CN207791900U - Traveling wheel and track travel system with the traveling wheel - Google Patents

Traveling wheel and track travel system with the traveling wheel Download PDF

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Publication number
CN207791900U
CN207791900U CN201721555125.6U CN201721555125U CN207791900U CN 207791900 U CN207791900 U CN 207791900U CN 201721555125 U CN201721555125 U CN 201721555125U CN 207791900 U CN207791900 U CN 207791900U
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track
traveling wheel
tread
flange
wheel
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CN201721555125.6U
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许庆波
崔磊
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Columbo Logistics (shanghai) Co Ltd
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Columbo Logistics (shanghai) Co Ltd
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Abstract

The utility model provides a kind of traveling wheel and the track travel system with the traveling wheel, wherein the traveling wheel is provided with the flange of conical butt at the side of at least one of the outside of its tread and inside;The taper end of the flange of the conical butt abuts the tread of the traveling wheel, and the diameter of the taper end end face is more than the diameter of the annular tread of the traveling wheel, and rib is being formed close to the side of tread;Tread of the butt end of the flange of the conical butt far from the traveling wheel, the conical surface between the taper end and the butt end form guide surface.The running gear includes:Horizontally disposed first track and the second track, Relative vertical intersects first track in the horizontal direction with second track, low orbit;Moving trolley, the moving trolley are provided with first round group and the second wheel group;Elevating mechanism is arranged in wherein the second wheel group.

Description

Traveling wheel and track travel system with the traveling wheel
Technical field
The utility model is related to vehicle to run and warehouse handling system, more particularly to a kind of traveling wheel and carry the traveling wheel Running gear.
Background technology
In recent years, with the rise of cost of land and cost of labor, intensive this concept of storage is increasingly by either The concern of logistics company or electric business company.
The case where carrier or transfer robot are used in the warehouse of intensive storage is more and more.Traditional carrier Traveling wheel be usually common wheel, sideslip is easy to when for walking in orbit, and be difficult to be corrected.This Outside, carrier or transfer robot necessary not only for advancing in one direction, such as shown in attached drawing Fig. 2, works as carrier When walking on the track of the X and Y both directions of horizontal plane, the switching mechanism of existing carrier or robot is all extremely complex And the problem of carrier is lifted or declines as traveling wheel switches is usually required, it is past when carrying than heavier cargo It is past to consume bigger energy to be lifted carrier.In addition, traditional robot is on guide rail when running, due to traveling wheel and rail Simply coordinate between road, when cargo tilt, the unequal irresistible reason of track, it may occur that work cannot be completed by de-orbiting The problems such as.
Tiered warehouse facility transfer robot is an important component part in intensive storage, it during the work time needed for Space and its automatically correcting device are the places needed to improve.For the walking facility such as carrying implement in four-way tiered warehouse facility For device people, traditional running rail in the same plane, when turning to Y direction by X-direction (vice versa), passes through lift The wheel in other high directions is realized.Which adds the required spaces of four-way tiered warehouse facility conveying robot man-hour. Secondly when transfer robot is walked in orbit, it is many it is immutable due to can lead to robot sideslip, cause to remove Fortune failure.It solves the capital construction cost that both of these problems can reduce workshop, and increases the operation stability of robot.
Tiered warehouse facility transfer robot running track is that planar, transfer robot wants energy quickly stock, picking, realizes Warehouse high-efficiency operation, zero defect.The equipment of Track equipment or vehicle class is required for repairing into line direction in the process of running at present Just, it wherein corrects and is divided into:1, it is modified automatically by guiding, such as directive wheel;2, it is repaiied by the transfer of equipment itself Just, such as steering wheel.
Because carrying out adjustment in direction by steering wheel is only limitted to oversize vehicle, and needs artificial control.So at present only Adjustment in direction can be carried out by guide roller.And with four-way driving functions transfer robot for, can not use directive wheel into Line direction amendment.Therefore it is badly in need of a kind of traveling wheel with track corollary equipment to achieve the effect that amendment direction and smoothly turn to.
Utility model content
In order to solve the above problem in the prior art, the utility model proposes a kind of traveling wheel and the traveling wheel is carried Track travel system.
One side according to the present utility model, it is proposed that a kind of traveling wheel, the traveling wheel is in the outside of its tread and interior The flange of conical butt is provided at the side of at least one of side;The taper end adjoining traveling wheel of the flange of conical butt Tread, the diameter of taper end end face are more than the diameter of the annular tread of traveling wheel, and rib is being formed close to the side of tread;Described section For the butt end of the flange of head cone far from the tread of the traveling wheel, the conical surface between taper end and butt end forms guide surface.
Preferably, in traveling wheel according to the present utility model, the height of the rib can be 12mm;The flange The diameter of butt end end face is bigger 24mm than the diameter of the taper end end face of the flange.
Preferably, in traveling wheel according to the present utility model, the flange can be arranged in the inside of tread.
Second aspect according to the present utility model, it is also proposed that a kind of track travel system being equipped with aforementioned traveling wheel, The track travel system includes:Horizontally disposed first track and the second track, first track and second track Relative vertical intersects in the horizontal direction, and first track is high orbit in track infall, and second track is handed in track It is low orbit at fork;Moving trolley, the moving trolley are provided with the first round group for walking on first track and are used for The the second wheel group walked on the second track;The wherein described second wheel group be provided with for relative to the moving trolley rise or under It is down to the elevating mechanism of the low orbit.
In a preferred embodiment of running gear according to the present utility model, first track and the second track It is double-rail track.Preferably, at the non-crossing place of track, first track is high orbit, and second track is low rail Road.
In running gear according to the present utility model, when the moving trolley is walked on first track, institute It states the second wheel group and is in raised configuration, when the moving trolley is walked on second track, the second wheel group is located at drop After the low and position of first rail contact.
Preferably, in running gear according to the present utility model, the moving trolley is the carrying implement for tiered warehouse facility Device people.
By using traveling wheel according to the present utility model and running gear, can at least obtain as follows
Advantageous effect:
The traveling wheel of traditional four-way tiered warehouse facility transfer robot is smooth cylindrical type, when transfer robot travel direction has It cannot be corrected in time when deviation.When common wheel side adds trapezoid boss, due to there is the pressure of weight to work as in driving process Since contact surface is inclined-plane when having deflection error when driving, so direction can be corrected automatically quickly.And two trapezoid boss symmetrically put It sets, the deflection error of both direction can be compensated.
The track of traditional four-way tiered warehouse facility transfer robot be planar tracks, when commutation be need lift or reduce it is whole A car body needs larger space.And when being designed as height guide rail, do not need entire machine people up and down motion, only need by Corresponding traveling wheel moves up and down and can achieve the goal on low rail, reduces running space.
It should be appreciated that aforementioned description substantially and follow-up description in detail are exemplary illustration and explanation, it should not As the limitation to the claimed content of the utility model.
Description of the drawings
With reference to the attached drawing of accompanying, the more purposes of the utility model, function and advantage will pass through the utility model embodiment party The described below of formula is illustrated, wherein:
Fig. 1 diagrammatically illustrates the schematic diagram and partial enlargement of an embodiment of traveling wheel according to the present utility model Figure;
Fig. 2 shows carrier in the prior art and the schematic diagrames of track;
Fig. 3 shows the schematic diagram of an embodiment of running gear according to the present utility model;And
Fig. 4 shows the schematic diagram of the another embodiment of running gear according to the present utility model.
Specific implementation mode
By reference to exemplary embodiment, the purpose of this utility model and function and for realizing these purposes and function Method will be illustrated.However, the utility model is not limited to exemplary embodiment as disclosed below;It can be by not It is realized with form.The essence of specification is only to aid in various equivalent modifications Integrated Understanding the utility model Detail.
Hereinafter, the embodiments of the present invention will be described with reference to the drawings.In the accompanying drawings, identical reference numeral represents Same or similar component or same or like step.
As shown in Figure 1, one side according to the present utility model, it is proposed that a kind of traveling wheel 10, the traveling wheel are stepped at it The flange 12 of conical butt is provided at the side of at least one of the outside and inside in face;The flange of conical butt it is thin The tread of the adjacent traveling wheel in end, the diameter of taper end end face is more than the diameter of the annular tread of traveling wheel, close to the side of tread Form rib 11;Tread of the butt end of the flange of the conical butt far from the traveling wheel, the cone between taper end and butt end Face forms guide surface 13.
By using above-mentioned traveling wheel, can be arranged on two wheels of symmetry direction rib can by carrier or Person's transfer robot tightly blocks in orbit, it is not easy to the problem of de-orbiting.Conical butt flange or ladder are set After tee section boss, even if carrier or transfer robot cross rib, but wheel is to move in a circle, and movement angle is identical, But it is again different (linear velocity is different) to climb guide rail different height line of motion distance, forms perimeter deviation and (is converted to the difference come The linear distance of radius point is different), it is then deviated in the opposite direction when arriving peak value on one side when linear distance length is that all long ranges are big, it is left The right side is corrected back and forth, but is run always along center line, then just there is different movement gradients constantly to correct the running route of trolley, is carried The accuracy that height transports goods.
Preferably, in traveling wheel according to the present utility model, the height of the rib can be 12mm;The flange The diameter of butt end end face is bigger 24mm than the diameter of the taper end end face of the flange.
Preferably, in traveling wheel according to the present utility model, the flange can be arranged in the inside of tread.
Second aspect according to the present utility model, as shown in Figure 3 and Figure 4, it is also proposed that one kind being equipped with aforementioned traveling wheel Track travel system, the track travel system includes:40 and second track 50 of horizontally disposed first track, described first Relative vertical intersects track 40 in the horizontal direction with second track 50, and first track 40 is high rail in track infall Road, second track 50 are low orbit in track infall;Moving trolley 60, the moving trolley are provided with for described first The first round group 20 walked on track 40 and the second wheel group 30 for walking on the second track 50;The wherein described second wheel group 30 are provided with the elevating mechanism for low orbit to be risen or dropped to relative to the moving trolley.
It will be appreciated by persons skilled in the art that for so that it is specific that the mechanism of the second wheel group lifting is not limited to Form, as long as the appropriate institution for being that by the lifting of wheel group can.
In a preferred embodiment of running gear according to the present utility model, first track, 40 and second rail Road 50 is double-rail track.
Preferably, at the non-crossing place of track, first track remains as high orbit, and second track remains as low Track.By the guide rail that height rail form is arranged:When transfer robot X-direction planar and Y direction walking When, residing for orbit altitude it is different.By using traveling wheel as shown above, coordinate with height rail guide rail, Neng Goushi Existing automatic deviation correction is oriented to and the automatic function of correcting carrier and transfer robot track route.
In running gear according to the present utility model, when the moving trolley is walked on first track, institute It states the second wheel group and is in raised configuration, when the moving trolley is walked on second track, the second wheel group is located at drop After the low and position of first rail contact.
Preferably, in running gear according to the present utility model, the moving trolley 60 is the carrying for tiered warehouse facility Robot.
In common four-way tiered warehouse facility handling system in the prior art, transfer robot is by X-direction commutation Y-direction (Y Direction commutation X-direction it is as the same) traveling reversing mode be:The traveling wheel of X-direction is retractable to body, leaves track.By Y-direction Traveling wheel contact ground, is travelled.This mode needs entire transfer robot to move up and down.There are shortcomings in this way, Such as power consumption is increased, and easily cause carried cargo and shake.
By using the traveling wheel and running gear of the utility model, such as transfer robot is used in tiered warehouse facility When, high rail is in direct contact come Y direction when running four-way tiered warehouse facility transfer robot travel in Y direction with height rail, when It needs X-axis to drop to low rail under X-axis traveling is taken turns directly when driving, does not need entire machine people rising, be considerably reduced in this way Robot running space, and then reduce the capital construction cost in warehouse.
Explanation in conjunction with the utility model disclosed here and practice, the other embodiment of the utility model is for this field Technical staff will be readily apparent and understand.Illustrate and embodiment be regarded only as being exemplary, the utility model it is real Scope and spirit are defined in the claims.

Claims (7)

1. a kind of traveling wheel, which is characterized in that the traveling wheel is at the side of at least one of the outside of its tread and inside It is provided with the flange of conical butt;
The taper end of the flange of the conical butt abuts the tread of the traveling wheel, and the diameter of the taper end end face is more than described The diameter of the annular tread of traveling wheel is forming rib close to the side of tread;
Tread of the butt end of the flange of the conical butt far from the traveling wheel, the cone between the taper end and the butt end Face forms guide surface.
2. traveling wheel according to claim 1, which is characterized in that the height of the rib is 12mm;The flange it is thick Hold the diameter of end face bigger 24mm than the diameter of the taper end end face of the flange.
3. traveling wheel according to claim 1 or 2, which is characterized in that the flange is arranged in the inside of tread.
4. a kind of track travel system being equipped with the traveling wheel described in any one of preceding claims, which is characterized in that institute Stating track travel system includes:
Horizontally disposed first track and the second track, first track and second track Relative vertical in the horizontal direction Intersect, first track is high orbit in track infall, and second track is low orbit in track infall;
Moving trolley, the moving trolley are provided with the first round group for walking on first track and are used in the second track Second wheel group of upper walking;
The wherein described second wheel group is provided with the elevator for the low orbit to be risen or dropped to relative to the moving trolley Structure.
5. running gear according to claim 4, which is characterized in that first track and the second track are double track rail Road.
6. running gear according to claim 4 or 5, which is characterized in that at the non-crossing place of track, first track For high orbit, second track is low orbit.
7. running gear according to claim 5, which is characterized in that the moving trolley is the carrying implement for tiered warehouse facility Device people.
CN201721555125.6U 2017-11-20 2017-11-20 Traveling wheel and track travel system with the traveling wheel Active CN207791900U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721555125.6U CN207791900U (en) 2017-11-20 2017-11-20 Traveling wheel and track travel system with the traveling wheel

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Application Number Priority Date Filing Date Title
CN201721555125.6U CN207791900U (en) 2017-11-20 2017-11-20 Traveling wheel and track travel system with the traveling wheel

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CN207791900U true CN207791900U (en) 2018-08-31

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109896216A (en) * 2019-04-19 2019-06-18 广州豪坤工业自动化控制技术有限公司 A kind of steering shuttle Dual-channel type track structure
CN109896217A (en) * 2019-04-19 2019-06-18 广州豪坤工业自动化控制技术有限公司 A kind of Dual-channel type steering shuttle automatic material flow device of variable-ratio
CN114336203A (en) * 2021-12-22 2022-04-12 北京京东乾石科技有限公司 Current collector and article transportation system
CN114590542A (en) * 2020-12-07 2022-06-07 斯特曼机械和操作有限公司 Rail conveyor element
CN117699302A (en) * 2023-12-21 2024-03-15 江苏华章物流科技股份有限公司 Shuttle robot and use method

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109896216A (en) * 2019-04-19 2019-06-18 广州豪坤工业自动化控制技术有限公司 A kind of steering shuttle Dual-channel type track structure
CN109896217A (en) * 2019-04-19 2019-06-18 广州豪坤工业自动化控制技术有限公司 A kind of Dual-channel type steering shuttle automatic material flow device of variable-ratio
CN109896217B (en) * 2019-04-19 2024-05-03 广东豪坤供储智能装备科技有限公司 Automatic logistics device of variable-speed double-channel steering shuttle
CN114590542A (en) * 2020-12-07 2022-06-07 斯特曼机械和操作有限公司 Rail conveyor element
CN114336203A (en) * 2021-12-22 2022-04-12 北京京东乾石科技有限公司 Current collector and article transportation system
CN117699302A (en) * 2023-12-21 2024-03-15 江苏华章物流科技股份有限公司 Shuttle robot and use method

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