WO2022062325A1 - 滚珠花键装置、自动引导运输车及立体库系统 - Google Patents

滚珠花键装置、自动引导运输车及立体库系统 Download PDF

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Publication number
WO2022062325A1
WO2022062325A1 PCT/CN2021/080165 CN2021080165W WO2022062325A1 WO 2022062325 A1 WO2022062325 A1 WO 2022062325A1 CN 2021080165 W CN2021080165 W CN 2021080165W WO 2022062325 A1 WO2022062325 A1 WO 2022062325A1
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WO
WIPO (PCT)
Prior art keywords
spline
nut
groove
transport vehicle
transmission member
Prior art date
Application number
PCT/CN2021/080165
Other languages
English (en)
French (fr)
Inventor
刘臣
于宗靖
宋国库
刘旭
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 EP21870714.9A priority Critical patent/EP4134561A4/en
Priority to JP2023514093A priority patent/JP2023543390A/ja
Priority to KR1020227039483A priority patent/KR20230069874A/ko
Priority to US18/245,415 priority patent/US20230349420A1/en
Publication of WO2022062325A1 publication Critical patent/WO2022062325A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C29/00—Bearings for parts moving only linearly
    • F16C29/04—Ball or roller bearings
    • F16C29/06—Ball or roller bearings in which the rolling bodies circulate partly without carrying load
    • F16C29/068—Ball or roller bearings in which the rolling bodies circulate partly without carrying load with the bearing body fully encircling the guide rail or track
    • F16C29/0692—Ball or roller bearings in which the rolling bodies circulate partly without carrying load with the bearing body fully encircling the guide rail or track the bearing body encircles a guide rail or track of non-circular cross-section, e.g. with grooves or protrusions, i.e. the linear bearing is suited to transmit torque
    • F16C29/0695—Ball or roller bearings in which the rolling bodies circulate partly without carrying load with the bearing body fully encircling the guide rail or track the bearing body encircles a guide rail or track of non-circular cross-section, e.g. with grooves or protrusions, i.e. the linear bearing is suited to transmit torque with balls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/02—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions
    • F16D3/06—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions specially adapted to allow axial displacement
    • F16D3/065—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions specially adapted to allow axial displacement by means of rolling elements
    • 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
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C29/00—Bearings for parts moving only linearly
    • F16C29/005—Guide rails or tracks for a linear bearing, i.e. adapted for movement of a carriage or bearing body there along
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C29/00—Bearings for parts moving only linearly
    • F16C29/04—Ball or roller bearings
    • F16C29/06—Ball or roller bearings in which the rolling bodies circulate partly without carrying load
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C29/00—Bearings for parts moving only linearly
    • F16C29/04—Ball or roller bearings
    • F16C29/06—Ball or roller bearings in which the rolling bodies circulate partly without carrying load
    • F16C29/0602—Details of the bearing body or carriage or parts thereof, e.g. methods for manufacturing or assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C31/00—Bearings for parts which both rotate and move linearly
    • F16C31/04—Ball or roller bearings
    • F16C31/06—Ball or roller bearings in which the rolling bodies circulate partly without carrying load
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2300/00—Application independent of particular apparatuses
    • F16C2300/20—Application independent of particular apparatuses related to type of movement
    • F16C2300/28—Reciprocating movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2326/00—Articles relating to transporting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2326/00—Articles relating to transporting
    • F16C2326/01—Parts of vehicles in general

Definitions

  • the present disclosure is based on the Chinese application with the application number of 202011004699.0 and the filing date of September 22, 2020 , and claims its priority.
  • the disclosure of the Chinese application is hereby incorporated into the present disclosure as a whole.
  • the present disclosure relates to the technical field of mechanical transmission, and in particular, to a ball spline device, an automatic guided transport vehicle and a three-dimensional warehouse system.
  • Ball spline is a kind of raceway groove processed on the spline shaft.
  • the steel ball on the spline nut cooperates with the raceway groove on the spline shaft, so that the spline nut can move axially on the spline shaft, and at the same time A component that can also transmit torque and force.
  • the embodiments of the present disclosure provide a ball spline device, an automatic guided transport vehicle, and a three-dimensional warehouse system, which can broaden the functions of the ball spline device and better meet usage requirements.
  • a ball spline device comprising:
  • the outer side wall of the spline shaft is provided with a raceway groove extending in the axial direction.
  • the raceway groove includes a first groove section and a second groove section that communicate with each other in the axial direction.
  • the width of the second groove section is greater than the width of the first groove section.
  • the first rolling body is movably arranged in the raceway groove along the axial direction to realize the relative movement of the spline nut and the spline shaft;
  • the first rolling body when the spline nut is in the first position, the first rolling body is in the first groove section and is constrainedly matched with the first groove section, so that the spline nut and the spline shaft rotate synchronously; when the spline nut is in the second position , the first rolling body is located in the second groove section, so that the spline nut and the spline shaft have a predetermined amount of movement in the circumferential direction.
  • the raceway groove further includes a transition groove segment connected between the first groove segment and the second groove segment and configured to guide the first rolling body to switch between the first groove segment and the second groove segment .
  • both side walls of the transition groove segment are inclined surfaces, and the distance between the two side walls gradually increases from the first groove segment to the second groove segment.
  • the second groove segment is located in the middle region of the spline shaft along the axial direction, and both ends of the second groove segment are provided with the first groove segment.
  • each group of raceway grooves includes two raceway grooves arranged at intervals, and the circumferential interval of adjacent groups of raceway grooves is greater than that of adjacent raceway grooves in the same group Circumferential spacing.
  • the first end of the splined shaft has a first mounting portion configured to connect to a drive member that provides power for rotation of the splined shaft; the second end of the splined shaft has a second mounting portion configured to connect It is connected to the external first transmission member.
  • it also includes:
  • Two sets of first seals are arranged between the spline nut and the spline shaft, and are located at both ends of the spline nut in the axial direction;
  • the first rolling body is located between the two sets of first seals.
  • the spline nut includes:
  • the inner nut is sleeved outside the spline shaft
  • the second rolling body is movably arranged between the inner nut and the outer nut along the circumferential direction, so as to realize the relative rotation of the inner nut and the outer nut;
  • the first rolling body is arranged between the inner nut and the raceway groove.
  • it also includes:
  • Two sets of second seals are arranged between the inner nut and the outer nut, and are axially located at both ends of the outer nut;
  • the second rolling body is located between the two sets of second seals.
  • an automatic guided transport vehicle comprising:
  • the driving member is configured to provide driving force for the rotation of the spline shaft.
  • the spline nut includes:
  • the outer nut is sleeved outside the inner nut and is rotatably arranged relative to the inner nut, and the outer nut is connected with the support frame arranged on the automatic guiding transport vehicle;
  • the first rolling body is arranged between the inner nut and the raceway groove.
  • the first end of the spline shaft has a first mounting portion
  • the driving component is drivingly connected with the first mounting portion
  • the second end of the spline shaft has a second mounting portion
  • the automatic guided transport vehicle further includes a first transmission member connected to the second mounting portion, and the first transmission member is configured to cooperate with an external second transmission member.
  • the first transmission member when the spline nut is in the second position, is configured to adjust to cooperate with the second transmission member while the wheel remains in position.
  • the automated guided transport vehicle has a walking mode and a moving mode when the spline nut is in the first position
  • the automatic guided transport vehicle in the walking mode, is configured to drive the spline shaft through the driving component to drive the wheels to rotate to achieve walking; in the moving mode, the automatic guided transport vehicle is configured to drive the spline shaft through the driving component to drive the first transmission.
  • the part rotates to realize the movement through the cooperation of the first transmission part and the second transmission part.
  • a stereo library system comprising:
  • a three-dimensional library with multiple storage positions and a second transmission member is provided on the three-dimensional library, and the second transmission member includes a vertically arranged rack;
  • the automatic guided transport vehicle of the above embodiment includes a first transmission member, the first transmission member includes a gear, the first end of the spline shaft has a first installation portion, the driving member is drivingly connected with the first installation portion, and the first transmission member of the spline shaft is provided with a first installation portion.
  • the two ends are provided with a second mounting portion, and the second mounting portion is connected to the gear;
  • the gear when the spline nut is in the second position, the gear is configured to be adjusted to cooperate with the second transmission member under the condition that the position of the wheel remains unchanged.
  • the predetermined amount of movement is not less than the tooth width of the gear or rack.
  • the automated guided transport vehicle has a walking mode and a moving mode when the spline nut is in the first position
  • the automatic guided transport vehicle In the walking mode, the automatic guided transport vehicle is configured to drive the spline shaft through the driving component to drive the wheels to rotate to achieve walking; in the moving mode, the automatic guided transport vehicle is configured to drive the splined shaft through the driving component to drive the gear to move along the rack. Enables vertical movement to reach storage bits at different levels.
  • the same raceway groove on the spline shaft is set to two structures with different widths, so that when the spline nut is at the position corresponding to the first groove section, the spline shaft and the spline The nut is restrained and fitted to transmit torque and force; when the spline nut is in the position corresponding to the second groove segment, there is a larger gap between the first rolling element and the side wall of the second groove segment, so that the spline shaft and the spline nut have a larger gap. There is a wobble amount in the circumferential direction.
  • the spline shaft is allowed to have a slight wobble amount, and it is easy to realize the connection or cooperation between the spline shaft and other external components.
  • This ball spline device can achieve more functions and improve application flexibility.
  • FIG. 1 is a schematic structural diagram of some embodiments of the disclosed ball spline device
  • FIG. 2 is a schematic structural diagram of some embodiments of spline shafts in the disclosed ball spline device
  • FIG. 3 is a schematic structural diagram of some embodiments of the disclosed ball spline device
  • FIG. 4 is a schematic diagram of the state in which the first rolling element is matched with the first groove segment
  • FIG. 5 is a schematic diagram of the state in which the first rolling element is matched with the second groove segment
  • FIG. 6 is a working principle diagram of the ball spline device of the present disclosure when it is used to automatically guide a transport vehicle in cooperation with a three-dimensional warehouse to achieve lifting.
  • the orientation or positional relationship using indications such as “upper”, “lower”, “top”, “bottom”, “front”, “rear”, “inner” and “outer” is based on the attached
  • the orientation or positional relationship shown in the figures is only for the convenience of describing the present disclosure, rather than indicating or implying that the referred device must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the protection scope of the present disclosure. limit.
  • the "axial”, “circumferential” and “radial” mentioned in the following embodiments are all defined with respect to the ball spline device.
  • the present disclosure provides a ball spline device, as shown in FIGS. 1 to 6 , the ball spline device includes: a spline shaft 1 , a spline nut 2 and a first rolling body 23 .
  • the outer side wall of the spline shaft 1 is provided with a raceway groove extending in the axial direction.
  • the raceway groove includes a first groove segment 11 and a second groove segment 12 that communicate with each other in the axial direction.
  • the width of the second groove segment 12 is larger than that of the first groove segment 12.
  • the width of the groove segment 11 is coaxially sleeved outside the spline shaft 1 .
  • the first rolling body 23 is movably arranged in the raceway groove in the axial direction to realize the relative movement of the spline nut 2 and the spline shaft 1 in the axial direction.
  • the spline nut 2 is configured to limit the movement of the first rolling body 23 along the axial direction.
  • a plurality of the first rolling elements 23 may be arranged in the raceway groove along the axial direction to form a row of the first rolling elements 23 .
  • the first rolling elements 23 may be balls, rolling rods, and the like.
  • the first rolling body 23 is located in the first groove section 11 and is constrained and fitted with the first groove section 11 , so that the spline nut 2 is in the first position. 2 rotates synchronously with the spline shaft 1.
  • a raceway groove is also provided on the inner wall of the spline nut 2 .
  • Constrained fit means that both side walls of the first groove segment 11 are in contact and fit with the first rolling body 23 , and the two side walls of the first groove segment 11 can limit the freedom of movement of the first rolling body 23 in the circumferential direction.
  • the cross section of the first groove segment 11 is arc-shaped
  • the first rolling elements 23 are balls
  • the curvature radius of the first groove segment 11 is the same as that of the first rolling elements 23 .
  • the first rolling elements 23 are located in the second groove section 12 , and the first rolling elements 23 can move in the circumferential direction in the second groove section 12 Movement so that the spline nut 2 and the spline shaft 1 have a predetermined amount of movement in the circumferential direction.
  • the groove bottom of the second groove segment 12 is flat, and both sides are circular arcs.
  • the dotted line in the left diagram of FIG. 5 is a schematic diagram of the state in which the first rolling element 23 moves clockwise to the right limit position P1 of the second groove section 12 , and the dotted line in the right diagram of FIG.
  • the same raceway groove on the spline shaft 1 is set to two structures with different widths, so that when the spline nut 2 is at the position corresponding to the first groove section 11, the spline shaft 1 and the spline nut 2 are constrained to transmit torque and force; when the spline nut 2 is at the position corresponding to the second groove section 12, there is a larger gap between the first rolling body 23 and the side wall of the second groove section 12 , so that there is a sway between the spline shaft 1 and the spline nut 2 in the circumferential direction.
  • the spline shaft 1 is allowed to have a small amount of sway, and it is easy to realize the spline shaft 1 and the spline nut 2.
  • This ball spline device can achieve more functions and improve application flexibility.
  • the raceway groove further includes a transition groove section 13 connected between the first groove section 11 and the second groove section 12 and configured to guide the first rolling body 23 in the first groove section 13 . Switch between the groove section 11 and the second groove section 12 .
  • the first rolling element 23 can be smoothly switched between the first groove section 11 and the second groove section 12, and the connection of the first rolling element 23 between the two groove sections can be prevented.
  • the position is stuck, so that the movement of the first rolling body 23 is smoother and more reliable; moreover, the wear of the first rolling body 23 can be reduced, and the vibration and noise can be reduced.
  • both side walls of the transition groove section 13 are inclined surfaces 131 , and the distance between the two side walls gradually increases from the first groove section 11 to the second groove section 12 .
  • the first rolling element 23 can smoothly enter the first groove segment 11 from the second groove segment 12 without being in the middle position of the raceway groove along the circumferential direction, which reduces the impact on the first groove segment 11 when the position is switched. Requirements for the positional accuracy of the rolling elements 23.
  • the second groove section 12 is located in the middle region of the spline shaft 1 in the axial direction, and both ends of the second groove section 12 are provided with the first groove section 11 .
  • This embodiment can selectively move the spline nut 2 to any first groove section 11 when power needs to be transmitted through the ball spline device, which can improve the flexibility of use. If the first transmission member 5 is installed at one end of the spline shaft 1, and the spline nut 2 is moved to the first groove section 11 close to the first transmission member 5 to transmit power, then the spline nut 2 is moved to the second groove section 12, the spline nut 2 can be kept away from the first transmission member 5, which facilitates the adjustment of the first transmission member 5 and the external second transmission member 7 through the spline nut 2 and the spline shaft 1 in the circumferential direction. For example, the spline nut 2 is connected to the wheel 3.
  • each group of raceway grooves includes two raceway grooves arranged at intervals, and the circumferential interval of adjacent groups of raceway grooves is greater than that of the same group Circumferential spacing between adjacent raceway grooves.
  • three groups of raceway grooves are evenly arranged in the circumferential direction.
  • the first rolling body 23 provides a uniform and stable supporting force to the spline nut 2 in the entire circumferential direction, so that the spline shaft 1 can stably provide power to the spline nut 2 during rotation, Prevent the spline nut 2 from rattling.
  • the adjacent groups of raceway grooves include two spaced-apart raceway grooves, which can jointly transmit torque in the same circumferential area through the two rows of the first rolling elements 23, which can reduce the force on the first rolling elements 23 and improve the working efficiency. reliability and longevity.
  • the spline nut 2 is provided with a plurality of grooves
  • the ball spline device further includes: a plurality of first cages 27 , which are arranged in the plurality of grooves in a one-to-one correspondence
  • the ball spline device further includes:
  • a cage 27 is provided with an oblong guide groove 271 extending in the axial direction.
  • the guide groove 271 is filled with a plurality of first rolling elements 23 to form an annular rolling element queue.
  • the first rolling elements 23 on both sides of the annular rolling element queue are respectively in adjacent raceway grooves in the same group.
  • the first rolling element 23 is limited by the raceway groove, the spline nut and the first cage 27 together.
  • the first end of the spline shaft 1 has a first mounting portion 16 configured to connect the drive member 4 that provides power to the rotation of the spline shaft 1; the spline The second end of the shaft 1 has a second mounting portion 17 configured to connect with the external first transmission member 5 .
  • the spline shaft 1 includes a main body shaft segment 14 and a first mounting portion 16 and a second mounting portion 17 axially connected to both ends of the main body shaft segment 14 , and the main body shaft segment 14 and the first mounting portion 16 may be arranged between A transition shaft segment 15 may also be provided between the transition shaft segment 15 , the main body shaft segment 14 and the second mounting portion 17 .
  • the first mounting portion 16 and the second mounting portion 17 can also adopt a shaft segment structure, and a key groove 161 is provided on the shaft segment, so as to realize the connection of the driving member 4 or the first transmission member 5 by arranging a key in the key groove 161 .
  • the driving member 4 may be a motor or a motor
  • the first transmission member 5 may be a gear, a worm, a transmission wheel, and the like.
  • This embodiment can not only be connected with the driving part 4 to provide power for the movement of the spline nut device, but also can be connected with the external first transmission part 5 through the spline shaft 1, so that the power of the spline shaft 1 can be sent to other external parts. transfer.
  • the ball spline device further includes: two sets of first seals 25 , which are arranged between the spline nut 2 and the spline shaft 1 and are located in the spline nut 2 in the axial direction. The two ends of the ; wherein, the first rolling body 23 is located between the two groups of first seals 25 .
  • the first sealing member 25 may use a sealing ring or the like.
  • This embodiment can prevent dust or impurities from entering the space between the spline nut 2 and the spline shaft 1 , ensure that the first rolling element 23 can move flexibly, and prevent lubricating oil from seeping out.
  • the spline nut 2 can adopt two arrangement forms.
  • the spline nut 2 adopts an integral structure. When the spline nut 2 is in the first position, power and torque can be transmitted to the spline nut 2 through the spline shaft 1; when the spline nut 2 is in the second position , allowing the spline shaft 1 to have a preset movable margin relative to the spline nut 2 in the circumferential direction.
  • the spline nut 2 includes: an inner nut 21 , an outer nut 22 and a second rolling body 24 .
  • the inner nut 21 is sleeved outside the spline shaft 1
  • the outer nut 22 is sleeved outside the inner nut 21
  • the second rolling body 24 is movably disposed between the inner nut 21 and the outer nut 22 along the circumferential direction, so as to realize The inner nut 21 and the outer nut 22 rotate relative to each other.
  • the inner nut 21 can be connected with rotating parts such as the wheel 3, and the outer nut 22 can be connected with the fixed support frame 8 and the like.
  • the outer wall of the inner nut 21 is provided with an outer raceway
  • the inner wall of the outer nut 22 is provided with an inner raceway
  • the second rolling body 24 moves in the space constrained by the inner raceway and the outer raceway, so that the inner The nut 21 and the outer nut 22 are relatively rotatable.
  • the first rolling element 23 is provided between the inner nut 21 and the raceway groove.
  • the inner wall of the inner nut 21 is also provided with a raceway.
  • This embodiment is a nut-rotating ball spline device, which can not only transmit power to the spline nut 2 through the spline shaft 1 , but also realize the rotation of the outer nut 22 relative to the inner nut 21 , and can also keep the spline nut 2 .
  • the spline shaft 1 has a predetermined amount of movement in the circumferential direction without moving. This kind of ball spline device can realize more functions, and can meet the working requirements of the transmission system more widely and flexibly.
  • the spline nut 2 further includes: a second cage, which is provided between the inner nut 21 and the outer nut 22 and is configured to maintain a distance between the plurality of second rolling bodies 24 .
  • the ball spline device also includes: two sets of second seals 26, which are arranged between the inner nut 21 and the outer nut 22, and are located at both ends of the outer nut 22 in the axial direction; wherein, the second rolling bodies 24 are located at both ends of the outer nut 22. between the two sets of second seals 26 .
  • the second seal 26 may be a sealing ring or the like.
  • This embodiment can prevent dust or impurities from entering the space between the inner nut 21 and the outer nut 22, ensure that the second rolling element 24 can move flexibly, and prevent the lubricating oil from seeping out.
  • the number of the first rolling bodies 23 in a single raceway groove can be increased, which will increase the length of the inner nut 21.
  • the outer nut The axial length of 22 is smaller than the axial length of inner nut 21 .
  • a flange structure 221 is provided on the outer side wall of the outer nut 22 , and the flange structure 221 can be a flange or the like. , the flange structure may be located at the end of the outer nut 22 or at other locations along the axial direction.
  • the present disclosure provides an automatic guided transport vehicle (the full name is "Automated Guided Vehicle", AGV for short).
  • it includes: the ball spline device of the above-mentioned embodiment, the wheel 3 and the driving member 4 .
  • the wheel 3 is coaxially mounted on the spline nut 2
  • the driving member 4 is configured to provide a driving force for the rotation of the spline shaft 1 .
  • the wheel 3 can be mounted on the inner nut 21 .
  • the first rolling body 23 when the spline nut 2 is in the first position, the first rolling body 23 is located in the first groove section 11 , and the spline shaft 1 and the spline nut 2 are constrained and cooperated to transmit torque and force, which can realize the Rotate to realize the walking of the automatic guided transport vehicle; when the spline nut 2 is in the second position, the first rolling body 23 is in the second groove section 12, between the first rolling body 23 and the side wall of the second groove section 12 Having a preset amount of movement allows the spline shaft 1 to have a wobble amount relative to the spline nut 2 while the wheel 3 remains in position, so that the spline shaft 1 can adapt to the connection or cooperation with other external components.
  • This automatic guided transport vehicle can be flexibly adjusted according to the needs of use, and can be suitable for different use functions.
  • the spline nut 2 includes: an inner nut 21 sleeved outside the spline shaft 1 , and the inner nut 21 is connected to the wheel 3 , for example, through a fixing hole at the end of the inner nut 21 It is connected with the wheel 3; and the outer nut 22 is sleeved outside the inner nut 21 and is rotatably arranged relative to the inner nut 21.
  • the outer nut 22 can be connected to the support frame 8 provided on the automatic guided transport vehicle through the flange structure 221. connect.
  • the first rolling element 23 is provided between the inner nut 21 and the raceway groove.
  • the first end of the spline shaft 1 has a first mounting portion 16
  • the driving member 4 is drivingly connected to the first mounting portion 16
  • the second end of the spline shaft 1 has a second mounting portion 17 .
  • the automatic guided transport vehicle further includes a first transmission member 5 connected to the second mounting portion 17 , and the first transmission member 5 is configured to cooperate with the external second transmission member 7 .
  • the first transmission member 5 may be a gear
  • the second transmission member 7 may be a rack or a ring gear.
  • the first transmission member 5 is configured to be adjusted to cooperate with the second transmission member 7 while the wheel 3 remains in position.
  • the movement of the transport vehicle can be automatically guided, such as moving along the rack, and according to the installation direction of the rack, the transport vehicle can be automatically guided along the horizontal, It can be moved in an inclined or vertical direction, or the outer ring gear can also be moved.
  • the wheel 3 can be moved manually or through the driving member 4 to make the spline nut 2 in the second position.
  • the spline shaft 1 has a predetermined amount of movement in the circumferential direction relative to the spline nut 2, so that the first transmission member 5 can be adjusted in the circumferential direction, so that the first transmission member 5 and the The two transmission members 7 are engaged.
  • the automated guided transport vehicle when the spline nut 2 is in the first position, has a walking mode and a moving mode.
  • the automatic guided transport vehicle in the walking mode, is configured to drive the spline shaft 1 through the driving component 4 to drive the wheels 3 to rotate to realize walking; in the moving mode, the automatic guided transport vehicle is configured to drive the splined shaft through the driving component 4. 1 drives the first transmission member 5 to rotate to achieve movement, and the wheels 3 do not participate in the movement.
  • the present disclosure also provides a three-dimensional warehouse system, as shown in FIG. 6 , including: a three-dimensional warehouse 6 and the automatic guided transport vehicle of the above-mentioned embodiment.
  • the three-dimensional warehouse 6 has multiple storage positions, and the three-dimensional warehouse 6 is provided with a second transmission member 7, and the second transmission member 7 includes a vertically arranged rack;
  • the automatic guided transport vehicle includes a first transmission member 5, the first transmission member 7
  • the transmission member 5 includes a gear
  • the first end of the spline shaft 1 has a first mounting portion 16
  • the driving member 4 is drivingly connected with the first mounting portion 16
  • the wheel 3 When the automatic guided transport vehicle needs to travel between different three-dimensional warehouses 6, or to travel in a storage position of a certain layer of the three-dimensional warehouse 6, the wheel 3 is moved axially to the first position of the spline nut 2, and the driving component 4 is at this time.
  • the spline nut 2 and the wheel 3 can be driven to rotate by the spline shaft 1 to realize walking.
  • the wheel 3 can be moved axially until the spline nut 2 is in the first position. Two positions, at this time, the spline shaft 1 is allowed to have a preset amount of movement in the circumferential direction relative to the spline nut 2, and the first transmission member 5 can be adjusted in the circumferential direction, so as to keep the position of the wheel 3 unchanged. Engage with the rack. After that, the driving part 4 can drive the gear to move along the rack through the spline shaft 1, and the spline nut 2 and the wheel 3 rotate to realize the up and down movement of the automatic guided transport vehicle to reach the storage positions of different layers.
  • the preset movement amount is not less than the tooth width of the gear or the rack, thereby ensuring that the gear is adjusted to mesh with the rack under the condition that the position of the wheel 3 remains unchanged.
  • the automated guided transport vehicle when the spline nut 2 is in the first position, has a walking mode and a moving mode.
  • the walking mode the automatic guided transport vehicle is configured to drive the spline shaft 1 through the driving part 4 to drive the wheels 3 to rotate to realize walking; in the moving mode, the automatic guided transport vehicle is configured to drive the splined shaft 1 through the driving part 4
  • the gear moves along the rack to achieve vertical movement to reach the storage positions of different layers.
  • a ball spline device, an automatic guided transport vehicle and a three-dimensional warehouse system provided by the present disclosure are introduced in detail.
  • the principles and implementations of the present disclosure are described herein by using specific embodiments, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present disclosure. It should be pointed out that for those skilled in the art, without departing from the principles of the present disclosure, several improvements and modifications can also be made to the present disclosure, and these improvements and modifications also fall within the protection scope of the claims of the present disclosure.

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Abstract

一种滚珠花键装置，滚珠花键装置包括：花键轴（1），外侧壁上设有沿轴向延伸的滚道槽，滚道槽沿轴向包括连通的第一槽段（11）和第二槽段（12），第二槽段（12）的宽度大于第一槽段（11）的宽度；花键螺母（2），同轴套设在花键轴（1）外；和第一滚动体（23），沿轴向可运动地设在滚道槽内，以实现花键螺母（2）与花键轴（1）的相对移动；花键螺母（2）处于第一位置时，第一滚动体（23）处于第一槽段（11）内且与第一槽段（11）约束配合，以使花键螺母（2）与花键轴（1）同步旋转；花键螺母（2）处于第二位置时，第一滚动体（23）处于第二槽段（12）内，以使花键螺母（2）与花键轴（1）在周向具有预设活动量。还提供一种自动引导运输车和立体库系统。

Description

滚珠花键装置、自动引导运输车及立体库系统
相关申请的横向引用
本公开是以申请号为 202011004699.0，申请日为 2020年9月22日的中国申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本公开中。
技术领域
本公开涉及机械传动技术领域，尤其涉及一种滚珠花键装置、自动引导运输车及立体库系统。
背景技术
滚珠花键是一种在花键轴上加工出滚道槽，花键螺母上的钢珠与花键轴上的滚道槽配合，使花键螺母可以在花键轴上沿轴向移动，同时还可以传递扭矩与力的一种元器件。
目前滚珠花键的花键轴上的全部长度滚道与的钢珠均为配合约束，使得花键轴与花键螺母存在严格的传动比，当应用过程中，需要使花键轴相对于花键螺母进行小角度旋转时，目前的滚珠花键结构难以实现该功能。
发明内容
本公开的实施例提供了一种滚珠花键装置、自动引导运输车及立体库系统，能够拓宽滚珠花键装置的功能，更好地满足使用需求。
根据本公开的第一方面，提供了一种滚珠花键装置，包括：
花键轴，外侧壁上设有沿轴向延伸的滚道槽，滚道槽沿轴向包括连通的第一槽段和第二槽段，第二槽段的宽度大于第一槽段的宽度；
花键螺母，同轴套设在花键轴外；和
第一滚动体，沿轴向可运动地设在滚道槽内，以实现花键螺母与花键轴的相对移动；
其中，花键螺母处于第一位置时，第一滚动体处于第一槽段内且与第一槽段约束配合，以使花键螺母与花键轴同步旋转；花键螺母处于第二位置时，第一滚动体处于 第二槽段内，以使花键螺母与花键轴在周向具有预设活动量。
在一些实施例中，滚道槽还包括过渡槽段，连接在第一槽段和第二槽段之间，被配置为引导第一滚动体在第一槽段和第二槽段之间切换。
在一些实施例中，过渡槽段的两个侧壁均为斜面，且两个侧壁之间的距离从第一槽段至第二槽段逐渐增大。
一些实施例中，第二槽段位于花键轴沿轴向的中间区域，第二槽段的两端均设有第一槽段。
在一些实施例中，滚道槽沿周向设有多组，每组滚道槽均包括两个间隔设置的滚道槽，相邻组滚道槽的周向间隔大于同一组中相邻滚道槽的周向间隔。
在一些实施例中，花键轴的第一端具有第一安装部，被配置为连接向花键轴的转动提供动力的驱动部件；花键轴的第二端具有第二安装部，被配置为与外部的第一传动件连接。
在一些实施例中，还包括：
两组第一密封件，设在花键螺母与花键轴之间，且沿轴向位于花键螺母的两端；
其中，第一滚动体位于两组第一密封件之间。
在一些实施例中，花键螺母包括：
内螺母，套设在花键轴外；
外螺母，套设在内螺母外；和
第二滚动体，沿周向可运动地设在内螺母与外螺母之间，以实现内螺母与外螺母相对转动；
其中，第一滚动体设在内螺母与滚道槽之间。
在一些实施例中，还包括：
两组第二密封件，设在内螺母与外螺母之间，且沿轴向位于外螺母的两端；
其中，第二滚动体位于两组第二密封件之间。
根据本公开的第二方面，提供了一种自动引导运输车，包括：
上述实施例的滚珠花键装置；
车轮，同轴安装于花键螺母；和
驱动部件，被配置为对花键轴的转动提供驱动力。
在一些实施例中，花键螺母包括：
内螺母，套设在花键轴外，内螺母与车轮连接；和
外螺母，套设在内螺母外，且相对于内螺母可转动地设置，外螺母与设在自动引导运输车上的支撑架连接；
其中，第一滚动体设在内螺母与滚道槽之间。
在一些实施例中，花键轴的第一端具有第一安装部，驱动部件与第一安装部驱动连接，花键轴的第二端具有第二安装部；
自动引导运输车还包括第一传动件，连接于第二安装部，第一传动件被配置为与外部的第二传动件配合。
在一些实施例中，花键螺母处于第二位置时，第一传动件被配置为在车轮保持位置不变的情况下调整至与第二传动件配合。
在一些实施例中，花键螺母处于第一位置时，自动引导运输车具有行走模式和移动模式；
其中，在行走模式下，自动引导运输车被配置为通过驱动部件驱动花键轴带动车轮转动实现行走；在移动模式下，自动引导运输车被配置为通过驱动部件驱动花键轴带动第一传动件转动，以通过第一传动件和第二传动件的配合实现移动。
根据本公开的第三方面，提供了一种立体库系统，包括：
立体库，具有多层存储位，且立体库上设有第二传动件，第二传动件包括竖直设置的齿条；和
上述实施例的自动引导运输车，包括第一传动件，第一传动件包括齿轮，花键轴的第一端具有第一安装部，驱动部件与第一安装部驱动连接，花键轴的第二端具有第二安装部，第二安装部连接齿轮；
其中，花键螺母处于第二位置时，齿轮被配置为在车轮位置不变的情况下调整至与第二传动件配合。
在一些实施例中，预设活动量不小于齿轮或齿条的齿宽。
在一些实施例中，花键螺母处于第一位置时，自动引导运输车具有行走模式和移动模式；
在行走模式下，自动引导运输车被配置为通过驱动部件驱动花键轴带动车轮转动实现行走；在移动模式下，自动引导运输车被配置为通过驱动部件驱动花键轴带动齿轮沿齿条运动实现在竖直方向上移动，以到达不同层的存储位。
本公开一些实施例的滚珠花键装置，将花键轴上的同一滚道槽设置为两种宽度不同的结构，使得花键螺母在第一槽段对应的位置时，花键轴与花键螺母约束配合以传递扭矩和力；花键螺母在第二槽段对应的位置时，第一滚动体与第二槽段的侧壁之间具有更大的间隙，使花键轴与花键螺母之间沿周向具有晃动量，例如，当花键螺母保持不动时，允许花键轴有微小的晃动量，易于实现花键轴与外部其它部件的连接或配合。此种滚珠花键装置可实现更多的功能，提高了应用的灵活性。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开滚珠花键装置的一些实施例的结构示意图；
图2为本公开滚珠花键装置中花键轴的一些实施例的结构示意图；
图3为本公开滚珠花键装置的一些实施例的结构示意图；
图4为第一滚动体与第一槽段配合的状态示意图；
图5为第一滚动体与第二槽段配合的状态示意图；
图6为本公开滚珠花键装置用于自动引导运输车时与立体库配合实现提升的工作原理图。
附图标记说明
1、花键轴；11、第一槽段；12、第二槽段；13、渡槽段；131、斜面；14、主体轴段；15、过渡轴段；16、第一安装部；161、键槽；17、第二安装部；2、花键螺母；21、内螺母；22、外螺母；221、法兰结构；23、第一滚动体；24、第二滚动体；25、第一密封件；26、第二密封件；27、第一保持架；271、引导槽；3、车轮；4、驱动部件；5、第一传动件；6、立体库；7、第二传动件；8、支撑架。
具体实施方式
以下详细说明本公开。在以下段落中，更为详细地限定了实施例的不同方面。如此限定的各方面可与任何其他的一个方面或多个方面组合，除非明确指出不可组合。 尤其是，被认为是优选的或有利的任何特征可与其他一个或多个被认为是优选的或有利的特征组合。
本公开中出现的“第一”、“第二”等用语仅是为了方便描述，以区分具有相同名称的不同组成部件，并不表示先后或主次关系。
在本公开的描述中，采用了“上”、“下”、“顶”、“底”、“前”、“后”、“内”和“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开，、而不是指示或暗示所指的装置必须具有特定的方位、以特定的方位构造和操控，因此不能理解为对本公开保护范围的限制。而且，后续实施例提到的“轴向”、“周向”和“径向”均是相对于滚珠花键装置为基准定义的。
本公开提供了一种滚珠花键装置，如图1至图6所示，该滚珠花键装置包括：花键轴1、花键螺母2和第一滚动体23。
花键轴1的外侧壁上设有沿轴向延伸的滚道槽，滚道槽沿轴向包括连通的第一槽段11和第二槽段12，第二槽段12的宽度大于第一槽段11的宽度。花键螺母2同轴套设在花键轴1外。第一滚动体23沿轴向可运动地设在滚道槽内，以实现花键螺母2与花键轴1沿轴向的相对移动，花键螺母2被配置为限制第一滚动体23沿径向运动的自由度。第一滚动体23可沿轴向在滚道槽内设置多个，形成一列第一滚动体23，例如，第一滚动体23可以是滚珠、滚棒等。
其中，如图4所示，花键螺母2沿轴向移动至处于第一位置时，第一滚动体23处于第一槽段11内且与第一槽段11约束配合，以使花键螺母2与花键轴1同步旋转。为了传递动力，花键螺母2的内壁上也设有滚道槽。约束配合是指第一槽段11的两个侧壁均与第一滚动体23接触配合，第一槽段11的两个侧壁可限制第一滚动体23沿周向运动的自由度。例如，第一槽段11的横截面呈圆弧形，第一滚动体23为滚珠，第一槽段11的曲率半径与第一滚动体23一致。
如图5所示，花键螺母2沿轴向移动至处于第二位置时，第一滚动体23处于第二槽段12内，第一滚动体23在第二槽段12内可沿周向运动，以使花键螺母2与花键轴1在周向具有预设活动量。例如，第二槽段12的槽底为平面，两侧均呈圆弧形。图5左图中的虚线为第一滚动体23顺时针运动至第二槽段12右极限位置P1的状态示意图，图5右图中的虚线为第一滚动体23逆时针运动至第二槽段12左极限位置P2的状态示意图。当花键轴1顺时针或逆时针旋转的角度小于第一滚动体23与第二槽段12 侧壁之间的间隙时，花键轴1不能带动花键螺母2同步旋转；当花键轴1的旋转角度不小于第一滚动体23与第二槽段12侧壁之间的间隙时，花键轴1能够带动花键螺母2同步旋转，以传递扭矩和力。
本公开该实施例的滚珠花键装置，将花键轴1上的同一滚道槽设置为两种宽度不同的结构，使得花键螺母2在第一槽段11对应的位置时，花键轴1与花键螺母2约束配合以传递扭矩和力；花键螺母2在第二槽段12对应的位置时，第一滚动体23与第二槽段12的侧壁之间具有更大的间隙，使花键轴1与花键螺母2之间沿周向具有晃动量，例如，当花键螺母2保持不动时，允许花键轴1有微小的晃动量，易于实现花键轴1与外部其它部件的连接或配合。此种滚珠花键装置可实现更多的功能，提高了应用的灵活性。
在一些实施例中，如图2所示，滚道槽还包括过渡槽段13，连接在第一槽段11和第二槽段12之间，被配置为引导第一滚动体23在第一槽段11和第二槽段12之间切换。
该实施例通过过渡槽段13的导向作用，能够使第一滚动体23在第一槽段11和第二槽段12之间顺利切换，可防止第一滚动体23在两个槽段的连接位置发生卡滞，使第一滚动体23的运动更加顺畅可靠；而且，还能减小第一滚动体23的磨损，并降低振动与噪音。
如图2所示，过渡槽段13的两个侧壁均为斜面131，且两个侧壁之间的距离从第一槽段11至第二槽段12逐渐增大。通过斜面131的引导作用，使第一滚动体23无需处于滚道槽沿周向的中间位置，就能顺利地从第二槽段12进入第一槽段11，降低在位置切换时对第一滚动体23位置精度的要求。
在一些实施例中，如图2所示，第二槽段12位于花键轴1沿轴向的中间区域，第二槽段12的两端均设有第一槽段11。
该实施例能够在需要通过滚珠花键装置传递动力时，使花键螺母2可选择地移动到任一段第一槽段11上，可提高使用的灵活性。若花键轴1的一端安装第一传动件5，且通过花键螺母2移动到靠近第一传动件5的第一槽段11上传递动力，则将花键螺母2移动到第二槽段12上时，可使花键螺母2远离第一传动件5，便于通过花键螺母2与花键轴1沿周向活动调节第一传动件5和与外部第二传动件7的配合关系。例如，花键螺母2与车轮3连接，将花键螺母2从外侧的第一槽段11移动至第二槽段12时， 车轮3远离第一传动件5，易于观察到第一传动件5和与外部第二传动件7的配合关系，或者使原来被车轮3遮挡的第一传动件5露出。
在一些实施例中，如图1所示，滚道槽沿周向设有多组，每组滚道槽均包括两个间隔设置的滚道槽，相邻组滚道槽的周向间隔大于同一组中相邻滚道槽的周向间隔。例如，滚道槽沿周向均匀设置三组。
该实施例通过多组滚道槽，使第一滚动体23在整个周向上对花键螺母2提供均匀稳定的支撑力，使花键轴1在转动时稳定地向花键螺母2提供动力，防止花键螺母2发生晃动。而且，相邻组滚道槽包括两个间隔设置的滚道槽，能够通过两列第一滚动体23在同一周向区域共同传递扭矩，可降低第一滚动体23的受力，提供工作的可靠性和使用寿命。
在一些实施例中，如图3所示，花键螺母2上设有多个槽，滚珠花键装置还包括：多个第一保持架27，一一对应地设在多个槽内，第一保持架27上设有沿轴向延伸的长圆形引导槽271，引导槽271内填充多个第一滚动体23形成环形滚动体队列，环形滚动体队列两侧的第一滚动体23分别位于同一组中相邻滚道槽内。第一滚动体23通过滚道槽、花键螺母和第一保持架27共同限位。
在一些实施例中，如图2和图6所示，花键轴1的第一端具有第一安装部16，被配置为连接向花键轴1的转动提供动力的驱动部件4；花键轴1的第二端具有第二安装部17，被配置为与外部的第一传动件5连接。
具体地，花键轴1包括主体轴段14和沿轴向连接在主体轴段14两端的第一安装部16和第二安装部17，主体轴段14与第一安装部16之间可设置过渡轴段15，主体轴段14与第二安装部17之间也可设置过渡轴段15。
例如，第一安装部16和第二安装部17也可采用轴段结构，且在轴段上设有键槽161，以通过在键槽161内设置键实现驱动部件4或者第一传动件5的连接。例如，驱动部件4可以是电机或马达等，第一传动件5可以是齿轮、蜗杆、传动轮等。
该实施例既能够与驱动部件4连接，为花键螺母装置的运动提供动力，也能通过花键轴1与外部的第一传动件5连接，使花键轴1的动力向外部的其它部件传递。
在一些实施例中，如图3所示，滚珠花键装置还包括：两组第一密封件25，设在花键螺母2与花键轴1之间，且沿轴向位于花键螺母2的两端；其中，第一滚动体23位于两组第一密封件25之间。例如，第一密封件25可采用密封圈等。
该实施例能够防止灰尘或杂质进入花键螺母2与花键轴1之间的空间内，保证第一滚动体23能够灵活运动，并防止润滑油渗出。
基于上述实施例，花键螺母2可采用两种设置形式。
在一些实施例中，花键螺母2采用整体结构，花键螺母2处于第一位置时，可通过花键轴1将动力和扭矩传递至花键螺母2；花键螺母2处于第二位置时，允许花键轴1相对于花键螺母2在周向上具有预设活动余量。
在一些实施例中，花键螺母2包括：内螺母21、外螺母22和第二滚动体24。其中，内螺母21套设在花键轴1外，外螺母22套设在内螺母21外，第二滚动体24沿周向可运动地设在内螺母21与外螺母22之间，以实现内螺母21与外螺母22相对转动。内螺母21可与例如车轮3等转动部件连接，外螺母22可与固定的支撑架8等连接。
具体地，内螺母21的外壁上设有外滚道，外螺母22的内壁上设有内滚道，第二滚动体24在内滚道与外滚道约束形成的空间内运动，以使内螺母21与外螺母22之间可相对转动。其中，第一滚动体23设在内螺母21与滚道槽之间，为了传递动力，内螺母21的内壁上也设有滚道。
该实施例为螺母旋转式滚珠花键装置，既能实现通过花键轴1向花键螺母2传递动力，又能实现外螺母22相对于内螺母21的转动，还能在花键螺母2保持不动的情况下使花键轴1在周向上具有预设活动量。此种滚珠花键装置可实现更多的功能，可更加广泛灵活地满足传动系统的工作需求。
进一步地，花键螺母2还包括：第二保持架，设在内螺母21与外螺母22之间，被配置为对多个第二滚动体24进行间距保持。
进一步地，滚珠花键装置还包括：两组第二密封件26，设在内螺母21与外螺母22之间，且沿轴向位于外螺母22的两端；其中，第二滚动体24位于两组第二密封件26之间。例如，第二密封件26可以是密封圈等。
该实施例能够防止灰尘或杂质进入内螺母21与外螺母22之间的空间内，保证第二滚动体24能够灵活运动，并防止润滑油渗出。
为了实现花键螺母2在沿轴向移动时的稳定性，可增加单个滚道槽内第一滚动体23的数量，这样就会增加内螺母21的长度，为了使结构更加小巧紧凑，外螺母22的轴向长度小于内螺母21的轴向长度。
为了在花键螺母2上其它结构附件，以通过花键螺母装置传递动力，如图3所示，外螺母22的外侧壁上设有法兰结构221，法兰结构221可以是法兰盘等，法兰结构可位于外螺母22的端部或沿轴向的其它位置。
其次，本公开提供了一种自动引导运输车(全称“Automated Guided Vehicle”，简称AGV)。在一些实施例中，包括：上述实施例的滚珠花键装置、车轮3和驱动部件4。其中，车轮3同轴安装于花键螺母2，驱动部件4被配置为对花键轴1的转动提供驱动力。具体地，如图3和图6所示，车轮3可安装于内螺母21上。
该实施例能够使花键螺母2处于第一位置时，第一滚动体23处于第一槽段11内，花键轴1与花键螺母2约束配合以传递扭矩和力，可实现车轮3的转动，以实现自动引导运输车的行走；花键螺母2处于第二位置时，第一滚动体23处于第二槽段12内，第一滚动体23与第二槽段12的侧壁之间具有预设活动量，允许在车轮3保持位置不变的情况下使花键轴1相对于花键螺母2具有晃动量，以使花键轴1适应与外部其它部件的连接或配合。此种自动引导运输车可根据使用需求灵活地进行调整，可适用于不同的使用功能。
在一些实施例中，如图3所示，花键螺母2包括：内螺母21，套设在花键轴1外，内螺母21与车轮3连接，例如，通过内螺母21端部的固定孔与车轮3连接；和外螺母22，套设在内螺母21外，且相对于内螺母21可转动地设置，外螺母22可通过法兰结构221与设在自动引导运输车上的支撑架8连接。其中，第一滚动体23设在内螺母21与滚道槽之间。
如图2和图6所示，花键轴1的第一端具有第一安装部16，驱动部件4与第一安装部16驱动连接，花键轴1的第二端具有第二安装部17。自动引导运输车还包括第一传动件5，连接于第二安装部17，第一传动件5被配置为与外部的第二传动件7配合。例如，第一传动件5可以是齿轮，第二传动件7可以是齿条或齿圈等。
花键螺母2处于第二位置时，第一传动件5被配置为在车轮3保持位置不变的情况下调整至与第二传动件7配合。
该实施例通过第一传动件5与第二传动件7的配合，能够实现自动引导运输车的移动，例如沿着齿条移动，根据齿条的安装方向，可实现自动引导运输车沿水平、倾斜或者竖直的方向移动，或者也可外齿圈移动等。在需要使自动引导运输车通过第一传动件5与第二传动件7的配合实现移动时，可手动或通过驱动部件4将车轮3移动 至使花键螺母2处于第二位置，此时允许花键轴1相对于花键螺母2沿周向具有预设活动量，可使第一传动件5沿周向进行调整，以在车轮3位置不变的情况下使第一传动件5与第二传动件7啮合。
在一些实施例中，花键螺母2处于第一位置时，自动引导运输车具有行走模式和移动模式。其中，在行走模式下，自动引导运输车被配置为通过驱动部件4驱动花键轴1带动车轮3转动实现行走；在移动模式下，自动引导运输车被配置为通过驱动部件4驱动花键轴1带动第一传动件5转动实现移动，车轮3不参与运动。
再次，本公开还提供了一种立体库系统，如图6所示，包括：立体库6和上述实施例的自动引导运输车。其中，立体库6具有多层存储位，且立体库6上设有第二传动件7，第二传动件7包括竖直设置的齿条；自动引导运输车包括第一传动件5，第一传动件5包括齿轮，花键轴1的第一端具有第一安装部16，驱动部件4与第一安装部16驱动连接，花键轴1的第二端具有第二安装部17，第二安装部17连接齿轮；其中，花键螺母2处于第二位置时，齿轮被配置为在车轮3位置不变的情况下调整至与第二传动件7配合。
当自动引导运输车需要在不同立体库6之间行走，或者在立体库6的某层存储位行走时，将车轮3沿轴向移动至花键螺母2处于第一位置，此时驱动部件4可通过花键轴1带动花键螺母2和车轮3转动以实现行走。
当自动引导运输车需要在立体库6中向上移动实现提升，或者向下移动实现下降，以在不同层的存储位之间移动时，可将车轮3沿轴向移动至花键螺母2处于第二位置，此时允许花键轴1相对于花键螺母2沿周向具有预设活动量，可使第一传动件5沿周向进行调整，以在车轮3位置不变的情况下使齿轮与齿条啮合。之后，驱动部件4可通过花键轴1带动齿轮沿齿条运动，花键螺母2和车轮3转动以实现自动引导运输车的上下移动，以到达不同层的存储位。
在一些实施例中，预设活动量不小于齿轮或齿条的齿宽，由此可保证在车轮3位置不变的情况下，使齿轮调整至与齿条啮合。
在一些实施例中，花键螺母2处于第一位置时，自动引导运输车具有行走模式和移动模式。在行走模式下，自动引导运输车被配置为通过驱动部件4驱动花键轴1带动车轮3转动实现行走；在移动模式下，自动引导运输车被配置为通过驱动部件4驱动花键轴1带动齿轮沿齿条运动实现在竖直方向上移动，以到达不同层的存储位。
本公开所提供的一种滚珠花键装置、自动引导运输车及立体库系统进行了详细介绍。本文中应用了具体的实施例对本公开的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本公开的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以对本公开进行若干改进和修饰，这些改进和修饰也落入本公开权利要求的保护范围内。

Claims (17)

  1. 一种滚珠花键装置，包括：
    花键轴(1)，外侧壁上设有沿轴向延伸的滚道槽，所述滚道槽沿所述轴向包括连通的第一槽段(11)和第二槽段(12)，所述第二槽段(12)的宽度大于所述第一槽段(11)的宽度；
    花键螺母(2)，同轴套设在所述花键轴(1)外；和
    第一滚动体(23)，沿所述轴向可运动地设在所述滚道槽内，以实现所述花键螺母(2)与所述花键轴(1)的相对移动；
    其中，所述花键螺母(2)处于第一位置时，所述第一滚动体(23)处于所述第一槽段(11)内且与所述第一槽段(11)约束配合，以使所述花键螺母(2)与所述花键轴(1)同步旋转；所述花键螺母(2)处于第二位置时，所述第一滚动体(23)处于所述第二槽段(12)内，以使所述花键螺母(2)与所述花键轴(1)在周向具有预设活动量。
  2. 根据权利要求1所述的滚珠花键装置，其中，所述滚道槽还包括过渡槽段(13)，连接在所述第一槽段(11)和所述第二槽段(12)之间，被配置为引导所述第一滚动体(23)在所述第一槽段(11)和所述第二槽段(12)之间切换。
  3. 根据前述权利要求之一所述的滚珠花键装置，其中，所述过渡槽段(13)的两个侧壁均为斜面(131)，且所述两个侧壁之间的距离从所述第一槽段(11)至所述第二槽段(12)逐渐增大。
  4. 根据前述权利要求之一所述的滚珠花键装置，其中，所述第二槽段(12)位于所述花键轴(1)沿所述轴向的中间区域，所述第二槽段(12)的两端均设有所述第一槽段(11)。
  5. 根据前述权利要求之一所述的滚珠花键装置，其中，所述滚道槽沿周向设有多组，每组所述滚道槽均包括两个间隔设置的所述滚道槽，相邻组所述滚道槽的周向间隔大于同一组中相邻所述滚道槽的周向间隔。
  6. 根据前述权利要求之一所述的滚珠花键装置，其中，所述花键轴(1)的第一端具有第一安装部(16)，被配置为连接向所述花键轴(1)的转动提供动力的驱动部件(4)；所述花键轴(1)的第二端具有第二安装部(17)，被配置为与外部的第一传动件(5)连接。
  7. 根据前述权利要求之一所述的滚珠花键装置，还包括：
    两组第一密封件(25)，设在所述花键螺母(2)与所述花键轴(1)之间，且沿所述轴向位于所述花键螺母(2)的两端；
    其中，所述第一滚动体(23)位于所述两组第一密封件(25)之间。
  8. 根据前述权利要求之一所述的滚珠花键装置，其中，所述花键螺母(2)包括：
    内螺母(21)，套设在所述花键轴(1)外；
    外螺母(22)，套设在所述内螺母(21)外；和
    第二滚动体(24)，沿周向可运动地设在所述内螺母(21)与所述外螺母(22)之间，以实现所述内螺母(21)与所述外螺母(22)相对转动；
    其中，所述第一滚动体(23)设在所述内螺母(21)与所述滚道槽之间。
  9. 根据前述权利要求之一所述的滚珠花键装置，还包括：
    两组第二密封件(26)，设在所述内螺母(21)与所述外螺母(22)之间，且沿所述轴向位于所述外螺母(22)的两端；
    其中，所述第二滚动体(24)位于所述两组第二密封件(26)之间。
  10. 一种自动引导运输车，包括：
    前述权利要求之一所述的滚珠花键装置；
    车轮(3)，同轴安装于所述花键螺母(2)；和
    驱动部件(4)，被配置为对所述花键轴(1)的转动提供驱动力。
  11. 根据权利要求10所述的自动引导运输车，其中，所述花键螺母(2)包括：
    内螺母(21)，套设在所述花键轴(1)外，所述内螺母(21)与所述车轮(3)连接；和
    外螺母(22)，套设在所述内螺母(21)外，且相对于所述内螺母(21)可转动地设置，所述外螺母(22)与设在所述自动引导运输车上的支撑架(8)连接；
    其中，所述第一滚动体(23)设在所述内螺母(21)与所述滚道槽之间。
  12. 根据前述权利要求之一所述的自动引导运输车，其中，所述花键轴(1)的第一端具有第一安装部(16)，所述驱动部件(4)与所述第一安装部(16)驱动连接，所述花键轴(1)的第二端具有第二安装部(17)；
    所述自动引导运输车还包括第一传动件(5)，连接于所述第二安装部(17)，所述第一传动件(5)被配置为与外部的第二传动件(7)配合。
  13. 根据前述权利要求之一所述的自动引导运输车，其中，所述花键螺母(2)处 于所述第二位置时，所述第一传动件(5)被配置为在所述车轮(3)保持位置不变的情况下调整至与所述第二传动件(7)配合。
  14. 根据前述权利要求之一所述的自动引导运输车，其中，所述花键螺母(2)处于所述第一位置时，所述自动引导运输车具有行走模式和移动模式；
    其中，在所述行走模式下，所述自动引导运输车被配置为通过所述驱动部件(4)驱动所述花键轴(1)带动车轮(3)转动实现行走；在所述移动模式下，所述自动引导运输车被配置为通过所述驱动部件(4)驱动所述花键轴(1)带动所述第一传动件(5)转动，以通过所述第一传动件(5)和所述第二传动件(7)的配合实现移动。
  15. 一种立体库系统，包括：
    立体库(6)，具有多层存储位，且所述立体库(6)上设有第二传动件(7)，所述第二传动件(7)包括竖直设置的齿条；和
    前述权利要求之一所述的自动引导运输车，包括第一传动件(5)，所述第一传动件(5)包括齿轮，所述花键轴(1)的第一端具有第一安装部(16)，所述驱动部件(4)与所述第一安装部(16)驱动连接，所述花键轴(1)的第二端具有第二安装部(17)，所述第二安装部(17)连接所述齿轮；
    其中，所述花键螺母(2)处于第二位置时，所述齿轮被配置为在所述车轮(3)位置不变的情况下调整至与所述第二传动件(7)配合。
  16. 根据权利要求15所述的立体库系统，其中，所述预设活动量不小于所述齿轮或所述齿条的齿宽。
  17. 根据前述权利要求之一所述的立体库系统，其中，所述花键螺母(2)处于第一位置时，所述自动引导运输车具有行走模式和移动模式；
    在所述行走模式下，所述自动引导运输车被配置为通过所述驱动部件(4)驱动所述花键轴(1)带动车轮(3)转动实现行走；在所述移动模式下，所述自动引导运输车被配置为通过所述驱动部件(4)驱动所述花键轴(1)带动所述齿轮沿齿条运动，实现在竖直方向上移动，以到达不同层的存储位。
PCT/CN2021/080165 2020-09-22 2021-03-11 滚珠花键装置、自动引导运输车及立体库系统 WO2022062325A1 (zh)

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