WO2023284629A1 - 一种搬运车及搬运车系统 - Google Patents

一种搬运车及搬运车系统 Download PDF

Info

Publication number
WO2023284629A1
WO2023284629A1 PCT/CN2022/104457 CN2022104457W WO2023284629A1 WO 2023284629 A1 WO2023284629 A1 WO 2023284629A1 CN 2022104457 W CN2022104457 W CN 2022104457W WO 2023284629 A1 WO2023284629 A1 WO 2023284629A1
Authority
WO
WIPO (PCT)
Prior art keywords
reversing
longitudinal
wheels
lifting frame
travel
Prior art date
Application number
PCT/CN2022/104457
Other languages
English (en)
French (fr)
Inventor
施鸿亮
关利东
Original Assignee
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 旷视格图(苏州)智能装备有限公司 filed Critical 旷视格图(苏州)智能装备有限公司
Publication of WO2023284629A1 publication Critical patent/WO2023284629A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/08—Means for varying tension of belts, ropes, or chains

Definitions

  • the present disclosure relates to the technical field of logistics, in particular to a transport vehicle and a transport vehicle system.
  • trucks have been popularized and applied on a large scale in factories, e-commerce warehousing, workshop items and material handling.
  • the transportation, storage, distribution, loading and unloading of materials must use trucks.
  • the transport vehicle has poor flexibility during travel and cannot adapt to complex working environments.
  • the present disclosure provides a transport vehicle and a transport vehicle system.
  • a transport vehicle including: a vehicle frame; a lifting frame, which is arranged on the vehicle frame; a running mechanism, which includes horizontal traveling wheels and longitudinal traveling wheels, and the horizontal traveling wheels are arranged
  • the travel drive mechanism is connected with the horizontal travel wheels and the longitudinal travel wheels, and drives the horizontal travel wheels to rotate and the longitudinal travel wheels to rotate ;
  • the transport vehicle moves laterally through the transverse traveling wheels; or,
  • the transport vehicle moves longitudinally through the longitudinal traveling wheels.
  • it also includes a reversing drive mechanism connected with the lifting frame to drive the lifting frame up and down; wherein, the reversing driving mechanism drives the lifting frame to rise to disengage the longitudinal traveling wheels In the state of the driving surface, the transport vehicle moves laterally through the horizontal traveling wheels; or, in the state where the reversing drive mechanism drives the lifting frame down so that the longitudinal traveling wheels touch the driving surface , the transport vehicle moves longitudinally through the longitudinal traveling wheels.
  • the transverse traveling wheels include one set of transverse driving wheels and three sets of transverse driven wheels, one set of transverse driven wheels in the three sets of transverse driven wheels is adjacent to the transverse driving wheels, and the other two sets of transverse driven wheels are adjacent to the transverse driving wheels.
  • the driving wheel and the transverse driving wheel are arranged at intervals in the transverse direction;
  • the longitudinal traveling wheels include two groups of longitudinal driving wheels, and the two groups of longitudinal driving wheels are arranged at intervals in the longitudinal direction.
  • the traveling driving mechanism includes: a traveling driving motor fixed to the vehicle frame; a first transmission assembly connected to the longitudinal traveling wheels and the traveling driving motor; a second transmission assembly connected to the The horizontal travel wheels and the travel drive motor, wherein the travel drive motor drives the first transmission assembly and the second transmission assembly to rotate, and drives the longitudinal travel wheels and the lateral travel wheels to rotate synchronously.
  • the traveling drive mechanism includes: a reducer, including a traveling input end, a first traveling output end and a second traveling output end, the traveling input end is connected to the output shaft of the traveling driving motor;
  • the first transmission assembly is connected to the first travel output end;
  • the second transmission assembly is connected to the second travel output end.
  • the first transmission assembly includes: a first transmission shaft, rotatably arranged on the lifting frame, wherein the longitudinal travel wheels are installed at both ends of the first transmission shaft; A transmission connection piece, connecting the first transmission shaft and the first travel output end of the reducer; the second transmission assembly includes: a second transmission shaft, which is arranged in a direction different from that of the first transmission shaft, And it is rotatably arranged on the vehicle frame, wherein, the lateral travel wheels are mounted on both ends of the second transmission shaft; the second transmission connection part connects the second transmission shaft and the travel drive motor.
  • the first transmission assembly includes: a third transmission shaft, rotatably disposed on the lifting frame, and in the longitudinal direction, the third transmission shaft is spaced parallel to the first transmission shaft It is provided that the two ends of the third transmission shaft are respectively installed with the longitudinal travel wheels; the third transmission connection part is connected with the first transmission shaft and the third transmission shaft.
  • the first transmission connection is a belt or a chain
  • the second transmission connection is a belt or a chain
  • the third transmission connection is a belt or a chain.
  • a tensioning mechanism is included for tensioning the first transmission connection, the second transmission connection and/or the third transmission connection.
  • the tensioning mechanism includes: a first tensioning wheel abutting against the third transmission link facing downwards; and a second tensioning wheel abutting against the third transmission linking upwards.
  • the reversing drive mechanism includes: a lead screw, vertically arranged on the vehicle frame; a nut, threaded with the lead screw, and the lifting frame is fixed to the nut; a reversing drive motor , is arranged on the vehicle frame, and is connected to the screw by transmission, drives the screw to rotate, and drives the nut and the elevating frame to go up and down.
  • the reversing drive mechanism includes: a cam abutting against the bottom of the elevating frame for supporting the elevating frame; a reversing driving motor disposed on the vehicle frame and connected to the cam through transmission.
  • the reversing drive mechanism includes: a rack, vertically arranged on the vehicle frame, connected to the elevating frame; a gear, meshed with the rack; a reversing drive motor, arranged on the The vehicle frame is connected with the gear transmission.
  • the reversing drive mechanism includes: a reversing drive motor fixed to the frame; at least one crank mechanism connected to the elevating frame; a third transmission assembly connected to the reversing drive motor The output shaft of the crank mechanism and the crank mechanism; wherein, the reversing drive motor is used to drive the crank mechanism to swing, and drive the lifting frame to go up and down, so that the longitudinal traveling wheels are detached from or abutted against the running surface.
  • the lifting frame is provided with a through hole;
  • the crank mechanism includes: a first crank, the driving connection part of the first crank is driven by the output shaft of the reversing drive motor through the third transmission assembly Connection; the swing shaft is fixed to the swing part of the first crank, and the swing shaft passes through the through hole to support the lifting frame.
  • a bearing is provided on the swing shaft, and the bearing abuts against the lifting frame.
  • the crank mechanism includes: a second crank, one end of the second crank is fixed to the swing shaft, and the other end is rotatably disposed on the vehicle frame.
  • the through hole has a racetrack shape along the extending direction of the lifting frame.
  • the third transmission assembly includes a first synchronous gear mechanism
  • the first synchronous gear mechanism includes a reversing input end, a first reversing output end, and a second reversing output end, and the reversing The input end is connected to the output shaft of the reversing drive motor;
  • the crank mechanism includes a first crank mechanism and a second crank mechanism, and the first crank mechanism and the second crank mechanism are respectively connected to the lifting frame, And connected to the first reversing output end and the second reversing output end respectively.
  • the lifting frame includes a first lifting frame and a second lifting frame, and the first lifting frame and the second lifting frame are respectively arranged on lateral sides of the vehicle frame;
  • the synchronous gear mechanism includes a third reversing output end;
  • the third transmission assembly includes: a second synchronous gear mechanism, including a reversing connection end, a fourth reversing output end, and a fifth reversing output end; a connecting shaft, one end of which is connected to The third reversing output end is connected, and the other end is connected to the reversing connection end;
  • the crank mechanism includes a third crank mechanism and a fourth crank mechanism, wherein the third crank mechanism and the fourth crank mechanism are respectively Connected with the second lifting frame, and respectively connected to the fourth reversing output end and the fifth reversing output end, the first crank mechanism and the second crank mechanism are respectively connected to the first lifting frame connected, and respectively connected to the first reversing output end and the second reversing output end.
  • the first synchronous gear mechanism includes a first gear box and a first gear set disposed in the first gear box; and/or the second synchronous gear mechanism includes a second gear box and The second gear set arranged in the second gear box.
  • the guide mechanism includes: a guide shaft vertically arranged on the vehicle frame; a sliding seat slidably arranged on the guide shaft and fixedly connected to the lifting frame.
  • the guide mechanism includes: a fixed base fixed to the vehicle frame, the fixed base includes a bottom plate, a top plate, and a side plate fixed between the bottom plate and the top plate, and one end of the guide shaft is fixed on the bottom plate, and the other end is fixed on the top plate.
  • the lifting plate is fixed to the lifting frame and is used to lift the items to be carried.
  • An embodiment of the present disclosure also provides a transport vehicle system, including: the transport vehicle according to any one of the above embodiments, and a transverse track and a longitudinal track; Walk on the horizontal track.
  • the transport vehicle provided by the present disclosure drives the lifting frame through the reversing drive mechanism to drive the longitudinal traveling wheels to break away from or touch the driving surface, so that the transverse traveling wheels and the longitudinal traveling wheels contact the driving surface alternately, so as to switch the traveling direction of the transport vehicle.
  • the flexibility is greatly improved, and the handling efficiency is also greatly improved.
  • Fig. 1 is a schematic diagram of the overall structure of a transport vehicle according to an exemplary embodiment.
  • Fig. 2 is a top view of a transport vehicle with an upper cover removed according to an exemplary embodiment.
  • Fig. 3 is a schematic diagram showing another perspective of a transport vehicle with an upper cover removed according to an exemplary embodiment.
  • Fig. 4 is a top view of a partial structure of a transport vehicle according to an exemplary embodiment.
  • Fig. 5 is a schematic view from another perspective of a partial structure of a transport vehicle according to an exemplary embodiment.
  • Fig. 6 is a structural schematic diagram of another part of a transport vehicle according to an exemplary embodiment.
  • Fig. 7 is an enlarged schematic diagram of a part of the structure shown in Fig. 6 according to an exemplary embodiment.
  • Fig. 8 is a schematic view showing another perspective of the partial structure in Fig. 6 according to an exemplary embodiment.
  • Fig. 9 is a schematic structural diagram of a crank mechanism according to an exemplary embodiment.
  • Fig. 10 is a schematic structural diagram of a guiding mechanism according to an exemplary embodiment.
  • Fig. 11 is a side view of a transport vehicle in a longitudinal traveling state according to an exemplary embodiment.
  • Fig. 12 is a side view of a transport vehicle in a lateral running state according to an exemplary embodiment.
  • Fig. 13 is a partially enlarged schematic view of a transport vehicle according to an exemplary embodiment.
  • Fig. 14 is a structural schematic diagram of another part of a transport vehicle according to an exemplary embodiment.
  • Intelligent Logistics System Intelligent Logistics System
  • Smart logistics uses artificial intelligence, big data, various information sensors, radio frequency identification technology, global positioning system (GPS) and other Internet of Things devices and technologies, and is widely used in basic logistics such as material transportation, warehousing, distribution, packaging, loading and unloading, and information services.
  • GPS global positioning system
  • the activity link realizes the intelligent analysis and decision-making, automatic operation and high-efficiency optimized management of the material management process.
  • the Internet of Things technology includes sensing equipment, RFID technology, laser infrared scanning, infrared induction recognition, etc.
  • the Internet of Things can effectively connect the materials in the logistics with the network, monitor the materials in real time, and sense the humidity and temperature of the warehouse. Data, guarantee the storage environment of materials.
  • all the data in the logistics can be sensed and collected, uploaded to the data layer of the information platform, and the data can be filtered, mined, analyzed and other operations, and finally the business process (such as transportation, storage, access, picking, packaging, distribution Picking, delivery, inventory, distribution and other links) to provide accurate data support.
  • the application direction of artificial intelligence in logistics can be roughly divided into two types: 1) Unmanned trucks, AGVs, AMRs, forklifts, shuttles, stackers, unmanned delivery vehicles, unmanned aerial vehicles, Smart devices such as service robots, robotic arms, and smart terminals replace part of the labor force; 2) Software such as transportation equipment management systems, warehouse management, equipment scheduling systems, and order distribution systems driven by computer vision, machine learning, and operational optimization technologies or algorithms The system improves labor efficiency. With the research and progress of smart logistics, this technology has been applied in many fields, such as retail and e-commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothing, textiles, food and other fields.
  • the embodiment of the present utility model provides a transport vehicle 100 , including a vehicle frame 10 , a lifting frame 20 , a traveling mechanism 30 , and a traveling driving mechanism 40 .
  • the vehicle frame 10 serves as the vehicle body of the transport vehicle 100 and is used to provide support for various components.
  • the vehicle frame 10 can be rectangular as a whole, including a chassis 11, a peripheral plate 12 arranged around the chassis, and an upper cover plate 13.
  • the chassis 11, the circumferential plate 12 and the upper cover plate 13 jointly form an accommodation space for accommodating various parts.
  • the peripheral plate 12 may be provided with a charging port through which the data line passes, a sensor port through which the sensor is exposed outside the vehicle frame 10 , an indicator port through which the indicator light is exposed outside the vehicle frame 10 , and the like.
  • the truck 100 may include a detection device.
  • the detection device may include a detection component for detecting whether objects are carried on the transport vehicle 100 .
  • the detection component can be a pressure sensor arranged on the carrying platform or the lifting plate, and the pressure sensor detects the pressure of the article to determine whether the carrying platform or the lifting plate is loaded with an article, and detects the weight of the carried article to determine whether it is overloaded.
  • the detection device may also include detection components for detecting environmental conditions during travel.
  • the detection component can be one or more cameras arranged on the side panels (such as lateral side panels and/or longitudinal side panels) of the vehicle frame 10, the images of the surrounding environment are obtained through the cameras, and the images collected by the image sensors of the cameras are collected. The images are used for positioning of the truck 100, item inventory, foreign object detection, obstacle avoidance, and the like.
  • the detection component can also be one or more laser radars arranged on the side plates (such as lateral side plates and/or longitudinal side plates) of the vehicle frame 10, and the obstacles in the horizontal and/or longitudinal directions are scanned by the laser radars, so as to timely Avoid obstacles or sound an alarm.
  • the detection device can also include a lifting position for detecting the lifting frame 20 that will be described below, for example, a photoelectric switch can be respectively set at the highest position, the middle position and the lowest position of the lifting frame 20 to detect whether the lifting frame 20 moves to the required position. s position.
  • a photoelectric switch can be respectively set at the highest position, the middle position and the lowest position of the lifting frame 20 to detect whether the lifting frame 20 moves to the required position. s position.
  • the detection device may include a lifting detection component for detecting the lifting position of the lifting frame.
  • the lifting detection part may include a first photoelectric switch 81, a second photoelectric switch 82 and a third photoelectric switch 83 arranged on the vehicle frame 10, and the first photoelectric switch 81, the second photoelectric switch 82 and the third photoelectric switch 83 are composed of Arranged in sequence from low to high, corresponding to the lowest position, the middle position and the highest position of the lifting frame 20 respectively.
  • a support plate 14 can be fixed on the chassis 11 of the vehicle frame 10, and the first photoelectric switch 81, the second photoelectric switch 82 and the third photoelectric switch 83 can be respectively fixed on the support plate 14 through connectors (such as angle irons) 84, And correspond to the lowest position, the middle position and the highest position of the lifting frame 20 respectively.
  • the first photoelectric switch 81, the second photoelectric switch 82 and the third photoelectric switch 83 can be U-shaped photoelectric switches, and a catch 84 is fixed on the lifting frame 20.
  • the blocking plate 84 When the lifting frame 20 was in the lowest position, the blocking plate 84 was positioned at the first In the U-shaped groove of the photoelectric switch 81, to block the light, when the lifting frame 20 was in the middle position, the blocking plate 84 was positioned in the U-shaped groove of the second photoelectric switch 82 to block the light.
  • the sheet 84 is located in the U-shaped groove of the third photoelectric switch 83 to block light.
  • the detection device may further include an object detection component for detecting the object to be carried.
  • the item detection component includes a fourth photoelectric switch 85 arranged on the vehicle frame 10, the fourth photoelectric switch 85 is exposed to the upper cover plate 13 of the vehicle frame 10, and whether the fourth photoelectric switch is blocked to determine whether the current transport vehicle 100 is loaded with items .
  • the fourth photoelectric switch 85 can be fixed on the chassis 11 of the vehicle frame 10 through a bracket, and can be located near the middle of the chassis 11 to ensure that it is covered when carrying items.
  • the fourth photoelectric switch may be a diffuse reflection photoelectric switch.
  • the detection device may further include a deviation detection component for detecting deviation of the article.
  • the offset detection part may include at least one pair of fifth photoelectric switches 86 .
  • there are two fifth photoelectric switches 86 and the two fifth photoelectric switches 86 may be respectively located on both sides of the central axis of the transport vehicle 100 .
  • two fifth photoelectric switches 86 are symmetrically distributed near the two sides of the longitudinal axis of symmetry O, and the two fifth photoelectric switches 86 correspond to the longitudinal beam at the middle position of the pallet (not shown), wherein the pallet is used for carrying For items to be transported, if the longitudinal beam at the middle of the pallet covers and blocks the two fifth photoelectric switches 86 at the same time, it is determined that the items on the pallet have not deviated from the center position of the transport vehicle 100 . If the longitudinal beam at the middle position of the tray does not cover any one of the two fifth photoelectric switches, it is judged that the article on the tray deviates from the center position of the transport vehicle 100, and the alarm device can be controlled by the main control unit to issue an alarm.
  • fifth photoelectric switches 86 can be arranged along both sides of the longitudinal axis of symmetry O. One or more pairs of the fifth photoelectric switch 86 can also be arranged on both sides of the transverse axis of symmetry, and the fifth photoelectric switch 86 corresponds to the beam at the middle position of the pallet.
  • the fifth photoelectric switch may be a diffuse reflection photoelectric switch.
  • the lifting frame 20 is arranged on the vehicle frame 10, and can be lifted up and down relative to the vehicle frame 10, and interferes with the vehicle frame 10 in the lateral direction (X direction in the figure) or longitudinal direction (Y direction in the figure), without relative displacement .
  • the longitudinal side of the chassis 11 protrudes toward the transverse direction to form one or more limiting plates 111
  • the bottom of the lifting frame 20 is provided with one or more limiting plates 111.
  • the limiting groove 211 is sleeved on the limiting plate 111 .
  • the lateral and longitudinal displacement of the lifting frame 20 relative to the vehicle frame 10 is limited by the interference of the limiting plate 111 and the limiting groove 211 .
  • the traveling mechanism 30 includes a transverse traveling wheel 31 and a longitudinal traveling wheel 32 .
  • the transverse traveling wheels 31 are rotatably arranged on the vehicle frame 10
  • the longitudinal traveling wheels 32 are rotatably arranged on the elevating frame 20 .
  • the lateral running wheels 31 rotate on the running surface, driving the transport vehicle 100 to move laterally, that is, to move along the X direction in the figure, and the X direction refers to the lateral travel direction of the transport vehicle 100 .
  • the longitudinal travel wheels 32 rotate on the running surface, driving the transport vehicle 100 to move longitudinally, in the Y direction in the figure, and the Y direction refers to the longitudinal travel direction of the transport vehicle 100 .
  • the driving surface may be a flat ground or a track surface.
  • the longitudinal travel wheels 32 can travel along the first track surface (such as the main roadway), the first track surface extends along the Y direction (longitudinal), and the transverse travel wheels 31 can travel along the second track surface. (such as a sub-lane), the second track surface extends along the X direction (transverse direction).
  • the transport vehicle 100 in the embodiment of the present disclosure may be a rail transport vehicle or a trackless transport vehicle.
  • the horizontal direction (X direction) and the longitudinal direction (Y direction) mentioned in this disclosure are the traveling directions of the transport vehicle, which are completely interchangeable in some cases.
  • the transport vehicle 100 of the present disclosure further includes a traveling drive mechanism 40 .
  • the traveling driving mechanism 40 is arranged on the vehicle frame 10, and is connected to the transverse traveling wheel 31 and the longitudinal traveling wheel 32 in transmission, and is used to drive the transverse traveling wheel 31 and the longitudinal traveling wheel 32 to rotate.
  • the traveling driving mechanism 40 can drive the transverse traveling wheels 31 and the longitudinal traveling wheels 32 to rotate together.
  • the transport vehicle 100 moves laterally via the lateral travel wheels 31 .
  • the transport vehicle 100 moves longitudinally via the longitudinal traveling wheels 32 .
  • the transfer vehicle can be moved in different directions by alternating the transverse travel wheels 31 and the longitudinal travel wheels 32 to realize reversing operation, and the transportation flexibility is greatly improved.
  • the reversing drive mechanism 50 is connected with the elevating frame 20 to drive the elevating frame 20 up and down, so as to switch the lateral movement or the longitudinal movement of the transport vehicle 100 .
  • the reversing drive mechanism 50 drives the lifting frame 20 to rise relative to the vehicle frame 10, and the longitudinal traveling wheels 32 follow the lifting frame 20 to rise.
  • the lateral travel wheels 31 keep in contact with the running surface, and the rotation of the lateral travel wheels 31 drives the truck 100 to advance or retreat laterally, that is, the truck 100 moves laterally through the lateral travel wheels 31 (as shown in FIG. 12 ).
  • the reversing drive mechanism 50 drives the lifting frame 20 to descend, and the longitudinal traveling wheels 32 follow the lifting frame 20 to descend.
  • the horizontal traveling wheels 31 are lifted up to be in a suspended state, the longitudinal traveling wheels 32 keep in contact with the running surface, and the longitudinal traveling wheels 32 rotate to drive the transport vehicle 100 to advance or retreat along the longitudinal direction, that is, the transport vehicle 100 passes through the longitudinal traveling wheels 32 Move vertically (as shown in Figure 11).
  • the transport vehicle 100 of the present disclosure can move forward and backward in the horizontal direction and longitudinal direction, realize four-way travel, be more flexible, and improve transport efficiency.
  • the lifting frame 20 can also directly or indirectly carry the items to be transported, and can realize the reversing operation of the transport vehicle 100 while lifting the items.
  • a lifting plate 70 may be fixed on the top of the lifting frame 20, and the items to be transported are carried by the lifting plate 70.
  • the lifting frame 20 is driven by the reversing drive mechanism 50 to lift the articles to be transported.
  • the longitudinal traveling wheels 32 follow the lifting frame 20 rises away from the running surface, and the transverse traveling wheels 31 keep in contact with the traveling surface, and the truck 100 moves laterally through the transverse traveling wheels 31 to transport the lifted items to desired positions.
  • the lifting plate 70 may not be fixed on the lifting frame 20 , instead of being lifted by the lifting frame 20 to lift objects.
  • the lifting plate 70 can be arranged on a lifting mechanism, and the lifting plate 70 is driven up and down by an independent lifting mechanism to lift objects.
  • the lifting mechanism can be, for example, a linkage mechanism, such as a parallel four-bar linkage mechanism, a scissor mechanism, and the like.
  • the lifting frame 20 is driven by the reversing drive mechanism 50 to drive the longitudinal traveling wheels 32 to disengage from or touch the driving surface, so that the transverse traveling wheels 31 and the longitudinal traveling wheels 32 are alternately in contact with the traveling surface to switch
  • the traveling direction of the transport vehicle 100 greatly improves the transport flexibility, and the reversing operation of the transport vehicle 100 is realized while lifting objects, and the transport efficiency is also greatly improved.
  • the traveling drive mechanism 40 includes a traveling driving motor 41 , a reducer 42 , a first transmission assembly 43 and a second transmission assembly 44 .
  • the traveling drive motor 41 and the speed reducer 42 may be fixed on the vehicle frame 10 , for example, on the chassis 11 of the above vehicle frame 10 .
  • Reducer can comprise walking input end 421, the first walking output end 422 and the second walking output end 423, wherein, the walking input end 421 of speed reducer 42 is connected with the output shaft of walking driving motor 41, and walking driving motor 41 rotation can drive The first traveling output end 422 and the second traveling output end 423 of the speed reducer 42 rotate synchronously.
  • Speed reducer 42 can be double output shaft speed reducer, comprises the input shaft as travel input end 421, the first output shaft as first travel output end 422 and the second output shaft as second travel output end 423, the first output
  • the shaft can be connected with the output shaft of the travel drive motor 41 through a coupling, the first output shaft can be connected with the first output shaft and the second output shaft through a gear set, and the travel drive motor 41 rotates to drive the first output shaft and the second output shaft. Shafts rotate synchronously.
  • the first transmission assembly 43 connects the longitudinal traveling wheels 32 and the first traveling output end 422 of the speed reducer 42
  • the second transmission assembly 44 connects the transverse traveling wheels 31 and the second traveling output end 423 of the speed reducer 42 . That is to say, the longitudinal travel wheel 32 is connected to the first travel output end 422 of the speed reducer 42 through the first transmission assembly 43
  • the transverse travel wheel 31 is connected to the second travel output end 423 of the speed reducer 42 through the second transmission assembly 44 .
  • a walking drive motor 41 rotates and drives the two output shafts of the speed reducer 42 to rotate synchronously, thereby driving the horizontal travel wheel 31 and the longitudinal travel wheel 32 to rotate synchronously by the first transmission assembly 43 and the second transmission assembly 44.
  • the transport vehicle 100 of the embodiment of the present disclosure realizes the synchronous rotation of the horizontal travel wheel 31 and the longitudinal travel wheel 32 through a walking drive motor 41, which reduces the occupation of the space of the transport vehicle 100 and provides more space for other components, such as increasing The capacity of the large storage battery improves the battery life of the truck 100 .
  • one motor is also easy to control and reduces cost.
  • the above-mentioned first transmission assembly 43 may include a first transmission shaft 431 and a first transmission connection member 432 .
  • the first transmission shaft 431 is driveably disposed on the lifting frame 20 .
  • the first transmission shaft 431 straddles the two elevating frames 20 , and longitudinal travel wheels 32 are respectively installed at both ends.
  • both ends of the first transmission shaft 431 are respectively rotatably connected to the lifting frame 20 through bearings.
  • the first transmission connector 432 connects the first transmission shaft 431 and the first travel output end 422 of the reducer 42 , that is, the first transmission shaft 431 and the first travel output end 422 of the reducer 42 are connected through the first transmission connection 432 .
  • the rotation of the travel driving motor 41 drives the first travel output end 422 of the reducer 42 to rotate, and drives the first transmission shaft 431 to rotate through the first transmission connector 432 , and drives the longitudinal travel wheel 32 to rotate.
  • the first longitudinal driven wheels 32a can be arranged respectively at the positions of the longitudinal traveling wheels 32 adjacent to the two ends of the first transmission shaft 431 of the lifting frame 20, and the longitudinal traveling wheels 32 and the first longitudinal driven wheels 32a follow the lifting frame 20. Lifting and lowering together, so that the longitudinal traveling wheel 32 and the first longitudinal driven wheel 32a disengage together or abut against the traveling surface. The stability of the moving process of the transport vehicle 100 is ensured by setting the first longitudinal driven wheels 32a.
  • the second transmission assembly 44 mentioned above may include a second transmission shaft 441 and a second transmission connection member 442 .
  • the second transmission shaft 441 is rotatably arranged on the vehicle frame 10, and spans the vehicle frame 10 along the longitudinal direction.
  • the second transmission shaft 441 is arranged in a different direction from the first transmission shaft 431.
  • the transmission shafts 431 may be vertically crossed.
  • the two ends of the second transmission shaft 441 are respectively equipped with transverse travel wheels 31 .
  • both ends of the second transmission shaft 441 can be rotatably connected to the vehicle frame 10 through bearing seats provided on the vehicle frame 10 respectively.
  • the second transmission link 442 is connected to the second drive shaft 441 and the second travel output end 423 of the reducer 42 , that is, the second drive shaft 441 is connected to the second drive output end 423 of the reducer 42 through the second drive link 442 .
  • first lateral driven wheels 31 a can be respectively provided at the positions of the lateral traveling wheels 31 adjacent to the two ends of the second transmission shaft 441 of the vehicle frame 10 to ensure stability during travel.
  • the vehicle frame 10 can also be provided with two pairs of second transversely driven wheels 31b. In the transverse direction, each pair of second transversely driven wheels 31b is spaced apart from the transverse traveling wheels 31 and the first transversely driven wheels 31a.
  • the vehicle frame 10 is jointly supported by a pair of driving wheels (transverse travel wheels 31) and three pairs of driven wheels (a pair of first transverse driven wheels 31a and two pairs of second transverse driven wheels 31b), so that the vehicle can travel more smoothly.
  • first travel output end 422 and the second travel output end 423 of the speed reducer 42 are driven to rotate synchronously by the rotation of a travel drive motor 41, and at the same time, the first drive connector 432 and the second drive connector 442 drive the lateral travel respectively.
  • Wheel 31 and longitudinal travel wheel 32 rotate synchronously.
  • the reversing drive mechanism 50 drives the lifting frame 20 to rise, and the first transmission shaft 431 and the longitudinal traveling wheels 32 follow the lifting frame 20 to rise together, so that the longitudinal traveling wheels 32 are separated from the running surface. At this time, the longitudinal traveling wheels 32 and the transverse traveling wheels 31 still kept rotating. Since the longitudinal traveling wheels 32 broke away from the running surface and were suspended, the transverse traveling wheels 31 kept in contact with the traveling surface. Travel sideways.
  • the reversing drive mechanism 50 drives the lifting frame 20 to descend, and the first transmission shaft 431 and the longitudinal traveling wheels 32 follow the lifting frame 20 to descend together, so that the longitudinal traveling wheels 32 are against the running surface, and At the same time, the vehicle frame 10 is jacked up so that the second transmission shaft 441 and the lateral travel wheels 31 are lifted together with the vehicle frame 10 and separated from the running surface, that is, the lateral travel wheels 31 are in a suspended state.
  • the wheels 32 travel along the transverse direction to complete the switching of the transport vehicle 100 from the transverse direction to the longitudinal direction.
  • transverse traveling wheels 31 and the longitudinal traveling wheels 32 are always in a rotating state and have a certain rotational speed, when switching the direction of travel, they can quickly advance at this rotational speed, shorten the start-up time, and improve transport efficiency.
  • the first transmission assembly 43 may further include a third transmission shaft 433 and a third transmission connection member 434 .
  • the third transmission shaft 433 is rotatably arranged on the lifting frame 20, and in the longitudinal direction (Y direction), the third transmission shaft 433 is arranged in parallel with the first transmission shaft 431 at intervals, and the two ends of the third transmission shaft 433 are respectively installed with
  • the longitudinal traveling wheels 32 are used as longitudinal driving traveling wheels to drive the transport vehicle 100 to advance longitudinally.
  • the third transmission shaft 433 straddles the two lifting frames 20 , and the two ends thereof are rotatably connected to the lifting frames 20 through bearings.
  • the second longitudinal driven wheels 32b can be respectively set at the positions of the longitudinal traveling wheels 32 at the two ends of the third transmission shaft 433 of the lifting frame 20, so that, in the longitudinal direction, through the first transmission shaft 431 two The longitudinal travel driving wheel 32 at the end, the longitudinal travel wheel 32 at both ends of the third transmission shaft 433, and the first longitudinal driven wheel 32a and the second longitudinal driven wheel 32b support the transport vehicle 100 together.
  • the first transmission shaft 431 may be adjacent to the travel driving motor 41 and the speed reducer 42 .
  • the third transmission shaft 433 is far away from the traveling drive motor 41 and the speed reducer 42 .
  • the third transmission connecting member 434 connects the first transmission shaft 431 and the third transmission shaft 433 .
  • the rotation of the walking drive motor 41 drives the first walking output end 422 of the speed reducer 42 to rotate, and drives the first transmission shaft 431 to rotate through the first transmission connection part 432.
  • the first transmission shaft 431 passes through the third transmission connection part 434 Drive the third transmission shaft 433 to rotate, thereby driving the longitudinal travel wheels 32 at both ends of the first transmission shaft 431 and the longitudinal travel wheels 32 at both ends of the third transmission shaft 433 to rotate synchronously.
  • the third drive shaft 433 and the third drive link 434 may not be needed, and one or more longitudinal traveling wheels are directly connected to the lifting frame 20 to serve as a secondary drive.
  • the driving wheel follows the longitudinal traveling wheel 32 on the first transmission shaft 431 to walk.
  • a plurality of laterally driven wheels may be provided on the vehicle frame 10 for rotation, and follow the laterally traveling wheels 31 on the second transmission shaft 441 to travel.
  • the first transmission link 432 , the second transmission link 442 and the third transmission link 434 may be belts or chains. That is, the transmission mode of the first transmission assembly 43 and the second transmission assembly 44 may be belt transmission or chain transmission.
  • the transmission mode of the first transmission assembly 43 and the second transmission assembly 44 adopts chain transmission to improve the transmission load capacity.
  • the first transmission assembly 43 and the second transmission assembly 44 may both be driven by belts, or one may be driven by a belt and the other by a chain.
  • the truck 100 further includes a tensioning mechanism for tensioning the first transmission link 432 , the second transmission link 442 and/or the third transmission link 442 .
  • the connection part 434 is used to adjust the tightness of the first transmission connection part 432 , the second transmission connection part 442 and/or the third transmission connection part 434 .
  • the corresponding tensioning mechanism can be configured according to the tightness (sag) of each chain.
  • the tensioning mechanism can make the first transmission connection part 432, the second transmission connection part 442 and/or the third transmission connection part 434 loosen and be in a relaxed state, and can also make the first transmission connection part 432, the second transmission connection part 442 and /or the third transmission link 434 is tightened to be in a tense state.
  • the tensioning mechanism may include a first tensioning wheel 61 and a second tensioning wheel 62 .
  • the first tensioning wheel 61 abuts against the third transmission connecting member 434 facing downward.
  • the second tensioning wheel 62 abuts against the third transmission connecting member 434 facing upward.
  • the third transmission link 434 is a chain, which winds around a sprocket on the first transmission shaft 431 and a sprocket on the third transmission shaft 433 .
  • the chain includes an upper section and a lower section.
  • the first tensioning wheel 61 can abut against the upper portion of the chain, and give the chain a pre-tightening force facing downward (positive direction of the Z axis).
  • the second tensioning wheel 62 is spaced apart from the first tensioning wheel 61, and can abut against the lower section of the chain, and give the chain a pre-tightening force toward the upper side (the negative direction of the Z axis). More specifically, the first tensioning wheel 61 and the second tensioning wheel 62 can be respectively fixed on the chassis 11 of the vehicle frame 10 through a support frame. Taking a tensioning wheel 61 as an example, an adjustment groove extending along the Z-axis direction is provided on the support frame. The rotating shaft of the first tensioning wheel 61 passes through the adjustment groove and is fixed on the support frame. The first tension wheel 61 is adjusted through the adjustment groove. The height of the tensioning wheel 61 is used to adjust the pre-tightening force of the first tensioning wheel 61 against the chain.
  • the first tensioning wheel 61 and the second tensioning wheel 62 cooperate to tension the chain up and down to adjust the tightness of the chain, so as to avoid poor meshing and vibration caused by excessive sag of the chain.
  • the reversing drive mechanism 50 drives the lifting frame 20 to rise, and the first transmission shaft 431 and the longitudinal traveling wheels 32 follow the lifting frame 20 to rise together, so that the longitudinal traveling wheels 32 are separated from the running surface.
  • the pretension force between the lower portion of the third transmission link 434 (such as a chain) and the second tension pulley 62 decreases, and the pretension force between the upper portion and the first tension pulley 61 increases. , can keep the pre-tightening force on the entire chain basically unchanged, the tightness basically remains unchanged, and the transmission is more stable and reliable.
  • the tensioning mechanism may include a third tensioning wheel 63 for tensioning the second transmission link 442 .
  • the way to adjust the tightness (sag) of the third transmission link 434 is not limited to the above-mentioned tension wheel, in other embodiments, the relative movement between the first transmission shaft 431 and the third transmission shaft 433 can also be adjusted to change the tension between the two.
  • the tightness of the third transmission link 434 can be adjusted by adjusting the distance between them.
  • the first transmission shaft 431 can be kept stationary in the lateral direction (Y direction), and the third transmission shaft 433 can be moved close to or away from the first transmission shaft 431 to change the first transmission shaft 431 and the third transmission shaft 431.
  • the distance between the shafts 433 is used to adjust the tightness of the third transmission link 434 .
  • the third transmission shaft 433 can be kept stationary in the lateral direction (Y direction), and the first transmission shaft 431 can move close to or away from the third transmission shaft 433 to change the first transmission shaft 431 and the third transmission shaft 431.
  • the distance between the shafts 433 is used to adjust the tightness of the third transmission link 434 .
  • the first transmission shaft 431 and the third transmission shaft 433 can move toward or away from each other to change the distance between the first transmission shaft 431 and the third transmission shaft 433 , thereby adjusting the third transmission connection 434 tightness.
  • the tightness adjustment method of the second transmission link 442 connected between the second transmission shaft 441 and the reducer 42 can be adjusted by a tension wheel.
  • the tightness of the third transmission link 434 can also be adjusted by moving the distance between the second transmission shaft 441 and the speed reducer 42 .
  • the reversing driving mechanism 50 includes a reversing driving motor 51 , at least one crank mechanism 52 and a third transmission assembly 53 .
  • the reversing drive motor 51 is fixed to the vehicle frame 10 , for example, to the chassis 11 .
  • the crank mechanism 52 is connected to the lifting frame 20 .
  • the third transmission assembly 53 is connected to the output shaft of the reversing drive motor 51 and the crank mechanism 52; wherein, the reversing drive motor 51 is used to drive the crank mechanism 52 to swing, and drives the lifting frame 20 to lift, so that the longitudinal traveling wheel 32 is separated from or against the crank mechanism 52. driving surface.
  • the reversing drive motor 51 rotates, and the third transmission assembly 53 drives the crank mechanism 52 to swing from the lowest position to the highest position, driving the lifting frame 20 to rise, and the longitudinal traveling wheels 32 follow the lifting frame 20 to rise away from the running surface.
  • the truck 100 moves laterally through the lateral traveling wheels 31 .
  • the reversing drive motor 51 rotates and drives the crank mechanism 52 to swing from the highest position to the lowest position through the third transmission assembly 53
  • the lifting frame 20 is driven down, and the longitudinal traveling wheels 32 follow the lifting frame 20 down to the driving surface, and the vehicle
  • the frame 10 is jacked up, and the transverse traveling wheels 31 break away from the running surface.
  • the truck 100 moves longitudinally through the longitudinal traveling wheels 32 .
  • the lifting frame 20 can directly or indirectly carry the items to be transported.
  • the crank mechanism 52 from the lowest position to the highest position, it can realize the reversing operation of the transport vehicle 100 while lifting the items. .
  • the crank mechanism 52 drives the elevating frame 20 up and down, and realizes the lifting operation of the items to be transported without reversing the direction, which can increase the flexibility of the transport vehicle 100 and adapt to Requirements for different working conditions.
  • the lifting frame 20 is provided with a through hole 221 .
  • the crank mechanism 52 includes a first crank 5211 and a swing shaft 5221 .
  • the first crank 5211 includes a drive connection part 5211-1 and a swing part 5211-2, wherein the drive connection part 5211-1 is used to connect the reversing drive motor 51 to transmit power, and the swing part 5211-2 is used to fix the swing shaft 5221, To transmit power to the swing shaft 5221 to swing.
  • one end of the first crank 5211 is in transmission connection with the output shaft of the reversing drive motor 51 through the third transmission assembly 53 .
  • the swing shaft 5221 is fixed on the other end of the first crank 5211 , and the swing shaft 5221 passes through the through hole 221 to support the lifting frame 20 .
  • the swing shaft 5221 is fixed on the other end of the first crank 5211 , deviates from the rotation center of the first crank 5211 , and extends towards a direction perpendicular to the first crank 5211 .
  • the swing shaft 5221 passes through the through hole 221 , and the lifting frame 20 abuts against the swing shaft 5221 .
  • the reversing drive motor 51 rotates to drive the first crank 5211 to rotate, and the swing shaft 5221 swings in a circle with the center of rotation of the first crank 5211.
  • the swing shaft 5221 has the highest position, the lowest position and the middle position.
  • the lifting frame 20 and the longitudinal travel wheels 32 follow the swing shaft 5221 to rise, so that the longitudinal travel wheels 32 are separated from the running surface, and the truck 100 moves laterally through the lateral travel wheels 31.
  • the elevating frame 20 descends following the swing shaft 5221, so that the longitudinal traveling wheels 32 touch the driving surface, and the vehicle frame 10 is jacked up, so that the transverse traveling wheels 31 are separated from the driving surface, and the transport vehicle 100 is moved longitudinally by longitudinal traveling wheels 32 .
  • the first crank 5211 and the swing shaft 5221 swing to drive the elevating frame 20 up and down to realize the lifting of the articles and the reversing of the transport vehicle 100. Since the first crank 5211 and the swing shaft 5221 are compact in structure and occupy a small space, it is beneficial to the transportation of the transport vehicle 100.
  • the widget's layout since the first crank 5211 and the swing shaft 5221 are compact in structure and occupy a small space, it is beneficial to the transportation of the transport vehicle 100.
  • the widget's layout is beneficial to the transportation of the transport vehicle 100.
  • a bearing 5231 is provided on the swing shaft 5221 , and the bearing 5231 is in contact with the lifting frame 20 .
  • the bearing 5231 is sleeved and fixed on the swing shaft 5221 , located in the through hole 221 of the lifting frame 20 , and abuts against the lifting frame 20 .
  • the bearing 5231 generates rotational friction with the through hole 221 of the lifting frame 20, which can reduce the friction force compared with the sliding friction between the swing shaft 5221 and the lifting frame 20 directly. Reduces the risk of excessive friction damage and increases transmission reliability.
  • the crank mechanism 52 further includes a second crank 5241 .
  • One end of the second crank 5241 is fixed to the swing shaft 5221 , and the other end is rotatably fixed to the vehicle frame 10 .
  • the structure of the second crank 5241 may be the same as that of the first crank 5211 , one end of the swing shaft 5221 is fixed to the first crank 5211 , and the other end is fixed to the second crank 5241 .
  • a connecting shaft extends toward the direction perpendicular to the second crank 5241 , such as a crank connecting shaft 5251 .
  • the crank connecting shaft 5251 can be rotatably arranged on the frame 10 through the crank bearing 525 .
  • the second crank 5241 is rotatably arranged on the vehicle frame 10. During the swinging process of the swinging shaft 5221, the first crank 5211 and the second crank 5241 form a firm support for the two ends of the swinging shaft 5221, effectively avoiding Vibration makes the lifting process of lifting frame 10 more stable.
  • the through hole 221 of the lifting frame 20 can extend along the longitudinal direction (Y direction) of the lifting frame 20 in a racetrack shape, and the longitudinal direction of the lifting frame 20 is also the extending direction of the lifting frame 20 .
  • the runway-shaped through hole 221 can provide a space for avoiding the swinging shaft 5221 in the longitudinal direction. The interference of the frame 20 in the longitudinal direction reduces the swing range of the lifting frame 20 and improves the stability of lifting objects.
  • the third transmission assembly 53 includes a first synchronous gear mechanism 531
  • the first synchronous gear mechanism 531 includes a reversing input end 5311, a first reversing output end 5312, and a first reversing output end 5312.
  • the two reversing output ends 5313 and the reversing input end 5311 are connected to the output shaft of the reversing drive motor 51, and the rotation of the reversing drive motor 51 drives the first reversing output end 5312 and the second reversing output end 5313 to rotate synchronously.
  • the above-mentioned crank mechanism 52 includes a first crank mechanism 521 and a second crank mechanism 522, the first crank mechanism 521 and the second crank mechanism 522 are respectively connected to the lifting frame 20, and are respectively connected to the first reversing output end 5312 and the second reversing output end 5312. to the output 5313.
  • Two through holes spaced along the longitudinal direction are provided on the lifting frame 20 .
  • the crank of the first crank mechanism 521 and the crank of the second crank mechanism 52 are respectively connected with the first reversing output end 5312 and the second reversing output end 5313, and the swing axis of the first crank mechanism and the swing axis of the second crank mechanism are respectively The two through holes pierced through the lifting frame 20 support the lifting frame 20 together.
  • the rotation of the reversing drive motor 51 drives the first reversing output end 5312 and the second reversing output end 5313 to rotate synchronously, thereby driving the two crank mechanisms 52 to synchronously drive the elevating frame 20 up and down, realizing reversing and lifting, and the reversing is more reliable , the lifting is more stable.
  • a reversing drive motor 51 cooperates with the first synchronous gear mechanism to realize the crank mechanism 52 synchronously driving the elevating frame 20 up and down, which reduces space occupation, facilitates control, and reduces costs.
  • first lifting frames 20 there may be two lifting frames 20 , namely a first lifting frame 21 and a second lifting frame 22 .
  • first lifting frame 21 and the second lifting frame 22 are respectively arranged on two lateral sides of the vehicle frame 10 .
  • the above-mentioned first synchronous gear mechanism 531 also includes a third reversing output end 5314, and the rotation of the reversing drive motor 51 drives the first reversing output end 5312, the second reversing output end 5313 and the third reversing output end 5314 to rotate synchronously.
  • the third transmission assembly 53 further includes a second synchronous gear mechanism 532 and a connecting shaft 533 .
  • the second synchronous gear mechanism 532 may be adjacent to the second lift frame 22
  • the first synchronous gear mechanism 531 may be adjacent to the first lift frame 21 .
  • the second synchronous gear mechanism 532 may include a reversing connection end 5321 , a fourth reversing output end and a fifth reversing output end.
  • One end of the connection shaft 533 is connected to the third reversing output end 5314 , and the other end is connected to the reversing connection end 5321 .
  • the rotation of the reversing drive motor 51 drives the first reversing output end 5312, the second reversing output end 5313 and the third reversing output end 5314 to rotate synchronously, and the rotation of the third reversing output end 5314 drives the connecting shaft 533 to rotate, thereby driving the first reversing output end 5314 to rotate.
  • the fourth reversing output end and the fifth reversing output end of the two synchronous gear mechanisms 532 rotate synchronously.
  • the crank mechanism 52 also includes a third crank mechanism 523 and a fourth crank mechanism 524, wherein the third crank mechanism 523 and the fourth crank mechanism 524 are respectively connected to the second elevating frame 22, and are respectively connected to the fourth reversing output end and The fifth reversing output end, the first crank mechanism 521 and the second crank mechanism 522 are respectively connected to the first lifting frame 21 and connected to the first reversing output end 5312 and the second reversing output end 5313 respectively.
  • the rotation of the reversing drive motor 51 drives the first reversing output end 5312, the second reversing output end 5313 and the third reversing output end 5314 to rotate synchronously, and the rotation of the third reversing output end 5314 drives the connecting shaft 533 to rotate synchronously, thereby driving
  • the fourth reversing output end and the fifth reversing output end of the second synchronous gear mechanism 532 rotate synchronously, and then the first crank mechanism 521, the second crank mechanism 522, the third crank mechanism 523 and the fourth crank mechanism 524 are synchronized together Swinging drives the first lifting frame 21 and the second lifting frame 22 to rise and fall synchronously.
  • a reversing drive motor 51 drives the synchronous lifting of the two lifting frames, which saves space, is easy to control, and lifts smoothly.
  • the first synchronous gear mechanism 531 includes a first gear box and a first gear set disposed in the first gear box.
  • the second synchronous gear mechanism 532 includes a second gear box and a second gear set disposed in the second gear box.
  • the third transmission assembly 53 adopts a synchronous gear mechanism, and the synchronous gear is sealed in the gear box, which can effectively avoid oil leakage and ensure safety.
  • the synchronous gear mechanism is modularized to form a whole, which is convenient for assembly and maintenance.
  • the reversing drive mechanism drives the elevating frame 20 can not be limited to the above-mentioned crank mechanism.
  • the reversing drive mechanism can include a lead screw nut pair (not shown) and a reversing drive motor, and the lead screw is vertical.
  • the nut is threadedly connected with the leading screw
  • the lifting frame 20 is fixed on the nut
  • the reversing drive motor is arranged on the vehicle frame, is connected with the leading screw transmission, drives the leading screw to rotate, drives the nut and the lifting frame 20 to lift, so that
  • the longitudinal running wheel 32 breaks away from or abuts against the running surface.
  • the lift frame 20 is lifted and lowered through the cooperation of the lead screw and the nut pair, and the force is more uniform and the lifting is more stable.
  • the reversing driving mechanism includes a cam (not shown in the figure) and a reversing driving motor.
  • the cam is against the bottom of the lifting frame 20 for supporting the lifting frame 20 .
  • the cam has a curved profile with different heights at different points of the curved profile.
  • the reversing driving mechanism includes: a gear, a rack and a reversing driving motor (not shown in the figure).
  • the reversing drive motor is connected to the gear transmission on the vehicle frame 10, and gears can be installed on the output shaft of the reversing drive motor.
  • the rack is vertically arranged on the vehicle frame 10 and connected with the lifting frame 20, and the gear is engaged with the rack.
  • the reversing drive motor rotates and drives the gear to rotate, drives the rack to lift, and the rack drives the lifting frame 20 to lift, so that the longitudinal travel wheel 32 is disengaged or arrives at the running surface.
  • the reversing drive mechanism may also include an air cylinder or a hydraulic cylinder arranged on the vehicle frame.
  • the telescoping end of the air cylinder or hydraulic cylinder is connected with the lifting frame 20 to drive the lifting frame 20 up and down, so that the longitudinal traveling wheels 32 are disengaged. Or reach the driving surface.
  • the lifting frame 20 is driven up and down by the air cylinder or the hydraulic cylinder, so that the objects can be lifted more accurately.
  • the transport vehicle 100 includes at least one guiding mechanism 60, which plays a guiding role in the lifting process of the lifting frame 20, and prevents the lifting frame 20 from swinging and vibrating. cause damage.
  • the guiding mechanism 60 may include a guiding shaft 601 and a sliding seat 602 .
  • the guide shaft 601 is vertically disposed on the frame 10 .
  • the sliding seat 602 is slidably disposed on the guide shaft 601 and is fixedly connected with the lifting frame 20 .
  • Lifting frame 20 is fixedly connected with sliding base 602 by bolts, and during lifting process of lifting frame 20, sliding base 602 lifts along vertical guide shaft 601, to limit lifting frame 20 to swing, make lifting frame 20 vertically lift.
  • the lifting frame 20 can also be lifted and lowered more smoothly by the guide mechanism 60 .
  • the guiding mechanism 60 may also include a fixing seat 603 .
  • the fixing seat 603 plays a role of supporting and stabilizing the guide shaft 601 .
  • the fixing base 603 includes a bottom plate 631 , a top plate 633 and a side plate 632 fixed between the bottom plate 631 and the top plate 633 , the bottom plate 631 is fixed on the chassis of the vehicle frame 10 , one end of the guide shaft 601 is fixed on the bottom plate 631 , and the other end is fixed on the top plate 633 .
  • the bottom plate 631 , the top plate 633 and the side plate 632 can be integrally formed or fixed by bolts.
  • the top plate 633, the bottom plate 631 and the side plates 632 form a stable support for the guide shaft 601, so that the guide shaft 601 is fixed more firmly and prevents the guide shaft 601 from vibrating. Lifting is also smoother.
  • a plurality of guide mechanisms 60 may be provided. For example four, a guide mechanism 60 can be set respectively at the two ends of the first lifting frame 21 respectively, and a guide mechanism 60 can be respectively set at the two ends of the second lifting frame 22 respectively, by the four guide mechanisms 60 to the first
  • the first lifting frame 21 and the second lifting frame 22 form guides in four directions, so that the synchronous lifting of the first lifting frame 21 and the second lifting frame 22 is more stable.
  • one or more guide wheels 34 are provided on the sides or corners of the vehicle frame 10 .
  • the guide wheels 34 can slide along the guide plates on both sides of the transverse track and/or the longitudinal track, so as to limit the lateral and/or longitudinal travel of the truck 100, preventing The transverse traveling wheels 31 and/or the longitudinal traveling wheels 32 break away from the transversal tracks.
  • Guide wheels 34 can also be provided at the four corners of the vehicle frame 10, so that when the truck 100 travels horizontally or vertically, the position can be limited by the guide wheels 34 at the four corners of the vehicle frame 10, that is, When the transport vehicle 100 travels laterally, the guide wheels 34 at the four corners of the vehicle frame 10 slide along the guide plates on both sides of the transverse track to limit the transverse travel of the transport vehicle 100 and prevent the transverse travel wheels 31 from breaking away from the transverse track. When the truck 100 was traveling longitudinally, the guide wheels 34 at the four corners of the vehicle frame 10 slid along the guide plates on both sides on the longitudinal track to limit the longitudinal travel of the truck 100 and prevent the longitudinal travel wheels 32 from breaking away from the longitudinal direction. track.
  • transverse traveling wheels 31 and/or the longitudinal traveling wheels 32 may be traveling wheels with flanges, and the flanges cooperate with the transverse rails or the longitudinal rails to limit positions and prevent them from deviating from the rails.
  • An embodiment of the present disclosure also provides a transport vehicle system, which includes a transport vehicle 100, a transverse rail, and a longitudinal rail.
  • the transport vehicle 100 is the transport vehicle mentioned in any one of the above embodiments.
  • the longitudinal traveling wheels 32 of the transport vehicle 100 travel on the longitudinal rails, and the transverse traveling wheels 31 of the transport cart 100 travel on the transverse rails.
  • the transport vehicle 100 moves laterally through the transverse traveling wheels 31 .
  • the transport vehicle 100 moves longitudinally via the longitudinal traveling wheels 32 .
  • the transfer vehicle 100 is moved in different directions by alternately using the transverse travel wheels 31 and the longitudinal travel wheels 32 to realize reversing operation, and the transportation flexibility is greatly improved.
  • “plurality” in the present disclosure refers to two or more, and other quantifiers are similar thereto.
  • “And/or” describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B may indicate: A exists alone, A and B exist simultaneously, and B exists independently.
  • the character “/” generally indicates that the contextual objects are an “or” relationship.
  • the singular forms “a”, “said” and “the” are also intended to include the plural unless the context clearly dictates otherwise.
  • first, second, etc. are used to describe various information, but the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another, and do not imply a specific order or degree of importance. In fact, expressions such as “first” and “second” can be used interchangeably.
  • first information may also be called second information, and similarly, second information may also be called first information.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Handcart (AREA)

Abstract

一种搬运车(100)及搬运车系统，其中，搬运车(100)包括：车架(10)；升降架(20)，设置于车架(10)；行走机构(30)，包括横向行走轮(31)和纵向行走轮(32)，横向行走轮(31)设置于车架(10)，纵向行走轮(32)设置于升降架(20)；行走驱动机构(40)，与横向行走轮(31)和纵向行走轮(32)传动连接，驱动横向行走轮(31)转动以及纵向行走轮(32)转动；在纵向行走轮(32)脱离行驶面的状态下，搬运车(100)通过横向行走轮(31)沿横向移动；或者，在横向行走轮(31)脱离行驶面的状态下，搬运车(100)通过纵向行走轮(32)沿纵向移动。该搬运车(100)提高了运输灵活性，搬运效率也得到提升。

Description

一种搬运车及搬运车系统 技术领域
本公开涉及物流技术领域，尤其涉及一种搬运车及搬运车系统。
背景技术
目前，搬运车在工厂、电商仓储、车间的物品以及物料搬运过程中已经大规模普及和应用。物料的运输、仓储、配送、装卸等环节均须用到搬运车。
然而，搬运车在行进过程中，灵活性较差，不能适应复杂的工作环境。
发明内容
为克服相关技术中存在的问题，本公开提供一种搬运车及搬运车系统。
根据本公开实施例的第一方面，提供一种搬运车，包括：车架；升降架，设置于所述车架；行走机构，包括横向行走轮和纵向行走轮，所述横向行走轮设置于所述车架，所述纵向行走轮设置于所述升降架；行走驱动机构，与所述横向行走轮和所述纵向行走轮传动连接，驱动所述横向行走轮转动以及所述纵向行走轮转动；在所述纵向行走轮脱离行驶面的状态下，所述搬运车通过所述横向行走轮沿横向移动；或者，
在所述横向行走轮脱离行驶面的状态下，所述搬运车通过所述纵向行走轮沿纵向移动。
在一些实施例中，还包括换向驱动机构，与所述升降架连接，驱动所述升降架升降；其中，在所述换向驱动机构驱动所述升降架升起使所述纵向行走轮脱离行驶面的状态下，所述搬运车通过所述横向行走轮沿横向移动；或者，在所述换向驱动机构驱动所述升降架下降使所述纵向行走轮抵于所述行驶面的状态下，所述搬运车通过所述纵向行走轮沿纵向移动。
在一些实施例中，所述横向行走轮包括一组横向驱动轮及三组横向从动轮，所述三组横向从动轮中的一组横向从动轮邻近所述横向驱动轮，另外两组横向从动轮与所述横向驱动轮在横向方向上间隔设置；所述纵向行走轮包括两组纵向驱动轮，所述两组纵向驱动轮在纵向方向上间隔设置。
在一些实施例中，所述行走驱动机构包括：一个行走驱动电机，固定于所述车架；第一传动组件，连接所述纵向行走轮和所述行走驱动电机；第二传动组件，连接所述横向行走轮和所述行走驱动电机，其中，所述行走驱动电机驱动所述第一传动组件及所述第二传动组件转动，带动所述纵向行走轮及所述横向行走轮同步转动。
在一些实施例中，所述行走驱动机构包括：减速器，包括行走输入端、第一行走输出 端及第二行走输出端，所述行走输入端与所述行走驱动电机的输出轴连接；所述第一传动组件与所述第一行走输出端连接；所述第二传动组件与所述第二行走输出端连接。
在一些实施例中，所述第一传动组件包括：第一传动轴，可转动地设置于所述升降架，其中，所述纵向行走轮安装于所述第一传动轴的两端；第一传动连接件，连接所述第一传动轴和所述减速器的所述第一行走输出端；所述第二传动组件包括：第二传动轴，与所述第一传动轴的设置方向不同，且可转动地设置于所述车架，其中，所述横向行走轮安装于所述第二传动轴的两端；第二传动连接件，连接所述第二传动轴和所述行走驱动电机。
在一些实施例中，所述第一传动组件包括：第三传动轴，可转动地设置于所述升降架，且在纵向方向上，所述第三传动轴与所述第一传动轴平行间隔设置，所述第三传动轴的两端分别安装有所述纵向行走轮；第三传动连接件，连接所述第一传动轴与所述第三传动轴。
在一些实施例中，所述第一传动连接件为皮带或者链条；所述第二传动连接件为皮带或者链条；和/或所述第三传动连接件为皮带或者链条。
在一些实施例中，包括：张紧机构，用于张紧所述第一传动连接件、所述第二传动连接件和/或所述第三传动连接件。
在一些实施例中，所述张紧机构包括：第一张紧轮，朝向下方抵于所述第三传动连接件；及第二张紧轮，朝向上方抵于所述第三传动连接件。
在一些实施例中，所述换向驱动机构包括：丝杠，竖直设置于所述车架；螺母，与所述丝杠螺纹连接，所述升降架固定于所述螺母；换向驱动电机，设置于所述车架，与所述丝杠传动连接，驱动所述丝杠转动，带动所述螺母及所述升降架升降。
在一些实施例中，所述换向驱动机构包括：凸轮，抵于所述升降架的底部，用于支撑所述升降架；换向驱动电机，设置于所述车架，与凸轮传动连接。
在一些实施例中，所述换向驱动机构包括：齿条，竖直设置于所述车架，与所述升降架连接；齿轮，与所述齿条相啮合；换向驱动电机，设置于所述车架，与所述齿轮传动连接。
在一些实施例中，所述换向驱动机构包括：换向驱动电机，固定于所述车架；至少一个曲柄机构，与所述升降架连接；第三传动组件，连接所述换向驱动电机的输出轴与所述曲柄机构；其中，所述换向驱动电机用于驱动所述曲柄机构摆动，带动所述升降架升降，以使所述纵向行走轮脱离或者抵于所述行驶面。
在一些实施例中，所述升降架设置有通孔；所述曲柄机构包括：第一曲柄，所述第一曲柄的驱动连接部通过所述第三传动组件与换向驱动电机的输出轴传动连接；摆动轴，固定于所述第一曲柄的摆动部，所述摆动轴穿过所述通孔支撑所述升降架。
在一些实施例中，所述摆动轴上设置有轴承，所述轴承与所述升降架抵接。
在一些实施例中，所述曲柄机构包括：第二曲柄，所述第二曲柄的一端部固定于所述摆动轴，另一端部可转动地设置于所述车架。
在一些实施例中，所述通孔沿着所述升降架的延伸方向呈跑道形。
在一些实施例中，所述第三传动组件包括第一同步齿轮机构，所述第一同步齿轮机构包括换向输入端、第一换向输出端及第二换向输出端，所述换向输入端与所述换向驱动电机的输出轴连接；所述曲柄机构包括第一曲柄机构和第二曲柄机构，所述第一曲柄机构和所述第二曲柄机构分别与所述升降架连接，且分别连接于所述第一换向输出端和所述第二换向输出端。
在一些实施例中，所述升降架包括第一升降架和第二升降架，所述第一升降架和所述第二升降架分别设置于所述车架的横向两侧；所述第一同步齿轮机构包括第三换向输出端；所述第三传动组件包括：第二同步齿轮机构，包括换向连接端、第四换向输出端及第五换向输出端；连接轴，一端与所述第三换向输出端连接，另一端与所述换向连接端连接；所述曲柄机构包括第三曲柄机构和第四曲柄机构，其中，所述第三曲柄机构和第四曲柄机构分别与所述第二升降架连接，且分别连接于所述第四换向输出端和第五换向输出端，所述第一曲柄机构和所述第二曲柄机构分别与所述第一升降架连接，且分别连接于所述第一换向输出端和所述第二换向输出端。
在一些实施例中，所述第一同步齿轮机构包括第一齿轮箱及设置于所述第一齿轮箱内的第一齿轮组；和/或所述第二同步齿轮机构包括第二齿轮箱及设置于所述第二齿轮箱内的第二齿轮组。
在一些实施例中，至少一个导向机构，所述导向机构包括：导向轴，竖直设置于所述车架；滑动座，滑动设置于所述导向轴，并与所述升降架固定连接。
在一些实施例中，导向机构包括：固定座，固定于所述车架，所述固定座包括底板、顶板以及固定于所述底板和所述顶板之间的侧板，所述导向轴一端固定于所述底板，另一端固定于所述顶板。
在一些实施例中，举升板，固定于所述升降架，用于举升待搬运的物品。
本公开实施例还提供一种搬运车系统，包括：如上文中任一实施例的搬运车，以及横向轨道及纵向轨道；所述纵向行走在所述纵向轨道上行走，所述横向行走轮在所述横向轨道上行走。
本公开提供的搬运车，通过换向驱动机构驱动升降架带动纵向行走轮脱离或者抵于行驶面，使横向行走轮和纵向行走轮交替地与行驶面接触，以切换搬运车的行走方向，运输 灵活性大幅提高，搬运效率也得到大幅提升。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1是根据一示例性实施例示出的一种搬运车的整体结构示意图。
图2是根据一示例性实施例示出的一种去除上盖的搬运车俯视图。
图3是根据一示例性实施例示出的一种去除上盖的搬运车的另一视角示意图。
图4是根据一示例性实施例示出的一种搬运车的部分结构的俯视图。
图5是根据一示例性实施例示出的一种搬运车的部分结构的另一视角示意图。
图6是根据一示例性实施例示出的一种搬运车的另一部分结构示意图。
图7是根据一示例性实施例示出的图6中部分结构放大示意图。
图8是根据一示例性实施例示出的图6中部分结构另一视角示意图。
图9是根据一示例性实施例示出的曲柄机构的结构示意图。
图10是根据一示例性实施例示出的导向机构的结构示意图。
图11是根据一示例性实施例示出的一种搬运车纵向行走状态下的侧视图。
图12是根据一示例性实施例示出的一种搬运车横向行走状态下的侧视图。
图13是根据一示例性实施例示出的一种搬运车的部分放大示意图。
图14是根据一示例性实施例示出的一种搬运车的另一部分结构示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。
随着物联网、人工智能、大数据等智能化技术的发展，利用这些智能化技术对传统物流业进行转型升级的需求愈加强劲，智慧物流(Intelligent Logistics System)成为物流领域的研究热点。智慧物流利用人工智能、大数据以及各种信息传感器、射频识别技术、全球定位系统(GPS)等物联网装置和技术，广泛应用于物料的运输、仓储、配送、包装、装卸和信息服务等基本活动环节，实现物料管理过程的智能化分析决策、自动化运作和高效率优化管理。物联网技术包括传感设备、RFID技术、激光红外扫描、红外感应识别等， 物联网能够将物流中的物料与网络实现有效连接，并可实时监控物料，还可感知仓库的湿度、温度等环境数据，保障物料的储存环境。通过大数据技术可感知、采集物流中所有数据，上传至信息平台数据层，对数据进行过滤、挖掘、分析等作业，最终对业务流程(如运输、入库、存取、拣选、包装、分拣、出库、盘点、配送等环节)提供精准的数据支持。人工智能在物流中的应用方向可以大致分为两种：1)以AI技术赋能的如无人卡车、AGV、AMR、叉车、穿梭车、堆垛机、无人配送车、无人机、服务机器人、机械臂、智能终端等智能设备代替部分人工；2)通过计算机视觉、机器学习、运筹优化等技术或算法驱动的如运输设备管理系统、仓储管理、设备调度系统、订单分配系统等软件系统提高人工效率。随着智慧物流的研究和进步，该项技术在众多领域展开了应用，例如零售及电商、电子产品、烟草、医药、工业制造、鞋服、纺织、食品等领域。
如图1-图3所示，本实用新型实施例提供一种搬运车100，包括车架10、升降架20、行走机构30、行走驱动机构40。
车架10作为搬运车100的车体，用于为各个零部件提供支撑。车架10整体可以呈矩形，包括底盘11、围绕底盘设置的周向板12、以及上盖板13，底盘11、周向板12及上盖板13共同围成容置空间，用于容置各个零部件。在周向板12上可以开设有供数据线穿过的充电口、供传感器显露于车架10外部的感应器口、供指示灯显露于车架10外部的指示灯口等。
搬运车100可以包括检测装置。检测装置可以包括用于检测搬运车100上是否承载有物品的检测部件。例如，检测部件可以是在承载台或者举升板上设置的压力传感器，通过压力传感器检测物品的压力判断承载台或者举升板上是否承载有物品，以及检测承载的物品重量，判断是否超载。
还可以在承载台或者举升板的底部设置呈阵列布置的多个光电传感器，通过物品遮盖多个光电传感器的情况，判断承载台或者举升板上是否承载有物品以及物品放置的位置是否发生偏移，以便及时发现，作出位置调整。
检测装置还可以包括用于检测行进过程中环境情况的检测部件。例如，检测部件可以是在车架10的侧板(如横向侧板和/或纵向侧板)上设置的一个或多个摄像头，通过摄像头获取周围环境的图像，通过摄像头的图像传感器采集到的图像进行搬运车100的定位、物品盘点、异物检测、避障等。检测部件还可以是在车架10的侧板(如横向侧板和/或纵向侧板)上设置的一个或多个激光雷达，通过激光雷达扫描横向和/或纵向方向上障碍物，以便及时避障或发出警报。
检测装置还可以包括用于检测如下将要说明的升降架20的升降位置，例如，在升降 架20的最高位置、中间位置以及最低位置可以分别设置光电开关，以检测升降架20是否移动到所需要的位置。
具体的，如图13所示，检测装置可以包括用于检测升降架升降位置的升降检测部件。例如，升降检测部件可以包括设置于车架10上的第一光电开关81、第二光电开关82及第三光电开关83，第一光电开关81、第二光电开关82及第三光电开关83由低到高依次布置，分别对应于升降架20的最低位置、中间位置以及最高位置。可以在车架10的底盘11上固定有支撑板14，第一光电开关81、第二光电开关82及第三光电开关83可以分别通过连接件(如角铁)84固定在支撑板14上，且分别对应于升降架20的最低位置、中间位置以及最高位置。第一光电开关81、第二光电开关82及第三光电开关83可以为U型光电开关，在升降架20上固定有挡片84，当升降架20处于最低位置时，挡片84位于第一光电开关81的U型槽内，以遮挡光线，当升降架20处于中间位置时，挡片84位于第二光电开关82的U型槽内以遮挡光线，当升降架20处于最高位置时，挡片84位于第三光电开关83的U型槽内，以遮挡光线。
如图14所示，检测装置还可以包括用于检测待搬运物品的物品检测部件。物品检测部件包括设置于车架10的第四光电开关85，第四光电开关85暴露于车架10的上盖板13，通过第四光电开关是否被遮挡以判断当前搬运车100是否承载有物品。第四光电开关85可以通过支架固定在车架10的底盘11上，可以位于底盘11的靠近中间的位置，以确保载有物品时，被遮挡。例如，第四光电开关可以为漫反射光电开关。
如图14所示，检测装置还可以包括用于检测物品偏移的偏移检测部件。偏移检测部件可以包括至少一对第五光电开关86。例如，第五光电开关86设置有两个，两个第五光电开关86可以分别位于搬运车100的中心轴两侧。例如，两个第五光电开关86对称分布在纵向对称轴O两侧附近位置，且两个第五光电开关86对应于托盘(图未示出)中间位置处的纵梁，其中，托盘用承载待搬运的物品，若托盘中间位置处的纵梁同时覆盖并遮挡两个第五光电开关86时，则判断为托盘上的物品未偏移搬运车100的中心位置。若托盘中间位置处的纵梁未覆盖遮挡两个第五光电开关中的任意一个时，则判断为托盘上的物品偏离了搬运车100的中心位置，可以通过主控单元控制报警装置发出警报，以便及时作出调整，防止物品偏离搬运车100中心位置导致翻车。第五光电开关86可以沿纵向对称轴O的两侧设置多对。第五光电开关86也可以沿着横向对称轴两侧设置有一对或者多对，并且第五光电开关86与托盘中间位置处的横梁相对应。例如，第五光电开关可以为漫反射光电开关。
升降架20设置于车架10，相对于车架10可上下升降，且在横向方向上(图中X方向) 或者纵向方向上(图中Y方向)与车架10发生干涉，不产生相对位移。示例的，如图4和图5所示，底盘11的纵向边朝向横向方向凸出形成一个或多个限位板111，在升降架20的底部开设有与一个或多个限位板111相对应的限位槽211，限位槽211套设于限位板111。通过限位板111与限位槽211配合干涉，以限制升降架20相对于车架10的横向和纵向位移。
行走机构30包括横向行走轮31和纵向行走轮32。其中，横向行走轮31可转动地设置于车架10，纵向行走轮32可转动地设置于升降架20。横向行走轮31在行驶面上转动，带动搬运车100沿着横向移动，即沿着图示中X方向移动，X方向是指搬运车100横向行进方向。纵向行走轮32在行驶面上转动，带动搬运车100沿着纵向移动，图示中Y方向，Y方向是指搬运车100纵向行进方向。其中，行驶面可以是平坦地面，也可以是轨道面。当行驶面为轨道面时，纵向行走轮32可以沿着第一轨道面(如主巷道)行进，第一轨道面沿着Y方向(纵向)延伸，横向行走轮31可以沿着第二轨道面(如子巷道)行进，第二轨道面沿着X方向(横向)延伸。换句话说，本公开实施例的搬运车100可以是有轨搬运车，也可以是无轨搬运车。
便于区分搬运车的行进方向，本公开提到的横向(X方向)、纵向(Y方向)为搬运车的行进方向，在一些情况下完全可以互换。
本公开的搬运车100还包括行走驱动机构40。行走驱动机构40设置于车架10，并与横向行走轮31和纵向行走轮32传动连接，用于驱动横向行走轮31以及纵向行走轮32转动。行走驱动机构40可以驱动横向行走轮31和纵向行走轮32一起转动。在纵向行走轮32脱离行驶面的状态下，搬运车100通过横向行走轮31沿横向移动。在横向行走轮31脱离行驶面的状态下，搬运车100通过纵向行走轮32沿纵向移动。通过横向行走轮31及纵向行走轮32的交替的方式使搬运车沿着不同的方向移动，实现换向操作，运输灵活性大幅提高。
换向驱动机构50与升降架20连接，驱动升降架20升降，以切换搬运车100横向移动或者纵向移动。具体来说，换向驱动机构50驱动升降架20相对于车架10升起，纵向行走轮32跟随升降架20升起，当纵向行走轮32脱离行驶面的状态下，纵向行走轮32悬空，横向行走轮31与行驶面保持接触，横向行走轮31转动带动搬运车100沿着横向前进或者后退，即搬运车100通过横向行走轮31沿着横向移动(如图12所示)。当搬运车100需要切换方向时，即需要由横向移动变换为纵向移动时，换向驱动机构50驱动升降架20下降，纵向行走轮32跟随升降架20下降，当纵向行走轮32抵于行驶面的状态下，横向行走轮31被顶起呈悬空状态，纵向行走轮32与行驶面保持接触，纵向行走轮32转动带 动搬运车100沿着纵向前进或者后退，即搬运车100通过纵向行走轮32沿纵向移动(如图11所示)。
因此，本公开的搬运车100能够沿着横向前后移动和纵向前后移动，实现四向行走，更加灵活，提高搬运效率。与此同时，升降架20还可以直接或者间接的承载待搬运的物品，可以在举升物品的同时实现搬运车100的换向操作。例如，升降架20顶部可以固定举升板70，通过举升板70承载待搬运的物品。搬运车100通过纵向行走轮32沿着纵向行进至待搬运物品下方时，通过换向驱动机构50驱动升降架20升起将待搬运的物品举升，与此同时，纵向行走轮32跟随升降架20升起脱离行驶面，横向行走轮31与行驶面保持接触，搬运车100通过横向行走轮31沿着横向移动，将举升的物品运送至期望的位置。
在一些实施例中，举升板70可以不固定在升降架20，并非通过升降架20升降，举升物品。例如，举升板70可以设置在升降机构上，通过独立的升降机构带动举升板70升降以举升物品。升降机构例如可以是连杆机构，如平行四连杆机构，剪叉机构等。
本公开实施例的搬运车100，通过换向驱动机构50驱动升降架20带动纵向行走轮32脱离或者抵于行驶面，使横向行走轮31和纵向行走轮32交替地与行驶面接触，以切换搬运车100的行走方向，运输灵活性大幅提高，在举升物品的同时实现搬运车100的换向操作，搬运效率也得到大幅提升。
在一些实施例中，如图4和图5所示，行走驱动机构40包括一个行走驱动电机41、减速器42、第一传动组件43及第二传动组件44。
行走驱动电机41和减速器42可以固定在于车架10，例如固定在上述车架10的底盘11上。减速器可以包括行走输入端421、第一行走输出端422及第二行走输出端423，其中，减速器42的行走输入端421与行走驱动电机41的输出轴连接，行走驱动电机41转动能够带动减速器42的第一行走输出端422和第二行走输出端423同步转动。减速器42可以是双输出轴减速器，包括作为行走输入端421的输入轴、作为第一行走输出端422的第一输出轴以及作为第二行走输出端423的第二输出轴，第一输出轴可以通过联轴器与行走驱动电机41的输出轴连接，第一输出轴可以通过齿轮组与第一输出轴和第二输出轴连接，行走驱动电机41转动带动第一输出轴和第二输出轴同步转动。
第一传动组件43连接纵向行走轮32与减速器42的第一行走输出端422，第二传动组件44连接横向行走轮31与减速器42的第二行走输出端423。也就是说，纵向行走轮32通过第一传动组件43与减速器42的第一行走输出端422连接，横向行走轮31通过第二传动组件44与减速器42的第二行走输出端423连接。一个行走驱动电机41转动带动减速器42的两个输出轴同步转动，从而通过第一传动组件43和第二传动组件44带动横向 行走轮31和纵向行走轮32同步转动。
本公开实施例的搬运车100，通过一个行走驱动电机41实现横向行走轮31和纵向行走轮32的同步转动，减少了对搬运车100空间的占用，为其他部件提供更多空间，例如可以增大蓄电池的容量，提高搬运车100的续航能力。此外，一个电机也便于控制，降低成本。
在一些实施例中，上文提到的第一传动组件43可以包括第一传动轴431及第一传动连接件432。
第一传动轴431可传动地设置于升降架20。升降架20可以设置有两个，分别设置于车架10横向两侧。第一传动轴431横跨两个升降架20，且两端分别安装有纵向行走轮32。例如，第一传动轴431的两端部分别通过轴承与升降架20转动连接。第一传动连接件432连接第一传动轴431与减速器42的第一行走输出端422，即第一传动轴431与减速器42的第一行走输出端422通过第一传动连接件432传动连接。行走驱动电机41转动带动减速器42的第一行走输出端422转动，并通过第一传动连接件432带动第一传动轴431转动，带动纵向行走轮32转动。如图5所示，可以在升降架20的邻近第一传动轴431两端的纵向行走轮32的位置分别设置第一纵向从动轮32a，纵向行走轮32及第一纵向从动轮32a跟随升降架20一起升降，以使纵向行走轮32及第一纵向从动轮32a一起脱离或者抵于行驶面。通过设置第一纵向从动轮32a确保搬运车100行进过程的平稳性。
上文提到的第二传动组件44可以包括第二传动轴441及第二传动连接件442。
第二传动轴441可转动地设置于车架10，且沿着纵向横跨车架10，第二传动轴441与第一传动轴431的设置方向不同，例如，第二传动轴441与第一传动轴431可以垂直交叉设置。第二传动轴441的两端分别安装有横向行走轮31。例如，第二传动轴441的两端可以分别通过设置于车架10上的轴承座与车架10转动连接。第二传动连接件442连接第二传动轴441及减速器42的第二行走输出端423，即第二传动轴441与减速器42的第二行走输出端423通过第二传动连接件442传动连接。行走驱动电机41转动带动减速器42的第二行走输出端423转动，并通过第二传动连接件442带动第二传动轴441转动，带动横向行走轮31转动。如图5所示，可以在车架10的邻近第二传动轴441的两端的横向行走轮31的位置处分别设置第一横向从动轮31a，确保行进时的平稳性。另外，车架10还可以设置有两对第二横向从动轮31b，在横向方向上，每对第二横向从动轮31b与横向行走轮31及第一横向从动轮31a间隔设置，在横向方向上，通过一对主动轮(横向行走轮31)及三对从动轮(一对第一横向从动轮31a及两对第二横向从动轮31b)共同支撑车架10，行进更平稳。
因此，通过一个行走驱动电机41转动带动减速器42的第一行走输出端422和第二行走输出端423同步转动，并同时通过第一传动连接件432和第二传动连接件442分别带动横向行走轮31和纵向行走轮32同步转动。
当搬运车100需要沿着横向行进时，换向驱动机构50驱动升降架20升起，第一传动轴431和纵向行走轮32一起跟随升降架20升起，使纵向行走轮32脱离行驶面，此时纵向行走轮32和横向行走轮31仍保持转动状态，由于纵向行走轮32脱离行驶面呈悬空状态，横向行走轮31与行驶面保持接触，因此，搬运车100通过横向行走轮31沿着横向行进。当搬运车100需要沿着纵向行进时，换向驱动机构50驱动升降架20下降，第一传动轴431和纵向行走轮32一起跟随升降架20下降，使纵向行走轮32抵于行驶面，与此同时，将车架10顶起，使第二传动轴441和横向行走轮31一起跟随车架10顶起而脱离行驶面，即横向行走轮31呈悬空状态，因此，搬运车100通过纵向行走轮32沿着横向行进，完成搬运车100由横向到纵向行进的切换。
由于横向行走轮31和纵向行走轮32始终处于转动状态，具有一定的转速，在切换行进方向时，能够迅速以该转速行进，缩短启动时间，提高运输效率。
在一些实施例中，如图4和图5所示，第一传动组件43还可以包括第三传动轴433及第三传动连接件434。
第三传动轴433可转动地设置于升降架20，且在纵向方向(Y方向)上，第三传动轴433与第一传动轴431平行间隔设置，第三传动轴433的两端分别安装有纵向行走轮32，作为纵向驱动行走轮驱动搬运车100沿纵向行进。第三传动轴433横跨两个升降架20，两端部分别通过轴承与升降架20转动连接。如图5所示，可以在升降架20的邻近第三传动轴433两端的纵向行走轮32的位置处分别设置第二纵向从动轮32b，这样，在纵向方向上，通过第一传动轴431两端的纵向行走驱动轮32、第三传动轴433两端的纵向行走轮32、以及第一纵向从动轮32a及第二纵向从动轮32b共同支撑搬运车100，在搬运车100沿着纵向行进过程中，能够提高运输平稳性。其中，第一传动轴431可以邻近行走驱动电机41和减速器42。第三传动轴433远离行走驱动电机41和减速器42。第三传动连接件434连接第一传动轴431与第三传动轴433。
行走驱动电机41转动带动减速器42的第一行走输出端422转动，并通过第一传动连接件432带动第一传动轴431转动，与此同时，第一传动轴431通过第三传动连接件434带动第三传动轴433转动，从而带动第一传动轴431两端的纵向行走轮32和第三传动轴433两端的纵向行走轮32同步转动。因此，搬运车100在纵向行进时，通过一个电机驱动两个驱动轴驱动纵向行走轮32转动，即第一传动轴431上的纵向行走轮32和第三传动轴 433上的纵向行走轮32均作为驱动轮驱动搬运车100行进，通过双轴驱动纵向行走轮转动，增加行进驱动力，提高载荷能力，且行进更加平稳。
但并不限于此，在其他载荷较轻的工况下，可以不需要第三传动轴433及第三传动连接件434，在升降架20上直接转动连接一个或多个纵向行走轮，作为从动轮跟随第一传动轴431上的纵向行走轮32行走。
类似的，可以在车架10转动设置有多个横向从动轮，跟随第二传动轴441上的横向行走轮31行走。
在一些实施例中，上述第一传动连接件432、第二传动连接件442及第三传动连接件434可以为皮带或者链条。即第一传动组件43及第二传动组件44的传动方式可以是带传动或者链传动。
作为一个示例，第一传动组件43及第二传动组件44的传动方式采用链传动，以提高传动载荷能力。但并不限于此，第一传动组件43及第二传动组件44的传动方式可以均采用带传动，或者一个采用带传动，另一个采用链传动。
在一些实施例中，如图4和图5所示，搬运车100还包括张紧机构，张紧机构用于张紧第一传动连接件432、第二传动连接件442和/或第三传动连接件434，以调节第一传动连接件432、第二传动连接件442和/或第三传动连接件434的松紧度。可根据各个链条的松紧度(垂度)配置对应的张紧机构。张紧机构可以使第一传动连接件432、第二传动连接件442和/或第三传动连接件434变松呈松弛状态，也可以使第一传动连接件432、第二传动连接件442和/或第三传动连接件434变紧呈紧绷状态。
示例的，张紧机构可以包括第一张紧轮61及第二张紧轮62。第一张紧轮61朝向下方抵于第三传动连接件434。第二张紧轮62朝向上方抵于第三传动连接件434。例如，第三传动连接件434为链条，绕设于第一传动轴431上的链轮和第三传动轴433上的链轮。其中，链条包括上段部和下段部。第一张紧轮61可以抵于链条的上段部，并给予链条朝向下方(Z轴正方向)的预紧力。第二张紧轮62与第一张紧轮61间隔设置，可以抵于链条的下段部，并给予链条朝向上方(Z轴负方向)的预紧力。更为具体的，第一张紧轮61和第二张紧轮62可以分别通过支撑架固定在车架10的底盘11上。以一个张紧轮61为例，在支撑架上设置有沿着Z轴方向延伸的调节槽，第一张紧轮61的转轴穿过调节槽并固定在支撑架上，通过调节槽调节第一张紧轮61的高度，调节第一张紧轮61抵于链条的预紧力。
通过第一张紧轮61和第二张紧轮62配合上下张紧链条，以调节链条的松紧，避免链条因垂度过大，导致啮合不良以及振动现象。
当搬运车100需要沿着横向行进时，换向驱动机构50驱动升降架20升起，第一传动轴431和纵向行走轮32一起跟随升降架20升起，使纵向行走轮32脱离行驶面，与此同时，第三传动连接件434(如链条)的下段部与第二张紧轮62之间的预紧力减小，上段部与第一张紧轮61之间的预紧力增大，能够使整个链条受到的预紧力保持基本不变，松紧度基本保持不变，传动更平稳可靠。张紧机构可以包括第三张紧轮63，用于张紧第二传动连接件442。
第三传动连接件434松紧度(垂度)的调节方式并不限于上述张紧轮，在其他实施例中，还可以通过调节第一传动轴431和第三传动轴433相对移动改变二者之间的间距来调节第三传动连接件434的松紧度。在一示例中，可以使第一传动轴431在横向方向(Y方向)上保持不动，第三传动轴433靠近或者远离第一传动轴431移动，以改变第一传动轴431和第三传动轴433之间的间距，从而调节第三传动连接件434的松紧度。在另一示例中，可以让第三传动轴433在横向方向(Y方向)保持不动，第一传动轴431靠近或者远离第三传动轴433移动，以改变第一传动轴431和第三传动轴433之间的间距，从而调节第三传动连接件434的松紧度。在又一示例中，第一传动轴431和第三传动轴433可以相向或者背离彼此移动，以改变第一传动轴431和第三传动轴433之间的间距，从而调节第三传动连接件434的松紧度。
同样的，连接于第二传动轴441与减速器42之间的第二传动连接件442的松紧度调节方式可以是通过张紧轮调节。还可以通过移动第二传动轴441相对于减速器42之间的间距来调节第三传动连接件434的松紧度。
在一些实施例中，如图2、图3和图6所示，换向驱动机构50包括换向驱动电机51、至少一个曲柄机构52及第三传动组件53。
换向驱动电机51固定于车架10，例如固定于底盘11。曲柄机构52与升降架20连接。第三传动组件53连接换向驱动电机51的输出轴与曲柄机构52；其中，换向驱动电机51用于驱动曲柄机构52摆动，带动升降架20升降，以使纵向行走轮32脱离或者抵于行驶面。
换向驱动电机51转动，并通过第三传动组件53驱动曲柄机构52由最低位置摆动到最高位置，带动升降架20升起，纵向行走轮32跟随升降架20一起升起脱离行驶面，此时，搬运车100通过横向行走轮31沿横向移动。当换向驱动电机51转动，并通过第三传动组件53驱动曲柄机构52由最高位置摆动到最低位置，带动升降架20下降，纵向行走轮32跟随升降架20下降抵于行驶面，并将车架10顶起，横向行走轮31脱离行驶面，此时，搬运车100通过纵向行走轮32沿纵向移动。与此同时，升降架20可以直接或者间接 的承载待搬运的物品，曲柄机构52由最低位置摆动到最高位置的过程中，可以实现举升物品的同时，还能实现搬运车100的换向操作。
此外，当换向驱动电机51转动，并通过第三传动组件53驱动曲柄机构52位于最高位置与最低位置之间的中间位置时，纵向行走轮32也可以不与行驶面接触，此时，横向行走轮31与行驶面接触，通过横向行走轮31支撑搬运车100。曲柄机构52在最高位置与中间位置之间摆动的过程中，带动升降架20升降，在不换向的情况下，实现待搬运物品的举升操作，能够增加搬运车100灵活性、还能适应不同工况需求。
在一些实施例中，如图6和图9所示，升降架20设置有通孔221。曲柄机构52包括第一曲柄5211及摆动轴5221。第一曲柄5211包括驱动连接部5211-1及摆动部5211-2，其中，驱动连接部5211-1用于连接换向驱动电机51以传递动力，摆动部5211-2用于固定摆动轴5221，以将动力传递给摆动轴5221进行摆动。具体来说，第一曲柄5211的一端部通过第三传动组件53与换向驱动电机51的输出轴传动连接。摆动轴5221固定于第一曲柄5211的另一端部，摆动轴5221穿过通孔221支撑升降架20。
第一曲柄5211的一端部固定于第三传动组件53的输出端，换向驱动电机51转动，通过第三传动组件53带动第一曲柄5211绕其回转中心转动。摆动轴5221固定于第一曲柄5211的另一端部，偏离第一曲柄5211的回转中心，并朝向垂直于第一曲柄5211的方向延伸。摆动轴5221穿过通孔221，升降架20抵于摆动轴5221。换向驱动电机51转动带动第一曲柄5211转动，摆动轴5221以第一曲柄5211的回转中心为圆形做摆动，摆动过程中，摆动轴5221具有最高位置、最低位置及中间位置。当摆动轴5221由最低位置摆动到最高位置时，升降架20及纵向行走轮32跟随摆动轴5221升起，使纵向行走轮32脱离行驶面，搬运车100通过横向行走轮31沿横向运动。当摆动轴5221由最高位置摆动到最低位置时，升降架20跟随摆动轴5221下降，使纵向行走轮32抵于行驶面，将车架10顶起，使横向行走轮31脱离行驶面，搬运车100通过纵向行走轮32沿纵向移动。
通过第一曲柄5211及摆动轴5221摆动驱动升降架20升降实现物品的举升，以及搬运车100的换向，由于第一曲柄5211及摆动轴5221结构紧凑，占用空间小，利于搬运车100各部件的布局。
在一些实施例中，如图6和图9所示，摆动轴5221上设置有轴承5231，轴承5231与升降架20接触。轴承5231套接固定在摆动轴5221上，位于升降架20的通孔221中，与升降架20相抵。在第一曲柄5211带动摆动轴5221摆动的过程中，轴承5231与升降架20的通孔221产生转动摩擦，相较于摆动轴5221直接与升降架20滑动摩擦相比，能够减小摩擦力，降低过度摩擦损坏的风险，增加传动可靠性。
在一些实施例中，如图6和图9所示，曲柄机构52还包括第二曲柄5241。第二曲柄5241的一端部固定于摆动轴5221，另一端部可转动地固定于车架10。第二曲柄5241的结构可以与第一曲柄5211的结构相同，摆动轴5221的一端固定于第一曲柄5211，另一端固定于第二曲柄5241。在第二曲柄5241远离摆动轴5221的端部朝向垂直于第二曲柄5241的方向延伸有连接轴，如曲柄连接轴5251，曲柄连接轴5251可以通过曲柄轴承525可转动地设置于车架10。
第二曲柄5241可转动地设置在车架10，在摆动轴5221摆动过程中，第一曲柄5211和第二曲柄5241对摆动轴5221的两端形成稳固支撑，有效避免摆动轴5221摆动过程中产生振动，使升降架10升降过程更平稳。
在一些实施例中，如图6升降架20的通孔221可以沿着升降架20的纵向方向(Y方向)延伸呈跑道形，升降架20的纵向方向也为升降架20的延伸方向。摆动轴5221摆动的过程中，跑道形的通孔221可以为摆动轴5221提供纵向方向上的避让空间，跑道的U型结构与摆动轴5221的外形相适配，能够减小摆动轴5221与升降架20在纵向方向上的干涉，降低升降架20的摆动幅度，提高举升物品的平稳性。
在一些实施例中，如图6和图7所示，第三传动组件53包括第一同步齿轮机构531，第一同步齿轮机构531包括换向输入端5311、第一换向输出端5312及第二换向输出端5313，换向输入端5311与换向驱动电机51的输出轴连接，换向驱动电机51转动带动第一换向输出端5312及第二换向输出端5313同步转动。
上述曲柄机构52包括第一曲柄机构521和第二曲柄机构522，第一曲柄机构521和第二曲柄机构522分别与升降架20连接，且分别连接于第一换向输出端5312和第二换向输出端5313。在升降架20上设置有两个沿纵向间隔设置的通孔。第一曲柄机构521的曲柄和第二曲柄机构52的曲柄分别与第一换向输出端5312和第二换向输出端5313连接，第一曲柄机构的摆动轴和第二曲柄机构的摆动轴分别穿设于升降架20的两个通孔，共同支撑升降架20。
换向驱动电机51转动带动第一换向输出端5312及第二换向输出端5313同步转动，从而带动两个曲柄机构52同步驱动升降架20升降，实现换向及举升，换向更可靠，举升更平稳。此外，通过一个换向驱动电机51与第一同步齿轮机构配合，实现曲柄机构52同步驱动升降架20升降，减少空间占用，便于控制，降低成本。
在一些实施例中，如图6和图7所示，升降架20可以设置有两个，分别为第一升降架21和第二升降架22。其中，第一升降架21和第二升降架22分别设置于车架10的横向两侧。上述第一同步齿轮机构531还包括第三换向输出端5314，换向驱动电机51转动带 动第一换向输出端5312、第二换向输出端5313及第三换向输出端5314同步转动。
第三传动组件53还包括第二同步齿轮机构532及连接轴533。第二同步齿轮机构532可以邻近第二升降架22，第一同步齿轮机构531可以邻近第一升降架21。其中，第二同步齿轮机构532可以包括换向连接端5321、第四换向输出端及第五换向输出端。连接轴533一端与第三换向输出端5314连接，另一端与换向连接端5321连接。换向驱动电机51转动带动第一换向输出端5312、第二换向输出端5313及第三换向输出端5314同步转动，第三换向输出端5314转动带动连接轴533转动，从而带动第二同步齿轮机构532的第四换向输出端及第五换向输出端同步转动。
曲柄机构52还包括第三曲柄机构523和第四曲柄机构524，其中，第三曲柄机构523和第四曲柄机构524分别与第二升降架22连接，且分别连接于第四换向输出端和第五换向输出端，第一曲柄机构521和第二曲柄机构522分别与第一升降架21连接，且分别连接于第一换向输出端5312和第二换向输出端5313。
换向驱动电机51转动带动第一换向输出端5312、第二换向输出端5313及第三换向输出端5314同步转动，第三换向输出端5314转动带动连接轴533同步转动，从而带动第二同步齿轮机构532的第四换向输出端及第五换向输出端同步转动，进而使第一曲柄机构521、第二曲柄机构522、第三曲柄机构523及第四曲柄机构524一起同步摆动，带动第一升降架21和第二升降架22同步升降。通过一个换向驱动电机51驱动两个升降架的同步升降，节约空间，便于控制，举升平稳。
在一些实施例中，上述第一同步齿轮机构531包括第一齿轮箱及设置于第一齿轮箱内的第一齿轮组。第二同步齿轮机构532包括第二齿轮箱及设置于第二齿轮箱内的第二齿轮组。第三传动组件53采用同步齿轮机构，将同步齿轮密封在齿轮箱中，能够有效避免漏油现象，安全性得到保证。同步齿轮机构模块化，形成一个整体，便于组装维修。
换向驱动机构驱动升降架20升降的方式可以不限于上述曲柄机构，在一些实施例中，换向驱动机构可以包括丝杠螺母副(图未示出)以及换向驱动电机，丝杠竖直设置于车架10，螺母与丝杠螺纹连接，升降架20固定于螺母，换向驱动电机设置于车架，与丝杠传动连接，驱动丝杠转动，带动螺母及升降架20升降，从而使纵向行走轮32脱离或者抵于行驶面。通过丝杠螺母副配合实现升降架20升降，受力更均匀，升降更平稳。
在另一些实施例中，换向驱动机构包括凸轮(图未示出)及换向驱动电机。凸轮抵于升降架20的底部，用于支撑升降架20。凸轮具有曲线轮廓，曲线轮廓的不同点处的高度不同。换向驱动机构驱动凸轮转动时，升降架20抵于凸轮轮廓的接触点位置发生变化，使升降架20升降。通过凸轮转动带动升降架20升降，使纵向行走轮32脱离或者抵于行 驶面，能够提高升降架20的载荷能力。
在又一些实施例中，换向驱动机构包括：齿轮、齿条及换向驱动电机(图未示出)。换向驱动电机于车架10，与齿轮传动连接，可以在换向驱动电机的输出轴上安装齿轮。齿条竖直设置于车架10，与升降架20连接，齿轮与齿条相啮合。换向驱动电机转动带动齿轮转动，带动齿条升降，齿条带动升降架20升降，使纵向行走轮32脱离或者抵于行驶面。
在又一些实施例中，换向驱动机构还可以包括设置在车架上的气缸或者液压缸，气缸或者液压缸的伸缩端与升降架20连接，驱动升降架20升降，使纵向行走轮32脱离或者抵于行驶面。通过气缸或者液压缸驱动升降架20升降，举升物品更精准。
在一些实施例中，如图2、图3、图6至图10所示，搬运车100包括至少一个导向机构60，对升降架20升降过程起到导向作用，防止升降架20摆动，发生振动导致损坏。导向机构60可以包括导向轴601及滑动座602。导向轴601竖直设置于车架10。滑动座602滑动设置于导向轴601，并与升降架20固定连接。升降架20通过螺栓与滑动座602固定连接，升降架20升降过程中，滑动座602沿着竖直方向导向轴601升降，以限制升降架20摆动，使升降架20竖直升降。通过导向机构60还能使升降架20升降更平稳。
进一步的，导向机构60还可以包括固定座603。固定座603对导向轴601起到支撑稳固的作用。固定座603包括底板631、顶板633以及固定于底板631和顶板633之间的侧板632，底板631固定在车架10的底盘，导向轴601一端固定于底板631，另一端固定于顶板633。底板631、顶板633及侧板632可以一体成型，也可以通过螺栓固定。通过顶板633、底板631及侧板632对导向轴601形成稳固的支撑，使导向轴601固定更牢固，防止导向轴601振动，因此，导向机构60对升降架20导向更加平稳，使升降架20升降也更加平稳。
导向机构60可以设置有多个。例如四个，可以分别在第一升降架21的两端部分别设置一个导向机构60，以及分别在第二升降架22的两端部分别设置一个导向机构60，通过四个导向机构60对第一升降架21和第二升降架22四个方位形成导向，使得第一升降架21和第二升降架22同步升降更平稳。
在一些实施例中，如图1所示，在车架10的侧部或者拐角处设置有一个或多个导向轮34。例如，在车架10的相对的两个横向周向板12(即沿着X方向延伸的周向板12)和/或相对的两个纵向侧板(即沿着Y方向延伸的周向板12)上设置有一个或多个导向轮34，导向轮34可以沿着横向轨道和/或纵向轨道上的两侧的导向板滑动，以对搬运车100横向和/或纵向行进限位，防止横向行走轮31和/或纵向行走轮32脱离横向轨道。
还可以在车架10的四个拐角处分别设置导向轮34，这样，在搬运车100横向或者纵 向行进时，均可以通过车架10的四个拐角处的导向轮34进行限位，即，搬运车100横向行进时，车架10的四个拐角处的导向轮34沿着横向轨道上的两侧的导向板滑动，以对搬运车100横向行进限位，防止横向行走轮31脱离横向轨道；搬运车100纵向行进时，车架10的四个拐角处的导向轮34沿着纵向轨道上的两侧的导向板滑动，以对搬运车100纵向行进限位，防止纵向行走轮32脱离纵向轨道。
此外，横向行走轮31和/或纵向行走轮32可以为具有凸缘的行走轮，通过凸缘与横向轨道或纵向轨道配合限位，防止脱离轨道。
本公开实施例还提供一种搬运车系统，其中，包括搬运车100、横向轨道及纵向轨道。搬运车100为如上文任一实施例提到的搬运车。搬运车100的纵向行走轮32在纵向轨道上行走，搬运车100的横向行走轮31在横向轨道上行走。其中，在纵向行走轮32脱离行驶面的状态下，搬运车100通过横向行走轮31沿横向移动。在横向行走轮31脱离行驶面的状态下，搬运车100通过纵向行走轮32沿纵向移动。通过横向行走轮31及纵向行走轮32的交替的方式使搬运车100沿着不同的方向移动，实现换向操作，运输灵活性大幅提高。
进一步可以理解的是，本公开中“多个”是指两个或两个以上，其它量词与之类似。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。
进一步可以理解的是，术语“第一”、“第二”等用于描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开，并不表示特定的顺序或者重要程度。实际上，“第一”、“第二”等表述完全可以互换使用。例如，在不脱离本公开范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。
进一步可以理解的是，本公开实施例中尽管在附图中以特定的顺序描述操作，但是不应将其理解为要求按照所示的特定顺序或是串行顺序来执行这些操作，或是要求执行全部所示的操作以得到期望的结果。在特定环境中，多任务和并行处理可能是有利的。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可 以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利范围来限制。

Claims (24)

  1. 一种搬运车，其中，包括：
    车架；
    升降架，设置于所述车架；
    行走机构，包括横向行走轮和纵向行走轮，所述横向行走轮设置于所述车架，所述纵向行走轮设置于所述升降架；
    行走驱动机构，与所述横向行走轮和所述纵向行走轮连接，驱动所述横向行走轮转动以及所述纵向行走轮转动；
    在所述纵向行走轮脱离行驶面的状态下，所述搬运车通过所述横向行走轮沿横向移动；或者，
    在所述横向行走轮脱离行驶面的状态下，所述搬运车通过所述纵向行走轮沿纵向移动。
  2. 根据权利要求1所述的搬运车，其中，
    所述横向行走轮包括一组横向驱动轮及三组横向从动轮，所述三组横向从动轮中的其中一组横向从动轮邻近所述横向驱动轮，另外两组横向从动轮与所述横向驱动轮在横向方向上间隔设置；
    所述纵向行走轮包括两组纵向驱动轮，所述两组纵向驱动轮在纵向方向上间隔设置。
  3. 根据权利要求1所述的搬运车，其中，
    所述行走驱动机构包括：
    一个行走驱动电机，固定于所述车架；
    第一传动组件，连接所述纵向行走轮和所述行走驱动电机；
    第二传动组件，连接所述横向行走轮和所述行走驱动电机；
    其中，所述行走驱动电机驱动所述第一传动组件及所述第二传动组件转动，带动所述纵向行走轮及所述横向行走轮同步转动。
  4. 根据权利要求3所述的搬运车，其中，
    所述行走驱动机构还包括：
    减速器，包括行走输入端、第一行走输出端及第二行走输出端，所述行走输入端与所述行走驱动电机的输出轴连接；
    所述第一传动组件与所述第一行走输出端连接；
    所述第二传动组件与所述第二行走输出端连接。
  5. 根据权利要求3所述的搬运车，其中，
    所述第一传动组件包括：
    第一传动轴，可转动地设置于所述升降架，其中，所述纵向行走轮安装于所述第一传动轴的两端；
    第一传动连接件，连接所述第一传动轴和所述行走驱动电机；
    所述第二传动组件包括：
    第二传动轴，与所述第一传动轴的设置方向不同，且可转动地设置于所述车架，其中，所述横向行走轮安装于所述第二传动轴的两端；
    第二传动连接件，连接所述第二传动轴和所述行走驱动电机。
  6. 根据权利要求5所述的搬运车，其中，
    所述第一传动组件还包括：
    第三传动轴，可转动地设置于所述升降架，且在纵向方向上，所述第三传动轴与所述第一传动轴平行间隔设置，所述第三传动轴的两端分别安装有所述纵向行走轮；
    第三传动连接件，连接所述第一传动轴与所述第三传动轴。
  7. 根据权利要求6所述的搬运车，其中，包括：
    张紧机构，用于张紧所述第一传动连接件、所述第二传动连接件和/或所述第三传动连接件。
  8. 根据权利要求7所述的搬运车，其中，
    所述张紧机构包括：
    第一张紧轮，朝向下方抵于所述第三传动连接件；及
    第二张紧轮，朝向上方抵于所述第三传动连接件。
  9. 根据权利要求1至8中任一项所述的搬运车，其中，还包括：
    换向驱动机构，与所述升降架连接，驱动所述升降架升降；
    其中，在所述换向驱动机构驱动所述升降架升起使所述纵向行走轮脱离行驶面的状态下，所述搬运车通过所述横向行走轮沿横向移动；或者，
    在所述换向驱动机构驱动所述升降架下降使所述纵向行走轮抵于所述行驶面的状态下，所述横向行走轮脱离所述行驶面，所述搬运车通过所述纵向行走轮沿纵向移动。
  10. 根据权利要求9所述的搬运车，其中，
    所述换向驱动机构包括：
    丝杠，竖直设置于所述车架；
    螺母，与所述丝杠螺纹连接，所述升降架固定于所述螺母；
    换向驱动电机，设置于所述车架，与所述丝杠传动连接，驱动所述丝杠转动，带动所述螺母及所述升降架升降。
  11. 根据权利要求9所述的搬运车，其中，
    所述换向驱动机构包括：
    凸轮，抵于所述升降架的底部，用于支撑所述升降架；
    换向驱动电机，设置于所述车架，与凸轮传动连接。
  12. 根据权利要求9所述的搬运车，其中，
    所述换向驱动机构包括：
    齿条，竖直设置于所述车架，与所述升降架连接；
    齿轮，与所述齿条相啮合；
    换向驱动电机，设置于所述车架，与所述齿轮传动连接。
  13. 根据权利要求9所述的搬运车，其中，
    所述换向驱动机构包括：
    换向驱动电机，固定于所述车架；
    至少一个曲柄机构，与所述升降架连接；
    第三传动组件，连接所述换向驱动电机的输出轴与所述曲柄机构；
    其中，所述换向驱动电机用于驱动所述曲柄机构摆动，带动所述升降架升降，以使所述纵向行走轮脱离或者抵于所述行驶面。
  14. 根据权利要求13所述的搬运车，其中，
    所述升降架设置有通孔；
    所述曲柄机构包括：
    第一曲柄，所述第一曲柄的驱动连接部通过所述第三传动组件与换向驱动电机的输出轴传动连接；
    摆动轴，固定于所述第一曲柄的摆动部，所述摆动轴穿过所述通孔支撑所述升降架。
  15. 根据权利要求14所述的搬运车，其中，
    所述曲柄机构包括：
    第二曲柄，所述第二曲柄的一端部固定于所述摆动轴，另一端部可转动地设置于所述车架。
  16. 根据权利要求14所述的搬运车，其中，
    所述通孔沿着所述升降架的延伸方向呈跑道形。
  17. 根据权利要求13所述的搬运车，其中，
    所述第三传动组件包括第一同步齿轮机构，所述第一同步齿轮机构包括换向输入端、第一换向输出端及第二换向输出端，所述换向输入端与所述换向驱动电机的输出轴连接；
    所述曲柄机构包括第一曲柄机构和第二曲柄机构，所述第一曲柄机构和所述第二曲柄机构分别与所述升降架连接，且分别连接于所述第一换向输出端和所述第二换向输出端。
  18. 根据权利要求17所述的搬运车，其中，
    所述升降架包括第一升降架和第二升降架，所述第一升降架和所述第二升降架分别设置于所述车架的横向两侧；
    所述第一同步齿轮机构包括第三换向输出端；
    所述第三传动组件包括：
    第二同步齿轮机构，包括换向连接端、第四换向输出端及第五换向输出端；
    连接轴，一端与所述第三换向输出端连接，另一端与所述换向连接端连接；
    所述曲柄机构包括第三曲柄机构和第四曲柄机构，其中，所述第三曲柄机构和第四曲柄机构分别与所述第二升降架连接，且分别连接于所述第四换向输出端和第五换向输出端，所述第一曲柄机构和所述第二曲柄机构分别与所述第一升降架连接，且分别连接于所述第一换向输出端和所述第二换向输出端。
  19. 根据权利要求18所述的搬运车，其中，
    所述第一同步齿轮机构包括第一齿轮箱及设置于所述第一齿轮箱内的第一齿轮组；和 /或
    所述第二同步齿轮机构包括第二齿轮箱及设置于所述第二齿轮箱内的第二齿轮组。
  20. 根据权利要求1至8中任一项所述的搬运车，其中，包括：
    至少一个导向机构，所述导向机构包括：
    导向轴，竖直设置于所述车架；
    滑动座，滑动设置于所述导向轴，并与所述升降架固定连接。
  21. 根据权利要求20所述的搬运车，其中，
    导向机构还包括：
    固定座，固定于所述车架，所述固定座包括底板、顶板以及固定于所述底板和所述顶板之间的侧板，所述导向轴一端固定于所述底板，另一端固定于所述顶板。
  22. 根据权利要求1至8中任一项所述的搬运车，其中，包括：
    举升板，固定于所述升降架，用于举升待搬运的物品。
  23. 根据权利要求1至8中任一项所述的搬运车，其中，
    在所述车架的侧部或者拐角处设置有一个或多个导向轮。
  24. 一种搬运车系统，其中，包括：
    如权利要求1至23中任一项所述的搬运车，以及
    横向轨道及纵向轨道；
    其中，所述搬运车的纵向行走轮在所述纵向轨道上行走，所述搬运车的横向行走轮在所述横向轨道上行走。
PCT/CN2022/104457 2021-07-15 2022-07-07 一种搬运车及搬运车系统 WO2023284629A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202121610554.5U CN218287934U (zh) 2021-07-15 2021-07-15 搬运车及搬运车系统
CN202121610554.5 2021-07-15

Publications (1)

Publication Number Publication Date
WO2023284629A1 true WO2023284629A1 (zh) 2023-01-19

Family

ID=84802960

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/104457 WO2023284629A1 (zh) 2021-07-15 2022-07-07 一种搬运车及搬运车系统

Country Status (2)

Country Link
CN (1) CN218287934U (zh)
WO (1) WO2023284629A1 (zh)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20307005U1 (de) * 2002-05-30 2003-08-21 Manitec Consulting Ag Horw Fahrzeug für ein automatisches Lager
JP2015157683A (ja) * 2014-02-24 2015-09-03 株式会社岡村製作所 搬送台車
EP3418220A1 (en) * 2017-06-21 2018-12-26 Swisslog-Accalon AB A transport cart of a storage and retrieval system and a lifting arrangement for such a transport cart
CN111846731A (zh) * 2020-08-24 2020-10-30 乔禹峰 一种模块化升降式轨道搬运车
CN112693382A (zh) * 2019-10-22 2021-04-23 浙江世仓智能仓储设备有限公司 四向行驶的智能搬运车
CN216336383U (zh) * 2021-07-15 2022-04-19 旷视格图(苏州)智能装备有限公司 举升装置、搬运车及搬运车系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20307005U1 (de) * 2002-05-30 2003-08-21 Manitec Consulting Ag Horw Fahrzeug für ein automatisches Lager
JP2015157683A (ja) * 2014-02-24 2015-09-03 株式会社岡村製作所 搬送台車
EP3418220A1 (en) * 2017-06-21 2018-12-26 Swisslog-Accalon AB A transport cart of a storage and retrieval system and a lifting arrangement for such a transport cart
CN112693382A (zh) * 2019-10-22 2021-04-23 浙江世仓智能仓储设备有限公司 四向行驶的智能搬运车
CN111846731A (zh) * 2020-08-24 2020-10-30 乔禹峰 一种模块化升降式轨道搬运车
CN216336383U (zh) * 2021-07-15 2022-04-19 旷视格图(苏州)智能装备有限公司 举升装置、搬运车及搬运车系统

Also Published As

Publication number Publication date
CN218287934U (zh) 2023-01-13

Similar Documents

Publication Publication Date Title
WO2023020157A1 (zh) 一种搬运车及搬运车系统
CN216336383U (zh) 举升装置、搬运车及搬运车系统
CN110422527A (zh) 一种自动化立体仓库
KR101416412B1 (ko) 자동차 조립 라인용 부품 운송 시스템
KR101684406B1 (ko) 셔틀과 스태커 크레인 및 이를 구비한 자동창고시스템
CN215711504U (zh) 搬运机器人及智能仓储系统
JP2001188610A (ja) 視覚誘導方式による無人搬送台車の制御方法及びこれを利用した無人搬送台車システム
CN113443585A (zh) 码垛机器人
CN212862670U (zh) 立库及立体式仓储系统
CN113184433A (zh) 一种密集型重载智能仓储系统
WO2023284629A1 (zh) 一种搬运车及搬运车系统
CN111703463B (zh) 一种四向车的换向行走装置及四向车
CN209814914U (zh) 滚床及输送系统
JP2023133357A (ja) 搬送車
JP5293999B2 (ja) スタッカークレーンと物品収納設備
CN215400972U (zh) 一种搬运机器人
CN216343728U (zh) 张紧装置及搬运车
US11673779B2 (en) Carrier and mobile lifting conveyor containing the same
CN215286594U (zh) 一种物料搬运机器人
TWI769803B (zh) 載物架及含該載物架之移動式頂升輸送機
CN215159356U (zh) 一种搬运装置及装车系统
JP5170543B2 (ja) スタッカークレーンと物品収納設備
CN212268890U (zh) 一种整车装车机
CN114955594A (zh) 装卸车系统
JPH0627761U (ja) パレットコンベヤ装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22841265

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE