮组中可以设置链轮张紧装置，来保证链条和链轮的啮合准确。例如如图4所示，在链轮组中有7个链轮张紧装置55，来保证链条和链轮的啮合准确。
在本实例中的搬运机器人中，液压换向***包括液压马达、液压泵、 8个液压缸，以及液压管路和其他辅助元件组成。该液压***的执行元件是8个液压缸，分为两组，一组4个液压缸，可以换向。
图7示出了图4中的搬运机器人中的换向驱动液压缸组的一种布置方式的示意图；图8示出了图7中的换向驱动液压缸组中的阀门的一种布置方式的实施例。
图9示出了在根据本公开内容的一个实施方式的四向穿梭式搬运机器人中的液压换向***的示意图。图9为其中一组液压缸的液压原理图。通过打开对应的电磁阀1.1，1.7，1.8，1.9，1.10和1.6，1.2，1.3，1.4，1.5使液压泵出油口的液压油从第一个液压缸下腔进入，则第一个液压缸上腔的液压油进入第二个液压缸的下腔，第二个液压缸上腔的液压油进入第三个液压缸的下腔，第三个液压缸上腔的液压油进入第四个液压缸的下腔，第四个液压缸上腔的液压油到液压泵的进油口，则液压缸杆都在一个升起过程，反之则液压缸杆处于一个下降的过程。因为一组液压缸的规格都一样，所以各腔的体积相同，利用液压油的不可压缩性，进入各个液压缸的液压有的体积相同，来保持同步性。
子通道与主通道换向可以通过一组4个液压缸杆升降实现，换向4个液压缸固定，缸杆下端通过螺钉与与一个连接块相连，主通道轴通过轴承与连接块配合。缸杆带动连接块上下往复运动时，主通道轴也上下运动，主通道轮和子通道轮交替处于轨道上，完成换向，主通道与子通道轨道高度是不一样的，使用的是高低轨，主通道轨道低于子通道。当主通道轴向上运动时，固定在主通道轴上的主通道轮离开轨道，子通道轮处于轨道上，此时搬运机器人也处于子通道上，当主通道轴向下运动时，主通道轮回到轨道上，子通道轮离开轨道。不同方向的轮子处于轨道上时，搬运机器人就在不同方向行驶。
作业***
根据本公开内容的另一方面，在根据本公开内容的搬运机器人中，作业***包括：设置在所述搬运机器人顶部的用于对货物或者盛放货物的托盘进行操作的托板；用于驱动所述托板在竖直方向运动的操作驱动液压缸组。其中托板与操作驱动液压缸组中的液压缸的缸杆连接并且随 着缸杆的运动而移动位置。
操作驱动液压缸组中的液压缸串联连接并且各个液压缸被配置为相同。
优选地，操作驱动液压缸与上述的换向驱动液压缸组共用一个液压动力装置。
在本实例中的搬运机器人中，液压换向***包括液压马达、液压泵、8个液压缸，以及液压管路和其他辅助元件组成。该液压***的执行元件是8个液压缸，分为两组，其中一组4个液压缸用于换向，另一组液压缸用于作业***。
在作业***中的液压缸组中，在控制***的程序控制下，打开对应的电磁阀，使一组4个液压缸杆同时升或降。可以设置两块托板，每两个液压缸杆与一块托板相连，托板随缸杆升降而升降，托板就能托起或放下存放货物的托盘，从而达到存取货物的目的。
参考图9所示，类似于前述的液压换向***中的操作，通过打开对应的电磁阀，使液压泵出油口的液压油从第一个液压缸下腔进入，则第一个液压缸上腔的液压油进入第二个液压缸的下腔，第二个液压缸上腔的液压油进入第三个液压缸的下腔，第三个液压缸上腔的液压油进入第四个液压缸的下腔，第四个液压缸上腔的液压油到液压泵的进油口，则液压缸杆都在一个升起过程，反之则液压缸杆处于一个下降的过程。因为一组液压缸的规格都一样，所以各腔的体积相同，利用液压油的不可压缩性，进入各个液压缸的液压有的体积相同，来保持同步性。
控制***
在根据本公开内容的四向穿梭式搬运机器人中，还包括控制***，所述控制***除了包括如上所述的对于液压换向***和作业***进行控制的模块之外，还能够实现搬运车的定位和位置矫正。
如上所述，搬运机器人的行驶驱动机构包括动力马达，动力马达驱动搬运机器人的行走轮行走。
动力马达上还设置有用于记录马达转动的角位移量的编码器并且该编码器将记录到的角位移量传送给所述控制***。
控制***通过角位移量的转换，计算出行走轮所行走的实际位移量，并且根据该实际位移量来定位搬运机器人，从而控制所述搬运机器人移动至或者停止在某预定位置。
根据本公开内容的另一方面，还提出了一种用于四向穿梭式搬运机器人的位置校准***，该位置校准***可以包括布置在搬运机器人上的问询机和布置在所述第一通道和所述第二通道上的应答机。搬运机器人的控制***根据位置校准***反馈的位置信息来调整位置。
优选地，问询机可以为能够输出信号和读取返回信号的激光传感器；应答机为预置有位置信息的定位卡片。
在本公开内容中搬运机器人中，动力马达可以为电机，或者其他任何能够根据控制指令输出动力的任何适宜的马达。
在本公开内容中的四向穿梭式搬运机器人，采用了液压驱动的方式来执行作业操作和换向。能够承受较大负载，而且加快了换向速度。此外，本公开内容中的四向穿梭是搬运机器人能够使用一套液压***完成托板举升和换向功能，无需布置其他复杂的机械结构，使穿梭车总体体积，重量大大减小。
结合这里披露的本公开内容的说明和实践，本公开内容的其他实施例对于本领域技术人员都是易于想到和理解的。说明和实施例仅被认为是示例性的，本公开内容的真正范围和主旨均由权利要求所限定。

Claims (18)

  1. 一种四向穿梭式搬运机器人，所述搬运机器人包括基座和安装在所述基座上的行走轮，其特征在于，所述搬运机器人包括用于行走的行驶驱动装置、用于改变行驶方向的液压换向***、用于存取货物的作业***以及控制***；
    其中所述行走轮包括用于在第一通道行走的第一轮组和用于在第二通道上行驶的第二轮组，所述第一轮组和所述第二轮组处于不同高度并且用于在不同方向行驶，所述第一轮组和第二轮组中的至少一个被配置为作为用于换向的可上下移动的可升降轮组；
    所述液压换向***包括换向驱动液压缸组、换向驱动机构以及液压泵站，所述换向驱动机构与所述换向驱动液压缸组中的换向液压缸连接，所述液压泵站为换向驱动液压缸组提供动力，所述换向驱动机构根据所述控制***的指令来驱动所述可升降轮组在竖直方向移动。
  2. 根据权利要求1所述的搬运机器人，其特征在于，所述换向驱动机构被配置成驱动所述可升降轮组中的各个行走轮在竖直方向同步移动。
  3. 根据权利要求1所述的搬运机器人，其特征在于，所述换向驱动机构被配置成驱动所述可升降轮组中的各个行走轮在竖直方向异步移动。
  4. 根据权利要求2所述的搬运机器人，其特征在于，所述换向驱动机构包括与所述换向驱动液压缸组中的液压缸的缸杆连接的连接块，和与所述连接块连接的用于支撑所述可升降轮组的轮轴轴承。
  5. 根据权利要求4所述的搬运机器人，其特征在于，所述换向驱动液压缸组中的液压缸配置为：每个所述可升降轮组的轮轴至少配置有一个液压缸；所述换向驱动液压缸组中的各个液压缸配置为相同并且通过管路串联在一起。
  6. 根据权利要求5所述的搬运机器人，其特征在于，所述换向驱动液压缸组中的各个液压缸的缸体固定，所述各个液压缸的各腔体内均预先充满液体，并且所述换向驱动液压缸组中的阀门和管路被配置为：
    当缸杆上升时，液压泵出油口的液压油从第一个液压缸的下腔进入，则第一个液压缸上腔的液压油经由管路进入下一个液压缸的下腔，该下 一个液压缸上腔的液压油经由管路进入再下一个液压缸的下腔，直至各个液压缸的下腔均被充油，从而使得各个缸杆都处在一个同步升起过程；
    当缸杆下降式，液压泵出油口的液压油从第一个液压缸的上腔进入，则第一个液压缸下腔的液压油经由管路进入下一个液压缸的上腔，该下一个液压缸下腔的液压油经由管路进入再下一个液压缸的上腔，直至各个液压缸的上腔均被充油，从而使得各个缸杆都处在一个同步下降的过程。
  7. 根据权利要求1-6之一所述的搬运机器人，其特征在于，当所述搬运机器人处于既有第一通道和第二通道的位置并且所述搬运机器人的控制***发出变换行驶方向的指令时，所述液压换向***进行如下操作：
    判断所述搬运机器人的所述可升降轮组是否位于落下的状态并且与行驶通道接触，
    如果所述可升降轮组处于落下位置并且与现有行驶中的行驶通道接触，则所述换向驱动机构驱动所述可升降轮组中的各个行走轮在竖直方向向上移动到升起位置，使得所述第一轮组和第二轮组中的未充当可升降轮组的另一组轮组与新的行驶通道接触，完成换向；
    如果所述可升降轮组处于升起的位置并且未与现有行驶中的行驶通道接触，则所述换向驱动机构驱动所述可升降轮组中的各个行走轮在竖直方向向下移动到落下位置并且与新的行驶通道接触，使得所述第一轮组和第二轮组中的未充当可升降轮组的另一组轮组与现有行驶中的行驶通道脱离接触，完成换向。
  8. 根据权利要求7所述的搬运机器人，其特征在于，所述第一轮组和所述第二轮组被配置为两者的行驶方向相互垂直。
  9. 根据权利要求1所述的搬运机器人，其特征在于，所述作业***包括设置在所述搬运机器人顶部的用于对货物或者托盘进行操作的托板，
    所述作业***还包括用于驱动所述托板在竖直方向运动的操作驱动液压缸组，
    所述托板与所述操作驱动液压缸组中的液压缸的缸杆连接并且随着所述缸杆的运动而移动位置。
  10. 根据权利要求9所述的搬运机器人，其特征在于，所述操作驱动液压缸组中的液压缸串联连接并且各个液压缸被配置为相同。
  11. 根据权利要求10所述的搬运机器人，其特征在于，所述操作驱动液压缸与所述换向驱动液压缸组共用一个液压动力装置。
  12. 根据权利要求1所述的搬运机器人，其特征在于，所述第一通道为主通道，所述第一组轮为主通道轮组；所述第二通道为子通道，所述第二轮组为子通道轮组，所述主通道和所述子通道相互垂直；
    所述行驶驱动机构包括动力马达和与动力马达连接的减速器，所述减速器包括两个输出轴，所述两个输出轴在两个垂直方向输出动力，一个方向的输出动力通过传动机构使主通道轮组的主通道轮轴转动；
    另一个方向的输出动力通过传动机构使子通道轮组的子通道轮轴转动。
  13. 根据权利要求12所述的搬运机器人，其特征在于，所述主通道轮组中的驱动轮直接固定在所述主通道轮轴上，子通道轴获得动力以后，再通过链轮链条机构传动到子通道轮所在的短轴上，使子通道轮组中的驱动轮转动。
  14. 根据权利要求13所述的搬运机器人，其特征在于，所述主通道轮轴被配置成可在竖直方向的两个位置之间移动，所述减速器中的用于驱动所述主通道轮轴的输出轴的位置固定并且处于主通道轮轴两位置中点水平位置偏上的位置处。
  15. 根据权利要求1所述的搬运机器人，其特征在于，所述行驶驱动机构包括动力马达，所述动力马达驱动所述搬运机器人的行走轮行走，
    所述动力马达上设置有用于记录马达转动的角位移量的编码器并且该编码器将记录到的角位移量传送给所述控制***；
    控制***通过角位移量的转换，计算出行走轮所行走的实际位移量，并且根据该实际位移量来定位所述搬运机器人，从而控制所述搬运机器人移动至或者停止在某预定位置。
  16. 根据权利要求15所述的搬运机器人，其特征在于，所述搬运机器人还包括位置校准***，所述位置校准***包括布置在所述搬运机器 人上的问询机和布置在所述第一通道和所述第二通道上的应答机，所述控制***根据所述位置校准***反馈的位置信息来调整位置。
  17. 根据权利要求16所述的搬运机器人，其特征在于，所述问询机为能够输出信号和读取返回信号的激光传感器；所述应答机为预置有位置信息的定位卡片。
  18. 根据权利要求15至17之一所述的搬运机器人，所述动力马达为电机。
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