CN118529671A - Cargo handling robot car - Google Patents

Abstract

A cargo handling robot vehicle provided by the present invention relates to the technical field of cargo transfer, and includes a handling locomotive body, a vertical lifting mechanism, and a multi-way switching conveying mechanism. The vertical lifting mechanism is fixedly connected to one side of the handling locomotive body, and the multi-way switching conveying mechanism is flip-connected to one side of the vertical lifting mechanism through a rotating part; the multi-way switching conveying mechanism includes a supporting frame, mutually vertically staggered conveying wheel mechanisms, a pulley power mechanism for driving the mutually vertically staggered conveying wheel mechanisms to rotate, and a steering mechanism. The mutually vertically staggered conveying wheel mechanisms are arranged inside the support frame and are arranged at a certain angle to the support frame. The pulley power mechanism is located on the support frame, and the pulley power mechanism is connected to the mutually vertically staggered conveying wheel mechanisms. The steering mechanism is rotatably arranged at the end corner of the support frame to perform peripheral transmission on the pulley power mechanism in the support frame; it is convenient for sorting and multi-directional conveying of cargo boxes.

Description

A cargo handling robot vehicle

Technical Field

The present invention relates to the technical field of cargo transfer, and in particular to a cargo handling robot vehicle.

Background Art

Robot is the common name for automatic control machines. Automatic control machines include all machines that simulate human behavior or thoughts and simulate other creatures (such as robot dogs, robot cats, etc.). In a narrow sense, there are many classifications and discussions on the definition of robots. Some computer programs are even called robots. In contemporary industry, robots refer to man-made machine devices that can perform tasks automatically to replace or assist human work.

In the warehouse, cargo boxes are moved by cargo handling robot vehicles, which are placed by conveying mechanisms and transferred by cargo handling robot vehicles. After being transported to the destination, since the goods can only be transported in one direction, it is necessary to adjust the direction of the cargo handling robot vehicle so that the cargo handling robot vehicle is facing the direction. This will increase the operator's operating time and make it inconvenient for the cargo handling robot vehicle to turn when the floor area is small. In addition, the existing conveying mechanism is usually fixed to the side end of the lifting mechanism and placed not far from the ground height in the warehouse, which takes up space and is easy to trip people in the warehouse. Furthermore, the goods cannot be placed neatly on the conveying mechanism.

To address the above problems, we propose a cargo handling robot vehicle.

Summary of the invention

The present invention aims at solving the problems in the prior art that cargo boxes can only be transported in one direction, the transport mechanism cannot store cargo, and cargo sometimes appears out of order. We propose a cargo handling robot vehicle.

A cargo handling robot vehicle provided by the present invention comprises a handling vehicle body, a vertical lifting mechanism, and a multi-way switching conveying mechanism, wherein the vertical lifting mechanism is fixedly connected to one side of the handling vehicle body, and the multi-way switching conveying mechanism is flip-connected to one side of the vertical lifting mechanism;

The multi-way switching conveying mechanism includes a support frame, mutually vertically staggered conveying wheel mechanisms, a pulley power mechanism driving the mutually vertically staggered conveying wheel mechanisms to rotate, and a steering mechanism. The support frame and the vertical lifting mechanism are flipped through a conveyor storage device. The mutually vertically staggered conveying wheel mechanisms are arranged inside the support frame and are arranged at a certain angle to the support frame. The pulley power mechanism is located on the support frame. The mutually vertically staggered conveying wheel mechanisms are connected to a universal joint arranged in the pulley power mechanism. The steering mechanism is rotatably arranged at the end angle of the support frame to perform peripheral transmission on the pulley power mechanism in the support frame.

The conveyor storage device includes a winding mechanism, a position adjustment mechanism, and a rotating part. The winding mechanism is located on the vertical lifting mechanism, the position adjustment mechanism is arranged at the side end of the supporting frame, the position adjustment mechanism and the winding mechanism are connected by a winding rope, the rotating part is fixedly connected to the vertical lifting mechanism and the supporting frame, and a cargo sorting mechanism is fixedly connected to the position adjustment mechanism.

As a further solution of the present invention, the mutually vertically staggered conveying wheel mechanisms include a conveying wheel mechanism 1 and a conveying wheel mechanism 2, wherein the conveying wheel mechanism 1 and the conveying wheel mechanism 2 are evenly provided with multiple groups, and are staggered and spaced inside the supporting frame, and the angle between the two is 90 degrees;

The conveying wheel mechanism 1 includes a conveying wheel rod 1 and a conveying wheel 1. The conveying wheel 1 is evenly distributed and coaxially fixedly sleeved on the surface of the conveying wheel rod 1. The conveying wheel 1 is placed at an angle of 45 degrees to the support frame on the horizontal plane, and the surface high point of the conveying wheel 1 is higher than the support frame;

The second conveying wheel mechanism comprises a second conveying wheel rod and a second conveying wheel. The second conveying wheel is evenly distributed and coaxially fixedly sleeved on the surface of the second conveying wheel rod. The second conveying wheel is placed at a 45-degree angle between the horizontal plane and the regular quadrilateral support frame. The surface high point of the second conveying wheel is higher than the support frame, and the surface high point of the second conveying wheel is on the same horizontal plane as the surface high point of the first conveying wheel.

The second conveying wheel rod is arranged below the first conveying wheel rod, and is arranged in a staggered and spaced manner to form a plurality of quadrilateral grids. The second conveying wheel and the first conveying wheel are symmetrically distributed on the regular quadrilateral grids.

As a further solution of the present invention, the pulley power mechanism includes a universal joint, a pulley, a belt, and a pressure rod. The universal joints are respectively connected to the two ends of the conveying wheel rod one and the conveying wheel rod two and are rotatably connected to the support frame. The pulley is coaxially fixed on the universal joint at one end of the conveying wheel rod one and the conveying wheel rod two. The pulleys on adjacent conveying wheel rods one and the pulleys on adjacent conveying wheel rods two are respectively connected by belts. The pressure rod is rotatably connected to the support frame. The pressure rod is pressed against one side of the belt. Two groups of motors for driving the conveying wheel rod one and the conveying wheel rod two to rotate are respectively provided on the support frame. The output ends of the motors are respectively coaxially fixed to the universal joint ends with pulleys at one end of any one of the conveying wheel rods one and the conveying wheel rod two.

As a further solution of the present invention, the steering mechanism includes a connecting shaft 1, a connecting shaft 2, a bevel gear 1, and a bevel gear 2. The connecting shaft 1 and the connecting shaft 2 are respectively connected to the universal joint through a pulley assembly. The connecting shaft 1 is rotatably arranged inside the support frame, and the connecting shaft 2 is rotatably arranged inside the support frame. The connecting shaft 2 is vertically distributed with the connecting shaft 1, and the bevel gear 1 is coaxially fixedly sleeved on the connecting shaft 1. The bevel gear 2 is coaxially fixedly sleeved on the connecting shaft 2, and the bevel gear 2 is meshed with the bevel gear 1.

As a further solution of the present invention, the vertical lifting mechanism includes a bracket one, a bracket two, and a hydraulic telescopic rod. The bracket one is fixedly connected to the end of the transport locomotive body, the bracket two is slidably arranged in the bracket one, the fixed end of the hydraulic telescopic rod is fixedly connected to the bracket one, and the extended end of the hydraulic telescopic rod is fixedly connected to the bracket two.

As a further solution of the present invention, the reeling mechanism includes a driving motor, a reeling shaft, and a bearing seat, wherein the driving motor is fixedly connected to the second bracket, the reeling shaft is fixedly connected to the output end of the driving motor and is rotatably connected to the second bracket through the bearing seat, and the reeling shaft passes through the first bracket and extends to the outside thereof;

The position adjustment mechanism includes a second drive motor, a threaded rod, and a threaded sleeve. The second drive motor is fixedly connected to the side wall of the support frame. The threaded rod is fixedly connected to the output end of the second drive motor and is rotatably connected to the support frame through a second bearing seat. The threaded sleeve is threadedly connected to the threaded rod and is slidably connected to the support frame. The two ends of the winding rope are respectively fixedly connected to the winding shaft and the threaded sleeve.

As a further solution of the present invention, the cargo sorting mechanism is provided with two groups, which are respectively arranged on both sides of the supporting frame. The cargo sorting mechanism includes an F-type frame plate and a cargo pushing wheel. The F-type frame plate is fixedly connected to the upper end of the threaded sleeve, and the cargo pushing wheel is rotatably arranged on the F-type frame plate. The side end of the surface of the cargo pushing wheel extends out of the F-type frame plate into the supporting frame.

As a further solution of the present invention, the rotating member includes U-shaped frame 1 and U-shaped frame 2, wherein the U-shaped frame 1 is fixedly connected to the bracket 2, the U-shaped frame 2 is fixedly connected to the supporting frame, and the U-shaped frame 1 and the U-shaped frame 2 are rotatably connected.

Beneficial effects of the present invention: The present invention provides a cargo handling robot vehicle:

1. Two sets of motors are used to drive the conveying wheel mechanisms that are vertically staggered with each other in forward and reverse rotation, so that the cargo box can be transported in four directions.

Second, the end of the winding rope fixed on the position adjustment mechanism is moved to the end of the support frame away from the vertical lifting mechanism through the position adjustment mechanism, and the winding rope is tightened through the winding mechanism, so that the multi-directional switching conveying mechanism is flipped and stored around the rotating part.

3. The cargo arranging mechanism is moved on the supporting frame through the displacement adjustment mechanism, and the cargo is straightened through the cargo pushing wheels in the cargo arranging mechanism.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

FIG. 1 is a structural diagram of a cargo handling robot vehicle of the present invention.

FIG. 2 is a structural diagram of a support frame of a cargo handling robot vehicle according to the present invention.

FIG. 3 is a structural diagram of a multi-way switching conveying mechanism of a cargo handling robot vehicle of the present invention.

FIG. 4 is a first position diagram of a multi-way switching conveying mechanism and a vertical lifting mechanism of a cargo handling robot vehicle of the present invention.

FIG. 5 is a structural diagram of a multi-way switching conveying mechanism of a cargo handling robot vehicle of the present invention.

FIG. 6 is an enlarged view of point A of a cargo handling robot vehicle of the present invention.

FIG. 7 is an enlarged view of a cargo handling robot vehicle according to the present invention at point B. FIG.

FIG. 8 is a structural diagram of a bracket 1 of a cargo handling robot vehicle of the present invention.

FIG. 9 is a structural diagram of a bracket 2 of a cargo handling robot vehicle according to the present invention.

FIG. 10 is a second position diagram of the multi-way switching conveying mechanism and the vertical lifting mechanism of a cargo handling robot vehicle of the present invention.

FIG. 11 is an enlarged view of a cargo handling robot vehicle according to the present invention at point C. FIG.

FIG. 12 is an enlarged view of a cargo handling robot vehicle according to the present invention at position D. FIG.

FIG. 13 is an enlarged view of a cargo handling robot vehicle according to the present invention at position E. FIG.

FIG. 14 is an enlarged view of a cargo handling robot vehicle according to the present invention at point F. FIG.

Attached photos

1. Carrier body; 2. Vertical lifting mechanism; 3. Multi-way switching conveying mechanism; 4. Rotating parts; 5. Support frame; 6. Conveying wheel mechanism 1; 7. Conveying wheel mechanism 2; 8. Pulley power mechanism; 9. Steering mechanism; 10. Cargo pushing wheel; 11. U-shaped frame 1; 12. Conveying wheel rod 1; 13. Conveying wheel 1; 14. Conveying wheel rod 2; 15. Conveying wheel 2; 16. Universal joint; 17. Pulley; 18. Pressure rod; 19. Belt; 20. Motor; 21. Connecting shaft 1; 22. Connecting shaft 2; 23. Bevel gear Wheel 1; 24, bevel gear 2; 25, pulley assembly; 26, bracket 1; 27, bracket 2; 28, hydraulic telescopic rod; 29, U-shaped frame 2; 30, cargo sorting mechanism; 31, winding mechanism; 32, position adjustment mechanism; 33, winding rope; 34, driving motor; 35, winding shaft; 36, bearing seat; 37, driving motor 2; 38, threaded rod; 39, threaded sleeve; 40, F-shaped frame plate; 41, cargo pushing wheel; 42, U-shaped frame 1; 43, U-shaped frame 2; 44, conveying wheel mechanism arranged perpendicularly to each other.

DETAILED DESCRIPTION

To facilitate the understanding of the present invention, the present application will be described more comprehensively below with reference to the relevant drawings; the drawings show preferred embodiments of the present invention, but the present invention can be implemented in many different forms and is not limited to the embodiments described herein; on the contrary, the purpose of providing these embodiments is to enable a more thorough and comprehensive understanding of the disclosed content of the present invention.

It should be noted that the terms “vertical”, “horizontal”, “up”, “down”, “left”, “right” and similar expressions used in this document are only for illustrative purposes and do not represent the only implementation method.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the term "and/or" used herein includes any and all combinations of one or more related listed items.

The present invention is a cargo handling robot vehicle as shown in Figure 1, including a handling vehicle body 1, a vertical lifting mechanism 2, and a multi-way switching conveying mechanism 3. The vertical lifting mechanism 2 is fixedly connected to one side of the handling vehicle body 1, and the multi-way switching conveying mechanism 3 is flip-connected to one side of the vertical lifting mechanism 2; the vertical lifting mechanism 2 can lift the multi-way switching conveying mechanism 3, and the flipping and storage of the multi-way switching conveying mechanism 3 can be achieved through the rotating part 4.

According to Figures 1, 2, 3, 4 and 6, the multi-way switching conveying mechanism 3 includes a supporting frame 5, mutually vertically staggered conveying wheel mechanisms 44, a pulley power mechanism 8 for driving the mutually vertically staggered conveying wheel mechanisms 44 to rotate, and a steering mechanism 9. The supporting frame 5 and the vertical lifting mechanism 2 are flipped through a conveyor storage device. The mutually vertically staggered conveying wheel mechanisms 44 are arranged inside the supporting frame 5 and are arranged at a certain angle to the supporting frame 5. The pulley power mechanism 8 is located on the supporting frame 5. The mutually vertically staggered conveying wheel mechanisms 44 are connected to the universal joint 16 arranged in the pulley power mechanism 8. The steering mechanism 9 is rotatably arranged at the end corner of the supporting frame 5 to perform peripheral transmission on the pulley power mechanism 8 in the supporting frame.

According to Figures 1, 2, 3 and 4, the conveyor storage device includes a winding mechanism 31, a position adjustment mechanism 32 and a rotating member 4. The winding mechanism 31 is located on the vertical lifting mechanism 2, and the position adjustment mechanism 32 is arranged at the side end of the supporting frame 5. The position adjustment mechanism 32 is connected to the winding mechanism 31 through a winding rope 33. The rotating member 4 is fixed to the vertical lifting mechanism 2 and the supporting frame 5. A cargo sorting mechanism 30 is fixed to the position adjustment mechanism 32. The winding rope 33 is wound by the winding mechanism 31, so that the multi-party switching conveying mechanism 3 fixed to the winding rope 33 is flipped and stored. The cargo sorting mechanism 30 facilitates the straightening of the cargo on the multi-party switching conveying mechanism 3.

The present invention comprises a conveying wheel mechanism 44 vertically staggered with each other as shown in Figures 3 and 4, wherein the conveying wheel mechanism 1 6 and the conveying wheel mechanism 2 7 are evenly provided with a plurality of groups, and are staggered and spaced inside the supporting frame 5, with an angle of 90 degrees between the two groups; the combined force formed by the rotating conveying wheel mechanism 1 6 and the conveying wheel mechanism 2 7 in the X-axis and Y-axis directions enables the cargo box to move in multiple directions.

According to Figures 4 and 5, the conveying wheel mechanism 6 includes a conveying wheel rod 12 and a conveying wheel 13. There are multiple conveying wheels 13 evenly distributed and coaxially fixed on the surface of the conveying wheel rod 12. The conveying wheel 13 is placed at an angle of 45 degrees to the support frame 5 on the horizontal plane. The surface high point of the conveying wheel 13 is higher than the support frame 5. The surface high point of the conveying wheel 13 is higher than the support frame 5, so that the conveying wheel 13 can contact the cargo box to convey it.

According to Figures 3, 4 and 5, the conveying wheel mechanism 2 7 includes a conveying wheel rod 2 14 and a conveying wheel 2 15. There are multiple conveying wheels 2 15 evenly distributed and coaxially fixed on the surface of the conveying wheel rod 2 14. The conveying wheel 2 15 is placed at an angle of 45 degrees to the regular quadrilateral support frame 5 on the horizontal plane. The surface high point of the conveying wheel 2 15 is higher than the support frame 5. The surface high point of the conveying wheel 2 15 is on the same horizontal plane as the surface high point of the conveying wheel 1 13. The surface high point of the conveying wheel 2 15 is on the same horizontal plane as the surface high point of the conveying wheel 1 13, so that the conveying wheel 2 15 can perform friction conveying on the cargo box.

According to FIG. 5 , the conveying wheel rod 2 14 is disposed below the conveying wheel rod 1 12 , and is staggered and spaced to form a plurality of quadrilateral grids, and the conveying wheel 2 15 and the conveying wheel 1 13 are symmetrically distributed on the regular quadrilateral grids.

The pulley power mechanism 8 of the present invention according to Figures 3, 4, 5 and 6 includes a universal joint 16, a pulley 17, a belt 19 and a pressure rod 18. The universal joint 16 is respectively connected to the two ends of the conveying wheel rod 12 and the conveying wheel rod 2 14 and is rotatably connected to the support frame 5. The pulley 17 is coaxially fixedly sleeved on the universal joint at one end of the conveying wheel rod 12 and the conveying wheel rod 2 14. The pulleys on adjacent conveying wheel rods 12 and the pulleys on adjacent conveying wheel rods 2 14 are respectively connected by belts 19. The pressure rod 18 is rotatably connected to the support frame 5. The pressure rod 18 is pressed against one side of the belt 19, and the support frame 5 is respectively provided with two groups of motors 20 for driving the conveying wheel rod 12 and the conveying wheel rod 2 14 to rotate. The output ends of the motors 20 are respectively coaxially fixed to the ends of the universal joints 16 with the pulley 17 at one end of any conveying wheel rod 12 and the conveying wheel rod 2 14. When the motor 20 is started, the universal joint 16 can be driven to rotate, and the adjacent universal joints 16 can be driven to rotate through the belt 19 and the pulley 17. Through the two groups of motors 20, all the conveying wheel rods 12 and the conveying wheel rods 2 14 in each group can be driven.

According to the steering mechanism 9 described in Figures 3, 4, 5 and 7 of the present invention, the connecting shaft 1 21, the connecting shaft 22, the bevel gear 1 23 and the bevel gear 24 are respectively connected to the universal joint 16 through the pulley assembly 25. The connecting shaft 1 21 is rotatably arranged inside the supporting frame 5, and the connecting shaft 2 22 is rotatably arranged inside the supporting frame 5. The connecting shaft 2 22 is vertically distributed with the connecting shaft 1 21. The bevel gear 1 23 is coaxially fixedly sleeved on the connecting shaft 1 21. The bevel gear 2 24 is coaxially fixedly sleeved on the connecting shaft 2 22. The bevel gear 2 24 is meshed with the bevel gear 1 23. Through the steering mechanism 9, the conveying wheel rod 1 12 and the conveying wheel rod 2 14 in the X-axis and Y-axis directions can be rotated.

According to the vertical lifting mechanism 2 described in Figures 1, 8, 9 and 10 of the present invention, the bracket 26, the bracket 27 and the hydraulic telescopic rod 28 are included. The bracket 26 is fixedly connected to the end of the transport locomotive body 1, the bracket 27 is slidably arranged in the bracket 26, the fixed end of the hydraulic telescopic rod 28 is fixedly connected to the bracket 1 26, and the extended end of the hydraulic telescopic rod 28 is fixedly connected to the bracket 2 27. When the hydraulic telescopic rod 28 is started, it can drive the bracket 2 27 to rise and fall.

According to Figures 4, 9, 10 and 11, the winding mechanism 31 of the present invention includes a driving motor 34, a winding shaft 35 and a bearing seat 36. The driving motor 34 is fixedly connected to the bracket 27, the winding shaft is fixedly connected to the output end of the driving motor 34 and is rotatably connected to the bracket 27 through the bearing seat 36, and the winding shaft 35 passes through the bracket 1 26 and extends to the outside thereof; when the driving motor 34 is started, the winding shaft 35 is driven to rotate, so that the winding rope 33 is wound or loosened.

According to Figures 3, 10, 11, and 12, the position adjustment mechanism 32 includes a second drive motor 37, a threaded rod 38, and a threaded sleeve 39. The second drive motor 37 is fixedly connected to the side wall of the support frame 5. The threaded rod 38 is fixedly connected to the output end of the second drive motor 37 and is rotatably connected to the support frame 5 through a second bearing seat. The threaded sleeve 39 is threadedly connected to the threaded rod 38 and is slidably connected to the support frame 5. The two ends of the winding rope 33 are respectively fixedly connected to the winding shaft 35 and the threaded sleeve 39. The position adjustment mechanism 32 can adjust the position of the winding rope 33 on the support frame 5, thereby making the support frame 5 flip as much as possible and preventing the winding rope 33 from affecting the transportation of the cargo box.

According to the cargo sorting mechanism 30 described in Figures 3, 10, 12 and 13, the present invention is provided with two groups, which are respectively arranged on both sides of the support frame 5. The cargo sorting mechanism 30 includes an F-type frame plate 40 and a cargo pushing wheel 41. The F-type frame plate 40 is fixedly connected to the upper end of the threaded sleeve 39. The cargo pushing wheel 41 is rotatably arranged on the F-type frame plate 40. The side end of the surface of the cargo pushing wheel 41 extends out of the F-type frame plate 40 to the support frame 5. The cargo pushing wheel 41 is moved by the position adjustment mechanism 32 to push the side end of the cargo box, so that the cargo box is straightened.

According to Figures 3, 4, 8, 9 and 14, the rotating member 4 of the present invention includes a U-shaped frame 42 and a U-shaped frame 43. The U-shaped frame 42 is fixedly connected to the bracket 27, and the U-shaped frame 43 is fixedly connected to the support frame 5. The U-shaped frame 42 and the U-shaped frame 43 are rotatably connected.

Principle of the present invention:

When in use, the cargo box is transported to a designated position by the transporting locomotive body 1. When the cargo box needs to be put down in the direction of the X-axis, the motor 20 on the conveying wheel rod 12 is started, so that the conveying wheel 13 rotates in the opposite direction, and the motor 20 on the conveying wheel rod 2 14 is started, so that the conveying wheel 2 15 rotates forward. The conveying wheel 2 15 is placed vertically with the conveying wheel 13, and a friction force in the X-axis direction is formed between the conveying wheel 2 15 and the cargo box, thereby transporting the cargo box in the X-axis direction; the motor 20 on the conveying wheel rod 12 is started, so that the conveying wheel 13 rotates forward, and the motor 20 on the conveying wheel rod 2 14 is started, so that the conveying wheel 2 15 rotates in the opposite direction, and the friction force formed causes the cargo box to be transported in another direction in the X-axis direction;

When the cargo box needs to be transported in the direction of the Y axis, the motor 20 on the conveying wheel rod 12 is started, so that the conveying wheel 13 rotates forward, and the motor 20 on the conveying wheel rod 2 14 is started, so that the conveying wheel 2 15 rotates reversely, so that the cargo box can be unloaded in the direction of the Y axis; the motor 20 on the conveying wheel rod 12 is started, so that the conveying wheel 13 rotates reversely, and the motor 20 on the conveying wheel rod 2 14 is started, so that the conveying wheel 2 15 rotates forward, so that the cargo box can be unloaded in the other direction of the Y axis;

The second driving motor 37 is started, driving the threaded rod 38 to rotate, driving the threaded sleeve 39 to move, thereby driving the F-shaped frame plate 40 to move, driving the cargo pushing wheel 10 to move, and pushing the side of the cargo box through the cargo pushing wheel to straighten the cargo box to achieve the effect of tallying;

When not in use, the drive motor 2 37 is started, driving the threaded rod 38 to rotate, driving the threaded sleeve 39 to move, and moving the end of the winding rope 33 tied to the threaded sleeve 39 to the end of the support frame 5 away from the vertical lifting mechanism 2. The drive motor 34 is started, driving the winding shaft 35 to rotate, and winding the winding rope 33, so that the multi-way switching conveying mechanism 3 can be stored after rotation.

The present invention and its embodiments are described above, which is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it and design structural methods and embodiments similar to the technical solution without creativity without departing from the purpose of the invention, they should all fall within the protection scope of the present invention.

Claims (8)

1. A cargo handling robot vehicle, characterized in that it comprises a handling vehicle body (1), a vertical lifting mechanism (2), and a multi-way switching conveying mechanism (3), wherein the vertical lifting mechanism (2) is fixedly connected to one side of the handling vehicle body (1), and the multi-way switching conveying mechanism (3) is flip-connected to one side of the vertical lifting mechanism (2); The multi-way switching conveying mechanism (3) comprises a support frame (5), mutually vertically staggered conveying wheel mechanisms (44), a pulley power mechanism (8) for driving the mutually vertically staggered conveying wheel mechanisms (44) to rotate, and a steering mechanism (9); the support frame (5) and the vertical lifting mechanism (2) are flipped through a conveyor storage device; the mutually vertically staggered conveying wheel mechanisms (44) are arranged inside the support frame (5) and are arranged at a certain angle to the support frame (5); the pulley power mechanism (8) is located on the support frame (5); the mutually vertically staggered conveying wheel mechanisms (44) are connected to a universal joint (16) arranged in the pulley power mechanism (8); and the steering mechanism (9) is rotatably arranged at the end corner of the support frame (5) to perform peripheral transmission on the pulley power mechanism (8) in the support frame; The conveyor storage device comprises a reeling mechanism (31), a position adjustment mechanism (32), and a rotating member (4); the reeling mechanism (31) is located on the vertical lifting mechanism (2); the position adjustment mechanism (32) is arranged at the side end of the support frame (5); the position adjustment mechanism (32) and the reeling mechanism (31) are connected via a reeling rope (33); the rotating member (4) is fixedly connected to the vertical lifting mechanism (2) and the support frame (5); and a cargo sorting mechanism (30) is fixedly connected to the position adjustment mechanism (32). 2. A cargo handling robot vehicle according to claim 1, characterized in that: the conveying wheel mechanisms (44) arranged perpendicularly and staggered to each other comprise a conveying wheel mechanism 1 (6) and a conveying wheel mechanism 2 (7), wherein the conveying wheel mechanism 1 (6) and the conveying wheel mechanism 2 (7) are evenly provided with a plurality of groups respectively, and are staggered and spaced inside the supporting frame (5), and the angle between the two is 90 degrees; The conveying wheel mechanism (6) comprises a conveying wheel rod (12) and a conveying wheel (13). The conveying wheel (13) is evenly distributed in plurality and coaxially fixedly sleeved on the surface of the conveying wheel rod (12). The conveying wheel (13) is placed at an angle of 45 degrees to the support frame (5) on a horizontal plane, and the surface high point of the conveying wheel (13) is higher than the support frame (5). The conveying wheel mechanism 2 (7) comprises a conveying wheel rod 2 (14) and a conveying wheel 2 (15). The conveying wheel 2 (15) is evenly distributed in plurality and coaxially fixedly sleeved on the surface of the conveying wheel rod 2 (14). The conveying wheel 2 (15) is placed at an angle of 45 degrees to the regular quadrilateral support frame (5) on a horizontal plane. The surface high point of the conveying wheel 2 (15) is higher than the support frame (5). The surface high point of the conveying wheel 2 (15) is on the same horizontal plane as the surface high point of the conveying wheel 1 (13). The second conveying wheel rod (14) is arranged below the first conveying wheel rod (12) and is arranged in a staggered and spaced manner to form a plurality of quadrilateral grids. The second conveying wheel (15) and the first conveying wheel (13) are symmetrically distributed on the regular quadrilateral grids. 3. A cargo handling robot vehicle according to claim 2, characterized in that: the pulley power mechanism (8) comprises a universal joint (16), a pulley (17), a belt (19), and a pressure rod (18), wherein the universal joint (16) is respectively connected to the two ends of the conveying wheel rod 1 (12) and the conveying wheel rod 2 (14) and is rotatably connected to the support frame (5), and the pulley (17) is coaxially fixedly sleeved on the universal joint at one end of the conveying wheel rod 1 (12) and the conveying wheel rod 2 (14), and the belt on the adjacent conveying wheel rod 1 (12) The wheels and the pulleys on adjacent conveying wheel rods (14) are connected by belts (19), the pressure rod (18) is rotatably connected to the support frame (5), the pressure rod (18) is pressed against one side of the belt (19), and the support frame (5) is provided with two groups of motors (20) for driving the conveying wheel rod (12) and the conveying wheel rod (14) to rotate, respectively, and the output end of the motor (20) is coaxially fixed to the end of a universal joint (16) with a pulley at one end of any conveying wheel rod (12) or conveying wheel rod (14). 4. A cargo handling robot vehicle according to claim 1, characterized in that: the steering mechanism (9) comprises a connecting shaft 1 (21), a connecting shaft 2 (22), a bevel gear 1 (23), and a bevel gear 2 (24); the connecting shaft 1 (21) and the connecting shaft 2 (22) are respectively connected to the universal joint (16) through a pulley assembly (25); the connecting shaft 1 (21) is rotatably arranged inside the support frame (5); the connecting shaft 2 (22) is rotatably arranged inside the support frame (5); the connecting shaft 2 (22) is vertically distributed with the connecting shaft 1 (21); the bevel gear 1 (23) is coaxially fixedly sleeved on the connecting shaft 1 (21); the bevel gear 2 (24) is coaxially fixedly sleeved on the connecting shaft 2 (22); and the bevel gear 2 (24) is meshed with the bevel gear 1 (23). 5. A cargo handling robot vehicle according to claim 1, characterized in that: the vertical lifting mechanism (2) includes a bracket one (26), a bracket two (27), and a hydraulic telescopic rod (28), the bracket one (26) is fixedly connected to the end of the handling vehicle body (1), the bracket two (27) is slidably arranged in the bracket one (26), the fixed end of the hydraulic telescopic rod (28) is fixedly connected to the bracket one (26), and the extended end of the hydraulic telescopic rod (28) is fixedly connected to the bracket two (27). 6. A cargo handling robot vehicle according to claim 5, characterized in that: the reeling mechanism (31) comprises a driving motor (34), a reeling shaft (35), and a bearing seat (36), the driving motor (34) is fixedly connected to the second bracket (27), the reeling shaft is fixedly connected to the output end of the driving motor (34) and is rotationally connected to the second bracket (27) through the bearing seat (36), and the reeling shaft (35) passes through the first bracket (26) and extends to the outside thereof; The position adjustment mechanism (32) comprises a second drive motor (37), a threaded rod (38), and a threaded sleeve (39); the second drive motor (37) is fixedly connected to the side wall of the support frame (5); the threaded rod (38) is fixedly connected to the output end of the second drive motor (37) and is rotatably connected to the support frame (5) via a second bearing seat; the threaded sleeve (39) is threadedly connected to the threaded rod (38) and is slidably connected to the support frame (5); and the two ends of the winding rope (33) are respectively fixedly connected to the winding shaft (35) and the threaded sleeve (39). 7. A cargo handling robot vehicle according to claim 6, characterized in that: the cargo sorting mechanism (30) is provided with two groups, which are respectively arranged on both sides of the support frame (5), and the cargo sorting mechanism (30) includes an F-shaped frame plate (40) and a cargo pushing wheel (41), the F-shaped frame plate (40) is fixed to the upper end of the threaded sleeve (39), the cargo pushing wheel (41) is rotatably arranged on the F-shaped frame plate (40), and the side end of the surface of the cargo pushing wheel (41) extends out of the F-shaped frame plate (40) into the support frame (5). 8. A cargo handling robot vehicle according to claim 5, characterized in that: the rotating member (4) comprises a U-shaped frame 1 (42) and a U-shaped frame 2 (43), the U-shaped frame 1 (42) is fixedly connected to the bracket 2 (27), the U-shaped frame 2 (43) is fixedly connected to the supporting frame (5), and the U-shaped frame 1 (42) and the U-shaped frame 2 (43) are rotatably connected.