WO2023160540A1 - Appareil de manipulation et système de manipulation - Google Patents

Appareil de manipulation et système de manipulation Download PDF

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Publication number
WO2023160540A1
WO2023160540A1 PCT/CN2023/077401 CN2023077401W WO2023160540A1 WO 2023160540 A1 WO2023160540 A1 WO 2023160540A1 CN 2023077401 W CN2023077401 W CN 2023077401W WO 2023160540 A1 WO2023160540 A1 WO 2023160540A1
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WO
WIPO (PCT)
Prior art keywords
longitudinal
wheel set
transverse
traveling
assembly
Prior art date
Application number
PCT/CN2023/077401
Other languages
English (en)
Chinese (zh)
Inventor
关利东
娄雪飞
施鸿亮
赵治国
Original Assignee
北京旷视机器人技术有限公司
旷视格图(苏州)智能装备有限公司
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 北京旷视机器人技术有限公司, 旷视格图(苏州)智能装备有限公司 filed Critical 北京旷视机器人技术有限公司
Publication of WO2023160540A1 publication Critical patent/WO2023160540A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • 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
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the present application relates to the technical field of logistics, and in particular, relates to a handling device and a handling system having the same.
  • Handling equipment plays a vital role in the transportation, storage, distribution, loading and unloading of materials. It is necessary to install power supply and electrical components on the handling equipment.
  • the power supply and electrical components need to be electrically connected to other components through cables.
  • the space for arranging the power supply and electrical components is limited. Therefore, the specifications of the power supply and electrical components are limited, and performance cannot be improved.
  • the distribution of the power supply and electrical components is relatively scattered, which makes it difficult to arrange the cables and requires more space. Therefore, the size of the handling equipment is large, resulting in a low space utilization rate of the handling system applied thereto. Therefore, demand urgently to provide a kind of novel handling equipment.
  • a handling device includes: a main body, which is provided with a first warehouse and a second warehouse adjacent in the horizontal direction; a traveling drive mechanism, a traveling transmission mechanism and a traveling wheel set arranged on the main body, and the traveling driving mechanism is connected to the The travel wheel set is used to drive the travel wheel set to rotate.
  • the travel transmission mechanism and the travel wheel set are arranged around the first warehouse and the second warehouse; In the warehouse.
  • a transport system includes: any one of the handling equipment above; the transverse track and the longitudinal track; the traveling wheel set includes the longitudinal traveling wheel set and the transverse traveling wheel set, the longitudinal traveling wheel set of the handling equipment can roll on the longitudinal track, and the transverse traveling wheel set of the handling equipment The traveling wheel set can roll on the transverse track.
  • the first warehouse and the second warehouse can both be relatively regular spaces because there are not many other components passing through. In this way, a larger space can be provided for arranging power supply components and electrical components. Power packs and electrical packs are available in larger sizes, increasing the performance of the handling equipment. Moreover, since the power supply components and electrical components are relatively concentrated, it is convenient for the arrangement of cables, so that the internal space of the handling equipment can be optimized, so that the size of the handling equipment can be reduced, so that it can be moved in a narrower space, so the applicability is better .
  • Fig. 1 is a top view of the internal structure of a handling device according to the present application.
  • Figure 2 shows the internal structure of the handling equipment
  • FIG. 3 shows the internal structure of the handling equipment, with some parts removed
  • Figure 4 shows the internal structure of the handling equipment, with some components removed
  • FIG. 5 shows the internal structure of the handling equipment, with some components removed
  • Figure 6 shows the internal structure of the handling equipment, with some components removed
  • Figure 7 shows a perspective view of a partial structure of the handling device
  • Fig. 8 shows the left view of the partial structure of handling equipment
  • Figure 9 shows a top view of a partial structure of the handling device
  • Fig. 10 shows the right side view of the partial structure of handling equipment
  • Figure 11 shows a perspective view of a partial structure of the handling device
  • Fig. 12 shows a partially enlarged view of a partial structure of the handling equipment.
  • a handling device can be used to move materials. Handling equipment includes, but is not limited to, four-way vehicles. Handling equipment can be applied to the handling system. Therefore, according to another aspect of the present application, a transport system is also provided.
  • a vertical direction, a longitudinal direction, and a lateral direction are defined.
  • the vertical direction, the longitudinal direction, and the lateral direction may be perpendicular to each other.
  • the vertical direction usually refers to the height direction of the handling equipment.
  • the longitudinal direction generally refers to the length direction of the handling equipment.
  • the transverse direction generally refers to the width direction of the handling equipment.
  • the transport equipment may include a main body 600 and a travel driving mechanism 110 , a travel transmission mechanism 200 and a travel wheel set arranged on the main body 600 .
  • the main body 600 may be provided with a first compartment 681 and a second compartment 682 adjacent in the horizontal direction.
  • the travel driving mechanism 200 can be connected to the travel wheel set through the travel transmission mechanism 200 to drive the travel wheel set to rotate.
  • the travel transmission mechanism 200 and the travel wheel set can be arranged around the first warehouse 681 and the second warehouse 682 .
  • the handling device may also include a power supply assembly 810 and an electrical assembly 820 .
  • the power supply assembly 810 may be disposed within the first compartment 681 .
  • the power supply assembly 810 can be electrically connected to the travel driving mechanism 110 etc.
  • Electrical components 820 may be disposed within second compartment 682 . Electrical components 820 include, but are not limited to, spirit levels, controllers, and the like.
  • the electrical assembly 820 may be electrically connected to the power supply assembly 810, the traveling drive mechanism 110, and the like. Since the first warehouse 681 and the second warehouse 682 do not have too many other components passing through, they can both be relatively regular spaces. In this way, more space can be provided for the power supply assembly 810 and the electrical assembly 820 .
  • the power supply assembly 810 and the electrical assembly 820 can adopt larger size models, thereby improving the performance of the handling equipment.
  • the traveling wheel set may include a longitudinal traveling wheel set 300 and a transverse traveling wheel set 400 . Walking drive mechanism 110 can be connected respectively by walking transmission mechanism 200 Connect to the longitudinal travel wheel set 300 and the transverse travel wheel set 400.
  • the traveling drive mechanism 110 can be arranged in the first compartment 681 . With such arrangement, the travel driving mechanism 110 can be closer to the power supply assembly 810 , so as to facilitate the electrical connection to the power supply assembly 810 .
  • the traveling transmission mechanism 200 may include a driving shaft 250 extending in a lateral direction and connected to the traveling driving mechanism 110 .
  • the power supply assembly 810 may be provided with a recessed portion penetrating along the transverse direction X-X.
  • the driving shaft 250 can pass through the concave portion.
  • the recessed portion may include a through hole, a groove, and the like.
  • the electrical assembly 820 may include a first device 821 and a second device 822 .
  • the first device 821 and the second device 822 may be vertically arranged in layers in the second compartment 682 .
  • the first device 821 may be located under the second device 822 . In this way, the space in the vertical direction can be fully utilized to reduce the space occupied by the electrical component 820 in the horizontal direction.
  • the handling equipment may further include a bracket assembly 830 .
  • the bracket assembly 830 may include an upper bracket 831 .
  • the upper bracket 831 can straddle the first component 821 along the horizontal direction and be fixed to the main body 600 .
  • the second component 822 may be fixed to the upper bracket 831 .
  • the first device 821 may include a travel drive mechanism driver.
  • the drive mechanism driver can be used to adjust the speed, torque and other parameters of the traveling drive mechanism 110 .
  • the second device 822 may include a power controller.
  • the power controller is used to adjust parameters such as current and power of the power component 810 .
  • the bracket assembly 830 may further include a bottom bracket 832 .
  • the bottom bracket 832 may be fixed to the main body 600 .
  • the first device 821 can be fixed to the bottom bracket 832 .
  • the installation and fixation of the first component 821 can be facilitated by providing the bottom bracket 832 .
  • the main body 600 includes a bottom plate 610 and a partition 680 connected to the bottom plate 610 .
  • the partition 680 may extend in the transverse direction X-X.
  • the partition 680 may separate the first compartment 681 and the second compartment 682 .
  • the traveling transmission mechanism 200 may include a driving shaft 250, a first transmission gear and a second transmission gear.
  • the first transmission gear may be the first bevel gear 711 .
  • the first transmission gear can be the first bevel gear 711 .
  • the drive shaft 250 may extend along the transverse direction X-X and be connected with the travel drive mechanism 110 .
  • the drive shaft 250 may be disposed adjacent to the partition 680 .
  • the first transfer gear may be fixed to the drive shaft 250 .
  • the second transmission gear may be rotatably mounted on the partition plate 680 and engaged with the first transmission gear.
  • the partition 680 can also be used as a support to install other components.
  • the handling equipment may further include a lifting drive mechanism 120 and a lifting transmission mechanism 500 .
  • the lifting drive mechanism 120 can be connected with the traveling wheel set through the lifting transmission mechanism 500 .
  • the traveling drive mechanism 110 and the lifting drive mechanism 120 can be located on both sides of the power supply assembly 810 .
  • the lifting transmission mechanism 500 may be arranged around the first bin 681 and/or the second bin 682 . That is to say, the walking drive mechanism 110, the power supply assembly 810 and the lifting drive mechanism 120 can be The transverse direction XX is distributed sequentially, and the power supply assembly 810 is located between the traveling drive mechanism 110 and the lifting drive mechanism 120 .
  • the moving equipment may further include a T-shaped cable tray 840 .
  • the cable tray 840 may include a longitudinal section 841 and a transverse section 842 .
  • the longitudinal section 841 may span the second compartment 682 in the longitudinal direction Y-Y.
  • the transverse section 842 may extend in the transverse direction X-X and communicate to the longitudinal section 841 .
  • the cables of the power supply component 810 and the electrical component 820 can pass through the cable tray 840 .
  • the transport equipment may include a traveling device, a lifting drive mechanism 120 and a lifting transmission mechanism 500 .
  • the traveling device may include a traveling drive mechanism 110, a traveling transmission mechanism 200 and a traveling wheel set.
  • the travel drive mechanism 110 can provide power for the movement of the handling equipment.
  • the traveling drive mechanism 110 may adopt various types of drive mechanisms known in the art or that may appear in the future, including but not limited to motors.
  • the travel driving mechanism 110 may include a motor 151 and a reducer 152 .
  • the motor 151 may be connected to a speed reducer 152 .
  • the speed reducer 152 may be connected to the traveling transmission mechanism 200 .
  • the travel drive mechanism 110 can be connected to the travel wheel set via the travel transmission mechanism 200 .
  • the travel driving mechanism 110 can drive the travel wheels in the travel wheel set to roll, so as to make the transport equipment move.
  • the travel transmission mechanism 200 may include one or more combinations of a gear transmission mechanism, a chain transmission mechanism, a belt transmission mechanism, a worm gear transmission mechanism, a cam mechanism, and the like.
  • the traveling wheel set may include a longitudinal traveling wheel set 300 and a transverse traveling wheel set 400 .
  • the longitudinal travel wheel set 300 may include a plurality of longitudinal travel wheels.
  • the lateral travel wheel set 400 may include a plurality of lateral travel wheels.
  • the number of longitudinal travel wheels and the number of transverse travel wheels can be the same or different. That is to say, the number of longitudinal traveling wheels includes but not limited to eight as shown in the figure.
  • the number of lateral traveling wheels includes but not limited to four shown in the figure.
  • the travel drive mechanism 110 can be connected to the longitudinal travel wheel set 300 via the travel transmission mechanism 200 . In this way, the traveling driving mechanism 110 can drive the longitudinal traveling wheels in the longitudinal traveling wheel set 300 to roll along the longitudinal direction Y-Y, so as to make the transport equipment move along the longitudinal direction Y-Y.
  • the traveling drive mechanism 110 can be connected to the transverse traveling wheel set 400 through the traveling transmission mechanism 200 . In this way, the travel driving mechanism 110 can drive the lateral travel wheels in the lateral travel wheel set 400 to roll along the lateral direction X-X, so as to make the transport equipment move along the lateral direction X-X.
  • the number of traveling drive mechanisms 110 can be arbitrary. Exemplarily, a plurality of travel driving mechanisms 110 may be set in the transport equipment.
  • a plurality of travel driving mechanisms 110 can respectively drive the longitudinal traveling wheel set 300 and the transverse traveling wheel set 400 .
  • the travel driving mechanism 110 may include two.
  • a traveling drive mechanism 110 may also be arranged in the transport equipment.
  • a traveling drive mechanism 110 can drive the longitudinal travel wheel set 300 and the transverse travel wheel set 400 . The following will be described as an example in which a transporting device is provided with a traveling drive mechanism 110 .
  • the lifting drive mechanism 120 can provide power for the lifting of the handling equipment.
  • the lifting drive mechanism 120 may adopt various types of drive mechanisms known in the art or that may appear in the future, including but not limited to motors.
  • the lifting drive mechanism 120 can pass through the lifting transmission mechanism 500 It is connected with the longitudinal traveling wheel set 300 to drive the longitudinal traveling wheel set 300 up and down; or the lifting drive mechanism 120 can be connected with the transverse traveling wheel set 400 through the lifting transmission mechanism 500 to drive the transverse traveling wheel set 400 up and down.
  • the lifting transmission mechanism 500 may include one or more combinations of a gear transmission mechanism, a chain transmission mechanism, a belt transmission mechanism, a worm gear transmission mechanism, and a cam mechanism.
  • the lifting drive mechanism 120 may include a gear box.
  • the traveling driving mechanism 110 and the lifting driving mechanism 120 may extend along the longitudinal direction Y-Y. Projections of the traveling drive mechanism 110 and the lifting drive mechanism 120 in a vertical plane parallel to the longitudinal direction Y-Y are at least partially overlapped.
  • the vertical plane refers to a plane extending in the vertical direction among the planes parallel to the longitudinal direction Y-Y.
  • the transverse direction X-X and the longitudinal direction Y-Y are two directions perpendicular to each other in a horizontal plane, said vertical plane being perpendicular to the horizontal plane.
  • the traveling drive mechanism 110 has a first projection in the aforementioned vertical plane
  • the lifting drive mechanism 120 has a second projection in the vertical plane. At least a portion of the first projection and the second projection overlap each other. That is to say, viewed along the transverse direction X-X, for example viewed from bottom to top in FIG. 1 , the travel drive mechanism 110 can at least cover a part of the lift drive mechanism 120 .
  • the projections of the traveling drive mechanism 110 and the lifting drive mechanism 120 on a plane parallel to the longitudinal direction are at least partially overlapped (hereinafter referred to as overlapping arrangements), they are not arranged sequentially along the longitudinal direction .
  • overlapping arrangements since the projections of the traveling drive mechanism 110 and the lifting drive mechanism 120 on a plane parallel to the longitudinal direction are at least partially overlapped (hereinafter referred to as overlapping arrangements), they are not arranged sequentially along the longitudinal direction .
  • Such a design is beneficial to reducing the size of the handling equipment in the longitudinal direction and realizing the miniaturization of the handling equipment.
  • the transverse track may extend along the transverse direction X-X.
  • the longitudinal track may extend along the longitudinal direction Y-Y.
  • the transverse and longitudinal tracks can be connected to each other, or can also be spaced apart.
  • the transverse track can be the parent roadway.
  • the longitudinal track can be a sub-aisle. Parent lanes and sub-lanes are well known in the art, so no further detailed description will be given here.
  • the lateral travel wheels in the lateral travel wheel set 400 can roll on the lateral tracks.
  • the handling equipment can move on transverse rails.
  • the longitudinal traveling wheels in the longitudinal traveling wheel set 300 can roll on the longitudinal track.
  • the handling equipment can move on longitudinal rails. That is to say, the lateral traveling wheel set 400 may be the main roadway traveling wheel set, and the longitudinal traveling wheel set 300 may be the sub-alleyway traveling wheel set. It should be noted that the handling equipment does not need to move on the transverse track and the longitudinal track.
  • the handling system can also be provided with transverse and longitudinal sides.
  • the lateral travel wheels in the lateral travel wheel set 400 can roll on the lateral plane.
  • the handling device can move in the transverse plane.
  • the longitudinal travel wheels in the longitudinal travel wheel set 300 can roll on the longitudinal plane.
  • the handling device can be moved in the longitudinal plane. Therefore, the transport equipment provided in the embodiment of the present application may be rail transport equipment or trackless transport equipment.
  • the lifting drive mechanism 120 is connected to the lateral traveling wheel set 400 through the lifting transmission mechanism 500 as an example to describe the walking device, handling equipment and the working process of the handling system, and its The linkage relationship between internal components is described in detail.
  • the transverse travel wheel set 400 can be higher than the longitudinal travel wheel set 300 . In this way, the lateral traveling wheel set 400 can be detached from the track to prevent interference.
  • the lifting drive mechanism 120 can drive the transverse traveling wheel set 400 down through the lifting transmission mechanism 500 .
  • the lifting drive mechanism 120 drives the transverse traveling wheel set 400 to continue descending through the lifting transmission mechanism 500 .
  • the longitudinal traveling wheel set 300 can be jacked up to be higher than the transverse traveling wheel set 400 .
  • the longitudinal traveling wheel set 300 can break away from the track to prevent interference.
  • the handling equipment can move on the transverse track.
  • the lifting drive mechanism 120 can drive the transverse travel wheel set 400 to rise through the lifting transmission mechanism 500 .
  • the longitudinal traveling wheel set 300 can be relatively lowered.
  • the lifting drive mechanism 120 drives the transverse traveling wheel set 400 to continue to rise through the lifting transmission mechanism 500 .
  • the transverse traveling wheel set 400 can be higher than the longitudinal traveling wheel set 300 . In this way, the lateral traveling wheel set 400 can be detached from the track to prevent interference.
  • the handling equipment can move on longitudinal rails.
  • the running gear of the transport equipment may include a main body 600 .
  • Body 600 may comprise any suitable structure.
  • the main body 600 can be used to provide support for components such as the traveling driving mechanism 110 and the lifting driving mechanism 120 .
  • the main body 600 may be provided with a first compartment 681 and a second compartment 682 .
  • the first bin 681 and the second bin 682 may be adjacent in a horizontal direction.
  • the sizes of the first compartment 681 and the second compartment 682 may be the same or different.
  • the main body 600 may include a bottom panel 610 , a first longitudinal side panel 621 , a second longitudinal side panel 622 , a first lateral side panel 651 and a second lateral side panel 652 .
  • the bottom plate 610 may be configured in a plate shape extending in a horizontal direction.
  • the bottom plate 610 may have two edges extending in the longitudinal direction Y-Y, and two edges extending in the transverse direction X-X.
  • the edges extending along the longitudinal direction Y-Y are referred to herein as longitudinally extending edges, and the edges extending along the transverse direction X-X are referred to as transversely extending edges.
  • the first longitudinal side panel 621 and the second longitudinal side panel 622 may extend upward from longitudinally extending edges of the bottom panel 610, respectively.
  • the first lateral side panel 651 and the second lateral side panel 652 may extend upward from laterally extending edges of the bottom panel 610 , respectively.
  • the bottom plate 610 , the first longitudinal side plate 621 , the second longitudinal side plate 622 , the first transverse side plate 651 and the second transverse side plate 652 can enclose a first compartment 681 and a second compartment 682 .
  • the travel transmission mechanism 200 and the travel wheel set can be arranged around the first warehouse 681 and the second warehouse 682 .
  • the travel transmission mechanism 200 and the travel wheel set can respectively surround the first bin 681 and the second bin 682 .
  • the travel transmission mechanism 200 and the travel wheel set can surround the whole of the first warehouse 681 and the second warehouse 682 .
  • the handling equipment may also include a power supply assembly 810 and an electrical assembly 820 .
  • the power pack 810 can be Various types of power sources known in the art or that may appear in the future may be used, including but not limited to one or more combinations of dry batteries, lead storage batteries, and lithium batteries.
  • the power supply assembly 810 can be electrically connected to the traveling driving mechanism 110, the lifting driving mechanism 120, etc. to provide power.
  • the power supply assembly 810 may be disposed within the first compartment 681 .
  • Electrical components 820 include, but are not limited to, spirit levels, controllers, and the like.
  • the electrical assembly 820 can be electrically connected to the power supply assembly 810, the traveling drive mechanism 110, the lifting drive mechanism 120, and the like. Electrical components 820 may be disposed within second compartment 682 .
  • the first compartment 681 and the second compartment 682 can both be relatively regular spaces because there are not too many other components passing through. In this way, more space can be provided for the power supply assembly 810 and the electrical assembly 820 .
  • the power supply assembly 810 and the electrical assembly 820 can adopt larger size models, thereby improving the performance of the handling equipment.
  • the power supply assembly 810 and the electrical assembly 820 are relatively concentrated, it is convenient to arrange the cables, so that the internal space of the handling equipment can be optimized, so that the size of the handling equipment can be reduced, so that it can be moved in a narrower space, so the applicability better.
  • the handling system using the handling equipment can also improve space utilization, thereby reducing costs.
  • the traveling driving mechanism 110 and the lifting driving mechanism 120 can be arranged in the first compartment 681 . In this way, the traveling drive mechanism 110 and/or the lifting drive mechanism 120 can be closer to the power supply assembly 810 , so as to facilitate electrical connection to the power supply assembly 810 .
  • the traveling driving mechanism 110 and the lifting driving mechanism 120 can be located on two sides of the power supply assembly 810 . That is to say, the traveling driving mechanism 110 , the power supply assembly 810 and the lifting driving mechanism 120 can be distributed sequentially along the transverse direction X-X, and the power supply assembly 810 is located between the traveling driving mechanism 110 and the lifting driving mechanism 120 .
  • the lifting transmission mechanism 500 may be arranged around the first bin 681 and/or the second bin 682 . In this way, the space for arranging the power supply component 810 and the electrical component 820 is larger.
  • the travel transmission mechanism 200 may include a drive shaft 250 .
  • the traveling driving mechanism 110 can be connected to the driving shaft 250 to drive the driving shaft 250 to rotate.
  • the drive shaft 250 is used to drive at least part of the road wheels in the longitudinal traveling wheel set 300 and the transverse traveling wheel set 400 to roll.
  • the drive shaft 250 may extend in a transverse direction X-X.
  • the power supply assembly 810 may be provided with a recessed portion (not shown) penetrating along the transverse direction X-X.
  • the driving shaft 250 can pass through the concave part.
  • the recessed portion may include a through hole, a groove, and the like.
  • the electrical component 820 may include a first device 821 and a second device 822 .
  • the first device 821 and the second device 822 may be vertically arranged in layers in the second compartment 682 .
  • the first device 821 may be located under the second device 822 .
  • the space in the vertical direction can be fully utilized, so as to reduce the space occupied by the electrical component 820 in the horizontal direction.
  • the first component 821 and the second component 822 can be rotated by different angles to prevent the cables of the two components from interfering, so as to facilitate the arrangement of the cables.
  • the first device 821 may include a travel drive mechanism driver.
  • drive mechanism drive The actuator can be used to adjust the speed, torque and other parameters of the traveling drive mechanism 110.
  • the second device 822 may include a power controller. The power controller is used to adjust parameters such as current and power of the power component 810 . This allows the handling equipment to perform as expected.
  • the handling equipment may further include a bracket assembly 830 .
  • the bracket assembly 830 may include an upper bracket 831 .
  • the upper bracket 831 may straddle the first device 821 in a horizontal direction.
  • the upper bracket 831 may be a U-shaped bracket.
  • the opening of the U-shaped bracket may face the first device 821 .
  • the first device 821 may be located between the two side walls and the top wall of the U-shaped bracket.
  • the upper bracket 831 may be fixed to the main body 600 .
  • the upper bracket 831 may be fixed to the bottom plate 610 .
  • the second component 822 may be fixed to the upper bracket 831 .
  • the bracket assembly 830 may further include a bottom bracket 832 .
  • the bottom bracket 832 may be fixed to the main body 600 .
  • the bottom bracket 832 may be fixed to the bottom plate 610 .
  • the first device 821 can be fixed to the bottom bracket 832 . The installation and fixation of the first component 821 can be facilitated by providing the bottom bracket 832 .
  • the main body 600 may include a bulkhead 680 connected to the bottom plate 610 .
  • the partition 680 may extend in the transverse direction X-X.
  • the partition 680 may separate the first compartment 681 and the second compartment 682 . In this way, the structure of the main body 600 is simple and the manufacturing cost is low.
  • the drive shaft 250 may be disposed adjacent to the bulkhead 680 .
  • the travel transmission mechanism 200 may also include a first transmission gear and a second transmission gear.
  • the first transfer gear may be fixed to the drive shaft 250 .
  • the first transmission gear can be the first bevel gear 711 .
  • the first bevel gear 711 may be disposed on the driving shaft 250 to rotate coaxially with the driving shaft 250 .
  • the second transmission gear is rotatably mounted on the partition plate 680 .
  • the second transfer gear may mesh with the first transfer gear.
  • the second transmission gear can be the second bevel gear 712 . This will be described in detail below. In this way, in addition to separating the first compartment 681 and the second compartment 682 , the partition 680 can also be used as a support to install other components.
  • the moving equipment may further include a cable tray 840 .
  • the cable tray 840 may be T-shaped.
  • the cable tray 840 may include a longitudinal section 841 and a transverse section 842 .
  • the longitudinal section 841 may span the second compartment 682 in the longitudinal direction Y-Y.
  • Lateral segment 842 may extend in a transverse direction X-X.
  • Transverse segment 842 may communicate to longitudinal segment 841 .
  • the cables of the power supply component 810 and the electrical component 820 can pass through the cable tray 840 .
  • the cable tray 840 may be provided with a wire inlet and a wire outlet. The number of wire inlets and wire outlets is not limited.
  • the cables of the power supply assembly 810 and the electrical assembly 820 can pass through the cable tray 840 through the wire inlet and outlet. In this way, the cable tray 840 can fix and protect the cables. Moreover, the overall layout can also be made beautiful. And, through reasonable setting, the cables can be arranged reasonably, which is convenient for equipment maintenance.
  • the structure of the handling equipment is relatively compact and the size is small. possibility. In this way, the handling equipment can be moved in a narrower space, and the handling system using the handling equipment can also improve space utilization, thereby reducing costs.
  • the handling device may further include sensors.
  • a sensor may be provided on the body 600 .
  • the sensors may include a first sensor set and/or a second sensor set.
  • the main body 600 may include a pair of outer sidewalls facing each other along the transverse direction X-X (such as the outer sidewall of the first longitudinal side panel 621 and the outer sidewall of the second longitudinal side panel 622).
  • a first sensor group may be provided on the pair of outer side walls.
  • the first set of sensors may include obstacle sensors and/or material sensors 920 .
  • the handling device may further include a controller.
  • a controller may be provided on the main body 600 .
  • the controller can be built with electronic components such as timers, comparators, registers, and digital logic circuits, or it can be built with single-chip microcomputers, microprocessors, programmable logic controllers (PLCs), digital signal processors (DSPs), field programmable Gate array (FPGA), programmable logic array (PLA), application-specific integrated circuit (ASIC) and other processor chips and their peripheral circuits.
  • PLCs programmable logic controllers
  • DSPs digital signal processors
  • FPGA field programmable Gate array
  • PLA programmable logic array
  • ASIC application-specific integrated circuit
  • the sensors can send detected signals to the controller. Based on the signal, the controller can control the handling equipment to perform corresponding actions.
  • the obstacle sensor can be used to detect whether there is an obstacle in front of the handling equipment. According to the detection results of the obstacle sensor, it can be used to perform actions such as obstacle avoidance, alarm, and obstacle identification.
  • the obstacles include, but are not limited to, opposing handling equipment, fallen materials, and the like.
  • the types of obstacle sensors are not limited, including but not limited to photoelectric sensors and image sensors.
  • the detection direction of the obstacle sensor may be toward the outside of the handling device. Specifically, the detection direction of the obstacle sensor faces directly in front of the center of the transport equipment.
  • the “outside” refers to the side close to the external environment of the handling equipment.
  • the "inside” refers to the side close to the inside of the transport equipment.
  • the obstacle sensor may include a longitudinal obstacle sensor 911 and/or a transverse obstacle sensor 912 .
  • the detection direction of the longitudinal obstacle sensor 911 may be directly in front of the center of the transport device along the longitudinal direction Y-Y.
  • Two longitudinal obstacle sensors 911 may be disposed on both sides of the main body 600, respectively. In this way, when the conveying equipment reciprocates along the longitudinal direction Y-Y, the longitudinal obstacle sensor 911 can detect obstacles.
  • the detection direction of the lateral obstacle sensor 912 may be directly forward along the lateral direction X-X toward the center of the transport equipment.
  • there may be two lateral obstacle sensors 912 there may be two lateral obstacle sensors 912 .
  • Two lateral obstacle sensors 912 may be respectively disposed on both sides of the main body 600 along the lateral direction X-X. In this way, when the transport equipment reciprocates along the transverse direction X-X, the transverse obstacle sensor 912 can detect obstacles.
  • the material sensor 920 can be used to detect whether other handling equipment in front of the handling equipment is loaded with material. According to the detection result of the material sensor 920, it can be used to perform actions such as obstacle avoidance, alarm, and material identification.
  • the material sensor 920 may include a plurality. A plurality of material sensors 920 may be disposed outside the main body 600, respectively. In this way, when the handling equipment moves, the material sensor 920 can detect materials in different directions.
  • the longitudinal obstacle sensor 911 may be located directly below the material sensor 920 . In this way, the material sensor 920 can detect Whether there are materials on other handling equipment moving to YY.
  • the detection direction of the material sensor 920 may be towards the front and upper part of the handling equipment.
  • the front upper direction refers to the front direction. Since the material is usually supported on top of the handling equipment, it is possible to accurately detect whether it is loaded or not, compared to facing in other directions.
  • the type of material sensor 920 is not limited, including but not limited to photoelectric sensors and image sensors.
  • an antenna 991 and/or an indicator light 992 may also be provided on both sides of the main body 600 .
  • the antenna 991 can be used to transmit wireless signals.
  • the indicator light 992 can be used to display the running status of the transport equipment, such as battery power, working hours, fault information, and the like.
  • the main body 600 may be rectangular.
  • a rectangle may have two first diagonal corners on one diagonal and two second diagonal corners on the other diagonal.
  • Each of the two first diagonal corners is provided with an obstacle sensor (for example, a longitudinal obstacle sensor 911 ).
  • the detection directions of the two obstacle sensors are opposite along the longitudinal direction Y-Y.
  • a material sensor 920 may be provided on each of the two first diagonal corners. The detection directions of the two material sensors 920 are opposite along the longitudinal direction Y-Y.
  • the handling device may also include a handling assembly 950 and a charging assembly.
  • the manipulation assembly 950 may be disposed on one of the two second diagonal corners.
  • the manipulation component 950 includes, but is not limited to, one or more of an emergency stop button, a power button, an unlock button and a reset button.
  • the manipulation component 950 may be located on one outer sidewall of the main body 600 extending along the longitudinal direction Y-Y. Such setting can facilitate maintenance personnel to operate and facilitate centralized control.
  • the charging assembly can be arranged on the other of the two second diagonal corners.
  • the charging assembly may include an automatic connector 981 and/or a manual charging interface 982 .
  • the automatic connector 981 and/or the manual charging interface 982 can be electrically connected to the power supply assembly 810 .
  • the charging assembly may be located on one outer sidewall of the main body 600 extending along the longitudinal direction Y-Y. Such setting can facilitate charging.
  • the first sensor group may further include a material offset load sensor.
  • Material eccentric load sensor can be used to detect whether the material on the handling equipment is eccentrically loaded. According to the detection results of the material partial load sensor, it can be used to perform actions such as alarm and shutdown.
  • the eccentric load includes, but is not limited to, offset, deflection, and the like.
  • the types of material partial load sensors are not limited, including but not limited to photoelectric sensors.
  • the photoelectric sensor can be, for example, a diffuse reflection sensor.
  • the detection direction of the material partial load sensor can be towards the upper side of the handling equipment along the vertical direction.
  • the material partial load sensor may include a first material partial load sensor 941 , a second material partial load sensor 942 and a third material partial load sensor 943 .
  • the first material partial load sensor 941 and the second material partial load sensor 942 may be arranged on one of the pair of outer side walls (for example, the outer side wall of the first longitudinal side plate 621 ).
  • the third material partial load sensor 943 may be arranged on the other one of the pair of outer side walls (for example, the outer side wall of the second longitudinal side plate 622 ).
  • the first material partial load sensor 941 and the third material partial load sensor 943 face each other along the transverse direction XX.
  • the first material partial load sensor 941 and the second material partial load sensor 942 can be used to detect whether the material Vertical direction YY offset.
  • the first material offset load sensor 941 and the third material offset load sensor 943 can be used to detect whether the material is offset along the transverse direction XX.
  • the first material eccentric load sensor 941 , the second material eccentric load sensor 942 and the third material eccentric load sensor 943 can be used to detect whether the material is deflected along the horizontal direction.
  • the second sensor set may include a positioning sensor 930 .
  • Positioning sensors 930 may be used to detect the position of the handling equipment. According to the detection result of the positioning sensor 930, it can be used for precise positioning.
  • the type of the positioning sensor 930 is not limited, including but not limited to a code scanner and an image sensor.
  • the detection direction of the positioning sensor 930 may be directed downward in the vertical direction of the conveying equipment. Exemplarily, different two-dimensional codes may be set at different positions on the transport system. Recognition of the two-dimensional code by the positioning sensor 930 can precisely locate the handling equipment.
  • a bottom plate opening may be provided on the bottom plate 610 of the main body 600 .
  • the main body 600 may also include an enclosure 690 .
  • the enclosure 690 may extend upwardly from the edge of the floor opening.
  • the space surrounded by the enclosure 690 may be in the shape of a prism.
  • the positioning sensor 930 may be disposed on the top of the enclosure 690 and the detection direction is downward. By setting the enclosure 690, the detection range of the positioning sensor 930 is expanded.
  • the size of the top of the enclosure 690 is small, which is convenient for sealing, so as to prevent impurities such as dust from entering the interior of the main body 600 .
  • the handling equipment may further include a lifting frame 140 provided on the main body 600 .
  • the longitudinal travel wheel set 300 or the transverse travel wheel set 400 can be arranged on the lifting frame 140 .
  • Lift drive mechanism 120 may be connected to lift frame 140 .
  • the lifting drive mechanism 120 can drive the lifting frame 140 up and down through the lifting transmission mechanism 500 to drive the longitudinal traveling wheel set 300 or the transverse traveling wheel set 400 to ascend and descend.
  • the lifting frame 140 can move among a raised position, an intermediate position and a lowered position along the vertical direction.
  • the transverse traveling wheel set 400 when the lifting frame 140 is in the lifting position, the transverse traveling wheel set 400 can be higher than the longitudinal traveling wheel set 300;
  • the traveling wheel set 400 is on the same level as the longitudinal traveling wheel set 300; when the lifting frame 140 is in the lowered position, the transverse traveling wheel set 400 can be lower than the longitudinal traveling wheel set 300.
  • the second sensor group may also include a lift position sensor.
  • the lifting position sensors may include a lifting position sensor 961 , an intermediate position sensor 962 and a lowering position sensor 963 .
  • the lift position sensor 961 can be used to detect whether the lifting frame 140 is in the lift position.
  • the middle position sensor 962 can be used to detect whether the lifting frame 140 is in the middle position.
  • the lowered position sensor 963 can be used to detect whether the lifting frame 140 is in the lowered position. lift position
  • the types of the sensor 961 , the middle position sensor 962 and the descending position sensor 963 are not limited, including but not limited to photoelectric sensors.
  • the lifting position sensor 961 , the middle position sensor 962 and the lowering position sensor 963 may be U-shaped sensors. With such arrangement, the position of the lifting frame 140 can be detected to prevent the position deviation of the lifting frame 140 from causing dangerous accidents.
  • the handling equipment may further include a lifting plate (not shown).
  • the lifting plate can be covered on the lifting frame 140 .
  • the lifting plate can move between a lifting position and a predetermined position along with the lifting frame 140 .
  • the predetermined position may be lower than the raised position and higher than the lowered position.
  • the lifting plate may be supported on the main body 600 when it is in a predetermined position.
  • a lift plate may be located above the main body 600 .
  • the lifting plate can be used to support materials.
  • the lifting frame 140 is at the lifting position, the lifting plate can lift up the materials placed on, for example, the warehouse, so that they can be transported.
  • the lifting plate can move to a predetermined position. At this time, the lifting plate may drop above the main body 600 .
  • the second sensor set may also include a lift plate position sensor 970 .
  • the lift plate position sensor 970 can be used to detect whether the lift plate is lowered to a predetermined position, so as to ensure safe operation.
  • the type of the lift plate position sensor 970 is not limited, including but not limited to photoelectric sensors and the like.
  • the lift plate position sensor 970 may be two proximity switches.
  • the structure of the proximity switch can be arbitrary, including but not limited to cylindrical proximity switches. Two cylindrical proximity switches can be located on both sides of the lift plate, for example along the transverse direction X-X on both sides of the lift plate.
  • the longitudinal traveling wheel set 300 may include a first longitudinal traveling wheel set 310 and a second longitudinal traveling wheel set 320 .
  • the first longitudinal traveling wheel set 310 and the second longitudinal traveling wheel set 320 may be located on two sides of the transport equipment.
  • the first longitudinal traveling wheel set 310 and the second longitudinal traveling wheel set 320 may be respectively disposed on opposite outer sidewalls of the main body 600 along the transverse direction X-X.
  • the first longitudinal traveling wheel set 310 and the second longitudinal traveling wheel set 320 may be disposed on the outer sides of the first longitudinal side plate 621 and the second longitudinal side plate 622 respectively.
  • the first longitudinal traveling wheel set 310 and the second longitudinal traveling wheel set 320 may respectively include multiple pairs of longitudinal traveling wheel pairs 330 . Pairs of longitudinal travel wheel pairs 330 may be spaced apart along the longitudinal direction Y-Y. Each longitudinal travel wheel pair 330 may include a pair of longitudinal travel wheels. Guide wheels 370 may be provided between adjacent longitudinal traveling wheels in each longitudinal traveling wheel pair 330 . The guide wheel 370 is rotatable along an axis extending in the vertical direction. When the transport equipment moves on the longitudinal rail, the guide wheels 370 can roll along the inner sidewall of the longitudinal rail.
  • the main body 600 When the transport equipment is ready to move from the transverse track to the longitudinal track, if the main body 600 is not aligned with the longitudinal track, the main body 600 may rub against the longitudinal track, and even fail to move to the longitudinal track.
  • the guide wheels 370 By setting the guide wheels 370, on the one hand, the friction between the main body 600 and the inner side wall of the longitudinal rail can be avoided; on the other hand, it can play a guiding role to ensure the smooth movement of the handling equipment to the longitudinal rail.
  • the guide wheel 370 can make full use of the distance between a pair of longitudinal traveling wheels, thereby making the structure of the transporting device more compact and small in size.
  • a rim 340 may be provided on the longitudinal traveling wheel.
  • the first vertical row A rim 340 may be provided on the outermost longitudinal traveling wheel along the longitudinal direction YY of the traveling wheel set 310 and/or the second longitudinal traveling wheel set 320 .
  • the rim 340 may be coaxially connected to the end of the longitudinal running wheel on which it is located, facing the outer side wall.
  • the space surrounded by the outer surface of the rim 340 may be in the shape of a truncated cone and have an increasing radius along a direction close to the outer wall.
  • the rim 340 may abut against the inner sidewall of the longitudinal rail.
  • the first longitudinal traveling wheel set 310 and the second longitudinal traveling wheel set 320 may be respectively connected to both ends of the driving shaft 250 .
  • the travel driving mechanism 110 can simultaneously drive the longitudinal travel wheels in the first longitudinal travel wheel set 310 and the longitudinal travel wheels in the second longitudinal travel wheel set 320 to roll along the longitudinal direction Y-Y.
  • the number of traveling drive mechanisms 110 can be reduced, so that the structure of the transporting equipment can be made more compact and the size smaller. Also, cost can be reduced.
  • the longitudinal traveling wheels in the first longitudinal traveling wheel set 310 and the longitudinal traveling wheels in the second longitudinal traveling wheel set 320 can roll synchronously along the longitudinal direction Y-Y to ensure the smooth movement of the transport equipment along the longitudinal direction Y-Y.
  • the traveling transmission mechanism 200 may include a first longitudinal transmission assembly 210 and a second longitudinal transmission assembly 220 .
  • the first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 may be disposed on the peripheral side of the main body 600 .
  • the first longitudinal transmission assembly 210 may be connected between the traveling drive mechanism 110 and the first longitudinal traveling wheel set 310 . In this way, the traveling driving mechanism 110 can drive the longitudinal traveling wheels in the first longitudinal traveling wheel set 310 to roll along the longitudinal direction Y-Y through the first longitudinal transmission assembly 210 .
  • the second longitudinal transmission assembly 220 may be connected between the traveling drive mechanism 110 and the second longitudinal traveling wheel set 320 . In this way, the traveling driving mechanism 110 can drive the longitudinal traveling wheels in the second longitudinal traveling wheel set 320 to roll along the longitudinal direction Y-Y through the second longitudinal transmission assembly 220 .
  • the first longitudinal traveling wheel set 310 may be connected to one end of the drive shaft 250 through the first longitudinal transmission assembly 210 .
  • the drive shaft 250 can drive the longitudinal traveling wheels in the first longitudinal traveling wheel set 310 to roll along the longitudinal direction Y-Y through the first longitudinal transmission assembly 210 .
  • the second longitudinal travel wheel set 320 may be connected to the other end of the drive shaft 250 through the second longitudinal transmission assembly 220 .
  • the drive shaft 250 can drive the longitudinal traveling wheels in the second longitudinal traveling wheel set 320 to roll along the longitudinal direction Y-Y through the second longitudinal transmission assembly 220 .
  • the traveling driving mechanism 110 and the lifting driving mechanism 120 may be distributed at intervals along the extending direction of the driving shaft 250 .
  • each of the first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 may be a flexible transmission assembly.
  • the flexible transmission can drive the longitudinal traveling wheels to roll through the flexible transmission ring.
  • Flexible transmission includes but not limited to belt transmission, chain transmission or other flexible transmission.
  • the first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 may respectively be one or more combinations of a belt transmission assembly, a chain transmission assembly or other flexible transmission assemblies.
  • the flexible transmission ring may include a belt.
  • the walking drive mechanism 110 can drive the first longitudinal walking through the belt.
  • the longitudinal travel wheels in the wheel set 310 roll along the longitudinal direction YY.
  • the flexible transmission ring may include a chain. In this way, the traveling driving mechanism 110 can drive the longitudinal traveling wheels in the first longitudinal traveling wheel set 310 to roll along the longitudinal direction YY through the chain.
  • the flexible transmission assembly has good elasticity, so that it can achieve the function of buffering and absorbing vibrations. Moreover, the flexible transmission assembly also has many advantages such as stable transmission, low noise, and simple structure. Therefore, the traveling drive mechanism 110 is respectively connected to the first longitudinal traveling wheel set 310 and the second longitudinal traveling wheel set 320 through the flexible first longitudinal transmission assembly 210 and the flexible second longitudinal transmission assembly 220, so that the running of the traveling device is relatively stable. , low noise. And, since the number of the longitudinal traveling wheels in the first longitudinal traveling wheel set 310 and the second longitudinal traveling wheel set 320 is relatively large, if the hard drive connection assembly of the gear set is adopted, more gears need to be set, especially in long distances.
  • the first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 of the present application adopt flexible transmission assemblies, which is very beneficial to realize the transmission connection between a large number of longitudinal traveling wheels. Therefore, the running device of the present application has a more compact structure and a smaller size. In this way, the size of the handling equipment can be reduced, so that it can be moved in a narrower space, so the applicability is better. The handling system using the handling equipment can also improve space utilization, thereby reducing costs.
  • the flexible drive assembly may include a first stage assembly 280 and a second stage assembly 290 .
  • the first longitudinal traveling wheel set 310 may include driving traveling wheels 350 and driven traveling wheels 360 spaced apart along the longitudinal direction Y-Y.
  • the second longitudinal traveling wheel set 320 may also include driving traveling wheels 350 and driven traveling wheels 360 spaced apart along the longitudinal direction Y-Y.
  • the traveling drive mechanism 110 can be connected with the active traveling wheels 350 through the first stage assembly 280 .
  • Driven road wheels 350 may be connected to driven road wheels 360 through secondary assembly 290 .
  • the flexible transmission ring When the distance between the longitudinal traveling wheels is too long, the length of the flexible transmission ring will be too long. This will cause the flexible transmission ring to jump greatly when rotating, and the operation is unstable. Moreover, the flexible transmission ring is not easy to lay out, and the design and production are more difficult. At the same time, in order to prevent the flexible transmission ring from falling off easily after long-term use, the flexible transmission ring needs to be provided with more and larger tensioning pulleys. Instead, by grading the flexible transmission assembly into a first stage assembly 280 and a second stage assembly 290, the flexible transmission ring can be divided into a plurality of flexible transmission rings. In this way, the length of each flexible transmission ring can be relatively shortened.
  • each flexible transmission ring has less jump when rotating and runs stably. Moreover, each flexible transmission ring is relatively easy to lay out, and the difficulty of design and production is relatively small. At the same time, each flexible transmission ring is still not easy to fall off after long-term use, and each flexible transmission ring does not need to be provided with too many tensioning wheels. With fewer idlers, more space can be created within the first stage assembly 280 and the second stage assembly 290 . This space can be fully utilized, for example, for arranging cables, which will be described in detail below. Like this, the structure of running device is comparatively compact, and size is smaller.
  • the flexible transmission assembly can also include a third-level assembly, a fourth-level assembly, and the like. These variations and modifications all fall within the scope of protection claimed by the present application.
  • the first stage assembly 280 may be located between the second stage assembly 290 and the driving 350 and driven 360 road wheels.
  • the driving wheel 350 and the driven wheel 360 may be located on one side of the first stage assembly 280
  • the second stage assembly 290 may be located on the other side of the first stage assembly 280 .
  • the second-stage assembly 290, the driving wheel 350 and the driven wheel 360 can protect the first-stage assembly 280 and prevent the first-stage assembly 280 from being damaged by external force.
  • the travel driving mechanism 110 can still drive the driving wheel 350 to roll through the first-stage assembly 280, thereby maintaining normal movement.
  • the active traveling wheels 350 may include a first traveling wheel 351 and a second traveling wheel 352 .
  • the driven road wheels 360 may include a third road wheel 361 and a fourth road wheel 362 .
  • the first road wheel 351 and the second road wheel 352 may be located between the third road wheel 361 and the fourth road wheel 362 along the longitudinal direction Y-Y.
  • the third road wheel 361 and the fourth road wheel 362 may be located on the outside, and the first road wheel 351 and the second road wheel 352 may be located on the inside.
  • the third road wheel 361 may be connected to the first road wheel 351 through a second stage assembly 290 .
  • Fourth road wheel 362 may be connected to second road wheel 352 by another second stage assembly 290 .
  • the two second level assemblies 290 may be the same or different. With such arrangement, the length of each flexible transmission ring can be further shortened.
  • the distance from the third road wheel 361 to the first road wheel 351 is smaller than the distance from the third road wheel 361 to the second road wheel 352 .
  • the distance from the fourth road wheel 362 to the second road wheel 352 is smaller than the distance from the fourth road wheel 362 to the first road wheel 351 .
  • the third road wheel 361 , the first road wheel 351 , the second road wheel 352 and the fourth road wheel 362 can be arranged in sequence.
  • the second stage assembly 290 can be connected between adjacent road wheels, so that the length of the flexible transmission ring of the second stage assembly 290 can be shortened.
  • the structure of the flexible transmission assembly is more concise and convenient for layout.
  • the two second-level components 290 can adopt the same structure, so that the types of parts can be reduced, and the design and production are facilitated.
  • the first stage assembly 280 may include a drive wheel 281 , a tensioner wheel 282 and a flexible transmission ring 283 .
  • the driving wheel 281 may be disposed on the driving shaft 250 to rotate coaxially with the driving shaft 250 .
  • the flexible transmission ring 283 can be sleeved on the shaft of the driving wheel 350 (ie, the first wheel 351 and the second wheel 352 ).
  • the driving wheel 281 and the tensioning wheel 282 can abut against the flexible transmission ring 283 on the inner and outer sides of the flexible transmission ring 283 . Understandably, when the flexible transmission component is a belt transmission component, the driving wheel 281 and the tensioning wheel 282 may be pulleys.
  • the driving wheel 281 and the tensioning wheel 282 may be sprockets.
  • the traveling driving mechanism 110 can be connected to the driving wheel 281 through the traveling transmission mechanism 200 to drive the driving wheel 281 to rotate.
  • drive The wheel 281 can drive the flexible transmission ring 283 to rotate, thereby driving the driving wheel 350 to roll along the longitudinal direction YY.
  • second stage assembly 290 may include a flexible drive ring 291 .
  • the flexible transmission ring 291 can be sleeved on the respective shafts of a driving wheel 350 and a driven wheel 360 .
  • the driving wheel 350 rotates with the flexible transmission ring 283 , thereby driving the flexible transmission ring 291 to rotate, and then driving the driven wheel 360 to rotate.
  • the flexible transmission ring 283 will become loose due to wear and other reasons after long-term use, which may cause poor transmission (such as jumping teeth) and shedding.
  • the tensioning wheel 282 can be used to tension the flexible transmission ring 283 to restrain the loosening of the flexible transmission ring 283 .
  • the tensioning wheel 282 can also increase the wrapping angle between the flexible transmission ring 283 and the driving wheel 281, thereby increasing the transmission torque and reducing wear. Therefore, the structure of the first stage assembly 280 is simple and the transmission performance is good.
  • the driving wheel 281 may be located outside the flexible transmission ring 283 .
  • the tension pulley 282 may include a first tension pulley 284 and a second tension pulley 285 .
  • the first tensioning wheel 284 may be located between the first road wheel 351 and the driving wheel 281 .
  • the center of the first tensioning wheel 284 may be located outside the first connecting line between the center of the first traveling wheel 351 and the center of the driving wheel 281 .
  • the “outside of the first connection line” here is relative to the flexible transmission ring 283 , which refers to the side of the first connection line facing outside the flexible transmission ring 283 .
  • the center of the first tensioning wheel 284 is set away from the center of the flexible transmission ring 283 relative to the first connecting line.
  • the second tensioning wheel 285 may be located between the second road wheel 352 and the driving wheel 281 .
  • the center of the second tensioning wheel 285 may be located outside the second connecting line between the center of the second traveling wheel 352 and the center of the driving wheel 281 .
  • the “outside of the second connection line” here is also relative to the flexible transmission ring 283 , which refers to the side of the second connection line facing outside the flexible transmission ring 283 . That is to say, the center of the second tensioning wheel 285 is set away from the center of the flexible transmission ring 283 with respect to the second connecting line. In this way, the first tensioning wheel 284 and the second tensioning wheel 285 can further increase the wrapping angle between the flexible transmission ring 283 and the driving wheel 281 , thereby increasing the transmission torque and reducing wear.
  • the walking device may further include a longitudinal side panel (such as a first longitudinal side panel 621 or a second longitudinal side panel 622 , as shown in FIG. 5 ) extending along the longitudinal direction Y-Y.
  • a plurality of mounting portions may be provided on the longitudinal side plates.
  • the tension wheel 282 can be selectively mounted to one or more of the plurality of mounts to change the position of the tension wheel 282 .
  • the mounting part may include a long hole 624 provided on the side plate. The tensioning wheel 282 can move within the slot 624 to change its position. With such arrangement, the position of the tensioning wheel 282 can be adjusted according to the specific structure and wear condition of the flexible transmission ring 283 , so that the flexible transmission ring 283 can maintain a desired tension.
  • the longitudinal traveling wheel set 300 may be arranged on the outer side of the longitudinal side plate.
  • the longitudinal transmission assembly may be disposed on the inner side of the longitudinal side panels.
  • the outer side of the longitudinal side panel refers to the side of the longitudinal side panel facing the exterior of the running gear.
  • the outer side of the first longitudinal side panel 621 refers to the side of the first longitudinal side panel 621 facing upward and to the right, while the outer side of the second longitudinal side panel 622 refers to the side of the second longitudinal side panel 622 facing the lower left.
  • the shafts of the longitudinal traveling wheels of the first longitudinal traveling wheel set 310 can pass through the first longitudinal side plate 621 to extend to the inner side of the first longitudinal side plate 621 .
  • the longitudinal traveling wheels of the first longitudinal traveling wheel set 310 can roll relative to the first longitudinal side plate 621 .
  • the axles of the longitudinal traveling wheels of the second longitudinal traveling wheel set 320 can pass through the second longitudinal side plate 622 to extend to the inner side of the second longitudinal side plate 622 .
  • the longitudinal traveling wheels of the second longitudinal traveling wheel set 320 can roll relative to the second longitudinal side plate 622 .
  • the first longitudinal transmission assembly 210 can be connected to the shaft of the longitudinal traveling wheels in the first longitudinal traveling wheel set 310 , so as to drive the longitudinal traveling wheels in the first longitudinal traveling wheel set 310 to roll.
  • the first longitudinal transmission assembly 210 can be connected to the axles of the longitudinal traveling wheels in the second longitudinal traveling wheel set 320 , so as to drive the longitudinal traveling wheels in the second longitudinal traveling wheel set 320 to roll.
  • the outer sides of the longitudinal side panels may also be provided with electrical components.
  • the electrical components include, but are not limited to, the lateral obstacle sensor 912, the antenna 991, and the like.
  • Threading holes 623 may be provided on the longitudinal side plates. Cables of electrical components can pass through the threading holes 623 to extend to the inner side of the longitudinal side panels. Cables for electrical components include but are not limited to power cables or signal cables. Such setting facilitates the arrangement of cables, thereby optimizing the inner space of the running gear.
  • the threading hole 623 may be located inside the flexible transmission ring 283 . Due to the reduced length of the flexible transmission ring 283, the number and size of the tensioning pulley 282 can also be moderately reduced. In this way, more space can be formed inside the flexible transmission ring 283 . Cables can be routed in this space. Like this, the structure of running device is comparatively compact, and size is smaller.
  • the traveling transmission mechanism 200 may further include a first transverse transmission assembly 230 and a second transverse transmission assembly 240 .
  • the first transverse transmission assembly 230 and the second transverse transmission assembly 240 may be disposed on the peripheral side of the main body 600 .
  • the first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 may be disposed on opposite sides of the main body 600 .
  • the first transverse transmission assembly 230 and the second transverse transmission assembly 240 can also be provided on the opposite sides.
  • the first longitudinal transmission assembly 210 and the first transverse transmission assembly 230 may be disposed on the upper side of the main body 600 in FIG. 1 .
  • the second longitudinal transmission assembly 220 and the second lateral transmission assembly 240 may be disposed on the lower side of the main body 600 in FIG. 1 .
  • the lateral travel wheel set 400 may include a first lateral travel wheel set 410 and a second lateral travel wheel set 420 .
  • the first transverse transmission assembly 230 may be connected between the traveling drive mechanism 110 and the first transverse traveling wheel set 410 . In this way, the travel driving mechanism 110 can drive the lateral travel wheels in the first lateral travel wheel set 410 to roll along the lateral direction X-X through the first lateral transmission assembly 230 .
  • the second transverse transmission assembly 240 may be connected between the drive shaft 250 and the second transverse travel wheel set 420 . In this way, the travel driving mechanism 110 can drive the lateral travel wheels in the second lateral travel wheel set 420 to roll along the lateral direction X-X through the second lateral transmission assembly 240 .
  • the travel driving mechanism 110 can be connected to the first transverse transmission assembly 230 through the first hard transmission connection assembly 710 .
  • the walking drive mechanism 110 can be connected through the second hard drive
  • the joint assembly 720 is connected with the second transverse transmission assembly 240 .
  • the gear hard transmission includes the way of transmission through the meshing of multiple identical or different gears. That is to say, the first hard transmission connection assembly 710 and the second hard transmission connection assembly 720 can be gear sets respectively. Gears include but are not limited to one or more combinations of cylindrical gears, bevel gears, non-circular gears, racks and worm gears.
  • the travel drive mechanism 110 is connected to the first transverse transmission assembly 230 and the second transverse transmission assembly 240 through the first hard transmission connection assembly 710 and the second hard transmission connection assembly 720 respectively, so that the structure of the traveling device is relatively compact and the size is small. .
  • the size of the handling equipment can be reduced, so that it can be moved in a narrower space, so the applicability is better.
  • the handling system using the handling equipment can also improve space utilization, thereby reducing costs.
  • a first hard drive connection assembly 710 may be connected between the drive shaft 250 and the first transverse drive assembly 230 .
  • the running gear may have a first side (ie the upper side in FIG. 1 ) and a second side (ie the lower side in FIG. 1 ) opposite along the transverse direction X-X.
  • the first transverse traveling wheel set 410 and the first transverse transmission assembly 230 may be located on opposite first sides of the traveling device along the transverse direction X-X.
  • the traveling drive mechanism 110 may be located on the opposite second side of the traveling device along the transverse direction X-X.
  • the first transverse travel wheel set 410 and the first transverse transmission assembly 230 may extend along the longitudinal direction Y-Y.
  • the first hard drive connection assembly 710 may include a first bevel gear 711 and a second bevel gear 712 .
  • the first bevel gear 711 may be disposed on the driving shaft 250 to rotate coaxially with the driving shaft 250 .
  • the second bevel gear 712 may be connected to the first transverse drive assembly 230 .
  • the first bevel gear 711 and the second bevel gear 712 may mesh. In this way, the axis of the first bevel gear 711 and the axis of the second bevel gear 712 can be perpendicular.
  • the traveling driving mechanism 110 can drive the driving shaft 250 to rotate, so as to drive the first bevel gear 711 to rotate.
  • the first bevel gear 711 can drive the second bevel gear 712 to rotate, thereby driving the first transverse transmission assembly 230 to rotate, and then driving the transverse running wheels in the first transverse traveling wheel set 410 to roll along the transverse direction X-X.
  • the first lateral traveling wheel set 410 and the first lateral transmission assembly 230 are arranged on one side of the conveying equipment, thereby reducing the space occupied by the central part of the conveying equipment. Since the drive shaft 250 and the first transverse transmission assembly 230 are perpendicular to each other, the transmission can be realized by setting the first bevel gear 711 and the second bevel gear 712 .
  • the first hard drive connection assembly 710 may also include a first spur gear 713 and a second spur gear 714 .
  • the first spur gear 713 may be coaxially connected to the second bevel gear 712 .
  • the second bevel gear 712 can rotate coaxially with the first cylindrical gear 713 .
  • the first spur gear 713 and the second bevel gear 712 may be located on both sides of the separator 680 respectively.
  • the first cylindrical gear 713 and the second bevel gear 712 Can be rotatably mounted on the partition 680 .
  • the first spur gear 713 can mesh with the second spur gear 714 .
  • the first transverse drive assembly 230 may include a first transverse drive shaft 231 .
  • the second spur gear 714 may be disposed on the first transverse transmission shaft 231 .
  • the first transverse traveling wheel set 410 may be fixed to the first transverse transmission shaft 231 .
  • the first transverse transmission shaft 231 can drive the transverse traveling wheels in the first transverse traveling wheel set 410 to roll along the transverse direction X-X.
  • the traveling driving mechanism 110 can drive the driving shaft 250 to rotate, so as to drive the first bevel gear 711 to rotate.
  • the first bevel gear 711 can drive the second bevel gear 712 to rotate.
  • the second bevel gear 712 can drive the first cylindrical gear 713 to rotate.
  • the first spur gear 713 can drive the second spur gear 714 to rotate, thereby driving the first transverse transmission shaft 231 to rotate, and then driving the transverse traveling wheels in the first transverse traveling wheel set 410 to roll along the transverse direction X-X.
  • the structure of the first hard drive connection assembly 710 is simple and its size is small.
  • both ends of the first transverse transmission shaft 231 may be respectively provided with first swinging parts 232 .
  • the first swing part 232 may be connected to the lateral travel wheels in the first lateral travel wheel set 410 .
  • the first swing part 232 includes but not limited to a telescopic spline shaft. In the state where the lateral traveling wheels are detached from the lateral track, the lateral traveling wheels and the first oscillating portion 232 swing relative to the first lateral transmission shaft 231 to produce an angular displacement and tilt up. Under the state that the longitudinal travel wheel breaks away from the longitudinal track, the transverse travel wheel falls back to the transverse track.
  • the first transverse transmission shaft 231 may be connected to the travel drive mechanism 110 .
  • the transmission shaft When reversing, during the rising or falling process of the transverse traveling wheel, the transmission shaft does not follow the transverse traveling wheel and the longitudinal traveling wheel to rise and fall together. Since the first transverse transmission shaft 231 at both ends of the first transverse transmission shaft 231 swings and tilts relative to the first transverse transmission shaft 231 during reversing, the required space in the height direction is small. Therefore, the handling equipment can be made thinner, which can improve the passing performance of the handling equipment in the handling system, and is also conducive to reducing the shelf layer spacing of the handling system and improving the space utilization rate of the handling system.
  • the axis of the first spur gear 713 and the axis of the second spur gear 714 may be spaced apart along the vertical direction.
  • the drive shaft 250 and the first transverse transmission shaft 231 can be spaced apart in the vertical direction, thereby preventing interference.
  • the traveling drive mechanism 110 may include a first output end 111 and a second output end 112 .
  • the first output 111 may be connected to the drive shaft 250 .
  • the first output end 111 can drive the drive shaft 250 to rotate, and then drive the transverse running wheels in the first transverse traveling wheel set 410 to roll along the transverse direction X-X, and simultaneously drive the first longitudinal traveling wheel set 310 and the second longitudinal traveling wheel set 320
  • the longitudinal traveling wheels roll along the longitudinal direction Y-Y.
  • the second output end 112 may be connected to the second transverse transmission assembly 240 through a second transverse transmission assembly (such as the second hard transmission connection assembly 720 ). In this way, only one travel driving mechanism 110 can be provided to drive the lateral travel wheels in the lateral travel wheel set 400 to roll along the lateral direction X-X.
  • the second transverse transmission assembly 240 and the second transverse traveling wheel set 420 may be located on the second side of the traveling device along the transverse direction XX. So set, travel driving mechanism 110 and the second The transverse transmission assembly 240 is relatively close together to facilitate gear transmission.
  • the second transverse traveling wheel set 420 and the second transverse transmission assembly 240 may respectively extend along the longitudinal direction Y-Y.
  • the axis of rotation of the second output 112 may extend along the longitudinal direction Y-Y. Therefore, the rotational axes of the second transverse traveling wheel set 420 , the second transverse transmission assembly 240 and the second output end 112 may be parallel to each other. In this way, gear transmission can be facilitated, so that the structure of the second hard transmission connection assembly 720 is simpler.
  • the second transverse transmission assembly 240 may include a second transverse transmission shaft 241 .
  • the second hard drive connection assembly 720 may include a third spur gear 721 and a fourth spur gear 722 .
  • the third spur gear 721 may be disposed on the second output end 112 .
  • the second output end 112 can drive the third spur gear 721 to rotate.
  • the fourth spur gear 722 may be disposed on the second transverse transmission shaft 241 .
  • the third cylindrical gear 721 can mesh with the fourth cylindrical gear 722 .
  • the second output end 112 of the walking drive mechanism 110 can drive the third cylindrical gear 721 to rotate, so as to drive the fourth cylindrical gear 722 to rotate, thereby driving the second transverse transmission shaft 241 to rotate, and then driving the transverse direction in the second transverse travel wheel set 420
  • the road wheels roll along the transverse direction X-X.
  • the structure of the second hard drive connection assembly 720 is simple and its size is small.
  • two ends of the second transverse transmission shaft 241 may be respectively provided with second swinging parts 242 .
  • the second swing portion 242 may be connected to the lateral travel wheels in the second lateral travel wheel set 420 .
  • the working principles and technical effects of the second transverse transmission shaft 241 and the second oscillating portion 242 are substantially the same as those of the first transverse transmission shaft 231 and the first oscillating portion 232 , and will not be repeated for brevity.
  • the first longitudinal transmission assembly 210 , the second longitudinal transmission assembly 220 , the first transverse transmission assembly 230 and the second transverse transmission assembly 240 may be disposed on the peripheral side of the main body 600 .
  • the occupancy of the space in the middle of the main body 600 can be reduced, so that a relatively regular space can be formed in the middle.
  • Larger components such as the traveling drive mechanism 110, the lifting drive mechanism 120, the power supply assembly 810, and the electrical assembly 820 can be arranged in this space, thereby simplifying the layout.
  • the above-mentioned components can be arranged more compactly, which facilitates the miniaturization of the conveying equipment.
  • the first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 may be located on two sides of the handling equipment. In this way, the distance between the first longitudinal transmission assembly 210 and the first longitudinal travel wheel set 310 is relatively close, and the distance between the second longitudinal transmission assembly 220 and the second longitudinal travel wheel set 320 is relatively close, which can facilitate connection and reduce the occupied space due to connection. Space, so that the structure of the handling equipment is more compact.
  • the main body 600 may further include a first longitudinal partition 631 and a second longitudinal partition 632 .
  • the first longitudinal partition 631 may be disposed inside the first longitudinal side plate 621 .
  • the first longitudinal partition 631 can be spaced apart from the first longitudinal side plate 621 to form a first elongated longitudinal cavity 641 .
  • the first longitudinal transmission assembly 210 may be located within the first longitudinal cavity 641 .
  • the second longitudinal partition 632 may be disposed inside the second longitudinal side plate 622 .
  • the second longitudinal partition 632 can be connected with the second The longitudinal side panels 622 are spaced apart to form an elongated second longitudinal cavity 642 .
  • the second longitudinal transmission assembly 220 may be located within the second longitudinal cavity 642 .
  • Such an arrangement can prevent substances such as lubricating oil in the first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 from flowing out and causing pollution to other components.
  • dust and other sundries can also be prevented from entering, causing the transmission effect of the first longitudinal transmission assembly 210 and the second longitudinal transmission assembly 220 to decrease.
  • the traveling driving mechanism 110 and the lifting driving mechanism 120 may be disposed between the first longitudinal partition 631 and the second longitudinal partition 632 .
  • Travel drive mechanism 110 may be adjacent to second longitudinal divider 632 .
  • the lift drive mechanism 120 may be adjacent to the first longitudinal partition 631 .
  • the adjacency includes abutting against or being separated by a predetermined distance.
  • the predetermined distance can be as small as possible. With such an arrangement, a large space can be formed between the traveling drive mechanism 110 and the lifting drive mechanism 120, and it is convenient to install components such as the power supply assembly 810, thereby improving the space utilization rate in the transport equipment.
  • the lifting transmission mechanism 500 may include a first lifting transmission mechanism 510 and a second lifting transmission mechanism 520 .
  • the first lifting transmission mechanism 510 and the second lifting transmission mechanism 520 can be respectively located on the first side (ie, the left side in FIG. 1 ) and the second side (ie, the right side in FIG. 1 ) along the longitudinal direction Y-Y of the handling equipment.
  • the first lifting transmission mechanism 510 can be connected between the horizontal traveling wheel located on the first side of the conveying equipment along the longitudinal direction Y-Y in the transverse traveling wheel set 400 and the lifting driving mechanism 120 .
  • the lifting driving mechanism 120 can drive the horizontal traveling wheels on the first side along the longitudinal direction Y-Y of the conveying equipment to lift up and down through the first lifting transmission mechanism 510 .
  • the second lifting transmission mechanism 520 may be connected between the horizontal traveling wheel located on the second side of the conveying equipment along the longitudinal direction Y-Y in the transverse traveling wheel set 400 and the lifting drive mechanism 120 .
  • the elevating driving mechanism 120 can drive the horizontal traveling wheels on the second side of the conveying equipment along the longitudinal direction Y-Y through the second elevating transmission mechanism 520 to elevate. In this way, the occupancy of the space in the middle of the main body 600 can be reduced, so that a relatively regular space can be formed in the middle. Larger components such as the traveling drive mechanism 110 and the lifting drive mechanism 120 are more convenient to install, thereby simplifying the layout difficulty. In addition, related components can be arranged more compactly, which facilitates the miniaturization of the handling equipment. And, the first lifting transmission mechanism 510 and the second lifting transmission mechanism 520 can be respectively connected with the nearby transverse travel wheels, so that the connection can be facilitated, the space occupied by the connection can be reduced, and the structure of the transporting equipment can be compacted.
  • the main body 600 may further include a first transverse partition 661 and a second transverse partition 662 .
  • the first transverse partition 661 may be disposed inside the first transverse side plate 651 .
  • the first transverse partition 661 can be spaced apart from the first transverse side plate 651 to form a horizontally long first transverse cavity 671 .
  • Both the first lifting transmission mechanism 510 and the transverse traveling wheels of the transverse traveling wheel set 400 located on the first side of the transport equipment along the longitudinal direction YY can be located in the first transverse cavity 671 .
  • the second transverse partition 662 may be disposed inside the second transverse side plate 652 .
  • the second transverse partition 662 can be spaced apart from the second transverse side plate 652 to form a horizontally long second transverse cavity 672 .
  • Both the second lifting transmission mechanism 520 and the transverse traveling wheels of the transverse traveling wheel set 400 located on the second side of the conveying equipment along the longitudinal direction YY are located in the second transverse cavity 672 . So set, you can prevent the first liter Substances such as lubricating oil in the lowering transmission mechanism 510 and the second lifting transmission mechanism 520 flow out, causing pollution to other components. In addition, dust and other sundries can also be prevented from entering, causing the first lifting transmission mechanism 510 and the second lifting transmission mechanism 520 to reduce the lifting effect. At the same time, the lateral running wheels in the lateral running wheel set 400 can also be protected from being damaged by external force.
  • the first transverse transmission assembly 230 , the first transverse travel wheel set 410 and the first longitudinal transmission assembly 210 may be located at one side of the transport equipment.
  • the first transverse transmission assembly 230 , the first transverse traveling wheel set 410 and the first longitudinal transmission assembly 210 can all be located in the first longitudinal cavity 641 .
  • the second transverse transmission assembly 240 , the second transverse travel wheel set 420 and the second longitudinal transmission assembly 220 may be located on the other side of the transport equipment.
  • the second transverse transmission assembly 240 , the second transverse traveling wheel set 420 and the second longitudinal transmission assembly 220 can all be located in the second longitudinal cavity 642 .
  • first transverse transmission assembly 230 and the second transverse transmission assembly 240 are relatively close to the first transverse traveling wheel set 410 and the second transverse traveling wheel set 420 respectively, thereby facilitating connection and reducing the space occupied by the connection, thereby Make the structure of the handling equipment more compact.
  • the distance between the first longitudinal transmission assembly 210 and the first transverse transmission assembly 230 is relatively close, and the distance between the second longitudinal transmission assembly 220 and the second transverse transmission assembly 240 is relatively short, which can facilitate centralized protection and maintenance.
  • the number of transverse traveling wheels in the transverse traveling wheel set 400 may be less than the number of longitudinal traveling wheels in the longitudinal traveling wheel set 300 .
  • the structure of the transverse transmission assembly (such as the first transverse transmission assembly 230 and the second transverse transmission assembly 240 ) used to connect the transverse traveling wheel set 400 can be relatively simple.
  • the lifting drive mechanism 120 can be connected with the horizontal traveling wheel set 400 through the lifting transmission mechanism 500, so as to drive the horizontal traveling wheel set 400 to ascend and descend. Such setting can reduce the load of the lifting drive mechanism 120, thereby making the transport equipment more energy-saving.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Les modes de réalisation de la présente invention concernent un appareil de manipulation et un système de manipulation. L'appareil de manipulation comprend un corps principal, un premier bac et un deuxième bac adjacents l'un à l'autre dans la direction horizontale étant disposés sur le corps principal ; un mécanisme d'entraînement de marche, un mécanisme de transmission de marche et des jeux de roues de marche qui sont disposés sur le corps principal, le mécanisme d'entraînement de marche étant relié aux jeux de roues de marche au moyen du mécanisme de transmission de marche de façon à entraîner les jeux de roues de marche en rotation, et le mécanisme de transmission de marche et les jeux de roues de marche étant disposés autour du premier bac et du deuxième bac ; et un ensemble d'alimentation électrique et un ensemble électrique, l'ensemble d'alimentation électrique étant disposé dans le premier bac et l'ensemble électrique étant disposé dans le deuxième bac. Il n'y a pas d'autres parties supplémentaires passant à travers le premier bac et le deuxième bac, et le premier bac et le deuxième bac peuvent par conséquent être des espaces relativement réguliers. De cette manière, il peut y avoir un espace plus grand pour disposer l'ensemble d'alimentation électrique et l'ensemble électrique. Puisque l'ensemble d'alimentation électrique et l'ensemble électrique sont relativement concentrés, la disposition des câbles est facilitée et ainsi un espace interne de l'appareil de manipulation peut être optimisé et la taille de l'appareil de manipulation est réduite.
PCT/CN2023/077401 2022-02-25 2023-02-21 Appareil de manipulation et système de manipulation WO2023160540A1 (fr)

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CN202220393345.8 2022-02-25
CN202220393345.8U CN217200362U (zh) 2022-02-25 2022-02-25 搬运设备和搬运系统

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CN217200362U (zh) * 2022-02-25 2022-08-16 北京旷视机器人技术有限公司 搬运设备和搬运系统
CN217200365U (zh) * 2022-02-25 2022-08-16 北京旷视机器人技术有限公司 搬运设备和搬运系统

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CN217200365U (zh) * 2022-02-25 2022-08-16 北京旷视机器人技术有限公司 搬运设备和搬运系统
CN217200361U (zh) * 2022-02-25 2022-08-16 北京旷视机器人技术有限公司 行走装置、搬运设备和搬运系统

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CN212447846U (zh) * 2019-11-12 2021-02-02 昆明创迪科技开发有限公司 一种四向行走搬运车
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CN217200361U (zh) * 2022-02-25 2022-08-16 北京旷视机器人技术有限公司 行走装置、搬运设备和搬运系统

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