CN217262703U - Track guided vehicle and transport system - Google Patents

Abstract

In an embodiment of the present disclosure, a track guided vehicle and a transport system includes: a vehicle body provided with at least one pair of wheels for traveling along a rail; swing arm drive mechanism includes: a connecting mechanism connecting the vehicle body; the swing arm mechanism is connected to the connecting mechanism in a swinging manner; the climbing roller is arranged on the swing arm mechanism in a rolling way, and the rolling direction of the climbing roller is consistent with the moving direction of the vehicle body; the wheel surface of the climbing roller is provided with an engaging part for engaging with a rack extending along the track slope section; and the traction power device is connected with the transmission mechanism to drive the climbing roller. This openly realizes having the rail guidance vehicle that can climb, and adopts the swing arm mode and can swing in a flexible way to can adapt to the change of the different slopes of same track.

Description

Track guided vehicle and transport system

Technical Field

The present disclosure relates to the field of intelligent robot technology, and more particularly to a track guided vehicle and transport system.

Background

Rail Guided Vehicles (RGVs) are commonly used as carriers in logistics systems to transport various materials, and RGV car transport is required in many industries to reduce labor, financial and time costs. In the dolly actual motion in-process, except through gentle track, there is the climbing operating mode to appear usually, however, the dolly is under the circumstances of load, and the climbing ability of its mechanism itself often is not enough, can appear when climbing to certain height that power is not enough, the wheel condition such as skids.

When the existing RGV trolley is used, the skid of the trolley is usually avoided by adopting a mode of additionally arranging an anti-skid layer on a track or a wheel. However, the anti-skid layer only aims at climbing of a small slope and a light load on one hand, and on the other hand, the anti-skid layer is high in manufacturing cost, poor in durability and greatly increased in use cost.

Disclosure of Invention

In view of the shortcomings of the prior art discussed above, it is an object of the present disclosure to provide a track guided vehicle and transport system that addresses the above-mentioned problems.

According to a first aspect of the present disclosure, there is provided a track guided vehicle comprising: a vehicle body provided with at least one pair of wheels for traveling along a rail; swing arm drive mechanism includes: the device comprises a connecting mechanism, a swing arm mechanism, a transmission mechanism and a climbing roller; the connecting mechanism is connected with the vehicle body; the swing arm mechanism is connected to the connecting mechanism in a swinging mode; the climbing roller is arranged on the swing arm mechanism in a rolling way, and the rolling direction of the climbing roller is consistent with the movement direction of the vehicle body; the wheel surface of the climbing roller is provided with an engaging part which is engaged with a rack extending along the track slope section; and the transmission mechanism is connected to the climbing roller in a transmission way; and the traction power device is connected with the transmission mechanism to drive the climbing roller.

In some embodiments of the first aspect, the traction power device includes a traction motor and a speed reducer, the traction motor being connected to the transmission mechanism through the speed reducer; the speed reducer has a self-locking function.

In some embodiments of the first aspect, the traction power unit includes a speed reducer coupled between the traction motor and the transmission.

In some embodiments of the first aspect, the track guided vehicle further comprises: and a limiting part is arranged opposite to the climbing roller at an interval, and a limiting gap for the rack is formed between the limiting part and the climbing roller.

In some embodiments of the first aspect, the climbing roller is upwardly engaged to the rack.

In some embodiments of the first aspect, the climbing roller is disposed closer to an inner side of the vehicle body than the wheel.

In some embodiments of the first aspect, the climbing roller comprises: cylindrical rollers or gear rollers.

In some embodiments of the first aspect, the connection mechanism comprises: the first connecting component and the second connecting component are vertically arranged at intervals; the transmission mechanism is arranged between the first connecting assembly and the second connecting assembly.

In some embodiments of the first aspect, the first connection assembly includes a first board body erected, and the first board body is provided with a reinforcing rib.

In some embodiments of the first aspect, the second connection assembly includes a second plate and a third plate that are opposed, the second plate being closer to the first connection assembly than the third plate; the climbing roller is arranged on the side face, back to the second plate body, of the third plate body.

In some embodiments of the first aspect, the transmission mechanism is a chain transmission or a gear transmission.

In some embodiments of the first aspect, the transmission mechanism comprises: the first transmission assembly and the second transmission assembly are respectively connected with the connecting mechanism and the swing arm mechanism; and the first transmission assembly and the second transmission assembly are in transmission connection.

In some embodiments of the first aspect, the first transmission assembly rotates about a first connection axis, the first transmission assembly and the second transmission assembly rotate about a transmission connection axis, and the first connection axis and the transmission connection axis are spanned on the first connection assembly and the second connection assembly of the connection mechanism which are erected at an interval opposite to each other.

In some embodiments of the first aspect, the first drive assembly comprises a first drive chain and the second drive assembly comprises a second drive chain; the first transmission chain is arranged around the first connecting shaft and the transmission connecting shaft and is meshed with a first chain wheel on the first connecting shaft and a second chain wheel on the transmission connecting shaft; the first connecting shaft is driven to rotate by a traction power device; the second transmission chain is arranged around the transmission connecting shaft and the second connecting shaft and meshed with a third chain wheel arranged on the transmission connecting shaft and a fourth chain wheel arranged on the second connecting shaft; the second connecting shaft is provided with the climbing roller; or the first transmission assembly comprises a first gear and a transmission gear, the first gear is fixedly arranged on a first connecting shaft, and the first connecting shaft is driven to rotate by a traction power device; the transmission gear can be arranged in a transmission manner by the first gear; the second transmission assembly comprises a second gear which can be transmitted by the transmission gear, and the second gear is fixedly arranged on the second connecting shaft; the second connecting shaft is provided with the climbing roller.

In some embodiments of the first aspect, the swing arm mechanism comprises: the first swing arm assembly and the second swing arm assembly are respectively connected with the first connecting assembly and the second connecting assembly in a relatively rotatable manner; the first swing arm assembly and the second swing arm assembly are connected through a bridging piece to swing synchronously, and the second swing arm assembly deviates from the outer surface of the first swing arm assembly and is provided with the climbing roller.

In some embodiments of the first aspect, the track guided vehicle comprises: and the elastic telescopic piece is connected with the swing arm traction mechanism and the vehicle body.

In some embodiments of the first aspect, the track guided vehicle comprises: the driving device is used for driving the rotation of at least one pair of wheels; the driving device comprises a driving motor and a differential mechanism forming a differential speed between at least one pair of wheels.

In some embodiments of the first aspect, inductive locators are provided at least one or at least a pair of said wheels.

In some embodiments of the first aspect, the vehicle body is provided with a collision avoidance device in front of or behind the vehicle body, and/or an obstacle scanner in front of or behind the vehicle body.

In some embodiments of the first aspect, the track guided vehicle comprises: the power supply device is arranged on the vehicle body and is electrically connected with the traction power device; the power supply device includes: battery, uninterrupted power source and charging brush module.

According to a second aspect of the present disclosure, there is provided a transport system comprising: the track is provided with a rack extending along the track at least on a slope section of the track; the track guided vehicle of any one of the first aspect, traveling along the track.

In some embodiments of the second aspect, the rack bar is provided with a guide at an end facing a direction of travel of the track guided vehicle, the guide exhibiting a structure having a gradually increasing cross-sectional area along the direction of travel.

As described above, in the track guided vehicle and the transportation system in the embodiment of the present disclosure, the track guided vehicle includes: a vehicle body provided with at least one pair of wheels for traveling along a rail; swing arm drive mechanism includes: a connecting mechanism connecting the vehicle body; the swing arm mechanism is connected to the connecting mechanism in a swinging manner; the climbing roller is arranged on the swing arm mechanism in a rolling way, and the rolling direction of the climbing roller is consistent with the moving direction of the vehicle body; the wheel surface of the climbing roller is provided with an engaging part for engaging with a rack extending along the track slope section; and the traction power device is connected with the transmission mechanism to drive the climbing roller. This openly realizes having the rail guidance vehicle that can climb, and adopts the swing arm mode and can swing in a flexible way to can adapt to the change of the different slopes of same track.

Drawings

FIG. 1 shows a schematic perspective view of a track guided vehicle according to an embodiment of the present disclosure.

Fig. 2 shows a schematic perspective view of a swing arm traction mechanism in an embodiment of the present disclosure.

Fig. 3 shows a front plan view of a swing arm traction mechanism according to an embodiment of the present disclosure.

FIG. 4 shows a side plan view schematic of a track guided vehicle in an embodiment of the present disclosure.

Fig. 5 shows a schematic view of a partial structure of a rack in an embodiment of the present disclosure.

Detailed Description

Embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure. The disclosure may be embodied or carried out in various other specific embodiments and with various modifications or alterations from various aspects and applications of the disclosure without departing from the spirit of the disclosure. It is to be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings so that those skilled in the art to which the present disclosure pertains can easily carry out the embodiments. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein.

Reference in the representation of the present disclosure to the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. Furthermore, the particular features, structures, materials, or characteristics shown may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of different embodiments or examples presented in this disclosure can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" are used merely to denote an object and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the expressions of the present disclosure, "plurality" means two or more unless specifically defined otherwise.

In order to clearly explain the present disclosure, components that are not related to the description are omitted, and the same reference numerals are given to the same or similar components throughout the specification.

Throughout the specification, when a device is referred to as being "connected" to another device, this includes not only the case of being "directly connected" but also the case of being "indirectly connected" with another element interposed therebetween. In addition, when a device "includes" a certain component, unless otherwise stated, the device does not exclude other components, but may include other components.

Although the terms first, second, etc. may be used herein to refer to various elements in some examples, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first interface and the second interface are represented. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, modules, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, modules, items, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" include plural forms as long as the words do not expressly indicate a contrary meaning. The term "comprises/comprising" when used in this specification is taken to specify the presence of stated features, regions, integers, steps, operations, elements, and/or components, but does not exclude the presence or addition of other features, regions, integers, steps, operations, elements, and/or components.

There are many applications in the field of logistics storage in rail guided vehicles, i.e. RGV trolleys. With the change of different configurations and requirements of applied scenes, the trend of the track is often changed in height instead of extending at the same height all the time, so that the RGV trolley has the possibility of climbing.

The current RGV trolley has insufficient climbing capability, and when climbing to a certain height, the situations of insufficient power, wheel slip and the like occur. Although the addition of an anti-skid layer on the rail or wheel is a solution, it is not satisfactory in terms of anti-skid effect, durability and cost.

In view of this, the embodiments of the present disclosure provide a guided vehicle having a structure that can well adapt to a track slope section and pull and climb a slope, which well solves the problem of skidding of an RGV car in the related art.

Referring to FIG. 1, a schematic perspective view of a track guided vehicle according to one embodiment of the present disclosure is shown.

The track guided vehicle 100 includes: a vehicle body 101 and a swing arm traction mechanism 102. Expressed by way of example in the figures, the swing arm traction mechanism 102 may be located at a forward position of the vehicle body 101 for adaptive attitude adjustment when contacting a track grade, and may be engageable to a rack (not shown) disposed along the track grade for climbing along the grade.

The structure in the figures is described in detail. The vehicle body 101 is provided with at least one pair of wheels for traveling along a rail. Two pairs of front and rear wheels are shown in the example of fig. 1. One pair of front wheels is a driving wheel 1011 and can be driven by a driving motor to rotate, and the other pair of rear wheels is a driven wheel 1012 and driven by the driving wheel 1011. Alternatively, both pairs of wheels may be drive wheels.

For example, the swing arm traction mechanisms 102 may be provided in only one set as shown in fig. 1, or may be provided in multiple sets. For example, a set of swing arm traction mechanisms 102 are symmetrically disposed on each of the left and right sides below the front of the track guided vehicle 100. The number and location of the racks also need to be varied accordingly.

Referring to fig. 2 and fig. 3, a schematic structural diagram of a swing arm traction mechanism according to an embodiment of the present disclosure is shown. Fig. 2 shows a schematic perspective view of a swing arm traction mechanism in an embodiment of the present disclosure. Fig. 3 shows a front schematic view of the swing arm traction mechanism of fig. 2.

The swing arm traction mechanism 102 includes: a connecting mechanism 103, a swing arm mechanism 104, a climbing roller 105 and a transmission mechanism 106.

The connection mechanism 103 is connected to the vehicle body 101. In some embodiments, the connection mechanism 103 comprises: a first connecting assembly 1031 and a second connecting assembly 1032 are vertically spaced. Specifically, referring to the drawings, the first connecting assembly 1031 includes a standing first plate body 10311. Illustratively, the first plate body 10311 is erected, and a top portion of the first plate body 10311 is connected with a first mounting plate 10312 for mounting to the vehicle body 101. The first plate body 10311 and the first mounting plate 10312 are exemplarily connected to form a "T" or an inverted "L" structure in fig. 2. The first plate 10311 and the first mounting plate 10312 may be integrally formed, welded, or screwed, and the first mounting plate 10312 may be mounted to the vehicle body 101 by welding or screwing.

For example, the first plate 10311 may be a single plate. In order to reinforce the strength of the first plate body 10311 and avoid deformation, the first plate body 10311 is provided with a reinforcing rib 10313. The reinforcing rib 10313 may be connected to the first mounting plate 10312. Alternatively, in other embodiments, the first plate 10311 may also be replaced by at least two plate combinations arranged at intervals according to actual requirements.

For example, the second connecting assembly 1032 may include a second board 10321 and a third board 10322, which are opposite to each other, the second board 10321 is closer to the first connecting assembly 1031 than the third board 10322, and the climbing roller 105 is disposed outside a side of the third board 10322 facing away from the second board 10321. The second and third plate bodies 10321 and 10322 may be coupled at the top thereof with a second mounting plate 10323, and the second mounting plate 10323 may be provided for fixation to the vehicle body 101. The bottoms of the second plate 10321 and the third plate 10322 may be fixed by a connection plate. The second mounting plate 10323, the second plate 10321, and the third plate 10322 may exemplarily exhibit a shape similar to "Π" in the figures.

It should be noted that, in fig. 2, the first plate 10311 may connect the transmission assembly 106 and the swing arm mechanism 104. The second board 10321 is mainly used for connecting the transmission mechanism 106, and the third board 10322 is mainly used for connecting the swing arm mechanism 104. Therefore, the number of the first board 10311, the second board 10321, and the third board 10322 is only an exemplary structure of the connection mechanism 103 in this application scenario, and may be changed according to the requirement in other embodiments, and is not limited thereto.

The transmission mechanism 106 is illustratively disposed between the first and second connection assemblies 1031, 1032. In a possible example, the transmission mechanism 106 may be a chain transmission or a gear transmission. Fig. 2 shows an exemplary configuration in which the transmission 106 is a chain transmission. The transmission mechanism 106 includes a first transmission assembly 1061 and a second transmission assembly 1062. The first transmission assembly 1061 includes a first transmission chain 10611, and the second transmission assembly 1062 includes a second transmission chain 10621. The first transmission chain 10611 is disposed around the first connection shaft 10612 and the transmission connection shaft 10613, and is coupled to a first sprocket disposed on the first connection shaft 10612 and a second sprocket disposed on the transmission connection shaft 10613. The first connecting shaft 10612 is driven by a traction power device (refer to fig. 4) to rotate, and the first chain 10611 drives the transmission connecting shaft 10613 to rotate. The second transmission chain 10621 is disposed around the transmission connecting shaft 10613 and the second connecting shaft 10614, and engaged with a third sprocket disposed on the transmission connecting shaft 10613 and a fourth sprocket disposed on the second connecting shaft 10614, and the second connecting shaft 10614 is connected to the climbing roller 105. Therefore, the transmission connecting shaft 10613 can drive the second chain 10621, and the second chain 10621 can drive the second connecting shaft 106 to rotate, so as to drive the climbing roller 105 to rotate. It is understood that, in the case of a chain drive, a person skilled in the art may choose to add tension wheels in the chain and choose the number and diameter of the tension wheels according to actual needs, and does not specifically exemplify them in the drawings.

The swing arm mechanism 104 is swingably connected to the connection mechanism 103. Illustratively, the swing arm mechanism 104 includes a first swing arm assembly 1041 and a second swing arm assembly 1042 rotatably connected to the first connecting assembly 1031 and the second connecting assembly 1032, respectively. The first swing arm assembly 1041 and the first connection assembly 1031 are connected in a relatively rotatable manner (for example, hinged by a rotating shaft), and the first swing arm assembly 1041 may be located on a side inward (i.e., facing the second connection assembly 1032) of the first connection assembly 1031; the second swing arm assembly 1042 is rotatably connected to the second connecting assembly 1032, and the second swing arm assembly 1042 is located on an outer side of the second connecting assembly 1032 facing away from the first connecting assembly 1031. In the illustrated example, the relatively rotatable connection can be achieved by the transmission connecting shaft 10613 passing through the first connecting assembly 1031, the first swing arm assembly 1041, the first transmission assembly 1061 and the second transmission assembly 1062, the (second plate 10321 and the third plate 10322 of the) second connecting assembly 1032, and the second swing arm assembly 1052. The first swing arm assembly 1041 and the second swing arm assembly 1042 are connected through at least one crossover piece 1043 to swing synchronously, and the crossover piece 1043 may be a plate or a strip-shaped member, and two ends are fixed through welding or screwing. The second swing arm assembly 1042 is provided with the climbing roller 105 on the outer surface deviating from the first swing arm assembly 1041. As can be seen in fig. 3, for example, in addition to the transmission connecting shaft 10613, the first connecting shaft 10611 may be inserted through the second plate 10321 of the second connecting assembly 1032; the second connecting shaft 10614 may be disposed through the first swing arm assembly 1041 and the second swing arm assembly 1042. In a possible implementation example, at least one of the first connecting shaft 10611, the transmission connecting shaft 10613, and the second connecting shaft 10614 protruding out of the connection mechanism 103 and/or the swing arm mechanism 104 (may be a portion of the connecting shaft, or may be a shaft cover) may be provided with a shaft circlip to limit axial movement of these connecting shafts, so as to prevent the connecting shafts from disengaging from the connection mechanism 103 and the swing arm mechanism 104. For example, the shaft circlip 108 may be disposed at a portion of the transmission connecting shaft 10613 exposed out of the surface of the first connecting component 1031 and a portion of the second connecting shaft 10614 exposed out of the second swing arm assembly 1042. In addition, a bearing can be selectively disposed between each of the above-described connecting shafts and at least one shaft hole formed therethrough to reduce friction, and a bearing seat for mounting the bearing can be disposed, for example, the bearing seat 10421 is disposed on the side of the second swing arm assembly 1042 corresponding to the second connecting shaft 10614.

The climbing roller 105 is rollably disposed on the swing arm mechanism 104, and the rolling direction thereof is the same as the moving direction of the vehicle body 101. In the track along which the track-guided vehicle 100 moves, a rack extending along the track slope section may be provided, and the wheel surface of the climbing roller 105 may be provided with an engaging portion for engaging to the rack. And, along with the movement of the track guided vehicle 100 when climbing along the track, the climbing roller 105 moves along the rack in a meshed manner, and the rail guided vehicle 100 is prevented from sliding down by the meshed stopping force in the climbing process, thereby realizing stable climbing. In some embodiments, the climbing roller 105 may be sleeved on the second connection shaft 10614. The climbing roller 105 may be implemented as a cylindrical roller or a gear roller, i.e., the engaging portion is a cylindrical roller pin or a gear. For example, the climbing roller 105 may be located below the rack in practical applications, and is coupled to the rack upward, which may effectively prevent the climbing roller from disengaging from the rack. For example, if the climbing roller 105 is located above the rack, the engagement is released and the vehicle 101 slides down, but if the climbing roller 105 is engaged with the rack from the lower direction, the swing arm mechanism 104 is controlled to swing by the slope to correspondingly limit the downward movement of the climbing roller 105, so as to effectively prevent the climbing roller 105 from disengaging from the rack. In order to more effectively maintain the disengaged state between the climbing roller and the rack, the climbing roller 105 may be provided with a stopper 109 at a relative interval, as shown in fig. 2 and 3. Optionally, the limiting portion 109 may be implemented as a limiting wheel having a convex edge for clamping the rack, and may be combined with a third connecting shaft 110, and the third connecting shaft 110 penetrates through the second swing arm assembly 1042. A limit gap for the rack is formed between the limit part 109 and the climbing roller 105, namely the limit gap can be correspondingly matched with the thickness of the rack, and the limit part 109 limits the relative displacement between the rack and the climbing roller 105 from the other side of the rack. Of course, in other embodiments, the limiting portion 109 may be implemented in other forms, and is not limited to a limiting wheel.

In some embodiments, the stop 109 may be adjustable in position to accommodate rack requirements of different thicknesses. In a possible implementation example, the third connecting shaft 110 connected by the limiting part 109 may have a certain movement allowance in a shaft hole through which the third connecting shaft is inserted, and the position where the movement is reached is fixed by some fixing members (such as fixing pins) or fixing structures (such as clamping grooves, bayonets, etc.), where the fixing members in fig. 2 are screws 112, and the lower ends of the screws may be screwed to the adjusting blocks 111. In the example shown in fig. 2 and 3, optionally, the second swing arm assembly 1042 may be, for example, a double-plate structure spaced relatively in fig. 2 and 3, and a left plate body thereof is connected to the second connection assembly 1031, and an adjustment block 111 for adjusting a position of (a third connection shaft 110 of) the limiting portion 109 may be mounted, where the third connection shaft 110 passes through the adjustment block 111 and is limited by the adjustment block 111. The adjusting block 111 is exemplarily provided with a left strip-shaped hole 1111 and a right strip-shaped hole 1111, each strip-shaped hole 1111 is symmetrically provided with at least one positioning column 1112 (which can be realized by a stud of a screw), and the interference strength between the positioning columns 1112 and the adjusting block 111 is adjusted, so that the adjusting block 111 moves along with the relative movement between the strip-shaped hole 1111 and the positioning columns 1112 and is fixed when moving to a certain position. The screw 112 above the third connecting shaft 110 can move up and down by rotating, and the lower end thereof can be connected with and drive the adjusting block 111 to move. The right plate body in the double plate structure of the second swing arm assembly 1042 is used for the third connecting shaft 110 and the second connecting shaft 10614 to penetrate therethrough to connect the restricting part 109 and the climbing roller 105, respectively. It should be noted that the structure of the adjusting block 110 for adjusting the position of the limiting portion 109 is only an implementation example, and may be changed according to the requirement, and the structure is not limited thereto.

Referring to fig. 1 and 2, it can be seen that, for example, the climbing roller 105 is disposed closer to the inner side of the vehicle body 101 than the driving wheel 1111, the left side of the first connecting assembly 1031 in fig. 2 faces the outer side of the vehicle body 101, and the right side of the second swing arm assembly 1042 faces the inner side of the vehicle body 101, accordingly, the rack disposed on the slope section is disposed between the double rails without being mounted to the outer side of the track to occupy the space outside the track, which makes the rack position setting work more convenient and flexible, and does not increase the track occupation range.

It is understood that in other embodiments, the transmission mechanism 106 may also be a gear transmission structure, for example, the first transmission assembly includes a first gear and a transmission gear, the first gear is fixedly disposed on a first connection shaft, and the first connection shaft is driven to rotate by a traction power device; the transmission gear can be arranged in a transmission manner by the first gear; the second transmission assembly comprises a second gear which can be transmitted by the transmission gear, and the second gear is fixedly arranged on the second connecting shaft; the second connecting shaft is provided with the climbing roller. This embodiment also enables the second transmission assembly to be transmitted by the first transmission assembly.

The traction power device is drivingly connected to the climbing roller 105 through the transmission mechanism 106. In some embodiments, the traction power device may include a traction motor 107. Specifically, referring to the structure of fig. 3, the traction power device can output power to the first transmission assembly 1061, the first transmission assembly 1061 moves and transmits the power to the second transmission assembly 1062 through the transmission connecting shaft 10613 shared by the second transmission assembly 1062, and the second transmission assembly 1062 drives the climbing roller 105 to rotate, so that the climbing roller 105 is driven to roll in engagement with the rack during climbing, and the traction vehicle body 101 stably ascends. The contact surface between the wheels and the rails of the vehicle body 101 can be designed to be small and smooth so as to reduce friction; the wheels may be stationary when the vehicle body 101 is ascending without it being required to participate in the climbing.

In some embodiments, the traction power device comprises a traction motor 107 and a speed reducer 117, the traction motor 107 is connected between the traction motor 107 and the transmission mechanism 106 through the speed reducer 117, and the speed reducer 117 is used for matching the rotating speed between the output shaft of the traction motor 107 and the first connecting shaft 10611. Specifically, when the rail guided vehicle 100 is in a power failure state during climbing, if the traction power device cannot be self-locked, the climbing rollers 105 are reversed, and the vehicle body 101 slides down. And the speed reducer 117 with the self-locking function can be locked in time to avoid the reverse rotation of the climbing roller 105, so that the consequence is avoided.

The swing arm mechanism 104 is used for flexibly adapting to different slopes due to the flexible swinging characteristic of the swing arm mechanism 104 relative to the connecting mechanism 103 when the guided vehicle 100 moves forward along the track and may encounter different slopes. To maintain the swing of the swing arm mechanism 104 within a fast-recovery range of motion, the swing arm mechanism 104 may be connected to the vehicle body 101 by a resilient retractor (not shown). The resilient retractor may be a spring, and optionally, one end of the spring coupled swing arm mechanism 104 may be located on a connecting rod 113 (see fig. 3) between the two plates of the second swing arm assembly 1042, for example.

The track guided vehicle 100 may also include a drive arrangement for driving rotation of at least one pair of wheels. The drive means comprises a drive motor 114 and a differential forming a differential between at least one pair of wheels. The drive motor 114 is used to drive the rolling motion of a pair of drive wheels 1011 at the rear of the track guided vehicle. The differential is used for realizing the rotating speed difference between a pair of wheels so as to be applied to the scene of track steering. Specifically, the differential may be connected between axles of a pair of wheels to control the difference in rotational speed of the wheels on both sides, such as between a pair of drive wheels 1011. Alternatively, the driving motor 114 may be disposed at the driving wheel 1011, i.e., the differential may be disposed together with the driving motor 114.

Referring to fig. 4, which corresponds to fig. 1, a schematic side plan view of a cart according to an embodiment of the present disclosure is shown.

In some embodiments, the track guided vehicle 100 includes a first power supply device disposed within the vehicle body 101 and electrically coupled to the traction power device for supplying power. Specifically, the first power supply device and the traction power device may be disposed in a front a region inside the vehicle body in fig. 1, and optionally above the swing arm mechanism, and closer to the swing arm mechanism for facilitating connection and power supply. Illustratively, the first power supply device may include: an Uninterruptible Power Supply (UPS) and a charging brush module. The first power supply device can be a lithium battery, preferably a lithium iron phosphate battery, so that the first power supply device can be suitable for power support in outdoor low-temperature environment and can realize online charging. In a possible example, the electric facilities such as the traction power device, the first power supply device, and the related circuit may be packaged by a casing, a power supply box, an electric control cabinet, etc., and disposed at the area a in fig. 4 above the swing arm mechanism. Correspondingly, the speed reducer 117 is also located above the swing arm mechanism.

In some embodiments, the drive motor 114 may be powered by a second power supply. The second power supply may be implemented the same or similar to the first power supply, may also be powered by a battery (e.g., a lithium battery), and may be used in conjunction with the UPS and the charging brush module. In a possible example, the second power supply device and the related electric circuit and other electric facilities may be packaged by a housing, an electric box, an electric cabinet and the like, for example, at the area B in fig. 4, above the driving wheel 1011.

In some embodiments, inductive locators 115 may be disposed at least one or at least a pair of the wheels. Illustratively, the inductive locator 115 may be, for example, an RFID reader for reading the location information in the RFID tag to determine its location. Alternatively, the inductive locator 115 may be implemented as a photoelectric sensor, for example, and is not limited to RFID. Alternatively, the inductive locator 115 may be disposed at least one of a pair of driven wheels 1012 at the front of the vehicle body 101 to sense an underlying marker, such as a ground or rail disposed thereon, to locate the position of the track guided vehicle 100.

In some embodiments, a loading portion 116 may be provided in the middle portion of the vehicle body 101 for loading articles, materials, etc. to be transported.

In some embodiments, the front and/or rear of the vehicle body 101 is provided with a collision avoidance device, such as a bumper strip, to prevent damage to the vehicle body 101.

In some embodiments, an obstacle scanner (not shown) may be disposed in front of or behind the vehicle body 101. In a possible implementation example, the obstacle scanner may include, but is not limited to, one of: photoelectric sensors (e.g., Tof, etc.), ultrasonic sensors, radars (e.g., laser radar, millimeter wave radar, etc.).

Based on the track guided vehicle 100, a transport system may also be provided in embodiments of the present disclosure. Possibly, the conveying system can be deployed in scenes such as logistics storage, industrial manufacturing or other material conveying, can meet the requirements of slope climbing under various scene deployment requirements, and is wide in application and high in commercial value.

Illustratively, the transport system may include:

the track is provided with a rack extending along the track at least on a slope section of the track;

a track guided vehicle 100, as described in the previous embodiments, travels along the track.

To illustrate a possible scenario, the track guided vehicle 100 travels along the track on level ground, and when encountering a grade, the swing arm mechanism 104 contacts the slope surface and is squeezed, and then swings to a preset attitude suitable for the angle of the slope surface; when the swing arm mechanism 104 is in a preset posture, the climbing roller 105 can be meshed with the rack extending along the track; the driving motor may stop driving the driving wheel 1011, and the driving wheel 1011 and the driven wheel 1012 may stop rotating. Accordingly, the traction power device is activated, transmitting power through the transmission mechanism 106 to drive the climbing roller 105 to roll, the climbing roller 105 rolls up along the rack to pull the guided rail vehicle 100 up a slope, wherein optionally the limit stop 109 can cooperate with the climbing roller 105 to limit the rack from disengaging from the climbing roller 105 during the climbing process; after finishing the ascending, the climbing roller 105 can correspondingly reach the tail end of the rack until being separated, and the driving motor can resume working and then drive the driving wheel to move. Optionally, there are various ways to trigger the driving motor to resume working, such as by providing a sensor to detect whether the climbing roller 105 and the rack are disengaged, and generating a trigger signal when the climbing roller is disengaged to trigger the driving motor to resume; alternatively, a marker may be preset at the corresponding track location where the rack and climbing roller 105 disengage to be sensed by the inductive positioner of the track guided vehicle to generate a trigger signal to trigger the recovery of the drive motor.

Fig. 5 is a schematic view showing a partial structure of a rack according to an embodiment of the present disclosure.

To ensure that the rack gear can accurately enter the space between the stopper 109 and the climbing roller 105, in this embodiment, one end of the rack gear 200 may be provided with a guide portion 201, and the end may be disposed to face the traveling direction of the track guided vehicle. The guide portion 201 presents a structure with a gradually increasing cross-sectional area in the direction of travel and transitions into a segment of the rack 200 having a tooth 202, and the narrower head of the guide portion 201 can enter in alignment with the gap of the limit portion 109 and the climbing roller 105, thereby guiding the wider segment of the rack 200 to pass through the gap. In the example of fig. 5, the guide 201 is presented exemplarily as a duckbill or wedge-shaped structure. However, the guide portion 201 may be configured in a shape such as a cone, a truncated cone, a crescent, or a boss, for example. It will be appreciated that the rack 200 illustrated in the drawings depicts only a partial section with the guide 201, and that the left end thereof may actually extend further and is not limited by the illustrated construction.

In summary, in the embodiment of the present disclosure, a track guided vehicle and a transportation system includes: a vehicle body provided with at least one pair of wheels for traveling along a rail; swing arm drive mechanism includes: a connecting mechanism connecting the vehicle body; the swing arm mechanism is connected to the connecting mechanism in a swinging mode; the climbing roller is arranged on the swing arm mechanism in a rolling way, and the rolling direction of the climbing roller is consistent with the moving direction of the vehicle body; the wheel surface of the climbing roller is provided with an engaging part for engaging with a rack extending along the track slope section; and the traction power device is connected with the transmission mechanism to drive the climbing roller. This openly realizes having the rail guidance vehicle that can climb, and adopts the swing arm mode and can swing in a flexible way to can adapt to the change of the different slopes of same track.

Although not defined differently, including technical and scientific terms used herein, all have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. Terms defined in commonly used dictionaries are to be additionally interpreted as having meanings consistent with those of related art documents and currently prompted messages, and should not be excessively interpreted as having ideal or very formulaic meanings unless defined.

Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present disclosure. Accordingly, it is intended that all equivalent modifications or changes be made by those skilled in the art without departing from the spirit and technical spirit of the present disclosure and be covered by the claims of the present disclosure.

Claims (14)

1. A track guided vehicle, comprising:

a vehicle body provided with at least one pair of wheels for traveling along a rail;

swing arm drive mechanism includes: the device comprises a connecting mechanism, a swing arm mechanism, a transmission mechanism and a climbing roller;

the connecting mechanism is connected with the vehicle body;

the swing arm mechanism is connected to the connecting mechanism in a swinging mode;

the climbing roller is arranged on the swing arm mechanism in a rolling manner, and the rolling direction of the climbing roller is consistent with the movement direction of the vehicle body; the wheel surface of the climbing roller is provided with an engaging part for engaging with a rack extending along the track slope section; and

the transmission mechanism is connected to the climbing roller in a transmission manner;

and the traction power device is connected with the transmission mechanism to drive the climbing roller.

2. The rail guided vehicle of claim 1, wherein the traction power unit includes a traction motor and a speed reducer, the traction motor being connected to the transmission through the speed reducer; the speed reducer has a self-locking function.

3. The track guided vehicle of claim 1, further comprising: and a limiting part is arranged opposite to the climbing roller at an interval, and a limiting gap for the rack is formed between the limiting part and the climbing roller.

4. A rail guided vehicle as claimed in claim 1 or 3, wherein the climbing roller is upwardly engaged to the rack.

5. The track guided vehicle of claim 1, wherein the climbing rollers are disposed closer to the inside of the vehicle body than the wheels.

6. A rail guided vehicle according to claim 1, wherein the coupling mechanism comprises: the first connecting component and the second connecting component are vertically arranged at intervals; the transmission mechanism is arranged between the first connecting assembly and the second connecting assembly.

7. The track guided vehicle of claim 1, wherein the transmission mechanism comprises:

the first transmission assembly and the second transmission assembly are respectively connected with the connecting mechanism and the swing arm mechanism;

and the first transmission assembly and the second transmission assembly are in transmission connection.

8. The track guided vehicle of claim 7, wherein the first drive assembly rotates about a first coupling axle and the first and second drive assemblies rotate about a drive coupling axle, the first and second coupling axles being mounted on oppositely spaced apart upright first and second coupling assemblies of the coupling mechanism.

9. The track guided vehicle of claim 7, wherein the first drive assembly includes a first drive chain and the second drive assembly includes a second drive chain; the first transmission chain is arranged around the first connecting shaft and the transmission connecting shaft and is meshed with a first chain wheel on the first connecting shaft and a second chain wheel on the transmission connecting shaft; the first connecting shaft is driven to rotate by a traction power device; the second transmission chain is arranged around the transmission connecting shaft and the second connecting shaft and meshed with a third chain wheel arranged on the transmission connecting shaft and a fourth chain wheel arranged on the second connecting shaft; the second connecting shaft is provided with the climbing roller;

or the first transmission assembly comprises a first gear and a transmission gear, the first gear is fixedly arranged on a first connecting shaft, and the first connecting shaft is driven to rotate by a traction power device; the transmission gear can be arranged in a transmission manner by the first gear; the second transmission assembly comprises a second gear which can be transmitted by the transmission gear, and the second gear is fixedly arranged on the second connecting shaft; the second connecting shaft is provided with the climbing roller.

10. The track guided vehicle of claim 6, wherein the swing arm mechanism comprises: the first swing arm assembly and the second swing arm assembly are respectively connected with the first connecting assembly and the second connecting assembly in a relatively rotatable manner; the first swing arm assembly and the second swing arm assembly are connected through a bridging piece to swing synchronously, and the second swing arm assembly deviates from the outer surface of the first swing arm assembly and is provided with the climbing roller.

11. A rail guided vehicle according to claim 1, comprising: and the elastic telescopic piece is connected with the swing arm traction mechanism and the vehicle body.

12. The track guided vehicle of claim 1, comprising: the driving device is used for driving the rotation of at least one pair of wheels; the driving device comprises a driving motor and a differential mechanism forming a differential speed between at least one pair of wheels.

13. A conveyor system, comprising:

the track is provided with a rack extending along the track at least on a slope section of the track;

the track guided vehicle of any one of claims 1 to 12, traveling along the track.

14. The transit system as recited in claim 13 wherein an end of the rack facing a direction of travel of the track guided vehicle is provided with a guide portion presenting a configuration of increasing cross-sectional area along the direction of travel.

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