WO2020156026A1 - 运输车 - Google Patents

运输车 Download PDF

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Publication number
WO2020156026A1
WO2020156026A1 PCT/CN2020/070179 CN2020070179W WO2020156026A1 WO 2020156026 A1 WO2020156026 A1 WO 2020156026A1 CN 2020070179 W CN2020070179 W CN 2020070179W WO 2020156026 A1 WO2020156026 A1 WO 2020156026A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
wheel frame
transport vehicle
vehicle body
rotating shaft
Prior art date
Application number
PCT/CN2020/070179
Other languages
English (en)
French (fr)
Inventor
张囝
Original Assignee
北京京东乾石科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京京东乾石科技有限公司 filed Critical 北京京东乾石科技有限公司
Priority to JP2021540575A priority Critical patent/JP7297070B2/ja
Priority to US17/421,797 priority patent/US11926476B2/en
Priority to EP20749549.0A priority patent/EP3901067A4/en
Publication of WO2020156026A1 publication Critical patent/WO2020156026A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B17/00—Wheels characterised by rail-engaging elements
    • B60B17/0082—Wheels designed to interact with a particular rail profile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2200/00—Type of product being used or applied
    • B60B2200/40—Articles of daily use
    • B60B2200/43—Carts

Definitions

  • the present disclosure generally relates to a transport vehicle technology.
  • Shuttle racks are usually arranged in a multi-layer rack structure, and at least one horizontal shuttle rail is provided on each rack.
  • the shuttle runs on a horizontal shuttle track.
  • the hoist is set next to the shuttle track.
  • a main purpose of the present disclosure is to overcome at least one of the above-mentioned defects of the prior art, and provide a transport vehicle, which includes: a vehicle body and a first traveling mechanism installed on the vehicle body;
  • the first walking mechanism includes
  • a plurality of crawling components respectively arranged on opposite sides of the vehicle body, and the crawling components include:
  • a wheel frame extending outward from the side of the vehicle body
  • the axis of the driving wheel installed on the wheel frame is perpendicular to the extending direction of the wheel frame;
  • the wheel frame can rotate around the central axis of the wheel frame in the extending direction.
  • the crawler assembly further includes a guide wheel mounted on the wheel frame, and the axis of the guide wheel is parallel to the extending direction of the wheel frame.
  • the center axis of the wheel carrier in the extending direction passes through the center of the driving wheel
  • the guide wheels are provided with two guide wheels
  • the two guide wheels are respectively arranged at the center of the driving wheel.
  • the opposite sides and the distance to the central axis are equal.
  • the wheel frame can also retract into and extend out of the vehicle body
  • the transport vehicle further includes a second walking mechanism arranged at the bottom of the vehicle body, and the second walking mechanism can walk along the ground.
  • the second traveling mechanism includes a plurality of universal wheels respectively located at two ends of the bottom of the vehicle body, and two driving wheels located respectively on both sides of the middle of the bottom of the vehicle body, the The driving wheel can actively roll.
  • the crawling component further includes
  • a mounting seat slidingly connected with the vehicle body
  • a transmission mechanism arranged in the wheel frame, and connected to the driving wheel in transmission;
  • the first walking mechanism also includes a crawling drive assembly for driving the input shaft to rotate, and a rotating drive assembly for driving the rotating drum to rotate.
  • the first walking mechanism further includes a telescopic drive assembly, and the telescopic drive assembly includes
  • a plurality of sliding rails parallel to the central axis are arranged on the vehicle body;
  • a plurality of sliding blocks respectively installed on the plurality of said slide rails are respectively connected to the plurality of said mounting seats;
  • the linear actuator is used to drive the mounting seat to slide.
  • the vehicle body includes a front end and a rear end opposite to the front end;
  • crawling components There are at least four crawling components, wherein two crawling components are respectively disposed on opposite sides of the front end, and the other two crawling components are respectively disposed on opposite sides of the rear end.
  • a first rotating shaft is provided on the driving wheel, and the first rotating shaft is rotatably connected with the wheel carrier;
  • the transmission mechanism includes
  • a second rotating shaft rotatably connected to the wheel carrier and parallel to the first rotating shaft
  • a second bevel gear sleeved on the second rotating shaft meshes with the first bevel gear
  • the second rotating shaft is drivingly connected with the first rotating shaft.
  • the transmission mechanism further includes
  • a spindle mounted on the wheel frame and parallel to the first rotating shaft
  • the middle part of the second rotating shaft is rotatably connected with the wheel carrier, the second bevel gear and the second cylindrical gear are respectively arranged at both ends of the second rotating shaft, and the The first bevel gear is located between the second bevel gear and the second cylindrical gear.
  • the driving wheel is a flat wheel, a synchronous wheel, a gear or a sprocket.
  • the transport vehicle of the present disclosure can run along the horizontal track and the vertical track, and can quickly complete the conversion between the horizontal track and the vertical track.
  • the traveling mode It is more flexible, especially on a track network that is intertwined with horizontal and vertical tracks.
  • the track can be changed to avoid the congested track, and the operation efficiency is higher.
  • Fig. 1 is a three-dimensional schematic diagram showing a three-dimensional shelf according to an exemplary embodiment
  • Fig. 2 is a schematic side view showing a three-dimensional shelf according to an exemplary embodiment
  • Fig. 3 is a partial front view of a three-dimensional shelf according to an exemplary embodiment
  • Fig. 4 is a disassembled schematic diagram of a steering guide rail according to an exemplary embodiment
  • Fig. 5 is a partial cross-sectional view of a steering guide rail according to an exemplary embodiment
  • Fig. 6 is a partial front view of a guide rail assembly according to an exemplary embodiment
  • Fig. 7 is a perspective schematic diagram showing a transport vehicle according to an exemplary embodiment
  • Fig. 8 is a schematic front view showing a crawling component according to an exemplary embodiment
  • Fig. 9 is a schematic left view of a crawling component according to an exemplary embodiment
  • Fig. 10 is a schematic diagram showing a transport vehicle traveling on a three-dimensional rack according to an exemplary embodiment
  • Fig. 11 is a schematic diagram showing a transport vehicle traveling on a three-dimensional rack according to an exemplary embodiment
  • Fig. 12 is a schematic diagram showing a full cross-section of a crawler assembly according to an exemplary embodiment
  • Fig. 13 is a schematic diagram showing a disassembly of a crawler assembly according to an exemplary embodiment
  • Fig. 14 is a perspective schematic diagram showing a transport vehicle according to an exemplary embodiment
  • Fig. 15 is a perspective schematic diagram showing a transport vehicle in a state of being separated from a track assembly according to an exemplary embodiment.
  • Figures 1 and 2 show a three-dimensional shelf 1 in this embodiment.
  • the three-dimensional shelf 1 includes a shelf body 20 and a rail assembly 10 arranged on one side of the shelf body 20.
  • multiple three-dimensional shelves 1 can be arranged, and multiple three-dimensional shelves 1 are arranged side by side, and the number of three-dimensional shelves 1 can be four.
  • every two adjacent three-dimensional shelves 1 form a group, and the two three-dimensional shelves 1 in the same group are separated from each other to form an aisle with uniform width between the two three-dimensional shelves 1.
  • the rail assembly 10 on the three-dimensional shelf 1 is arranged on the side of the three-dimensional shelf 1 close to the lane, so that two rail assemblies 10 are respectively provided on both sides of the lane.
  • the crawling components 320 on both sides of the transport vehicle 3 can respectively cooperate with the two guide rail components 10 and walk along the guide rail components 10 to realize the transport vehicle 3 traveling in the lane.
  • the rail assembly 10 includes a steering rail 11, a first rail 13 and a second rail 14.
  • the steering guide rail 11, the first rail 13 and the second rail 14 are all installed on the shelf body 20.
  • the first rail 13, the second rail 14 and the steering guide rail are all arranged in the same plane, which is preferably a vertical plane.
  • the first rail 13 extends along a horizontal straight line.
  • the second rail 14 extends in the vertical direction.
  • the first track 13 and the second track 14 intersect perpendicularly.
  • the steering guide rail 11 is installed at the intersection of the first rail 13 and the second rail 14. Both the first rail 13 and the second rail 14 are divided into multiple sections by the steering rail 11.
  • the steering guide rail 11 includes a mounting base 111 and a rotating part 112.
  • the mounting substrate 111 is mounted on the vertical column 22.
  • the rotating part 112 is mounted on the mounting base 111 and is located on the side of the mounting base 111 away from the shelf body 20.
  • the rotating part 112 is rotatably connected to the mounting substrate 111, and the rotating part 112 can rotate relative to the mounting substrate 111.
  • the rotating part 112 rotates around a central axis perpendicular to the bottom surface of the guide groove 113.
  • the central axis is a straight line passing through the center of the guide groove 113 and perpendicular to the bottom surface of the guide groove 113.
  • the rotating part 112 includes a rail groove 113.
  • the rail groove 113 is located on the side of the rotating part 112 away from the shelf body 20.
  • the guide groove 113 includes two straight grooves. The lengths of the two straight grooves are equal.
  • the two straight grooves intersect vertically, and the intersection point is their midpoint, and the intersection point is the center of the guide groove 113.
  • the two straight grooves are perpendicular to the rotation axis of the rotating part 112, and the rotation axis passes through the center of the guide groove 113.
  • the rail groove 113 may be cross-shaped. The two ends of the straight groove respectively extend to the edges of opposite sides of the rotating part 112.
  • a mounting hole 114 is provided on the mounting substrate 111, and the mounting hole 114 is a round hole.
  • the mounting hole 114 is provided in the middle of the mounting substrate 111.
  • the mounting hole 114 may be a through hole.
  • the rotating part 112 is provided with a rotating shaft 115.
  • the rotating shaft 115 is provided on the side of the rotating part 112 close to the mounting substrate 111.
  • the rotating shaft 115 extends into the mounting hole 114.
  • the diameter of the rotating shaft 115 is smaller than the diameter of the mounting hole 114, and the axis of the rotating shaft 115 is coaxial with the axis of the mounting hole 114.
  • the steering guide rail 11 also includes a slewing bearing 116.
  • the slewing bearing 116 includes an inner ring, an outer ring, and rollers arranged between the inner ring and the outer ring.
  • the slewing bearing 116 is preferably a ball bearing.
  • the inner ring of the slewing bearing 116 is sleeved on the rotating shaft 115, and the inner ring preferably has an interference fit with the rotating shaft 115.
  • the outer circumferential wall of the outer ring of the slewing bearing 116 abuts against the inner circumferential wall of the mounting hole 114, and there is an interference fit between the outer ring of the slewing bearing 116 and the mounting hole 114.
  • the mounting base 111 and the rotating part 112 can be rotatably connected by the slewing bearing 116, and the mounting base 111 and the rotating part 112 can be rotated and matched precisely.
  • the steering guide 11 also includes a thrust bearing 117.
  • the thrust bearing 117 may be one of a thrust cylindrical roller bearing, a thrust tapered roller bearing and a thrust ball bearing.
  • the thrust bearing 117 is sandwiched between the mounting base 111 and the rotating part 112.
  • the thrust bearing 117 and the slewing bearing 116 are arranged coaxially.
  • the thrust bearing 117 can carry the largest part of the axial load, and the slewing bearing 116 has a longer service life.
  • the fit between the mounting substrate 111 and the rotating part 112 is also tighter, and it is not easy to move relatively.
  • the first track 13 is a straight track.
  • a first groove 131 is provided on the first track 13.
  • the first groove 131 extends along the first track 13, that is, the first groove 131 extends in the horizontal direction.
  • the second track 14 is a straight track.
  • the second track 14 is provided with a second groove 141.
  • the second groove 141 extends along the second track 14, that is, the second groove 141 extends in the horizontal direction. Both ends of the first groove 131 and the second groove 141 extend to the rotating part 112.
  • the rotating part 112 rotates, the rotating part 112 can rotate to the position where the rail groove 113 is connected with the first groove 131 and the second groove 141, that is, a straight groove in the rail groove 113 is connected to the first groove.
  • Slot 131 another straight slot is connected to the second slot 141.
  • the bottom wall of the first groove 131, the second groove 141 and the two straight grooves of the guide groove 113 can be installed with a transmission element extending along the extending direction of the groove.
  • the transmission element can be a timing belt, a rack or Chain.
  • first rails 13 and second rails 14 There are multiple first rails 13 and second rails 14.
  • the first rails 13 and the storage brackets 21 are arranged in a one-to-one correspondence, and each first rail 13 is arranged on the edge of the storage bracket 21 corresponding to it.
  • the plurality of second rails 14 are respectively arranged on the plurality of vertical columns 22.
  • the second rails 14 are arranged in a one-to-one correspondence with the vertical columns 22 located on the same side of the three-dimensional shelf 1, and each second rail 14 is disposed on the vertical column 22 corresponding to it.
  • the multiple first tracks 13 and the multiple second tracks 14 are all located in the same vertical plane, and the multiple first tracks 13 and the multiple second tracks 14 are interwoven into a track network.
  • There are also a plurality of steering guide rails and the plurality of steering guide rails are respectively arranged at each intersection in the track network.
  • Figure 7 shows a transport vehicle 3 in this embodiment.
  • a transport vehicle 3 is preferably an automated guided vehicle (Automated Guided Vehicle).
  • the transport vehicle 3 includes a vehicle body 31 and a first traveling mechanism 32.
  • the first traveling mechanism 32 is mounted on the vehicle body 31.
  • the first traveling mechanism 32 is used to drive the vehicle body 31 to walk along the guide rail assembly 10.
  • the vehicle body 31 may be provided in a substantially rectangular structure.
  • the vehicle body 31 includes a front end 41 and a rear end 42 opposite to the front end 41.
  • the front end 41 may be the front end 41 of the vehicle body 31, and the rear end 42 may be the rear end 42 of the vehicle body 31.
  • the first walking mechanism 32 includes four crawling components 320.
  • the four crawler assemblies 320 are respectively arranged on opposite sides of the vehicle body 31.
  • the transport vehicle 3 is located between the two guide rail assemblies 10 when crawling along the track, and the crawling components 320 on both sides of the transport vehicle 3 abut against the guide rail assemblies 10 located on both sides to support the transport vehicle 3.
  • two crawling components 320 are respectively disposed on opposite sides of the front end 41 of the vehicle body 31, and the other two crawling components 320 are respectively disposed on opposite sides of the rear end 42 of the vehicle body 31.
  • the four crawling components 320 support the vehicle body 31 from positions close to the four corners of the vehicle body 31, which is more stable and reliable.
  • each crawler assembly 320 includes a wheel frame 321, driving wheels 322 and guide wheels 323.
  • the wheel frame 321 is configured in a substantially straight shape, and the wheel frame 321 extends outward from the side of the vehicle body 31.
  • the wheel frame 321 includes a first end and a second end opposite to the first end.
  • the first end of the wheel frame 321 faces the vehicle body 31, and the second end of the wheel frame 321 faces away from the vehicle body 31.
  • the second end of the wheel frame 321 can extend outward from the side of the vehicle body 31.
  • the driving wheel 322 and the guide wheel 323 are both mounted on the second end of the wheel frame 321.
  • the axis of the driving wheel 322 is perpendicular to the extending direction of the wheel frame 321.
  • the guide wheel 323 is arranged on one side of the driving wheel 322, and the axis of the guide wheel 323 is parallel to the extending direction of the wheel frame 321.
  • the axis of the guide wheel 323 lies in a plane that passes through the center of the driving wheel 322 and is perpendicular to the axis of the driving wheel 322. This makes the outer peripheral surface of the driving wheel 322 face the guide wheel 323, and the guide wheel 323 is always in the travel of the driving wheel 322.
  • the wheel frame 321 can rotate around its central axis in the extending direction.
  • the central axis is perpendicular to the axis of the driving wheel 322.
  • the central axis preferably passes through the center of the driving wheel 322. Since the wheel frame 321 can rotate around its central axis, the traveling direction of the driving wheel 322 can be changed by rotating the wheel frame 321.
  • the widths of the first groove 131, the second groove 141 and the guide groove 113 are all greater than the diameter of the guide wheel 323, and the guide wheel 323 can extend into the first groove 131, the second groove 141 and the guide groove 113.
  • the guide wheel 323 is hung on the side wall of the first groove 131 and carries the body 31;
  • the driving wheel 322 carries the vehicle body 31, and the guide wheel 323 interacts with the side wall of the second groove 141 to guide the driving wheel 322 to move along the first groove 131.
  • the rotating part 112 When the transport vehicle 3 needs to run from the first track 13 to the second track 14, the rotating part 112 is rotated in advance to a position where the guide rail grooves 113 are connected to the first groove 131 and the second groove 141, and the drive is driven.
  • the wheel 322 makes the crawler assembly 320 enter the guide rail groove 113 from the first groove 131.
  • the state of the crawler assembly 320 and the rotating part 112 is shown in FIG. 10.
  • the drive wheel 82 frame 321 rotates 90°, and the wheel frame 321 rotates to drive the rotating part 112 to rotate.
  • the transport vehicle 3 can continue to travel toward the second groove 141 until it enters the second groove 141, thus completing the transportation of the transport vehicle 3 from the first
  • the track 13 runs to the second track 14.
  • the transport vehicle 3 can also travel from the second track 14 to the first track 13. In this way, the transport vehicle 3 can run both in a horizontal direction and a vertical direction along the guide rail assembly 10, and the transport vehicle 3 has a more flexible running route.
  • the track network is a rectangular grid, and the smallest cell is a rectangular grid.
  • the transport vehicle 3 can travel along the track network.
  • the transport vehicle 3 can turn at each steering rail 11 and switch tracks at will.
  • the transport vehicle 3 runs more diverse routes. .
  • the transport vehicle 3 can bypass the blockage by switching the track without waiting for the track to be cleared, which greatly improves the handling efficiency of the transport vehicle 3.
  • the driving wheel 322 may be a flat wheel, a synchronous wheel, a gear or a sprocket.
  • the driving wheel 322 When the driving wheel 322 is a synchronous wheel, gear or sprocket, it can mesh with corresponding transmission elements installed in the two straight grooves of the first groove 131, the second groove 141, and the guide groove 113 to prevent slipping.
  • two guide wheels 323 are provided.
  • the two guide wheels 323 are both arranged on the end of the second end of the wheel frame 321.
  • Two guide wheels 323 are respectively located on opposite sides of the driving wheel 322.
  • the wheel frame 321 rotates around its central axis, which passes through the center of the driving wheel 322, and the distance from the central axis to the axes of the two guide wheels 323 is equal.
  • the driving wheel 322 is arranged between the two guide wheels 323, which can completely avoid the friction between the driving wheel 322 and the side wall of the groove.
  • two guide wheels 323 are hung on the side wall of the first groove 131 and carry the vehicle body 31, and the two guide wheels 323 are connected to the center axis of the wheel frame 321. The distances are equal, the deflection moments applied to the wheel frame 321 by the two guide wheels 323 cancel each other, and the force on the wheel frame 321 is more reasonable.
  • the crawler assembly 320 includes a transmission mechanism 34, an input shaft 35, a rotating cylinder 36 and a mounting seat 37.
  • the mounting seat 37 is provided on the vehicle body 31.
  • the mounting seat 37 includes a bottom plate 371 and two side plates 372.
  • the two side plates 372 are located on the same side of the bottom, and both are perpendicular to the bottom plate 371.
  • the two side plates 372 are parallel to each other.
  • Both side plates 372 are provided with mounting through holes 373, and the mounting through holes 373 are circular through holes.
  • the two installation through holes 373 are aligned with each other, that is, the two installation through holes 373 are arranged coaxially.
  • the rotating drum 36 includes a drum body 361.
  • the cylinder 361 is cylindrical.
  • the diameter of the cylinder 361 is smaller than the diameter of the installation through hole 373.
  • the cylinder 361 is disposed in the installation through hole 373.
  • the cylinder 361 and the mounting seat 37 form a rotating connection.
  • the crawler assembly 320 further includes two slewing bearings 374, and the inner rings of the two slewing bearings 374 are respectively sleeved on both ends of the cylinder 361.
  • the slewing bearing 374 may be a radial bearing or a deep groove ball bearing.
  • the outer rings of the two slewing bearings 374 are installed in the installation through hole 373 and form a fixed connection with the installation through hole 373.
  • the rotating cylinder 36 forms a rotating connection with the mounting seat 37 through the rotating bearing 374. It is understandable that the slewing bearing 374 may not be provided, and the rotating connection between the rotating drum 36 and the mounting seat 37 can also be realized through a clearance fit between the mounting through hole 373 and the rotating drum 36.
  • the first end of the wheel frame 321 is fixedly connected to the end of the rotating drum 36.
  • the end of the first end of the wheel frame 321 and the end of the rotating drum 36 may be mutually welded, screwed or bolted.
  • the wheel frame 321 is installed on the rotating drum 36, and the rotating drum 36 can drive the wheel frame 321 to rotate around the axis of the rotating drum 36.
  • the center axis of the wheel carrier 321 in the extending direction thereof coincides with the axis of the rotating drum 36.
  • the driving wheel 322 includes a roller body 324 and a first rotating shaft 325.
  • the roller body 324 is circular with a through hole in the middle.
  • the first rotating shaft 325 is cylindrical.
  • the first rotating shaft 325 is coaxially arranged with the roller body 324.
  • the driving wheel 322 is sleeved on the first rotating shaft 325 and forms a fixed connection with the first rotating shaft 325. There may be an interference fit between the driving wheel 322 and the first rotating shaft 325.
  • the first rotating shaft 325 is rotatably connected to the second end of the wheel frame 321.
  • the extending direction of the first rotating shaft 325 and the extending direction of the wheel frame 321 are perpendicular to each other.
  • the second end of the wheel frame 321 is provided with two bearings 326, and the inner rings of the two bearings 326 are respectively sleeved on the two ends of the first rotating shaft 325.
  • Two through holes 327 are respectively provided on the inner walls of both sides of the wheel frame 321, and the outer rings of the two bearings 326 are respectively arranged in the two blind holes 327 and form a fixed connection with the installation through holes 373.
  • the driving wheel 322 and the wheel frame 321 form a rotational connection.
  • a part of the roller body 324 is contained in the wheel frame 321, and a part protrudes from the second end of the wheel frame 321.
  • the input shaft 35 has a straight bar shape.
  • the input shaft 35 and the rotating drum 36 are arranged coaxially.
  • the diameter of the input shaft 35 is smaller than the diameter of the inner hole of the input shaft 35.
  • the input shaft 35 penetrates the rotating drum 36 and extends from the first end of the wheel frame 321 into the wheel frame 321.
  • the input shaft 35 can rotate relative to the wheel carrier 321, and its rotation mode is to rotate around its own axis.
  • the crawler assembly 320 further includes a bearing 351 arranged between the input shaft 35 and the rotating drum 36.
  • the bearing 351 is arranged in the rotating drum 36, the inner ring of the bearing 351 is sleeved on the input shaft 35, and the outer ring of the bearing 351 abuts against the inner wall of the rotating drum 36.
  • Two bearings 351 can be provided, and the two bearings 351 are respectively provided at both ends of the rotating drum 36.
  • the axis of the input shaft 35 passes through the center of the driving wheel 322 and is perpendicular to the axis of the driving wheel 322.
  • the transmission mechanism 34 is arranged in the wheel frame 321.
  • the transmission mechanism 34 is drivingly connected to the input shaft 35 and the driving wheel 322 respectively, and is used for transmitting the torque transmitted by the input shaft 35 to the driving wheel 322 to drive the driving wheel 322 to roll.
  • the transmission mechanism 34 includes a first bevel gear 341, a second rotation shaft 342 and a second bevel gear 343.
  • the second rotating shaft 342 is parallel to the first rotating shaft 325.
  • the second rotating shaft 342 is provided at the first end of the wheel frame 321.
  • the second bevel gear 343 is sleeved on the second rotating shaft 342 and forms a fixed connection with the second rotating shaft 342.
  • the second rotating shaft 342 is inserted into a shaft hole in the wheel frame 321 and is in clearance fit with the shaft hole.
  • the second rotating shaft 342 can rotate around its own axis in the shaft hole.
  • the first bevel gear 341 is sleeved on the end of the input shaft 35 that extends into the wheel frame 321 and meshes with the second bevel gear 343.
  • the angle of intersection between the two shafts is equal to 90°.
  • the cooperation of the first bevel gear 341 and the second bevel gear 343 can change the direction of the input torque.
  • the second rotating shaft 342 is in a transmission connection with the first rotating shaft 325.
  • the second rotating shaft 342 and the first rotating shaft 325 may be belt drive, chain drive or gear drive.
  • gear transmission is adopted between the second rotating shaft 342 and the first rotating shaft 325, and the transmission mechanism 34 further includes a first cylindrical gear 344, a second cylindrical gear 345, a third cylindrical gear 347, and a spindle 346.
  • the first cylindrical gear 344 is sleeved on the first rotating shaft 325 and is fixedly connected to the first rotating shaft 325.
  • the second cylindrical gear 345 is sleeved on the second rotating shaft 342 and is fixedly connected with the second rotating shaft 342.
  • the spindle 346 is disposed between the first rotating shaft 325 and the second rotating shaft 342 and is parallel to the first rotating shaft 325.
  • the third cylindrical gear 347 is sleeved on the spindle 346, and the third cylindrical gear 347 can rotate around the axis of the spindle 346.
  • the spindle 346 is fixed on the inner wall of the wheel frame 321, the third cylindrical gear 347 is in clearance fit with the spindle 346, and the third cylindrical gear 347 can rotate around the spindle 346.
  • the first cylindrical gear 344 meshes with the third cylindrical gear 347, and the third cylindrical gear 347 meshes with the second cylindrical gear 345.
  • the input shaft 35 drives the first bevel gear 341 to rotate, the first bevel gear 341 drives the second shaft 342 to rotate, and the second shaft 342 drives the second cylinder
  • the gear 345 rotates, the second cylindrical gear 345 drives the third cylindrical gear 347 to rotate, the third cylindrical gear 347 drives the first cylindrical gear 344 to rotate, and the first cylindrical gear 344 drives the driving wheel 322 to roll.
  • the torque input from the input shaft 35 can drive the driving wheels 322 to roll.
  • the first traveling mechanism 32 also includes a crawling drive assembly and a rotation drive assembly, both of which are arranged inside the vehicle body 31.
  • the crawling drive assembly is used to drive the input shaft 35 to rotate.
  • the crawler drive assembly may include four first motors, the main shafts of the four first motors are respectively connected to the four input shafts 35 in transmission, and each first motor drives one input shaft 35 to rotate.
  • the main shaft of the first motor and the input shaft 35 may be geared.
  • the rotating drive assembly is used to drive the rotating drum 36 to rotate.
  • the rotating drive assembly may include four second motors, and the main shafts of the four second motors are in transmission connection with the four rotating drums 36 respectively. Each second motor drives a rotating drum 36 to rotate.
  • the main shaft of the second motor and the rotating drum 36 may be geared.
  • the driving wheel 322 is installed on the wheel frame 321, and the wheel frame 321 is installed on the rotating drum 36.
  • the rotating drive assembly drives the rotating drum 36 to change the traveling direction of the driving wheel 322. Since the axis of the input shaft 35 passes through the center of the driving wheel 322 and is perpendicular to the axis of the driving wheel 322, and the input shaft 35 is coaxially arranged with the rotating drum 36, the rotating drum 36 drives the driving wheel 322 to turn and the input shaft 35 drives the driving wheel 322 to roll. Will not interfere with each other.
  • the input shaft 35 can extend into the vehicle body 31, and is driven to rotate by the crawler drive assembly arranged inside the vehicle body 31 to drive the driving wheel 322 to roll, without the crawler drive assembly being arranged on the wheel frame 321, which makes the entire The structure of the transport vehicle 3 is more compact.
  • the spindle 346 is disposed between the first rotation shaft 325 and the second rotation shaft 342, and the axes of the first rotation shaft 325, the second rotation shaft 342 and the spindle 346 are coplanar. In this way, the first cylindrical gear 344, the second cylindrical gear 345, and the third cylindrical gear 347 are sequentially arranged along a straight line, so that the volume of the wheel frame 321 is smaller.
  • the middle part of the second rotating shaft 342 is rotatably connected with the wheel frame 321.
  • the second bevel gear 343 and the second cylindrical gear 345 are respectively disposed at two ends of the second rotating shaft 342, and the first bevel gear 341 is located between the second bevel gear 343 and the second cylindrical gear 345.
  • the rotating drum 36 further includes a flange 362.
  • the flange 362 is provided at one end of the cylinder 361 connected to the wheel frame 321, and the flange 362 extends radially outward from the end of the cylinder 361.
  • the flange 362 has a circular ring shape.
  • the outer diameter of the flange 362 is larger than the inner diameter of the installation through hole 373.
  • the crawler assembly 320 also includes a thrust bearing 38.
  • the thrust bearing 38 is coaxially arranged with the cylinder 361.
  • the thrust bearing 38 is sandwiched between the flange 362 and the outer wall of the mounting seat 37.
  • the thrust bearing 38 can carry the axial load transmitted from the wheel carrier 321 and avoid the slewing bearing 374 from carrying an excessive axial load. Furthermore, a side of the outer edge of the flange 362 close to the mounting seat 37 is recessed inward to form an annular notch, and the thrust bearing 38 is installed in the annular notch. In this way, the thrust bearing 38 is restricted to prevent the thrust bearing 38 from moving randomly.
  • the first traveling mechanism 32 also includes a telescopic drive assembly.
  • the telescopic drive assembly includes multiple sliding rails, multiple sliding blocks and a linear actuator.
  • the slide rails are all installed on the car body 31.
  • the sliding rail is parallel to the extending direction of the wheel frame 321.
  • the multiple sliding blocks are respectively arranged on the multiple sliding rails.
  • the slider can slide along the guide rail.
  • the number of the sliders is the same as the number of the mounting bases 37, the sliders and the mounting bases 37 are arranged in one-to-one correspondence, and the mounting bases 37 are mounted on the corresponding sliders. In this way, a sliding connection is formed between the mounting seat 37 and the vehicle body 31.
  • the linear actuator is installed on the vehicle body 31.
  • the linear actuator is connected to the mounting base, and the linear actuator can push the mounting base to move along the sliding rail so that the crawler assembly 320 retracts and extends out of the vehicle body 31.
  • the linear actuator can be a push rod motor.
  • the crawler assembly 320 can loosen the guide rail assembly 10 and retract into the car body 31; the linear actuator simultaneously drives the mounting seat 37 to slide out of the car body 31, crawling
  • the assembly 320 can be combined with the rail assembly 10.
  • the transport vehicle 3 further includes a second traveling mechanism 8 provided at the bottom of the vehicle body 31.
  • the second walking mechanism 8 can walk along the ground.
  • the second traveling mechanism 8 includes a plurality of universal wheels 81 and two driving wheels 82.
  • a plurality of universal wheels 81 are respectively located at both ends of the bottom of the vehicle body 31.
  • the two driving wheels 82 are respectively located on both sides of the middle of the bottom of the vehicle body 31.
  • Each driving wheel 82 rolls autonomously to drive the vehicle body 31 to travel along the ground.
  • the differential driving of the two driving wheels 82 can make the transporter turn.
  • the second rail 14 extends to the bottom end of the shelf body 20.
  • the transport vehicle 3 can carry items along the ground from other places to the vicinity of the three-dimensional shelf 1, and then enters into the aisle between the two three-dimensional shelves 1, and then the crawler assembly 320 is extended from both sides of the vehicle body 31 and into Located in the second rail 14 on both sides of the transport vehicle 3. In this way, the transport vehicle 3 can crawl on the three-dimensional shelf 1 through the crawling component 320, and then the goods on the transport vehicle 3 can be transported to the storage bracket 21 of the shelf body 20 through the fork-out component on the transport vehicle 3.
  • the fork component of the transport vehicle 3 can also take out the goods from the three-dimensional shelf 1, and then climbs along the crawling component 320 on the three-dimensional shelf 1 to the bottom of the three-dimensional shelf 1 until the second walking mechanism 8 of the transport vehicle 1 hits the ground, and then The crawler assembly 320 is retracted into the vehicle body 31 to separate the crawler assembly 320 from the second track 14, and then the article is transported along the ground to a designated location.
  • the transport vehicle 3 can not only travel along the ground, but also can travel on the three-dimensional shelf 1.
  • the transport vehicle 3 has wider adaptability and stronger functions.

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Abstract

一种运输车，其包括：车体(31)以及安装在所述车体(31)上的第一行走机构(32)；所述第一行走机构(32)包括分别设置在所述车体(31)相对两侧的多个爬行组件(320)，所述爬行组件(320)包括：从所述车体(31)的侧部向外延伸的轮架(321)；安装在所述轮架(321)上的主动轮(322)，其轴线垂直于所述轮架(321)的延伸方向；其中，所述轮架(321)能绕所述轮架(321)在延伸方向的中心轴线转动。这种运输车既能沿着水平轨道运行又能沿着竖直轨道运行，并且能快速完成在水平轨道与竖直轨道之间的转换，运行效率更高。

Description

运输车
交叉引用
本公开要求于2019年2月3日提交的申请号为201910108704.3、名称为“运输车”的中国专利申请的优先权，该中国专利申请的全部内容通过引用全部并入本文。
技术领域
本公开总体来说涉及一种运输车技术。
背景技术
随着社会的发展，人们对生产生活资料需求的大大提升，商品交换、流通数量和频次迅猛增加，促进了快递物流行业的发展。穿梭车作为一种重要的运输设备，在立体仓库的穿梭货架上往复运行，能够实现货箱的入库出库，大大提高了拣选效率，被广泛应用在食品药品、行李处理、邮政快递和工业物流等行业。
穿梭货架通常设置成多层货架结构，每层货架上均设置有至少一条水平的穿梭车轨道。穿梭车在水平的穿梭车轨道上运行。提升机设置在穿梭车轨道旁边，当穿梭车需要从当前的穿梭车轨道进入到上层或下层的穿梭车轨道时，需要先将提升机的载台运行到当前的穿梭车轨道旁，穿梭车再进入到提升机的载台内，提升机上升或下降载台以使得载台到达目的层的穿梭车轨道旁，最后穿梭车进入到该目的层的穿梭车轨道内。
在订单出库、入库需求较大时，因所有穿梭车仅能沿水平穿梭车轨道往复行驶，且在切换穿梭车轨道时还需要提升机的搬运，不可避免造成穿梭车拥堵。
在所述背景技术部分公开的上述信息仅用于加强对本公开的背景的理解，因此它可以包括不构成对本领域普通技术人员已知的现有技术的信息。
公开内容
在公开内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本公开内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
本公开的一个主要目的在于克服上述现有技术的至少一种缺陷，提供一种运输车，其包括：车体以及安装在所述车体上的第一行走机构；
所述第一行走机构包括
分别设置在所述车体相对两侧的多个爬行组件，所述爬行组件包括：
从所述车体的侧部向外延伸的轮架；
安装在所述轮架上的主动轮，其轴线垂直于所述轮架的延伸方向；
其中，所述轮架能绕所述轮架在延伸方向的中心轴线转动。
根据本公开的一个实施例，所述爬行组件还包括安装在所述轮架上的导向轮，所述导向轮的轴线平行于所述轮架的延伸方向。
根据本公开的一个实施例，所述轮架在延伸方向的中心轴线穿过所述主动轮的中心，所述导向轮设置有两个，两个所述导向轮分别设置在所述主动轮的相对两侧且到所述中心轴线的距离相等。
根据本公开的一个实施例，所述轮架还能缩入和伸出所述车体；
所述运输车还包括设置在车体底部的第二行走机构，所述第二行走机构能沿地面行走。
根据本公开的一个实施例，所述第二行走机构包括分别位于所述车体底部两端的多个万向轮，以及分别位于所述车体底部的中间两侧的两个驱动轮，所述驱动轮能主动滚动。
根据本公开的一个实施例，所述爬行组件还包括
与所述车体滑动连接的安装座；
与所述安装座转动连接的旋转筒，所述旋转筒能绕其轴线转动；
设置在所述轮架内的传动机构，与所述主动轮传动连接；
贯穿所述旋转筒的输入轴，从所述第一端伸入到所述轮架内且与所述传动机构传动连接，所述输入轴和所述旋转筒的轴线均与所述中心轴线重合；
所述第一行走机构还包括用于驱动所述输入轴转动的爬行驱动组件，以及用于驱动所述旋转筒转动的旋转驱动组件。
根据本公开的一个实施例，所述第一行走机构还包括伸缩驱动组件，所述伸缩驱动组件包括
多根平行于所述中心轴线的滑轨，设置在所述车体上；
多个分别安装在多根所述滑轨上的滑块，分别连接于多个所述安装座；以及
直线执行机构，用于驱动所述安装座滑动。
根据本公开的一个实施例，车体包括前端以及与所述前端相对的后端；
所述爬行组件至少设置四个，其中，两个爬行组件分别设置在所述前端的相对两侧，另外两个爬行组件分别设置在所述后端的相对两侧。
根据本公开的一个实施例，所述主动轮上设置有第一转轴，所述第一转轴与所述轮架转动连接；
所述传动机构包括
套装在所述输入轴上的第一锥齿轮；
与所述轮架转动连接且平行于所述第一转轴的第二转轴；
套装在所述第二转轴上的第二锥齿轮，与所述第一锥齿轮相啮合；
其中，所述第二转轴与所述第一转轴传动连接。
根据本公开的一个实施例，所述传动机构还包括
套装在所述第一转轴上的第一圆柱齿轮；
套装在所述第二转轴上的第二圆柱齿轮；
安装在所述轮架上且与所述第一转轴平行的心轴；
套装在所述心轴上且能绕所述心轴转动的第三圆柱齿轮，所述第三圆柱齿轮分别与所述第一圆柱齿轮、所述第二圆柱齿轮相啮合。
根据本公开的一个实施例，所述第二转轴的中部与所述轮架转动连接，所述第二锥齿轮和所述第二圆柱齿轮分别设置在所述第二转轴的两端，所述第一锥齿轮位于所述第二锥齿轮和所述第二圆柱齿轮之间。
根据本公开的一个实施例，所述主动轮为平面轮、同步轮、齿轮或链轮。
由上述技术方案可知，本公开的运输车的优点和积极效果在于：
本公开的运输车既能沿着水平轨道运行又能沿着竖直轨道运行，并且能快速完成在水平轨道与竖直轨道之间的转换，相比与现有技术中的运输车，行进方式更加灵活，尤其是在由水平轨道和竖直轨道交织而成的轨道网络上，当前进方向上拥堵时能变更轨道来避开拥堵的轨道，运行效率更高。
附图说明
通过结合附图考虑以下对本公开的优选实施例的详细说明，本公开的各种目标、特征和优点将变得更加显而易见。附图仅为本公开的示范性图解，并非一定是按比例绘制。在附图中，同样的附图标记始终表示相同或类似的部件。其中：
图1是根据一示例性实施方式示出的一种立体货架的立体示意图；
图2是根据一示例性实施方式示出的一种立体货架的侧视示意图；
图3是根据一示例性实施方式示出的一种立体货架的局部主视图；
图4是根据一示例性实施方式示出的一种转向导轨的拆解示意图；
图5是根据一示例性实施方式示出的一种转向导轨的局部剖视图；
图6是根据一示例性实施方式示出的一种导轨组件的局部主视图；
图7是根据一示例性实施方式示出的一种运输车的立体示意图；
图8是根据一示例性实施方式示出的一种爬行组件的主视示意图；
图9是根据一示例性实施方式示出的一种爬行组件的左视示意图；
图10是根据一示例性实施方式示出的运输车在立体货架上行驶的示意图；
图11是根据一示例性实施方式示出的运输车在立体货架上行驶的示意图；
图12是根据一示例性实施方式示出的爬行组件的全剖示意图；
图13是根据一示例性实施方式示出的爬行组件的拆解示意图；
图14是根据一示例性实施方式示出的一种运输车的立体示意图；
图15是根据一示例性实施方式示出的一种运输车处于脱离轨道组件状态的立体示意图。
具体实施方式
现在将参考附图更全面地描述示例实施方式。然而，示例实施方式能够以多种形式实施，且不应被理解为限于在此阐述的实施方式；相反，提供这些实施方式使得本公开将全面和完整，并将示例实施方式的构思全面地传达给本领域的技术人员。图中相同的附图标记表示相同或类似的结构，因而将省略它们的详细描述。
参照图1、2，图1、2显示了本实施例中的一种立体货架1。立体货架1包括货架本体20以及设置在货架本体20一侧的导轨组件10。在一仓库中，立体货架1可以设置多个，多个立体货架1并排设置，立体货架1的数量可以是4个。如图2所示，每相邻的两个立体货架1为一组，同一组中的两个立体货架1之间相互分隔开以在这两个立体货架1之间形成宽度均匀的巷道。立体货架1上的导轨组件10设置在立体货架1靠近巷道的一侧，这样巷道的两侧分别设置有两个导轨组件10。运输车3两侧的爬行组件320能分别与两个导轨组件10配合并沿着导轨组件10行走，来实现运输车3在巷道内行进。
参照图3，导轨组件10包括转向导轨11、第一轨道13和第二轨道14。转向导轨11、第一轨道13和第二轨道14均安装在货架本体20上。第一轨道13、第二轨道14和转向 导轨均设置在同一个平面内，该平面优选为竖直平面。第一轨道13沿水平直线延伸。第二轨道14沿竖直方向延伸。第一轨道13和第二轨道14垂直相交。转向导轨11安装在第一轨道13和第二轨道14的相交处。第一轨道13和第二轨道14均被转向导轨11分隔为多段。
参照图4、5，转向导轨11包括安装基板111和旋转部112。安装基板111安装在竖立柱22上。旋转部112安装在安装基板111上，并位于安装基板111背离货架本体20的一侧。旋转部112与安装基板111之间转动连接，旋转部112能相对于安装基板111旋转。旋转部112绕垂直于导轨槽113底面的中心轴线旋转。中心轴线为一根过所述导轨槽113的中心且垂直于导轨槽113的底面的直线。旋转部112包括导轨槽113。导轨槽113位于旋转部112背离货架本体20的一侧。导轨槽113包括两条直条槽。两条直条槽的长度相等。两条直条槽垂直相交，交点为各自的中点，该交点即为导轨槽113的中心。两条直条槽均垂直于旋转部112的旋转轴线，该旋转轴线过导轨槽113的中心。导轨槽113可以是十字形。直条槽的两端分别延伸到旋转部112相对两侧的边缘。
在本实施例中，安装基板111上设置有安装孔114，安装孔114为圆孔。安装孔114设置在安装基板111的中部。安装孔114可以是通孔。旋转部112上设置有转轴115。转轴115设置在旋转部112靠近安装基板111的一侧上。转轴115伸入到安装孔114内。转轴115的直径小于安装孔114的直径，转轴115的轴线与安装孔114的轴线同轴。
转向导轨11还包括回转轴承116。回转轴承116包括内圈、外圈以及设置在内圈和外圈之间的滚子。回转轴承116优选为滚珠轴承。回转轴承116的内圈套装在转轴115上，该内圈优选与转轴115之间过盈配合。回转轴承116的外圈的外周壁抵接于安装孔114的内周壁，回转轴承116的外圈与安装孔114之间过盈配合。
这样，安装基板111与旋转部112之间能通过回转轴承116而转动连接在一起，安装基板111与旋转部112之间转动配合精密。
转向导轨11还包括推力轴承117。该推力轴承117可以是推力圆柱滚子轴承、推力圆锥滚子轴承和推力球轴承中的一种。推力轴承117夹在安装基板111与旋转部112之间。推力轴承117与回转轴承116同轴设置。
这样，推力轴承117能承载最大部分的轴向载荷，回转轴承116的使用寿命更长。同时，安装基板111与旋转部112之间的配合也更加紧密，不易相对晃动。
参照图6，第一轨道13为直轨道。第一轨道13上设置有第一条槽131。第一条槽131沿第一轨道13延伸，即第一条槽131沿水平方向延伸。第二轨道14为直轨道。第 二轨道14上设置有第二条槽141。第二条槽141沿第二轨道14延伸，即第二条槽141沿水平方向延伸。第一条槽131和第二条槽141的一端均延伸到旋转部112。当旋转部112转动时，旋转部112能旋转到导轨槽113均与第一条槽131和第二条槽141相接通的位置，即导轨槽113中的一条直条槽接通第一条槽131，另一条直条槽接通第二条槽141。
第一条槽131、第二条槽141以及导轨槽113的两条直条槽的底壁上都可以安装沿条槽的延伸方向延伸的传动元件，该传动元件可以是同步带、齿条或链条。
第一轨道13、第二轨道14均设置有多根。第一轨道13与储物托架21一一对应设置，每根第一轨道13设置在与其对应的储物托架21的边缘。多根第二轨道14分别设置在多根竖立柱22上。第二轨道14与位于立体货架1同一侧的竖立柱22一一对应设置，每根第二轨道14设置在与其对应的竖立柱22上。多根第一轨道13和多根第二轨道14均位于同一个竖直平面内，多根第一轨道13和多根第二轨道14交织成轨道网络。转向导轨也设置有多个，多个转向导轨分别设置在轨道网络中的各个交点上。
如图7所示，图7显示了本实施例中的一种运输车3。这种运输车3优选为自动导引运输车(Automated Guided Vehicle)。
该运输车3包括车体31和第一行走机构32。第一行走机构32安装在车体31上。第一行走机构32用于带动车体31沿导轨组件10行走。车体31可以设置成大致的矩形结构。车体31包括前端41以及与前端41相对的后端42。前端41可以是车体31的前端41，后端42可以是车体31的后端42。
第一行走机构32包括四个爬行组件320。四个爬行组件320分别设置在车体31相对的两侧。运输车3沿轨道爬行时位于两个导轨组件10之间，运输车3两侧的爬行组件320分别抵接于位于两侧的导轨组件10，以支撑起运输车3。
在本实施例中，两个爬行组件320分别设置在车体31的前端41的相对两侧，另外两个爬行组件320分别设置在车体31的后端42的相对两侧。四个爬行组件320从靠近车体31的四个角的位置支撑起车体31，更加平稳可靠。
参照图8、9，每个爬行组件320均包括轮架321、主动轮322和导向轮323。轮架321构造为大致的直条形，轮架321从车体31的侧部向外延伸。轮架321包括第一端以及与第一端相对的第二端。轮架321的第一端朝向车体31，轮架321的第二端背离车体31。轮架321的第二端能从车体31的侧面向外伸出。主动轮322和导向轮323均安装在 轮架321的第二端上。主动轮322的轴线垂直于轮架321的延伸方向。导向轮323设置在主动轮322的一侧，导向轮323的轴线平行于轮架321的延伸方向。导向轮323的轴线位于一个平面内，该平面过主动轮322的中心且垂直于主动轮322的轴线，这使得主动轮322的外周面朝向导向轮323，导向轮323始终处于主动轮322的行进方向上。
在本实施例中，轮架321能绕其在延伸方向的中心轴线转动。该中心轴线垂直于主动轮322的轴线。该中心轴线优选过主动轮322的中心。由于轮架321能绕其中心轴线转动，这样就能通过转动轮架321来改变主动轮322的行进方向。
第一条槽131、第二条槽141和导轨槽113的宽度均大于导向轮323的直径，导向轮323能伸入到第一条槽131、第二条槽141和导轨槽113内。当运输车3沿第一条槽131水平行走时，由于导向轮323的直径大于主动轮322的宽度，导向轮323挂在第一条槽131的侧壁上并承载车体31；当主动轮322沿第二条槽141竖直行走时，主动轮322承载车体31，导向轮323与第二条槽141的侧壁相互作用以引导主动轮322沿第一条槽131运动。
当运输车3需要从第一轨道13运行到第二轨道14时，预先将旋转部112转动到导轨槽113均与第一条槽131和第二条槽141相接通的位置，将驱动主动轮322使得爬行组件320从第一条槽131进入到导轨槽113中，此时爬行组件320和旋转部112的状态如图10所示。然后驱动轮82架321旋转90°，轮架321旋转时带动旋转部112转动，当旋转部112旋转90°后，导轨槽113又分别与第一条槽131和第二条槽141相接通，此时爬行组件320和旋转部112的状态如图11所示，运输车3可以继续朝第二条槽141行进，直至进入到第二条槽141，这样就完成了运输车3从第一轨道13运行到第二轨道14。与之类似的，运输车3也能从第二轨道14运行到第一轨道13。这样，运输车3沿着导轨组件10既能够在水平方向运行，也能在竖直方向运行，运输车3运行路线更加灵活。
轨道网络为矩形网格状，最小单元格为矩形网格，运输车3能沿着轨道网络行驶，运输车3能在各个转向导轨11处进行转向而任意切换轨道，运输车3运行路线更加多样。当运输车3行进方向上的轨道被堵塞时，运输车3可以通过切换轨道来绕过该堵塞处，不必等待该轨道疏通，大大提升了运输车3的搬运效率。
主动轮322可以为平面轮、同步轮、齿轮或链轮。当主动轮322为同步轮、齿轮或链轮时，能与第一条槽131、第二条槽141以及导轨槽113的两条直条槽内安装的对应传动元件相啮合，以防止打滑。
进一步地，导向轮323设置有两个。两个导向轮323均设置在轮架321的第二端的端部上。两个导向轮323分别位于主动轮322的相对两侧上。轮架321绕其中心轴线旋转，该中心轴线过主动轮322的中心，且该中心轴线到两个导向轮323的轴线的距离相等。
主动轮322设置在两个导向轮323之间，能完全避免主动轮322与条槽的侧壁相互摩擦。当运输车3在第一条槽131水平行走时，两个导向轮323挂在第一条槽131的侧壁上并承载车体31，并且两个导向轮323到轮架321的中心轴线的距离相等，两个导向轮323施加给轮架321的偏转力矩相互抵消，轮架321受力更加合理。
进一步地，参照图12、13，爬行组件320均包括传动机构34、输入轴35、旋转筒36和安装座37。
安装座37设置在车体31上。在本实施例中，安装座37包括底板371以及两块侧板372。两块侧板372位于底部的同一侧，且均垂直于底板371。两块侧板372相互平行。两块侧板372上均设置有安装通孔373，安装通孔373为圆形的通孔。两个安装通孔373相互对齐，即两个安装通孔373同轴设置。
旋转筒36包括筒体361。筒体361为圆筒形。筒体361的直径小于安装通孔373的直径。筒体361设置在安装通孔373内。筒体361与安装座37之间形成转动连接。在本实施例中，爬行组件320还包括两个回转轴承374，两个回转轴承374的内圈分别套装在筒体361两端上。回转轴承374可以是向心轴承，也可以是深沟球轴承。两个回转轴承374的外圈安装到安装通孔373内，并与安装通孔373之间形成固定连接。回转轴承374的外圈与安装通孔373之间可以是过盈配合。这样，旋转筒36通过回转轴承374与安装座37之间形成转动连接。可以理解地，也可以不设置回转轴承374，安装通孔373与旋转筒36之间通过间隙配合也可以实现旋转筒36与安装座37之间的转动连接。
轮架321的第一端固定连接在旋转筒36的端部上。轮架321的第一端的端部与旋转筒36的端部之间可以是相互焊接、螺钉连接或螺栓连接。这样，轮架321就安装到了旋转筒36上，并且旋转筒36能带动轮架321绕旋转筒36的轴线旋转。此时，轮架321在其延伸方向上的中心轴线与旋转筒36的轴线重合。
主动轮322包括滚轮本体324和第一转轴325。滚轮本体324为圆形，中部设置有通孔。第一转轴325为圆柱形。第一转轴325与滚轮本体324同轴设置。主动轮322套装在第一转轴325上，并与第一转轴325之间形成固定连接。主动轮322与第一转轴325之间可以是过盈配合。第一转轴325转动连接在轮架321的第二端上。第一转轴325的 延伸方向与轮架321的延伸方向相互垂直。在本实施例中，轮架321的第二端内设置有两个轴承326，这两个轴承326的内圈分别套装在第一转轴325的两端。轮架321的两侧内壁上分别设置有两个通孔327，两个轴承326的外圈分别设置在这两个盲孔327内，并与安装通孔373之间形成固定连接。这样设置后，主动轮322与轮架321之间形成转动连接。滚轮本体324的一部分容纳于轮架321内，一部分从轮架321的第二端伸出来。
输入轴35为直条形。输入轴35与旋转筒36同轴设置。输入轴35的直径小于输入轴35的内孔直径。输入轴35贯穿旋转筒36，并从轮架321的第一端伸入到轮架321内。输入轴35能相对于轮架321转动，其转动方式为绕自身轴线转动。在本实施例中，爬行组件320还包括设置在输入轴35与旋转筒36之间的轴承351。轴承351设置在旋转筒36内，轴承351的内圈套装在输入轴35上，轴承351的外圈与旋转筒36的内壁相抵。轴承351可以设置两个，两个轴承351分别设置在旋转筒36的两端。输入轴35的轴线过主动轮322的中心且垂直于主动轮322的轴线。
传动机构34设置在轮架321内。传动机构34分别传动连接于输入轴35和主动轮322，用于将输入轴35输送的转矩传递主动轮322上以驱动主动轮322滚动。传动机构34包括第一锥齿轮341、第二转轴342和第二锥齿轮343。第二转轴342与第一转轴325平行。第二转轴342设置在轮架321的第一端。第二锥齿轮343套装在第二转轴342上，并与第二转轴342之间形成固定连接。第二转轴342插入到轮架321内的一个轴孔内，并与该轴孔之间间隙配合，第二转轴342能在该轴孔内绕自身轴线转动。第一锥齿轮341套装在输入轴35伸入到轮架321内的一端上，并与第二锥齿轮343相啮合，两轴之间的交角等于90°。第一锥齿轮341与第二锥齿轮343相配合能使得输入的转矩改变方向。
第二转轴342与第一转轴325之间传动连接。第二转轴342与第一转轴325之间可以是带传动、链条传动或齿轮传动。在本实施例中，第二转轴342与第一转轴325之间采用齿轮传动，传动机构34还包括第一圆柱齿轮344、第二圆柱齿轮345、第三圆柱齿轮347和心轴346。第一圆柱齿轮344套装在第一转轴325上，并与第一转轴325之间固定连接。第二圆柱齿轮345套装在第二转轴342上，并与第二转轴342固定连接。心轴346设置在第一转轴325和第二转轴342之间，并且平行于第一转轴325。第三圆柱齿轮347套在心轴346上，第三圆柱齿轮347能绕心轴346的轴线转动。心轴346固定在轮架321的内壁上，第三圆柱齿轮347与心轴346之间间隙配合，第三圆柱齿轮347能绕心轴346转动。第一圆柱齿轮344与第三圆柱齿轮347相啮合，第三圆柱齿轮347与第二圆柱齿轮345相啮合。
在本实施例中，输入轴35在外力驱动下绕自身轴线转动后，输入轴35带动第一锥齿轮341转动，第一锥齿轮341带动第二转轴342转动，第二转轴342带动第二圆柱齿轮345转动，第二圆柱齿轮345带动第三圆柱齿轮347转动，第三圆柱齿轮347带动第一圆柱齿轮344转动，第一圆柱齿轮344则驱动主动轮322滚动。由此，从输入轴35输入的转矩能驱动主动轮322滚动。
第一行走机构32还包括爬行驱动组件和旋转驱动组件，爬行驱动组件和旋转驱动组件均设置在车体31内部。爬行驱动组件用于驱动输入轴35转动。爬行驱动组件可以包括四个第一电机，四个第一电机的主轴分别与四根输入轴35传动连接，每个第一电机驱动一根输入轴35转动。第一电机的主轴与输入轴35之间可以是齿轮传动。旋转驱动组件用于驱动旋转筒36转动。旋转驱动组件可以包括四个第二电机，四个第二电机的主轴分别与四个旋转筒36之间传动连接。每个第二电机驱动一个旋转筒36转动。第二电机的主轴与旋转筒36之间可以是齿轮传动。
主动轮322安装在轮架321上，轮架321安装在旋转筒36上，旋转驱动组件驱动旋转筒36能改变主动轮322的行进方向。由于输入轴35的轴线过主动轮322的中心且垂直于主动轮322的轴线，并且输入轴35与旋转筒36同轴设置，旋转筒36驱动主动轮322转向与输入轴35驱动主动轮322滚动之间不会相互干涉。同时，输入轴35可以延伸到车体31内部，被设置在车体31内部的爬行驱动组件驱动旋转进而带动主动轮322滚动，而不必将爬行驱动组件设置在轮架321上，这就使得整个运输车3的结构更加紧凑。
进一步地，心轴346设置在所述第一转轴325和所述第二转轴342之间，且第一转轴325、第二转轴342和心轴346的轴线共平面。这样，第一圆柱齿轮344、第二圆柱齿轮345、第三圆柱齿轮347沿直线依次排布，这样就使得轮架321的体积更小。
进一步地，第二转轴342的中部与轮架321转动连接。第二锥齿轮343和第二圆柱齿轮345分别设置在第二转轴342的两端，第一锥齿轮341位于第二锥齿轮343和第二圆柱齿轮345之间。这样设置后，能使得传动机构34更加紧凑，体积更小，同时，第二转轴342的受力更加合理。
进一步地，旋转筒36还包括凸缘362。凸缘362设置在筒体361连接轮架321的一端，凸缘362从筒体361的端部径向向外伸出。凸缘362为圆环形。凸缘362的外径大于安装通孔373的内径。爬行组件320还包括推力轴承38。推力轴承38与筒体361同轴设置。推力轴承38夹在凸缘362与安装座37的外壁之间。这样，推力轴承38就能承 载从轮架321传递而来的轴向载荷而避免回转轴承374承载过大的轴向载荷。更进一步地，凸缘362的外缘靠近安装座37的一侧向内凹陷形成环形缺口，推力轴承38安装在环形缺口内。这样就对推力轴承38进行了限位，避免推力轴承38随意移动。
进一步地，第一行走机构32还包括伸缩驱动组件。伸缩驱动组件包括多根滑轨、多个滑块以及直线执行机构。滑轨均安装在车体31上。滑轨平行于轮架321的延伸方向。多个滑块分别设置在多根滑轨上。滑块能沿导轨滑动。滑块的数量与安装座37的数量相同，滑块与安装座37一一对应设置，安装座37安装在与其相对应的滑块上。这样，安装座37与车体31之间形成滑动连接。
直线执行机构安装在车体31上。直线执行机构与安装座连接，直线执行机构能推动安装座沿滑轨移动以使得爬行组件320缩入和伸出车体31。直线执行机构可以是推杆电机。
直线执行机构驱动安装座37同时向内车体31内滑动时，爬行组件320能松开导轨组件10缩入到车体31内；直线执行机构同时驱动安装座37向车体31外滑动，爬行组件320能与导轨组件10相结合。
进一步地，参照图14，运输车3还包括设置在车体31底部的第二行走机构8。第二行走机构8能沿地面行走。第二行走机构8包括多个万向轮81和两个驱动轮82。多个万向轮81分别位于车体31底部两端。万向轮81可以是设置四个，分别设置在车体31底部的四个角上，万向轮81支撑起车体31。两个驱动轮82分别位于车体31底部的中间两侧。每个驱动轮82都自主滚动以带动车体31沿地面行驶。两个驱动轮82差速行驶是可以使运输车转向。
参照图15，第二轨道14延伸到货架本体20的底端。运输车3可以沿地面将物品从其他地方搬运到立体货架1附近，然后进入到两个立体货架1之间巷道内，再将爬行组件320从车体31的两侧伸出，并伸入到位于运输车3两侧的第二轨道14内。这样运输车3就能通过爬行组件320在立体货架1上爬行，进而通过运输车3上的出叉组件将运输车3上的物品搬运到货架本体20的储物托架21上。相应的，运输车3的出叉组件也能从立体货架1取出物品，然后沿通过爬行组件320在立体货架1上爬到立体货架1的底部直至运输车1的第二行走机构8着地，然后将爬行组件320缩入到车体31内使得爬行组件320与第二轨道14相分离，然后再沿地面将物品运输至指定的地点。这样就实现了运输车3既能沿地面行驶，又能在立体货架1上行驶，这种运输车3适应性更广，功能更强。
尽管已经参照某些实施例公开了本公开，但是在不背离本公开的范围和范畴的前提下，可以对所述的实施例进行多种变型和修改。因此，应该理解本公开并不局限于所阐述的实施例，其保护范围应当由所附权利要求的内容及其等价的结构和方案限定。

Claims (12)

  1. 一种运输车，其中，包括：车体(31)以及安装在所述车体(31)上的第一行走机构(32)；
    所述第一行走机构(32)包括
    分别设置在所述车体(31)相对两侧的多个爬行组件(320)，所述爬行组件(320)包括：
    从所述车体(31)的侧部向外延伸的轮架(321)；
    安装在所述轮架(321)上的主动轮(322)，其轴线垂直于所述轮架(321)的延伸方向；
    其中，所述轮架(321)能绕所述轮架(321)在延伸方向的中心轴线转动。
  2. 如权利要求1所述的运输车，其中，所述爬行组件(320)还包括安装在所述轮架(321)上的导向轮(323)，所述导向轮(323)的轴线平行于所述轮架(321)的延伸方向。
  3. 如权利要求2所述的运输车，其中，所述中心轴线穿过所述主动轮(322)的中心，所述导向轮(323)设置有两个，两个所述导向轮(323)分别设置在所述主动轮(322)的相对两侧且到所述中心轴线的距离相等。
  4. 如权利要求1所述的运输车，其中，所述轮架(321)还能缩入和伸出所述车体(31)；
    所述运输车还包括设置在车体(31)底部的第二行走机构(8)，所述第二行走机构(8)能沿地面行走。
  5. 如权利要求4所述的运输车，其中，所述第二行走机构(8)包括分别位于所述车体(31)底部两端的多个万向轮(81)，以及分别位于所述车体(31)底部的中间两侧的两个驱动轮(82)，所述驱动轮(82)能主动滚动。
  6. 如权利要求4所述的运输车，其中，所述爬行组件(320)还包括
    与所述车体(31)滑动连接的安装座(37)；
    与所述安装座(37)转动连接的旋转筒(36)，所述旋转筒(36)能绕其轴线转动；
    设置在所述轮架(321)内的传动机构(34)，与所述主动轮(322)传动连接；
    贯穿所述旋转筒(36)的输入轴(35)，从所述第一端伸入到所述轮架(321)内且与所述传动机构(34)传动连接，所述输入轴(35)和所述旋转筒(36)的轴线均与所述中心轴线重合；
    所述第一行走机构(32)还包括用于驱动所述输入轴(35)转动的爬行驱动组件，以 及用于驱动所述旋转筒(36)转动的旋转驱动组件。
  7. 如权利要求6所述的运输车，其中，所述第一行走机构还包括伸缩驱动组件，所述伸缩驱动组件包括
    多根平行于所述中心轴线的滑轨，设置在所述车体(31)上；
    多个分别安装在多根所述滑轨上的滑块，分别连接于多个所述安装座(37)；以及
    直线执行机构，用于驱动所述安装座(37)滑动。
  8. 如权利要求1所述的运输车，其中，车体(31)包括前端(41)以及与所述前端(41)相对的后端(42)；
    所述爬行组件(320)至少设置四个，其中，两个爬行组件(320)分别设置在所述前端(41)的相对两侧，另外两个爬行组件(320)分别设置在所述后端(42)的相对两侧。
  9. 如权利要求6所述的运输车，其中，所述主动轮(322)上设置有第一转轴(325)，所述第一转轴(325)与所述轮架(321)转动连接；
    所述传动机构(34)包括
    套装在所述输入轴(35)上的第一锥齿轮(341)；
    与所述轮架(321)转动连接且平行于所述第一转轴(325)的第二转轴(342)；
    套装在所述第二转轴(342)上的第二锥齿轮(343)，与所述第一锥齿轮(341)相啮合；
    其中，所述第二转轴(342)与所述第一转轴(325)传动连接。
  10. 如权利要求9所述的运输车，其中，所述传动机构(34)还包括
    套装在所述第一转轴(325)上的第一圆柱齿轮(344)；
    套装在所述第二转轴(342)上的第二圆柱齿轮(345)；
    安装在所述轮架(321)上且与所述第一转轴(325)平行的心轴(346)；
    套装在所述心轴(346)上且能绕所述心轴(346)转动的第三圆柱齿轮(347)，所述第三圆柱齿轮(347)分别与所述第一圆柱齿轮(344)、所述第二圆柱齿轮(345)相啮合。
  11. 如权利要求10所述的运输车，其中，所述第二转轴(342)的中部与所述轮架(321)转动连接，所述第二锥齿轮(343)和所述第二圆柱齿轮(345)分别设置在所述第二转轴(342)的两端，所述第一锥齿轮(341)位于所述第二锥齿轮(343)和所述第二圆柱齿轮(345)之间。
  12. 如权利要求1至11中任一项所述的运输车，其中，所述主动轮(322)为平面轮、 同步轮、齿轮或链轮。
PCT/CN2020/070179 2019-02-03 2020-01-03 运输车 WO2020156026A1 (zh)

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