WO2022127202A1 - 仓储物流车的底盘、仓储物流车和仓储物流系统 - Google Patents

仓储物流车的底盘、仓储物流车和仓储物流系统 Download PDF

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Publication number
WO2022127202A1
WO2022127202A1 PCT/CN2021/116197 CN2021116197W WO2022127202A1 WO 2022127202 A1 WO2022127202 A1 WO 2022127202A1 CN 2021116197 W CN2021116197 W CN 2021116197W WO 2022127202 A1 WO2022127202 A1 WO 2022127202A1
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WO
WIPO (PCT)
Prior art keywords
shaft
chassis
frame
wheel
spline
Prior art date
Application number
PCT/CN2021/116197
Other languages
English (en)
French (fr)
Inventor
王显旺
宋国库
吴明福
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 US18/253,349 priority Critical patent/US20230415992A1/en
Priority to EP21905135.6A priority patent/EP4177186A1/en
Priority to JP2023509568A priority patent/JP2023552940A/ja
Publication of WO2022127202A1 publication Critical patent/WO2022127202A1/zh

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    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

Definitions

  • the present disclosure relates to the technical field of logistics equipment, in particular to a chassis of a storage logistics vehicle, a storage logistics vehicle and a storage logistics system.
  • the warehousing logistics vehicle is a commonly used transfer equipment.
  • each pair of climbing wheels and traveling wheels are coaxially installed on a set of rotating ball spline shaft assemblies.
  • the climbing wheel is installed at one end of the spline shaft
  • the traveling wheel is installed at one end of the rotating spline sleeve.
  • the nut outer flange of the rotating ball spline shaft assembly is fixedly mounted on the movable frame.
  • the climbing wheel and the walking wheel can move relative to each other in the axial direction.
  • the climbing wheel and the traveling wheel can rotate synchronously under the transmission of the spline shaft and the rotating spline sleeve.
  • the movable frame, the nut outer flange, the rotating spline sleeve and the traveling wheel can move axially relative to the first frame.
  • the motor and the reducer are located on the fixed frame, and the output shaft drives the spline sleeve to rotate.
  • the spline sleeve is coaxial with the spline shaft and can drive the spline shaft to rotate.
  • the climbing wheel and the spline shaft can be relative to the motor, reducer and shaft together.
  • the spline sleeve moves axially.
  • the climbing wheel and the spline shaft are retracted to the inside of the car body, and the climbing wheel is located inside the traveling wheel, and the movable frame, the nut outer flange, the rotating spline sleeve and the traveling wheel are located away from the interior of the car body. side.
  • the climbing wheel and the spline shaft protrude from the outside of the vehicle body and are located on the side away from the interior of the vehicle body.
  • the inner retraction is located on the side closer to the inside of the body.
  • a first aspect of the present disclosure provides a chassis of a storage and logistics vehicle, comprising a frame and a running device mounted on the frame, the running device comprising:
  • a climbing wheel which is configured to drive the chassis to rise and fall, and is mounted on the first axle;
  • a traveling wheel configured to drive the chassis to travel, is mounted on the second shaft.
  • a walking driving mechanism is further included, and the walking driving mechanism is drivingly connected with the first shaft and the second shaft to drive the first shaft and the second shaft to rotate.
  • the walking drive mechanism includes a reducer and a reducer spline sleeve, and the output shaft of the reducer is sleeved outside the reducer spline sleeve;
  • the first shaft includes a first spline shaft, the first spline shaft is provided with a first spline, and the reducer spline sleeve is matched with the first spline.
  • the traveling device includes a first rotating ball spline sleeve assembly, and the first rotating ball spline sleeve assembly includes a first outer flange and a first ball spline sleeve; the first outer flange and the The first frame is fixedly connected; the first shaft includes a first spline shaft, the first spline shaft is provided with a first spline, and the first ball spline sleeve is matched with the first spline ;and / or
  • the traveling device includes a second rotating ball spline sleeve assembly, the second rotating ball spline sleeve assembly includes a second outer flange and a second ball spline sleeve, the second outer flange and the
  • the first frame is fixedly connected, the second shaft includes a second spline shaft, the second spline shaft is provided with a second spline, and the second ball spline sleeve is matched with the second spline .
  • a first telescopic driving mechanism is further included, the first telescopic driving mechanism is drivingly connected with the climbing wheel, and is configured to drive the climbing wheel to reciprocate along the lateral direction of the chassis.
  • the first telescopic drive mechanism includes:
  • the moving part is screwed with the lead screw, and the first shaft is mounted on the moving part.
  • a second telescopic driving mechanism is further included, the second telescopic driving mechanism is drivingly connected with the traveling wheel, and is configured to drive the traveling wheel to reciprocate along the lateral direction of the chassis.
  • it also includes:
  • a third axle mounted on the first frame and spaced parallel to the first axle and the second axle;
  • a second support wheel is mounted on the third shaft, and the third shaft is interlocked with the first shaft, so that the second support wheel and the first support wheel are in the transverse direction of the chassis relatively fixed.
  • the axes of the first shaft, the second shaft and the third shaft lie in different planes.
  • the first axis, the second axis, and the third axis are located below the first axis.
  • the first shaft, the second shaft and the third shaft are movably mounted on the first bracket along a lateral direction of the chassis.
  • a second telescopic drive mechanism and a second frame are further included, the second telescopic drive mechanism is drivingly connected with the traveling wheel, and is configured to drive the traveling wheel to reciprocate along the lateral direction of the chassis , the second frame is rotatably and axially relatively statically mounted on the second shaft to follow the movement of the traveling wheel relative to the first frame in the lateral direction, and the third shaft passes through In the second frame, the second support wheel is mounted on the lateral outer side of the second frame.
  • a second aspect of the present disclosure provides a warehousing and logistics vehicle, including the chassis described in the first aspect of the present disclosure.
  • a third aspect of the present disclosure is a warehousing and logistics system, comprising:
  • the storage and logistics vehicle has a walking state and a lifting state.
  • the walking state the walking wheels of the storage and logistics vehicle travel along the horizontal track.
  • the lifting state the climbing wheel of the warehouse logistics vehicle is lifted and lowered along the vertical track.
  • the climbing wheel and the traveling wheel have a non-axial structure, which is beneficial to improve the stress state of the first shaft.
  • the warehousing and logistics vehicle and the warehousing and logistics system provided by the present disclosure have the same advantages as the chassis of the warehousing and logistics vehicle provided by the present disclosure.
  • FIG. 1 is a schematic structural diagram of a warehousing and logistics system according to an embodiment of the disclosure.
  • FIG. 2 is a schematic structural diagram of a warehousing and logistics vehicle according to an embodiment of the disclosure.
  • FIG. 3 is a schematic view of the A-A direction of the warehouse logistics vehicle shown in FIG. 2 .
  • FIG. 4 is a schematic view of the B-B direction structure of the warehouse logistics vehicle shown in FIG. 2 .
  • FIG. 5 is a partial cross-sectional structural schematic diagram of the warehousing and logistics vehicle shown in FIG. 2 .
  • FIG. 6 is a partial cross-sectional structural schematic diagram of the warehousing and logistics vehicle shown in FIG. 2 .
  • FIG. 7 is a partial cross-sectional structural schematic diagram of the warehousing and logistics vehicle shown in FIG. 2 .
  • FIG. 8 is a schematic structural diagram of the warehousing and logistics vehicle in the warehousing and logistics system shown in FIG. 1 when it is in a walking state.
  • FIG. 9 is a schematic structural diagram of the warehousing and logistics vehicle in the warehousing and logistics system shown in FIG. 1 when switching from a walking state to a lifting state.
  • FIG. 10 is a schematic structural diagram of the A-A direction warehousing and logistics vehicle shown in FIG. 2 in a walking state and a lifting state.
  • FIG. 11 is a schematic structural diagram of the warehousing and logistics vehicle in the lifting state in the warehousing and logistics system shown in FIG. 1 .
  • orientations such as “front, rear, top, bottom, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” indicate the orientation Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, and these orientations do not indicate or imply the indicated device or element unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as a limitation on the protection scope of the present disclosure; the orientation words “inside and outside” refer to the inside and outside relative to the outline of each component itself.
  • the climbing wheel and the supporting wheel must have a certain distance in the vertical direction.
  • the climbing wheel and the walking wheel are coaxial, the outer diameter of the climbing wheel is small, and the outer diameter of the walking wheel is large.
  • the car body needs to be increased, and the increase of the car body will cause the height of the shelf. becomes larger and affects the storage density.
  • the embodiments of the present disclosure provide a warehousing and logistics vehicle and a chassis thereof, and a warehousing and logistics system including the warehousing and logistics vehicle.
  • front refers to the front direction of the warehouse logistics vehicle
  • rear refers to the rear direction
  • left and right refer to the left and right directions when facing forward. Consistent with the left and right directions in Figure 3.
  • Longitudinal refers to the front and rear direction of the warehousing and logistics vehicle
  • horizontal refers to the left and right direction of the warehousing and logistics vehicle.
  • an embodiment of the present disclosure provides a chassis 1 of a storage and logistics vehicle, which includes a frame 11 and a traveling device mounted on the frame 11 .
  • the traveling device includes a first axle 14 , a climbing wheel 15 , a second axle 25 and a traveling wheel 27 .
  • the first axle 14 is mounted on the first frame 11 .
  • the climbing wheel 15 is configured to drive the chassis 1 to go up and down, and is mounted on the first axle 14 .
  • the second shaft 25 is mounted on the first frame 11 and is arranged in parallel with the first shaft 14 at intervals.
  • the running wheel 27 is configured to drive the chassis 1 to run, and is mounted on the second shaft 25 .
  • the storage and logistics vehicle V of the embodiment of the present disclosure adopts a structure in which the climbing wheel 15 and the traveling wheel 27 are not coaxial, which is beneficial to improve the stress state of the first shaft 14 . Further, it is beneficial to reduce the diameter of the first shaft 14, which is beneficial to reduce the cost of the entire vehicle on the one hand, and reduce the weight of the entire vehicle on the other hand.
  • the chassis 1 further includes a traveling drive mechanism, which is drivingly connected with the first shaft 14 and the second shaft 25 to drive the first shaft 14 and the second shaft 25 to rotate.
  • the travel drive mechanism includes, for example, a drive motor and a reduction gear.
  • the chassis 1 further includes a first telescopic drive mechanism, which is drivingly connected to the climbing wheel 15 and configured to drive the climbing wheel 15 to reciprocate along the lateral direction of the chassis 1 .
  • the first telescopic drive mechanism includes, for example, a lead screw 21 and a moving part 20 , and the lead screw 21 is mounted on the first frame 11 .
  • the moving part 20 is screwed with the lead screw 21
  • the first shaft 14 is mounted on the moving part 20 .
  • the moving member 20 can be driven to move along the axial direction of the lead screw 21, thereby driving the first shaft 14 to move, thus driving the climbing wheel 15 to move.
  • the first telescopic drive mechanism includes, for example, a link mechanism, a gear and pinion mechanism, and the like.
  • the chassis 1 further includes a second telescopic driving mechanism, the second telescopic driving mechanism is drivingly connected with the traveling wheel 27 and is configured to drive the traveling wheel 27 to reciprocate along the lateral direction of the chassis 1 .
  • the second telescopic drive mechanism includes, for example, a linear motor or a combination of a rotary motor and a transmission.
  • the chassis 1 further includes a first support wheel 16 , a third axle 18 and a second support wheel 19 .
  • the first support wheel 16 is mounted on the first shaft 14 .
  • the third shaft 18 is mounted on the vehicle frame 11 and is arranged in parallel with the first shaft 14 and the second shaft 25 and spaced apart.
  • the second support wheel 19 is mounted on the third shaft 18 .
  • the third shaft 18 is interlocked with the first shaft 14 , so that the second support wheel 19 and the first support wheel 16 are relatively fixed in the lateral direction of the chassis 1 .
  • the chassis 1 further includes a second frame 26 , which is rotatably and axially relatively statically mounted on the second axle 25 to follow the traveling wheels 27 relative to the first frame 11 Move laterally.
  • the third axle 18 passes through the second frame 26 , and the second support wheel 19 is mounted on the lateral outer side of the second frame 26 .
  • the warehousing and logistics vehicle V of the embodiment of the present disclosure includes the chassis 1 of the embodiment of the present disclosure.
  • the warehousing and logistics system of the embodiment of the present disclosure includes a horizontal track 3 , a vertical track 4 and a warehousing and logistics vehicle V.
  • the warehousing and logistics vehicle V has a walking state and a lifting state. In the running state, the running wheels 27 of the storage and logistics vehicle V run along the horizontal track 3 . In the lifting state, the climbing wheels 15 of the warehouse logistics vehicle V are lifted and lowered along the vertical track 4 .
  • the warehousing and logistics vehicle V of the embodiment of the present disclosure and the warehousing and logistics system of the embodiment of the present disclosure have the same advantages as the chassis of the warehousing and logistics vehicle of the embodiment of the present disclosure.
  • the warehousing and logistics vehicle V and its chassis 1 according to the embodiment of the present disclosure, as well as the warehousing and logistics system including the warehousing and logistics vehicle V, are further described below with reference to FIGS. 1 to 11 .
  • the warehousing and logistics system of the embodiment of the present disclosure includes a horizontal track 3 , a vertical track 4 and a warehousing and logistics vehicle V.
  • the number of horizontal rails 3, vertical rails 4 and storage and logistics vehicles V can be configured as required.
  • the warehousing and logistics vehicle V mainly includes a chassis 1 and a bodywork 2 .
  • the chassis 1 has the functions of ground walking, horizontal track walking and vertical climbing.
  • the head H of the storage and logistics vehicle V is located at one end of the chassis 1 (the left end in Figure 2).
  • the power source, power and transmission mechanism, control part, and navigation of the storage and logistics vehicle V Part of it is located in the front H.
  • the function of the bodywork 2 is to take and place the cargo box B, and the bodywork 2 is located at the other end of the chassis 1 (the right end in Figure 2).
  • the chassis 1 includes a frame 11 and a running device mounted on the frame 11 .
  • the running device of the chassis 1 has a left-right symmetrical structure, including two running parts located on the left and right sides of the chassis 1 and symmetrically arranged with respect to the longitudinal axis of the chassis 1 .
  • FIG. 2 the following description takes the running part on the left as an example.
  • the running part on the right is the same as the running part on the left in structure, function, operation process and principle, and will not be described otherwise.
  • the traveling part includes a first shaft 14 , a climbing wheel 15 , a second shaft 25 and a traveling wheel 27 .
  • the first axle 14 is mounted on the first frame 11 .
  • the climbing wheel 15 is configured to drive the chassis 1 to go up and down, and is mounted on the first axle 14 .
  • the second shaft 25 is mounted on the first frame 11 and is arranged in parallel with the first shaft 14 at intervals.
  • the running wheel 27 is configured to drive the chassis 1 to run, and is mounted on the second shaft 25 .
  • the first shaft 14 is a first spline shaft provided with first splines.
  • the second shaft 25 is a second spline shaft provided with a second spline in this embodiment.
  • the climbing wheel 15 includes a climbing gear.
  • the chassis 1 further includes a traveling drive mechanism, which is drivingly connected with the first shaft 14 and the second shaft 25 to drive the first shaft 14 and the second shaft 25 to rotate.
  • the travel drive mechanism includes a travel drive motor (not shown) and a reducer 12 , and the first shaft 14 and the second shaft 25 are driven to rotate by the reducer 12 .
  • the chassis 1 further includes a first telescopic driving mechanism, which is drivingly connected with the climbing wheel 15 , and the first telescopic driving mechanism is configured to drive the climbing wheel 15 to reciprocate along the lateral direction of the chassis 1 .
  • the first telescopic drive mechanism includes a lead screw 21 and a moving part 20 , and the lead screw 21 is mounted on the first frame 11 .
  • the moving part 20 is screwed with the lead screw 21
  • the first shaft 14 is mounted on the moving part 20 .
  • the lead screw 21 rotates, the moving member 20 can be driven to move along the axial direction of the lead screw 21, thereby driving the first shaft 14 to move, thus driving the climbing wheel 15 to move.
  • the lead screw 21 can be driven by a rotary motor, for example.
  • the chassis 1 further includes a second telescopic driving mechanism, which is drivingly connected with the traveling wheel 27 , and the second telescopic driving mechanism is configured to drive the traveling wheel 27 to reciprocate along the lateral direction of the chassis 1 .
  • the second telescopic drive mechanism includes, for example, a linear motor, and the linear motor can push and pull the traveling wheel 27 to reciprocate along its axial direction.
  • the second telescopic drive mechanism adopts a combined mechanism of a rotating motor and a transmission part disposed between the rotating motor and the traveling wheel 27, and the rotating motor drives the transmission part to move, thereby driving the traveling wheel 27 to reciprocate along its axis direction.
  • the chassis 1 further includes a first support wheel 16 , a third axle 18 and a second support wheel 19 .
  • the first support wheel 16 is mounted on the first shaft 14 .
  • the third shaft 18 is mounted on the vehicle frame 11 and is arranged in parallel with the first shaft 14 and the second shaft 25 and spaced apart.
  • the second support wheel 19 is mounted on the third shaft 18 .
  • the second support wheel 19 is provided in linkage with the first support wheel 16 to be relative to the first support wheel 16 in the lateral direction of the chassis 1 .
  • the first shaft 14 , the second shaft 25 and the third shaft 18 are movably mounted on the first bracket 11 along the lateral direction of the chassis 1 .
  • the traveling drive mechanism includes a reducer 12 and a reducer spline sleeve 121 .
  • a reducer spline sleeve 121 is installed between the output shaft 122 of the reducer 12 and the first shaft 14 .
  • the speed reducer 12 is fixedly mounted on the lateral outer side of the first frame 11 , and can drive the speed reducer spline sleeve 121 to rotate through the output shaft 122 .
  • the first rotating ball spline sleeve assembly 13 is mounted on the lateral inner side of the first frame 11 through its first outer flange 131 and is coaxial with the output shaft 122 of the reducer 12 .
  • the first shaft 14 sequentially passes through the first rotating ball spline sleeve assembly 13 , the output shaft 122 of the reducer 12 and the reducer spline sleeve 121 .
  • the reducer spline sleeve 121 and the first ball spline sleeve 132 of the first rotating ball spline sleeve assembly 13 are both matched with the first spline on the first shaft 14, so that the reducer 12 can pass through the reducer spline sleeve.
  • 121 drives the first shaft 14 and the first ball spline sleeve 132 to rotate.
  • the first shaft 14 can move axially relative to the reducer 12 and the first rotating ball spline sleeve assembly 13 .
  • a climbing wheel 15 and a first support wheel 16 are installed on one end of the first shaft 14 close to the outside of the vehicle body.
  • the running part also includes a guide sleeve 17 .
  • the third shaft 18 and the guide sleeve 17 are coaxially mounted on the lower part of the first frame 11 , parallel to the first shaft 14 and at a certain distance below it.
  • the guide sleeve 17 is fixed to the first frame 11 , and the third shaft 18 can move axially relative to the guide sleeve 17 .
  • the end of the third shaft 18 close to the lateral outer side passes through the movable second frame 26 and is mounted with a second supporting wheel 19 .
  • the third shaft 18 is in contact with the second frame 26 or slidably matched along the axial direction of the third shaft 18 .
  • the other ends of the first shaft 14 and the third shaft 18 are connected to the moving part 20 .
  • the moving part 20 may be a plate-shaped member, a rod-shaped member, or the like.
  • the lead screw 21 is located in the middle of the vehicle body, and the lead screw 21 has left and right threads.
  • the left and right moving parts 20 can move symmetrically along the lateral direction of the chassis 1 under the drive of the lead screw 21, thereby driving the first shaft 14 and the climbing wheel. 15.
  • the first support wheel 16, the third shaft 18 and the second support wheel 19 move along the lateral direction of the chassis 1 at the same time.
  • the axes of the first shaft 14, the second shaft 25 and the third shaft 18 lie in different planes.
  • the first shaft 14 , the second shaft 25 and the third shaft 18 are located below the first shaft 14 .
  • the second axis 25 is parallel to and a certain distance below the first axis 14 , but not in the plane formed by the first axis 14 and the third axis 18 .
  • the second outer flange 241 of the second rotating ball spline sleeve assembly 24 is fixedly mounted on the first frame 11, the second shaft 25 passes through the second rotating ball spline sleeve assembly 24 and the second spline on it The key cooperates with the second ball spline sleeve 242 of the second rotating ball spline sleeve assembly 24 , so that the second shaft 25 rotates synchronously with the second ball spline sleeve 242 .
  • one end of the second shaft 25 is connected to the second frame 26 through a bearing 28 , and a traveling wheel 27 is installed.
  • a transmission wheel 22 is installed on the ends of the second ball spline sleeve 242 of the second rotating ball spline sleeve assembly 24 and the first ball spline sleeve 132 of the first rotating ball spline sleeve assembly 13 near the laterally inner side.
  • the two transmission wheels 22 are respectively mounted on the first shaft 14 and the second shaft 25 and can rotate with the first shaft 14 and the second shaft 25 respectively.
  • the transmission belt 23 connects the two transmission wheels 22, so the first shaft 14 can rotate.
  • the second shaft 25 and the traveling wheel 27 are driven to rotate by the first ball spline sleeve 132 , the transmission wheel 22 on the first shaft 14 , the transmission belt 23 and the transmission wheel 22 on the second shaft 25 .
  • the second frame 26 , the bearing 28 , the second shaft 25 and the traveling wheel 27 can simultaneously move laterally under the driving of the second telescopic drive mechanism.
  • the second telescopic drive mechanism includes, for example, a rotary motor and a transmission mechanism
  • the transmission mechanism includes, for example, a lead screw nut transmission pair, a link mechanism, a gear rod transmission pair, a convex-rotating ejector rod transmission pair, and the like.
  • FIG. 8 shows the state when the warehousing and logistics vehicle V normally travels on the horizontal track 3, and the warehousing and logistics vehicle V is in its running state at this time.
  • the second frame 26 , the bearing 28 , the second shaft 25 and the traveling wheel 27 are in the extended position away from the first frame 11 , and the traveling wheel 27 is on the upper surface of the horizontal rail 3 .
  • the first axle 14 , the climbing wheel 15 , the first supporting wheel 16 , the third axle 18 and the second supporting wheel 19 are in the retracted position toward the first frame 11 , and the storage and logistics vehicle V can run on the horizontal track 3 at a relatively fast speed. walk on.
  • the second frame 26 , the bearing 28 , the second shaft 25 and the traveling wheel 27 are driven by the second telescopic drive mechanism to approach the first frame 11
  • the warehousing and logistics vehicle V moves up and down and is in a retracted position, so that the horizontal rail 3 can be avoided when the warehousing and logistics vehicle V moves up and down.
  • the cantilever length of the first shaft 14 with the most complex stress state is the largest in the lifting state, which is longer than the cantilever length in the walking state by one telescopic stroke a of the first shaft 14 .
  • the cantilever length of the spline shaft in the elevating state is larger than that in the traveling state.
  • the non-axial structure of the climbing wheel 15 and the traveling wheel 27 of the storage and logistics vehicle V of the embodiment of the present disclosure is beneficial to improve the stress state of the first shaft 14, and can reduce the diameter of the first shaft 14, thereby reducing the The cost of the whole vehicle, on the other hand, can reduce the weight of the whole vehicle.
  • the climbing wheel 15 and the walking wheel 27 are arranged in a non-axial structure, which is also conducive to the premise of maintaining a fixed vertical distance between the first shaft 14 and the third shaft 18 and lowering the first shaft 14 and the third shaft 18 in the warehouse logistics vehicle.
  • the height of the V thereby reducing the height of the whole vehicle, provides the possibility for the shelf to reduce the height and provide storage density.
  • first axle 14 and the third axle 18 can also be closer to the center of gravity of the warehouse logistics vehicle V (between the traveling wheel 27 and the rear T), reducing the climbing wheel 15 and the first supporting wheel 16 and the second supporting wheel 19 Rearward and forward forces due to partial weights.
  • the reducer 12 of the walking drive mechanism is combined with the reducer spline sleeve 121, which is beneficial to move its position outward.
  • the second frame 26 and the walking wheel 27 are connected.
  • the left-right telescoping does not affect the cantilever length of the first shaft 14 , so that the cantilever length of the first shaft 14 is reduced when the storage and logistics vehicle V is raised and lowered, which is beneficial to further improve the stress state of the first shaft 14 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
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  • Warehouses Or Storage Devices (AREA)

Abstract

一种仓储物流车的底盘、仓储物流车和仓储物流系统，仓储物流车的底盘（1）包括车架（11）和安装于车架（11）上的行走装置，行走装置包括：第一轴（14），安装于第一车架（11）上；爬升轮（15），被配置为带动底盘（1）升降，安装于第一轴（14）上；第二轴（25），安装于第一车架（11）上，与第一轴（14）平行间隔设置，行走轮（27），被配置为带动底盘（1）行走，安装于第二轴（25）上；仓储物流车包括该底盘（1），仓储物流系统包括该仓储物流车，该仓储物流车的底盘（1）利于改善第一轴（14）的受力状态。

Description

仓储物流车的底盘、仓储物流车和仓储物流系统
相关申请的交叉引用
本公开是以申请号为202011504181.3，申请日为2020年12月18日，发明名称为“仓储物流车的底盘、仓储物流车和仓储物流系统”的中国专利申请为基础，并主张其优先权，该中国专利申请的公开内容在此作为整体引入本公开中。
技术领域
本公开涉及物流设备技术领域，特别涉及一种仓储物流车的底盘、仓储物流车和仓储物流系统。
背景技术
在物流系统中，仓储物流车是一种被普遍应用的转运设备。
相关技术中，可爬升的仓储物流车的车体两侧各有一对爬升轮和行走轮，每对爬升轮和行走轮同轴安装在一套旋转滚珠花键轴组件上。其中爬升轮安装于花键轴的一端，行走轮安装于旋转花键套的一端。旋转滚珠花键轴组件的螺母外法兰固定安装在活动车架上。爬升轮和行走轮可做轴向相对移动。同时爬升轮和行走轮在花键轴和旋转花键套的传动下可同步旋转。活动车架、螺母外法兰、旋转花键套和行走轮可相对第一车架做轴向移动。电机和减速机位于固定车架上，其输出轴带动花键套旋转，花键套与花键轴同轴并可带动花键轴旋转，爬升轮和花键轴可一起相对电机、减速机和花键套做轴向移动。车体在水平轨道或地面行走时，爬升轮和花键轴收缩至车体内部且爬升轮位于行走轮内部，活动车架、螺母外法兰、旋转花键套和行走轮位于远离车体内部的一侧。
以上相关技术中，仓储物流车爬升时，爬升轮和花键轴伸出车体外部位于远离车体内部的一侧，活动车架、螺母外法兰、旋转花键套和行走轮向车体内部收缩位于靠近车体内部的一侧。
发明内容
本公开第一方面提供一种仓储物流车的底盘，包括车架和安装于所述车架上的行走装置，所述行走装置包括：
第一轴，安装于所述第一车架上；
爬升轮，被配置为带动所述底盘升降，安装于所述第一轴上；
第二轴，安装于所述第一车架上，与所述第一轴平行间隔设置；和
行走轮，被配置为带动所述底盘行走，安装于所述第二轴上。
在一些实施例中，还包括行走驱动机构，行走驱动机构与所述第一轴和第二轴驱动连接以驱动所述第一轴和所述第二轴转动。
在一些实施例中，
所述行走驱动机构包括减速机和减速机花键套，所述减速机的输出轴套装于所述减速机花键套外；
所述第一轴包括第一花键轴，所述第一花键轴上设有第一花键，所述减速机花键套与所述第一花键配合。
在一些实施例中，
所述行走装置包括第一旋转滚珠花键套筒组件，所述第一旋转滚珠花键套筒组件包括第一外法兰和第一滚珠花键套；所述第一外法兰与所述第一车架固定连接；所述第一轴包括第一花键轴，所述第一花键轴上设有第一花键，所述第一滚珠花键套与所述第一花键配合；和/或
所述行走装置包括第二旋转滚珠花键套筒组件，所述第二旋转滚珠花键套筒组件包括第二外法兰和第二滚珠花键套，所述第二外法兰与所述第一车架固定连接，所述第二轴包括第二花键轴，所述第二花键轴上设有第二花键，所述第二滚珠花键套与所述第二花键配合。
在一些实施例中，还包括第一伸缩驱动机构，所述第一伸缩驱动机构与所述爬升轮驱动连接，被配置为驱动所述爬升轮沿所述底盘的横向往复移动。
在一些实施例中，所述第一伸缩驱动机构包括：
丝杠，安装于所述第一车架上；和
移动部件，与所述丝杠螺纹配合，所述第一轴安装于所述移动部件上。
在一些实施例中，还包括第二伸缩驱动机构，所述第二伸缩驱动机构与所述行走轮驱动连接，被配置为驱动所述行走轮沿所述底盘的横向往复移动。
在一些实施例中，还包括：
第一支撑轮，安装于所述第一轴上；
第三轴，安装于所述第一车架上，与所述第一轴和所述第二轴平行间隔设置；和
第二支撑轮，安装于所述第三轴上，所述第三轴与所述第一轴联动设置，以使所述第二支撑轮与所述第一支撑轮在所述底盘的横向上相对固定。
在一些实施例中，所述第一轴、所述第二轴和所述第三轴的轴线位于不同的平面内。
在一些实施例中，所述第一轴、所述第二轴和所述第三轴位于所述第一轴下方。
在一些实施例中，所述第一轴、所述第二轴和所述第三轴沿所述底盘的横向可移动地安装于所述第一支架上。
在一些实施例中，还包括第二伸缩驱动机构和第二车架，所述第二伸缩驱动机构与所述行走轮驱动连接，被配置为驱动所述行走轮沿所述底盘的横向往复移动，所述第二车架可转动地且轴向相对静止地安装于所述第二轴上，以跟随所述行走轮相对于所述第一车架沿横向移动，所述第三轴穿过所述第二车架，所述第二支撑轮安装于所述第二车架的横向外侧。
本公开第二方面提供一种仓储物流车，包括本公开第一方面所述的底盘。
本公开第三方面一种仓储物流系统，包括：
水平轨道；
竖直轨道；和
本公开第二方面所述的仓储物流车，所述仓储物流车具有行走状态和升降状态，在所述行走状态，所述仓储物流车的所述行走轮沿所述水平轨道行走，在所述升降状态，所仓储物流车的所述爬升轮沿所述竖直轨道升降。
基于本公开提供的仓储物流车的底盘采用爬升轮和行走轮不同轴的结构，利于改善第一轴的受力状态。
本公开提供的仓储物流车和仓储物流系统具有与本公开提供的仓储物流车的底盘相同的优点。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
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为本公开实施例的仓储物流系统的结构示意图。
图2为本公开实施例的仓储物流车的结构示意图。
图3为图2所示的仓储物流车的A-A向结构示意图。
图4为图2所示的仓储物流车的B-B向结构示意图。
图5为图2所示的仓储物流车的局部剖视结构示意图。
图6为图2所示的仓储物流车的局部剖视结构示意图。
图7为图2所示的仓储物流车的局部剖视结构示意图。
图8为图1所示的仓储物流系统中仓储物流车处于行走状态时的结构示意图。
图9为图1所示的仓储物流系统中仓储物流车从行走状态向升降状态切换时的结构示意图。
图10为图2所示的A-A向的仓储物流车在行走状态和升降状态的结构示意图。
图11为图1所示的仓储物流系统中仓储物流车在升降状态的结构示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
在本公开的描述中，需要理解的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本公开保护范围的限制。
在本公开的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是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和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。
相关技术的仓储物流车在爬升时，花键轴的悬臂部分长度较大，而爬升时，花键轴的受力情况较复杂，车体的重量、偏重引起的作用力和传递电机动力的扭矩均作用在花键轴上，且花键轴是旋转运动，悬臂轴各处受循环应力作用，因此要求花键轴的直径较大。直径较大的旋转滚珠花键轴组件的价格较高，因此造成整车成本较高。仓储物流车在爬升时，爬升轮和支撑轮分别承受偏重引起的向后和向前的作用力，由力的作用原理和几何关系，爬升轮和支撑轮在竖直方向需具有一定距离，由于爬升轮和行走轮同轴，爬升轮外径较小，行走轮外径大，爬升轮和支撑轮在竖直方向要保持一定距离就需要车体增高，而车体增高会引起货架的层高变大，影响存储密度。
为改善相关技术的仓储物流车，本公开实施例提供一种仓储物流车及其底盘，以及包括该仓储物流车的仓储物流系统。
在以下的描述中，“前”指的是仓储物流车的车头方向，“后”指的是车尾方向，“左”和“右”指面向前方时的左右方向，该左右方向与图2和图3中的左右方向一致。“纵向”指的是仓储物流车的前后方向，“横向”指的是仓储物流车的左右方向。
如图1至图11所示，本公开实施例提供一种仓储物流车的底盘1，包括车架11和安装于车架11上的行走装置。行走装置包括第一轴14爬升轮15、第二轴25和行走轮27。
第一轴14安装于第一车架11上。爬升轮15被配置为带动底盘1升降，安装于第一轴14上。第二轴25安装于第一车架11上，与第一轴14平行间隔设置。行走轮27被配置为带动底盘1行走，安装于第二轴25上。
本公开实施例的仓储物流车V采用爬升轮15和行走轮27不同轴的结构，利于改善第一轴14的受力状态。进一步地，利于减小第一轴14的直径，从而一方面利于降低整车成本，另一方面利于减轻整车重量。
如图2所示，在一些实施例中，底盘1还包括行走驱动机构，行走驱动机构与第 一轴14和第二轴25驱动连接以驱动第一轴14和第二轴25转动。行走驱动机构例如包括驱动电机和减速机。
在一些实施例中，如图2所示，底盘1还包括第一伸缩驱动机构，第一伸缩驱动机构与爬升轮15驱动连接，被配置为驱动爬升轮15沿底盘1的横向往复移动。
第一伸缩驱动机构例如包括丝杠21和移动部件20，丝杠21安装于第一车架11上。移动部件20与丝杠21螺纹配合，第一轴14安装于移动部件20上。当丝杠21转动时，可以驱动移动部件20沿丝杠21的轴向移动，从而带动第一轴14移动，因此带动爬升轮15移动。在未图示的实施例中，第一伸缩驱动机构例如包括连杆机构、齿轮齿杆机构等。
在一些实施例中，底盘1还包括第二伸缩驱动机构，第二伸缩驱动机构与行走轮27驱动连接，被配置为驱动行走轮27沿底盘1的横向往复移动。
第二伸缩驱动机构例如包括直线电机或旋转电机和传动部的组合。
在一些实施例中，如图2所示，底盘1还包括第一支撑轮16、第三轴18和第二支撑轮19。第一支撑轮16安装于第一轴14上。第三轴18安装于车架11上，与第一轴14和第二轴25平行间隔设置。第二支撑轮19安装于第三轴18上。第三轴18与第一轴14联动设置，以使第二支撑轮19与第一支撑轮16在底盘1的横向上相对固定。
在一些实施例中，底盘1还包括第二车架26，第二车架26可转动地且轴向相对静止地安装于第二轴25上，以跟随行走轮27相对于第一车架11沿横向移动。第三轴18穿过第二车架26，第二支撑轮19安装于第二车架26的横向外侧。
本公开实施例的仓储物流车V包括本公开这实施例的底盘1。
本公开实施例的仓储物流系统包括水平轨道3、竖直轨道4和仓储物流车V。仓储物流车V具有行走状态和升降状态。在行走状态，仓储物流车V的行走轮27沿水平轨道3行走。在升降状态，所仓储物流车V的爬升轮15沿竖直轨道4升降。
本公开实施例的仓储物流车V和本公开实施例的仓储物流系统具有与本公开实施例的仓储物流车的底盘相同的优点。
以下结合图1至图11对本公开实施例的仓储物流车V及其底盘1，以及包括仓储物流车V的仓储物流系统作进一步说明。
如图1所示，本公开实施例的仓储物流系统包括水平轨道3、竖直轨道4和仓储物流车V。水平轨道3、竖直轨道4和仓储物流车V的数量均可以根据需要配置。
如图2所示，仓储物流车V主要包括底盘1和上装2。底盘1具有地面行走、水平轨道行走和竖直爬升功能，仓储物流车V车头H位于底盘1的一端(图2中左端)，仓储物流车V的动力源、动力与传动机构、控制部分、导航部分位于车头H内。上装2的功能是取、放货箱B，上装2位于底盘1的另一端(图2中右端)。
如图3至图11所示，底盘1包括车架11和安装于车架11上的行走装置。底盘1的行走装置为左右对称结构，包括分别位于底盘1的左右两侧且相对于底盘1的纵向轴线对称设置的两个行走部。如图2所示，下面以位于左侧的行走部为例进行描述，位于右侧的行走部与左侧的行走部结构、各部件功能和操作过程和原理均一致，不另作描述。
行走部包括第一轴14、爬升轮15、第二轴25和行走轮27。第一轴14安装于第一车架11上。爬升轮15被配置为带动底盘1升降，安装于第一轴14上。第二轴25安装于第一车架11上，与第一轴14平行间隔设置。行走轮27被配置为带动底盘1行走，安装于第二轴25上。
第一轴14为设置有第一花键的第一花键轴。第二轴25在本实施例中为设置有第二花键的第二花键轴。爬升轮15包括爬升齿轮。
底盘1还包括行走驱动机构，行走驱动机构与第一轴14和第二轴25驱动连接，以驱动第一轴14和第二轴25转动。行走驱动机构包括行走驱动电机(未图示)和减速机12，通过减速机12驱动第一轴14和第二轴25转动。
如图2所示，底盘1还包括第一伸缩驱动机构，与爬升轮15驱动连接，第一伸缩驱动机构被配置为驱动爬升轮15沿底盘1的横向往复移动。第一伸缩驱动机构包括丝杠21和移动部件20，丝杠21安装于第一车架11上。移动部件20与丝杠21螺纹配合，第一轴14安装于移动部件20上。当丝杠21转动时，可以驱动移动部件20沿丝杠21的轴向移动，从而带动第一轴14移动，因此带动爬升轮15移动。丝杠21例如可以通过旋转电机驱动。
底盘1还包括第二伸缩驱动机构，与行走轮27驱动连接，第二伸缩驱动机构被配置为驱动行走轮27沿底盘1的横向往复移动。
第二伸缩驱动机构例如包括直线电机，直线电机可以推拉行走轮27沿其轴向方向往复运动。或者，第二伸缩驱动机构采用旋转电机与设置于旋转电机与行走轮27之间的传动部的组合机构，通过旋转电机带动传动部动作，进而带动行走轮27沿其轴线方向往复移动。
如图2所示，底盘1还包括第一支撑轮16、第三轴18和第二支撑轮19。第一支撑轮16安装于第一轴14上。第三轴18安装于车架11上，与第一轴14和第二轴25平行间隔设置。第二支撑轮19安装于第三轴18上。第二支撑轮19与第一支撑轮16联动地设置，以在底盘1的横向上与第一支撑轮16的相对位置。
第一轴14、第二轴25和第三轴18沿底盘1的横向可移动地安装于第一支架11上。
如图5所示，行走驱动机构包括减速机12和减速机花键套121。减速机12的输出轴122与第一轴14之间安装有减速机花键套121。减速机12固定安装在第一车架11的横向外侧，并能通过输出轴122驱动减速机花键套121转动。第一旋转滚珠花键套筒组件13通过其第一外法兰131安装在第一车架11的横向内侧，且与减速机12的输出轴122同轴。
第一轴14依次穿过第一旋转滚珠花键套筒组件13、减速机12的输出轴122和减速机花键套121。减速机花键套121和第一旋转滚珠花键套筒组件13的第一滚珠花键套132均与第一轴14上的第一花键配合，从而减速机12可通过减速机花键套121带动第一轴14和第一滚珠花键套132转动。同时第一轴14可相对减速机12和第一旋转滚珠花键套筒组件13做轴向运动。第一轴14靠近车体外侧的一端安装有爬升轮15和第一支撑轮16。
行走部还包括导向套17。第三轴18和导向套17同轴地安装在第一车架11的下部，与第一轴14平行且在其下方一定距离。导向套17与第一车架11固定，第三轴18可相对导向套17做轴向运动。第三轴18靠近横向外侧的一端穿过可活动的第二车架26并安装有第二支撑轮19。其中第三轴18与第二车架26无接触或可沿第三轴18的轴向滑动地配合。第一轴14和第三轴18的另一端与移动部件20相连。移动部件20可以为板形件、杆形件等。
丝杠21位于车体中部，丝杠21具有左右旋的螺纹，左右两个移动部件20在丝杠21的驱动下可对称地沿底盘1的横向移动，由此带动第一轴14、爬升轮15、第一支撑轮16、第三轴18和第二支撑轮19同时沿底盘1的横向移动。
第一轴14、第二轴25和第三轴18的轴线位于不同的平面内。第一轴14、第二轴25和第三轴18位于第一轴14下方。如图2所示，第二轴25与第一轴14平行且在其下方一定距离，但不在第一轴14与第三轴18组成的平面内。第二旋转滚珠花键套筒组件24的第二外法兰241固定安装在第一车架11上，第二轴25穿过第二旋转滚 珠花键套筒组件24并且其上的第二花键与可与第二旋转滚珠花键套筒组件24的第二滚珠花键套242配合，因此，第二轴25与第二滚珠花键套242同步转动。
如图4所示，第二轴25的一端通过轴承28与第二车架26连接，并安装有行走轮27。
第二旋转滚珠花键套筒组件24的第二滚珠花键套242和第一旋转滚珠花键套筒组件13的第一滚珠花键套132的靠近横向内侧的一端各安装有一传动轮22。两个传动轮22分别安装在第一轴14和第二轴25上且可分别随着第一轴14和第二轴25转动，传动带23连接两个传动轮22，因此第一轴14转动可通过第一滚珠花键套132、第一轴14上的传动轮22、传动带23和第二轴25上的传动轮22带动第二轴25和行走轮27旋转。
第二车架26、轴承28、第二轴25和行走轮27可在第二伸缩驱动机构的带动下同时沿横向移动。第二伸缩驱动机构例如包括旋转电机和传动机构，传动机构例如包括丝杠螺母传动副、连杆机构、齿轮具杆传动副、凸转顶杆传动副等。
图8示出了为仓储物流车V在水平轨道3上正常行走时的状态，此时仓储物流车V处于其行走状态。第二车架26、轴承28、第二轴25和行走轮27处于远离第一车架11的伸出位置，行走轮27在水平轨道3的上表面上。第一轴14、爬升轮15、第一支撑轮16、第三轴18和第二支撑轮19处于向第一车架11收缩的收缩位置，仓储物流车V可以以较快速度在水平轨道3上行走。
如图9所示，在仓储物流车V处于行走状态时，第一轴14、爬升轮15、第一支撑轮16、第三轴18和第二支撑轮19同时向远离第一车架11的一侧伸出而处于伸出位置，爬升轮15上的齿轮齿与竖直轨道4的齿条41啮合，第一支撑轮16和第二支撑轮19位于竖直轨道4的限位条42之间，爬升轮15转动即可实现仓储物流车V在一定范围内上升。如图11所示，仓储物流车V升起一小段高度后，第二车架26、轴承28、第二轴25和行走轮27在第二伸缩驱动机构的驱动下向靠近第一车架11的一侧移动而处于收缩位置，从而在仓储物流车V上下移动时可以避开水平轨道3，仓储物流车V切换为升降状态，仓储物流车V可沿竖直轨道4全程升降。
如图10所示，受力状态最复杂的第一轴14在升降状态时的悬臂长度最大，比行走状态时的悬臂长度大一个第一轴14伸缩行程a。而相关技术中，因为需要在同一轴线上实现升降轮和行走轮的伸缩，花键轴在升降状态时比行走状态时的悬臂长度大。从而，本公开实施例的仓储物流车V的爬升轮15和行走轮27不同轴的结构利于改善 第一轴14的受力状态，可以减小第一轴14的直径，从而一方面可以降低整车成本，另一方面可减轻整车重量。
爬升轮15和行走轮27设置为不同轴结构，还利于使第一轴14与第三轴18在保持固定竖直距离的前提下，降低第一轴14与第三轴18在仓储物流车V上的高度，从而使整车高度降低，为货架降低层高，提供存储密度提供可能。
另外，第一轴14与第三轴18还可以更加靠近仓储物流车V的重心(在行走轮27与车尾T之间)，减小爬升轮15和第一支撑轮16、第二支撑轮19承受的偏重引起的向后和向前的作用力。
行走驱动机构的减速机12与减速机花键套121组合在一起，利于将其位置外移，结合行走轮27和爬升轮15的不同轴结构，使第二车架26和行走轮27的左右伸缩不影响第一轴14的悬臂长度，使仓储物流车V升降时第一轴14的悬臂长度减小，利于进一步改善第一轴14的受力状态。
充分利用上装2的上部空间布置爬升轮15和第一支撑轮16，利于减小上装2与爬升轮15的纵向距离，缩短整车长度。
最后应当说明的是：以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本公开的具体实施方式进行修改或者对部分技术特征进行等同替换，其均应涵盖在本公开请求保护的技术方案范围当中。

Claims (14)

  1. 一种仓储物流车的底盘，包括车架(11)和安装于所述车架(11)上的行走装置，所述行走装置包括：
    第一轴(14)，安装于所述第一车架(11)上；
    爬升轮(15)，被配置为带动所述底盘(1)升降，安装于所述第一轴(14)上；
    第二轴(25)，安装于所述第一车架(11)上，与所述第一轴(14)平行间隔设置；和
    行走轮(27)，被配置为带动所述底盘(1)行走，安装于所述第二轴(25)上。
  2. 根据权利要求1所述的底盘，还包括行走驱动机构，行走驱动机构与所述第一轴(14)和第二轴(25)驱动连接以驱动所述第一轴(14)和所述第二轴(25)转动。
  3. 根据权利要求1或2所述的底盘，其中，
    所述行走驱动机构包括减速机(12)和减速机花键套(121)，所述减速机(12)的输出轴(122)套装于所述减速机花键套(121)外；
    所述第一轴(14)包括第一花键轴，所述第一花键轴上设有第一花键，所述减速机花键套(121)与所述第一花键配合。
  4. 根据权利要求1至3中任一项所述的底盘，其中，
    所述行走装置包括第一旋转滚珠花键套筒组件(13)，所述第一旋转滚珠花键套筒组件(13)包括第一外法兰(131)和第一滚珠花键套(132)；所述第一外法兰(131)与所述第一车架(11)固定连接；所述第一轴(14)包括第一花键轴，所述第一花键轴上设有第一花键，所述第一滚珠花键套(132)与所述第一花键配合；和/或
    所述行走装置包括第二旋转滚珠花键套筒组件(24)，所述第二旋转滚珠花键套筒组件(24)包括第二外法兰(241)和第二滚珠花键套(242)，所述第二外法兰(241)与所述第一车架(11)固定连接，所述第二轴(14)包括第二花键轴，所述第二花键轴上设有第二花键，所述第二滚珠花键套(242)与所述第二花键配合。
  5. 根据权利要求1至4中任一项所述的底盘，还包括第一伸缩驱动机构，所述第 一伸缩驱动机构与所述爬升轮(15)驱动连接，被配置为驱动所述爬升轮(15)沿所述底盘(1)的横向往复移动。
  6. 根据权利要求5所述的底盘，其中，所述第一伸缩驱动机构包括：
    丝杠(21)，安装于所述第一车架(11)上；和
    移动部件(20)，与所述丝杠(21)螺纹配合，所述第一轴(14)安装于所述移动部件(20)上。
  7. 根据权利要求1至6中任一项所述的底盘，还包括第二伸缩驱动机构，所述第二伸缩驱动机构与所述行走轮(27)驱动连接，被配置为驱动所述行走轮(27)沿所述底盘(1)的横向往复移动。
  8. 根据权利要求1至7中任一项所述的底盘，还包括：
    第一支撑轮(16)，安装于所述第一轴(14)上；
    第三轴(18)，安装于所述第一车架(11)上，与所述第一轴(14)和所述第二轴(25)平行间隔设置；和
    第二支撑轮(19)，安装于所述第三轴(18)上，所述第三轴(18)与所述第一轴(14)联动设置，以使所述第二支撑轮(19)与所述第一支撑轮(16)在所述底盘(1)的横向上相对固定。
  9. 根据权利要求8所述的底盘，其中，所述第一轴(14)、所述第二轴(25)和所述第三轴(18)的轴线位于不同的平面内。
  10. 根据权利要求8或9所述的底盘，其中，所述第一轴(14)、所述第二轴(25)和所述第三轴(18)位于所述第一轴(14)下方。
  11. 根据权利要求8至10中任一项所述的底盘，其中，所述第一轴(14)、所述第二轴(25)和所述第三轴(18)沿所述底盘(1)的横向可移动地安装于所述第一支架(11)上。
  12. 根据权利要求8至11中任一项所述的底盘，其中，还包括第二伸缩驱动机构和第二车架(26)，所述第二伸缩驱动机构与所述行走轮(27)驱动连接，被配置为驱动所述行走轮(27)沿所述底盘(1)的横向往复移动，所述第二车架(26)可转动地且轴向相对静止地安装于所述第二轴(25)上，以跟随所述行走轮(27)相对于所述第一车架(11)沿横向移动，所述第三轴(18)穿过所述第二车架(26)，所述第二支撑轮(19)安装于所述第二车架(26)的横向外侧。
  13. 一种仓储物流车，包括权利要求1至12中任一项所述的底盘(1)。
  14. 一种仓储物流系统，包括：
    水平轨道(3)；
    竖直轨道(4)；和
    权利要求13所述的仓储物流车(V)，所述仓储物流车(V)具有行走状态和升降状态，在所述行走状态，所述仓储物流车(V)的所述行走轮(27)沿所述水平轨道(3)行走，在所述升降状态，所仓储物流车(V)的所述爬升轮(15)沿所述竖直轨道(4)升降。
PCT/CN2021/116197 2020-12-18 2021-09-02 仓储物流车的底盘、仓储物流车和仓储物流系统 WO2022127202A1 (zh)

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