CN218950249U - Walking mechanism - Google Patents

Abstract

The embodiment of the application provides a travelling mechanism, wherein the travelling mechanism runs on a first rail and a second rail which are arranged in parallel, the travelling mechanism comprises at least one travelling chassis, each travelling chassis comprises a support frame arranged along a first direction and at least one wheel frame arranged along a direction perpendicular to the first direction, and the wheel frames are fixedly connected with the support frame; the two ends of the wheel frame are provided with a first travelling wheel and a second travelling wheel which respectively travel on the first track and the second track; the walking chassis is used for bearing walking equipment; the driving assembly is fixedly connected with the support frame and comprises a driving motor and a driving wheel connected with an output shaft of the driving motor, and the driving motor is used for driving the output shaft to rotate and driving the driving wheel to rotate; and one end of the swinging plate is elastically connected with the supporting frame through an elastic piece, and the other end of the swinging plate is rotationally connected with the output shaft. The elastic piece is used for forcing the driving wheel to be closely contacted with the side wall of the first track close to the second track or the side wall of the second track close to the first track.

Description

Walking mechanism

Technical Field

The application relates to the technical field of logistics equipment, in particular to a travelling mechanism.

Background

With the explosive development of the logistics industry, goods are automatically sorted and transported, for example: in a large-scale cargo yard, a rail travelling mechanism is adopted to travel on a rail for cargo transportation, or a mechanical arm and other equipment are arranged on the rail travelling mechanism.

Therefore, the importance of the track running mechanism is increasingly obvious, the conventional running mechanism is driven by adopting a linear motor, the linear motor is used for driving the track running mechanism, and because the linear motor easily generates large vibration in the running process, resonance of other parts of the running mechanism is easily caused when the linear motor moves at a high speed, so that the stability of the track running device is influenced, and further, the damage of transported goods is caused, and when the linear motor drives the track running mechanism, the running mechanism is required to be additionally provided with a locking mechanism for locking, so that the conventional running mechanism is complex in structure and high in cost, and a lot of inconvenience is caused in the aspects of later use and maintenance.

Disclosure of Invention

An object of the embodiment of the application is to provide a running mechanism to improve running stability of the running mechanism, simplify the structure of the running mechanism and reduce production cost. The specific technical scheme is as follows:

the embodiment of the application provides a running gear, running gear is used for traveling on the first track and the second track of parallel setting, and running gear includes:

each walking chassis comprises a support frame arranged along a first direction and at least one wheel frame arranged along a direction perpendicular to the first direction, and the at least one wheel frame is fixedly connected with the support frame; the two ends of at least one wheel frame are provided with a first travelling wheel for travelling on a first track and a second travelling wheel for travelling on a second track; the walking chassis is used for bearing cargo sorting equipment;

the driving assembly is fixedly connected with the support frame and comprises a driving motor and a driving wheel connected with an output shaft of the driving motor, and the driving motor is used for driving the output shaft to rotate and driving the driving wheel to rotate;

the swinging plate, one end of the swinging plate is connected with the support frame through an elastic piece, the other end of the swinging plate is connected with the output shaft in a rotating way, the elastic piece is used for forcing the driving wheel to be close to the side wall of the second track close to the driving wheel, or the elastic piece is used for forcing the driving wheel to be close to the side wall of the first track close to the driving wheel, so that the driving wheel can move along the side wall of the first track close to the second track when rotating, or can move along the side wall of the second track close to the first track when rotating.

The embodiment of the application provides a walking mechanism, which comprises at least one walking chassis and a driving assembly. The supporting frame in the at least one walking chassis can play a role of connecting the wheel frame with the driving assembly, and enables the wheel frame to keep a distance from the driving assembly, so that the driving wheel and the walking wheels are prevented from collision with each other in the moving process. The travelling chassis travels on the first track and the second track through travelling wheels, and the travelling wheels are arranged at the two ends of the wheel frame, so that the whole travelling mechanism travels on the first track and the second track more stably. Other walking equipment can be arranged on at least one walking chassis, and the other walking equipment and the walking chassis can synchronously move, so that the walking equipment can work on the first track and the second track to different points.

The driving assembly is fixedly connected to the supporting frame, and then the driving assembly can drive the whole walking chassis to walk on the first track and the second track. The driving motor is an element for providing power in the driving assembly and drives the driving wheel to rotate.

The running gear still includes the swinging plate, and the elasticity that the elastic component of connecting in the one end of swinging plate produced can make the drive wheel produce positive pressure at first orbital or orbital inside wall of second, guarantees that the drive wheel is in the rotation in-process laminating with first orbital or orbital inside wall all the time, and then drives whole walking chassis along the track walking through the frictional force that produces with first track in-process of rotating, prevents that the drive wheel from breaking away from the track and then leads to running gear unable normal work.

The running gear that this application embodiment provided can be through walking wheel and the frictional force drive running chassis that first track and second track produced walk on first track and second track, compare in that linear electric motor directly drives running chassis, the running gear that this application provided can avoid linear electric motor direct drive running gear in-process to produce great vibration, and then arouses the resonance of other parts of running gear, can make running chassis more steady in the running process, improves running gear's performance.

In addition, the refrigeration system according to the embodiment of the application can also have the following technical characteristics:

in some embodiments, each walking chassis comprises two wheel frames arranged along the track running direction, and the support frame is connected with the two wheel frames to form an I-shaped chassis; the driving assembly and the swinging plate are positioned between the two wheel frames; the upper surfaces of the two wheel frames are provided with preset mounting holes for mounting cargo sorting equipment.

In some embodiments, the swinging plate includes a first portion, one side of the first portion is connected with the supporting frame through the elastic element, the other side of the first portion is bent along a direction away from the supporting frame to form a second portion, a connection part between the first portion and the second portion is rotationally connected with the supporting frame, and the second portion is rotationally connected with the output shaft.

In some embodiments, the swing plate is an integrally formed structure.

In some embodiments, the swing plate is fixedly connected with the support frame through a first mounting piece; the first mounting piece faces the side wall of one side of the support frame, and the first mounting piece is rotatably connected with the connecting part through a bearing.

In some embodiments, along the height direction of the travelling mechanism, the upper surface of the swinging plate is lower than the lower surface of the supporting frame; the elastic piece is connected with the support frame through a second mounting piece; the second mounting piece is arranged on one side, far away from the swinging plate, of the supporting frame, at least part of the second mounting piece is lower than the lower surface of the supporting frame, and the elastic piece penetrates through the lower part of the supporting frame to be connected with the second mounting piece.

In some embodiments, the running mechanism further includes a limiting component, the limiting component is disposed on at least one wheel carrier on the same side as the driving wheel, the limiting component includes a first limiting portion and a second limiting portion disposed along an extending direction of the wheel carrier at intervals, and the limiting component spans the first track or the second track, so that the first limiting portion and the second limiting portion are respectively located at outer sides of two side walls of the first track or located at outer sides of two side walls of the second track, and the limiting component is used for limiting displacement of the running mechanism along an extending direction perpendicular to the first track and the second track.

In some embodiments, the first limiting portion and the second limiting portion are both limiting wheels, and the limiting wheels are horizontally arranged and rotationally connected with the wheel frame.

In some embodiments, the travelling mechanism includes a plurality of travelling chassis and a plurality of joint spare, every all be equipped with at least one joint portion on the wheel carrier, every the joint spare all includes two joint cooperation portions that are located both ends, two joint cooperation portions of joint spare respectively with two the joint portion joint of travelling chassis, so that two travelling chassis connects and forms one travelling mechanism.

In some embodiments, at least one of the walking chassis is provided with a driving motor, a driving wheel and a swinging plate which are connected with the supporting frame.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other embodiments may also be obtained according to these drawings to those skilled in the art.

Fig. 1 is a top view of a running gear provided in an embodiment of the present application;

FIG. 2 is an isometric view of a chassis for walking provided in an embodiment of the present application;

FIG. 3 is an enlarged partial view of an isometric view of a chassis of a walk provided in an embodiment of the present application;

FIG. 4 is an isometric view of a wobble plate and drive assembly provided in an embodiment of the present application after installation;

fig. 5 is an isometric view of a walking chassis A-A' provided in an embodiment of the present application.

The reference numerals are:

a walking chassis 10; a drive assembly 30; a swing plate 40; a support frame 11; a wheel frame 12; a first wheel frame 1201; a second wheel frame 1202; a first traveling wheel 121; mounting side plates 1211; a second road wheel 122; a first rail 21; a second rail 22; a connection frame 23; a drive motor 31; a drive wheel 32; an output shaft 33; an elastic member 34; a first portion 41; a second portion 42; a junction 43; a first mount 111; a rotation shaft 113; a second mount 112; a first limiting portion 123; a second stopper 124; rotating the lever 1240; a clamping piece 13; the engagement portion 14.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. Based on the embodiments herein, a person of ordinary skill in the art would be able to obtain all other embodiments based on the disclosure herein, which are within the scope of the disclosure herein.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For ease of description, spatially relative terms, such as "inner," "outer," "lower," "below," "upper," "above," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" may include both upper and lower orientations. The device may be otherwise oriented, such as rotated 90 degrees or in other directions, and the spatial relative relationship descriptors used herein interpreted accordingly.

In order to improve running stability of the running mechanism and simplify the structure of the running mechanism and reduce production cost, as shown in fig. 1, 2 and 5, the embodiment of the application provides a running mechanism, the running mechanism is used for running on a first track 21 and a second track 22 which are arranged in parallel, and the running mechanism comprises: at least one traveling chassis 10, each traveling chassis 10 including a support frame 11 disposed along a first direction and at least one wheel frame 12 disposed along a direction perpendicular to the first direction, the at least one wheel frame 12 being fixedly connected to the support frame 11; the two ends of at least one wheel frame 12 are provided with a first travelling wheel 121 for travelling on a first track 21 and a second travelling wheel 122 for travelling on a second track 22; the travelling chassis 10 is for carrying a load sorting apparatus.

The driving assembly 30, the driving assembly 30 is fixedly connected with the supporting frame 11, the driving assembly 30 comprises a driving motor 31 and a driving wheel 32 connected with an output shaft 33 of the driving motor 31, and the driving motor 31 is used for driving the output shaft 33 to rotate and driving the driving wheel 32 to rotate.

The swinging plate 40, one end of the swinging plate 40 is elastically connected with the supporting frame 11 through the elastic piece 34, the other end of the swinging plate 40 is rotatably connected with the output shaft 33, the elastic piece 34 is used for forcing the driving wheel 32 to be closely attached to the side wall of the first rail 21 close to the second rail 22, or the elastic piece 34 is used for forcing the driving wheel 32 to be closely attached to the side wall of the second rail 22 close to the first rail 21, so that the driving wheel 32 can move along the side wall of the first rail 21 close to the second rail 22 when rotating or can move along the side wall of the second rail 22 close to the first rail 21 when rotating.

The embodiment of the application provides a walking mechanism, which comprises at least one walking chassis 10, a driving assembly 30 and a swinging plate 40 as shown in fig. 2, wherein the driving assembly 30 can drive the walking chassis 10 to walk on a first rail 21 and a second rail 22. Each of the traveling chassis 10 includes a support frame 11 disposed in a first direction, which refers to an extending direction of the first rail 21 and the second rail 22, and at least one wheel frame 12 disposed in a direction perpendicular to the first direction. The supporting frame 11 can serve to connect the wheel frame 12 and the driving assembly 30, keep the wheel frame 12 and the driving assembly 30 at a distance, prevent the driving wheel 32 from collision with the travelling wheel in the moving process, and enable the supporting frame 11 to be perpendicular to the first wheel frame 1201, wherein the travelling direction of the supporting frame 11 is the same as that of the travelling wheel. The traveling chassis 10 travels on the first rail 21 and the second rail 22 through the first traveling wheel 121 and the second traveling wheel 122, and the entire traveling mechanism can travel on the first rail 21 and the second rail 22 more stably by arranging the first traveling wheel 121 and the second traveling wheel 122 at two ends of the wheel frame 12 respectively. Other walking equipment can be installed on at least one walking chassis 10, and the other walking equipment and the walking chassis 10 can synchronously move, so that the walking equipment can work on the first track 21 and the second track 22 to different points.

In this embodiment, the first track 21 and the second track 22 are both in a groove-shaped structure, that is, the first track 21 includes two side walls connected by a bottom wall, and the second track 22 also includes a bottom wall and two side walls connected by a bottom wall. The driving wheel 32 may be abutted against the side wall of the first rail 21 adjacent to the second rail 22, or may be abutted against the side wall of the second rail 22 adjacent to the first rail 21. One end of the swinging plate 40 is elastically connected with the supporting frame 11 through an elastic piece 34, and the elastic force generated by the elastic piece 34 can enable the driving wheel 32 to generate positive pressure on the side wall of the first track 21, which is close to the second track 22, so that the driving wheel 32 is always attached to the side wall of the first track 21, which is close to the second track 22, in the rotating process, and the driving wheel 32 and the side wall are always kept in an attached state, so that the driving wheel 32 can be driven to rotate together when the driving motor 31 drives the output shaft 33 to rotate. The driving wheel 32 drives the entire traveling chassis 10 to travel along the rails by friction generated with the side wall of the first rail 21 adjacent to the second rail 22 during rotation. Since the elastic force of the swing plate 40 side is always present, it is possible to prevent the driving wheel 32 from being separated from the first rail 21, so that the running mechanism cannot function properly.

The running gear that this application embodiment provided can drive running chassis 10 through the frictional force that walking wheel and first track 21 or second track 22 produced and walk on first track 21 and second track 22, compare and directly drive running chassis 10 in linear electric motor, the running gear that this application provided can avoid linear electric motor direct drive running equipment in-process to produce great vibration, and then arouses the resonance of other parts of running gear, can make running chassis 10 more steady in the walking in-process, improves running gear's performance.

Specifically, the first rail 21 and the second rail 22 may be circular rails or linear rails, which are not limited in this application. The driving wheel 32 is driven by the driving motor 31 to slide on the side wall of the first rail 21 close to the second rail 22; the second track 22 and the second travelling wheel 122 are matched in the same way, and the driving wheel 32 and the first travelling wheel 121 are respectively positioned on different sides of the first track 21, so that collision between the driving wheel 32 and the first travelling wheel 121 can be prevented in the travelling process.

Of course, the track for walking by the walking mechanism may include only the bottom wall and two parallel side walls connected to the bottom wall, where the width between the two side walls is slightly larger than the distance between the two walking wheels, so that when the walking chassis 10 walks, the two side walls can limit the walking track of the first walking wheel 121 and the second walking wheel 122. The track of this form simple structure, and can realize restricting walking wheel and walk in the lateral wall, can to a great extent practice thrift the cost.

Specifically, as shown in fig. 1, a plurality of connecting frames 23 are further included between the first rail 21 and the second rail 22, one end of each of the plurality of connecting frames 23 is connected with the second rail 22, the other end of each of the plurality of connecting frames is connected with the first rail 21, and the connecting frames 23 are used for supporting the first rail 21 and the second rail 22 from the ground. The first rail 21 and the second rail 22 are supported from the ground, so that the travelling mechanism is convenient to match with other sorting equipment with different heights, and further, the cargoes can be more conveniently grabbed or sorted.

Specifically, as shown in fig. 2, both sides of the first traveling wheel 121 and the second traveling wheel 122 in the axial direction thereof are provided with mounting side plates 1211, the mounting side plates 1211 may be long plates with radians in the middle, and the first traveling wheel 121 and the second traveling wheel 122 are rotatably mounted on the wheel frame 12 through the mounting side plates 1211. The mounting side plate 1211 may drive the travelling wheel to rotate around the connection point between the mounting side plate 1211 and the wheel frame 12, and when the first rail 21 and the second rail 22 are non-linear rails, the travelling wheel swings along the direction of the rails, so that the travelling chassis 10 may adapt to more types of the first rail 21 and the second rail 22.

In some embodiments of the present application, as shown in fig. 2, each traveling chassis 10 includes two wheel frames 12 disposed along a track traveling direction, and a supporting frame 11 connects the two wheel frames 12 to form an i-shaped chassis; the drive assembly 30 and the swing plate 40 are located between the two wheel frames 12; the upper surfaces of the two wheel frames 12 are provided with preset mounting holes for mounting the goods sorting apparatus.

In the present embodiment, the number of the wheel frames 12 is two, the driving assembly 30 is located between the first wheel frame 1201 and the second wheel frame 1202, the first wheel frame 1201 is located at the first end of the supporting frame 11, and the second wheel frame 1202 is located at the second end of the supporting frame 11. The whole walking chassis 10 is in an I shape, so that the structure of the walking chassis 10 is more stable and the running is more stable. Preferably, the first wheel frame 1201 is parallel to the second wheel frame 1202, improving the structural stability of the walking chassis 10.

Specifically, as shown in fig. 2, the wheel frame 12 may be provided with a plurality of preset mounting holes for connecting with other traveling devices, such as various mechanisms including a belt conveyor, a chain machine, a roller machine, a fork, and the like, so as to perform actions of conveying, sorting, grabbing, and the like on the goods.

In some embodiments of the present application, as shown in fig. 4, the swing plate 40 includes a first portion 41, one side of the first portion 41 is connected to the support frame 11 through the elastic member 34, the other side of the first portion 41 is bent in a direction away from the support frame 11 to form a second portion 42, a connection between the first portion 41 and the second portion 42 is rotatably connected to the support frame 11, and the second portion 42 is rotatably connected to the output shaft 33.

In this embodiment, as shown in fig. 2, the swinging plate 40 is rotationally connected with the supporting frame 11 at the joint of the two parts, so that the connection stability of the swinging plate 40 can be improved, and the swinging plate 40 can rotate around the supporting frame 11, when the elastic piece 34 pulls the first part 41, the second part 42 rotates towards the first track 21, and then drives the output shaft 33 to rotate towards the first track 21, and then the driving wheel 32 generates positive pressure on the first track 21, and when the driving motor 31 drives the driving wheel 32 to rotate, the friction force generated between the driving wheel 32 and the first track 21 drives the walking chassis 10 to walk along the track. The joint 43 between the first portion 41 and the second portion 42 forms a certain angle with the second portion 42, instead of the first portion 41 being in line with the second portion 42, so that a larger margin is left between the first portion 41 and the supporting frame 11, and a larger rotation space is allowed for the first portion 41 when the swinging plate 40 rotates around the supporting frame 11.

In some embodiments of the present application, the swing plate 40 is an integrally formed structure.

In this embodiment of the present application, as shown in fig. 2, the integrally formed swinging plate 40 is adopted, so that a connection structure between the first portion 41 and the second portion 42 can be omitted, and then the weight of the swinging plate 40 is reduced, and then the weight of the whole running mechanism is reduced, so that the running mechanism is reduced to run on the first rail 21 and the second rail 22, and the abrasion of the first rail 21 and the second rail 22 caused by the running mechanism is reduced, and the integrally formed swinging plate 40 can further facilitate the installation and the disassembly processes.

In some embodiments of the present application, the swing plate 40 is fixedly connected to the support frame 11 through the first mounting member 111; the first mounting part 111 faces the side wall of the side of the supporting frame 11, and the first mounting part 111 is rotatably connected with the connecting part 43 through a bearing.

In the embodiment of the present application, as shown in fig. 4, the swing plate 40 is connected to the support frame 11 by the first mount 111, and the first portion 41 and the second portion 42 of the swing plate 40 can be rotated about the rotation shaft 113 in the bearing by setting the bent portion of the swing plate 40 as a rotation point. Specifically, the rotation direction of the swing plate 40 may be clockwise rotation or counterclockwise rotation around the bearing. Since the driving motor 31 has a large mass, resulting in a large mass of the swing plate 40 connected to the driving assembly 30, and the bearing can bear a large load and reduce friction with the first mounting 111 when the rotation shaft 113 rotates, the swing plate 40 and the support frame 11 on the traveling chassis 10 are connected by the bearing. The structure of the whole running mechanism can be more stable, and the stability of the running process of the running mechanism is further improved.

Specifically, the first mounting member 111 may be a bearing-supporting device such as a bearing housing.

In some embodiments of the present application, as shown in fig. 2, the upper surface of the swing plate 40 is lower than the lower surface of the support frame 11 in the height direction of the traveling mechanism; the elastic member 34 is connected with the supporting frame 11 through the second mounting member 112; the second mounting member 112 is disposed on a side of the support frame 11 away from the swing plate 40, at least a portion of the second mounting member 112 is lower than the lower surface of the support frame 11, and the elastic member 34 is connected to the second mounting member 112 through the lower portion of the support frame 11.

In the embodiment of the present application, as shown in fig. 2, during the turning process, the tension generated by the elastic member 34 pulls the swing plate 40 to swing around the rotation shaft 113, so as to avoid collision with the support frame 11 during the swing process of the swing plate 40, the position of the swing plate 40 is set below the support frame 11, that is, the upper surface of the swing plate 40 is lower than the lower surface of the support frame 11, and the swing range of the swing plate 40 is larger because there is no shielding of the support frame 11. Since the supporting frame 11 has a certain width, the second mounting member 112 is disposed on the side of the supporting frame 11 away from the swinging plate 40, and the stretching or shrinking range of the elastic member 34 is larger than that of the second mounting member 112 disposed on the side of the supporting frame 11 close to the swinging plate 40, so that the swinging plate 40 can have a larger rotation range in the swinging process. At least part of the second mounting member 112 is lower than the lower surface of the supporting frame 11, so that the elastic member 34 is convenient to connect with the second mounting member 112, and cannot interfere with the supporting frame 11 in the connecting process.

Specifically, the second mounting member 112 may be a long plate, a long rod, or the like.

In some embodiments of the present application, as shown in fig. 2 and 3, the running mechanism further includes a limiting component, the limiting component is disposed on at least one wheel frame 12 on the same side as the driving wheel 32, the limiting component includes a first limiting portion 123 and a second limiting portion 124 disposed along an extending direction of the wheel frame 12 at intervals, and the limiting component spans across the first track 21 or the second track 22, so that the first limiting portion 123 and the second limiting portion 124 are respectively located on an outer side of two sidewalls of the first track 21 or on an outer side of two sidewalls of the second track 22, and the limiting component is used for limiting displacement of the running mechanism along an extending direction perpendicular to the first track 21 and the second track 22.

In the embodiment of the application, when the traveling chassis 10 drives the traveling device to travel on the first rail 21 and the second rail 22, the traveling chassis 10 is easily deviated or even derailed relative to the rails due to the interference of external force factors. Through set up spacing subassembly on running gear, can increase the stationarity that running chassis 10 moved on first track 21 and second track 22, can guarantee that running chassis 10 laminating first track 21 and second track 22 walk all the time.

In one embodiment, as shown in fig. 2 and 5, the first limiting portion 123 may be attached to a first side wall of the first rail 21, and the second limiting portion 124 may be attached to a second side wall of the first rail 21, where the first side wall is parallel to the second side wall, so that the first rail 21 is disposed between the first limiting portion 123 and the second limiting portion 124. The limiting component is attached to two side walls of the first rail 21 to limit the walking chassis 10, so that the walking chassis 10 is prevented from shifting the rail in the walking process of driving the walking equipment.

In another embodiment, the first limiting portion 123 may be attached to a first side wall of the second rail 22, and the second limiting portion 124 may be attached to a second side wall of the second rail 22, where the first side wall is parallel to the second side wall, so that the second rail 22 is disposed between the first limiting portion 123 and the second limiting portion 124. The limiting component is attached to two side walls of the second rail 22 to limit the walking chassis 10, so that the walking chassis 10 is prevented from shifting the rails in the walking process of driving the walking equipment.

In some embodiments of the present application, as shown in fig. 2 and 3, the first limiting portion 123 and the second limiting portion 124 are both limiting wheels, and the limiting wheels are horizontally disposed and rotatably connected to the wheel frame 12.

In this application embodiment, because the walking chassis 10 needs to move on the first track 21 and the second track 22 constantly, in order to prevent that the excessive static friction from producing between spacing wheel and first track 21 and second track 22 from leading to the resistance too big, and then hinder the normal walking of walking chassis 10, rotationally connect spacing wheel on wheel carrier 12, under the drive of drive assembly 30 to walking chassis 10, can drive spacing wheel and walk on the lateral wall of first track 21 or second track 22, under the prerequisite that does not interfere walking wheel and drive wheel 32, the spacing wheel can play fine spacing effect to walking chassis 10, the frictional force that produces between spacing wheel and the track that can also better reduces. The stopper wheel may be provided at a bottom surface of the wheel frame 12 at a side near the driving wheel 32, and the stopper wheel may be rotatably coupled to the wheel frame 12 by a rotation lever 1240. The wheel frame 12 not only can support the travelling wheels, but also can play a role in supporting limit wheels.

Furthermore, in some embodiments, the spacing wheel may be fixedly attached to the wheel frame 12, i.e., the spacing wheel may not rotate. When the limiting wheel does not rotate, the friction force between the limiting wheel and the side wall of the track is static friction force which is slightly larger than rolling friction force, but compared with other limiting parts such as limiting blocks and the like, the friction force between the limiting wheel and the side wall of the track can be reduced. The friction force of the travelling mechanism on the first rail 21 and the second rail 22 is reduced because the contact area between the limiting wheels and the side wall of the rail is smaller, and the travelling speed of the travelling mechanism can be well improved by using the limiting wheels under certain output power of the motor.

In some embodiments of the present application, as shown in fig. 2 and 3, the travelling mechanism includes a plurality of travelling chassis 10 and a plurality of clamping members 13, at least one clamping portion 14 is disposed on each wheel carrier 12, each clamping member 13 includes two clamping matching portions located at two ends, and the two clamping matching portions of the clamping member 13 are respectively clamped with the clamping portions 14 of the two travelling chassis 10, so that the two travelling chassis 10 are connected to form a travelling mechanism.

In the embodiment of the present application, a plurality of traveling chassis 10 may be included in one traveling mechanism, and the number of traveling chassis 10 may be adjusted according to the number, mass and size of the traveling devices to be carried. The connection between the walking chassis 10 is realized by the cooperation of the clamping piece 13 and the clamping part 14. The clamping part 14 is fixed on the wheel frame 12, and the clamping piece 13 plays a role of connecting the two traveling chassis 10.

Further, the clamping portion 14 may be disposed on a side of the wheel frame 12 near the limiting portion, and a specific position may be on an upper surface and a side surface of the wheel frame 12, where the clamping portion 14 and the clamping member 13 are not limited in this application.

Specifically, as shown in fig. 3, the clamping portion 14 may be a cylindrical base with a recess, and the clamping member 13 may be a cylindrical rod or a polygonal rod adapted to the recess of the clamping portion 14.

In some embodiments of the present application, at least one of the walking chassis 10 is provided with a driving motor 31, a driving wheel 32, and a swing plate 40 connected to the support frame 11.

In this embodiment, the walking chassis 10 provided with the driving motor 31, the driving wheel 32 and the swinging plate 40 may be located at the tail end or the head end of the walking mechanism or located at the position between the head and the tail without connecting each of the walking chassis 10 with the driving motor 31, the driving wheel 32 and the swinging plate 40, and the driving motor 31 drives one of the walking chassis 10 to walk so as to drive a plurality of the interconnected walking chassis 10 to walk, thereby playing a role in saving energy consumption.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modifications, equivalent substitutions, improvements, etc. that are within the spirit and principles of the present application are intended to be included within the scope of the present application.

Claims (10)

1. A running gear, characterized in that it is intended to run on a first track (21) and a second track (22) arranged in parallel, said running gear comprising:

at least one travelling chassis (10), each travelling chassis (10) comprising a support frame (11) arranged along a first direction and at least one wheel frame (12) arranged along a direction perpendicular to the first direction, at least one wheel frame (12) being fixedly connected with the support frame (11); both ends of at least one wheel carrier (12) are provided with a first travelling wheel (121) for travelling on the first rail (21) and a second travelling wheel (122) for travelling on the second rail (22); the walking chassis (10) is used for bearing cargo sorting equipment;

the driving assembly (30), the driving assembly (30) is fixedly connected with the supporting frame (11), the driving assembly (30) comprises a driving motor (31) and a driving wheel (32) connected with an output shaft (33) of the driving motor (31), and the driving motor (31) is used for driving the output shaft (33) to rotate and driving the driving wheel (32) to rotate;

the swing plate (40), one end of swing plate (40) pass through elastic component (34) with support frame (11) elastic connection, the other end of swing plate (40) with output shaft (33) rotate and connect, elastic component (34) are used for forcing drive wheel (32) with first track (21) are close to the lateral wall of second track (22) is tight, or elastic component (34) are used for forcing drive wheel (32) with second track (22) are close to the lateral wall of first track (21), so that when drive wheel (32) rotate can follow first track (21) are close to the lateral wall of second track (22) or so that when drive wheel (32) rotate can follow second track (22) are close to the lateral wall of first track (21).

2. The running gear according to claim 1, characterized in that each running chassis (10) comprises two wheel carriers (12) arranged along the running direction of the track, the support frame (11) connecting the two wheel carriers (12) forming an i-shaped chassis; the drive assembly (30) and the wobble plate (40) are located between the two wheel carriers (12); the upper surfaces of the two wheel frames (12) are provided with preset mounting holes for mounting cargo sorting equipment.

3. Running gear according to claim 1, wherein the swinging plate (40) comprises a first part (41), one side of the first part (41) is connected with the supporting frame (11) through the elastic piece (34), the other side of the first part (41) is bent along a direction away from the supporting frame (11) to form a second part (42), a connecting part (43) of the first part (41) and the second part (42) is rotationally connected with the supporting frame (11), and the second part (42) is rotationally connected with the output shaft (33).

4. A running gear according to claim 3, characterized in that the wobble plate (40) is of integrally formed construction.

5. A travelling mechanism according to claim 3, characterized in that the swinging plate (40) is fixedly connected to the support frame (11) by means of a first mounting (111); the first mounting piece (111) faces to the side wall of one side of the supporting frame (11), and the first mounting piece (111) is rotatably connected with the connecting part (43) through a bearing.

6. The running gear according to any one of claims 1 to 5, characterized in that the upper surface of the swing plate (40) is lower than the lower surface of the support frame (11) in the height direction of the running gear; the elastic piece (34) is connected with the supporting frame (11) through a second mounting piece (112); the second mounting piece (112) is arranged on one side, far away from the swinging plate (40), of the supporting frame (11), at least part of the second mounting piece (112) is lower than the lower surface of the supporting frame (11), and the elastic piece (34) penetrates through the lower part of the supporting frame (11) to be connected with the second mounting piece (112).

7. The running gear according to any one of claims 1 to 5, further comprising a stopper assembly provided on at least one of the wheel frames (12) on the same side as the drive wheel (32), the stopper assembly including a first stopper (123) and a second stopper (124) provided at intervals along the extending direction of the wheel frames (12), the stopper assembly being provided across the first rail (21) or the second rail (22) such that the first stopper (123) and the second stopper (124) are located outside both side walls of the first rail (21) or outside both side walls of the second rail (22), respectively, the stopper assembly being for restricting displacement of the running gear in the extending direction perpendicular to the first rail (21) and the second rail (22).

8. The running gear according to claim 7, wherein the first limiting portion (123) and the second limiting portion (124) are limiting wheels, and the limiting wheels are horizontally arranged and are rotatably connected with the wheel frame (12).

9. The walking mechanism as claimed in any one of claims 1-5, wherein the walking mechanism comprises a plurality of walking chassis (10) and a plurality of clamping pieces (13), at least one clamping part (14) is arranged on each wheel frame (12), each clamping piece (13) comprises two clamping matching parts at two ends, and the two clamping matching parts of the clamping pieces (13) are respectively clamped with the clamping parts (14) of the two walking chassis (10) so that the two walking chassis (10) are connected to form one walking mechanism.

10. The running gear according to claim 9, wherein,

at least one of the walking chassis (10) is provided with the driving motor (31), the driving wheel (32) and the swinging plate (40) which are connected with the supporting frame (11).

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