WO2023020157A1 - 一种搬运车及搬运车*** - Google Patents

一种搬运车及搬运车*** Download PDF

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Publication number
WO2023020157A1
WO2023020157A1 PCT/CN2022/104697 CN2022104697W WO2023020157A1 WO 2023020157 A1 WO2023020157 A1 WO 2023020157A1 CN 2022104697 W CN2022104697 W CN 2022104697W WO 2023020157 A1 WO2023020157 A1 WO 2023020157A1
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WIPO (PCT)
Prior art keywords
longitudinal
transverse
reversing
travel
transmission assembly
Prior art date
Application number
PCT/CN2022/104697
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English (en)
French (fr)
Inventor
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.)
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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
Priority to JP2023514864A priority Critical patent/JP7518288B2/ja
Publication of WO2023020157A1 publication Critical patent/WO2023020157A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • 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
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames

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 drives the traveling wheels to travel through the transmission mechanism arranged on the vehicle frame.
  • the transmission mechanism of the transport vehicle in the related art occupies a large space on the vehicle frame, which is not conducive to the stacking of other devices.
  • the present disclosure provides a transport vehicle and a transport vehicle system.
  • a transport vehicle which includes: a vehicle frame; a traveling mechanism, including lateral travel wheels and longitudinal travel wheels; a travel transmission assembly, including a lateral transmission assembly arranged on the vehicle frame and a longitudinal transmission assembly, the horizontal transmission assembly is connected to the horizontal travel wheel, the longitudinal transmission assembly is connected to the longitudinal travel wheel, wherein the horizontal transmission assembly and the longitudinal transmission assembly are arranged on the vehicle frame and the walking drive mechanism, which is connected with the traveling transmission assembly, drives the traveling transmission assembly to drive the horizontal traveling wheels and the longitudinal traveling wheels to rotate; wherein, when the longitudinal traveling wheels are separated from the traveling surface, The transport vehicle moves laterally through the transverse traveling wheels; or, when the transverse traveling wheels are separated from the running surface, the transport vehicle moves longitudinally through the longitudinal traveling wheels.
  • the longitudinal traveling wheels are arranged on the side of the vehicle frame;
  • the longitudinal transmission assembly includes: longitudinal driving wheels connected with the traveling driving mechanism; longitudinal driven wheels connected with the longitudinal traveling wheels Connection; a longitudinal transmission member, connecting the longitudinal driving wheel and the longitudinal driven wheel.
  • both the longitudinal driving wheel and the longitudinal driven wheel are sprockets, and the longitudinal transmission member is a chain; or, both the longitudinal driving wheel and the longitudinal driven wheel are pulleys, and the The longitudinal transmission member is a belt.
  • the longitudinal traveling wheels include a plurality of first longitudinal traveling wheels and a plurality of second longitudinal traveling wheels, and the first longitudinal traveling wheels and the second longitudinal traveling wheels are respectively arranged on the vehicle frame The two sides of the transverse direction;
  • the longitudinal transmission assembly is provided with two groups, which are respectively the first longitudinal transmission assembly and the second longitudinal transmission assembly, wherein, a plurality of the first longitudinal traveling wheels pass through the first longitudinal The transmission assembly is connected, and a plurality of the second longitudinal travel wheels are connected through the second longitudinal transmission assembly;
  • the travel transmission assembly also includes a longitudinal connection shaft connected to the travel drive mechanism, and the longitudinal connection shaft is connected to The first longitudinal transmission assembly and the second longitudinal transmission assembly.
  • the transverse transmission assembly includes: a universal transmission shaft connected to the driving mechanism, the universal transmission shaft includes a transmission part and swing parts respectively movably arranged at both ends of the transmission part, so The transverse traveling wheel is provided on the swinging part; when the transverse traveling wheel is detached from the running surface, the transverse traveling wheel and the swinging part swing up relative to the transmission part.
  • the transmission part is a horizontal fixed shaft connected to the driving mechanism;
  • the swing part is a telescopic universal joint, and the telescopic universal joints are respectively arranged on the lateral The two ends of the fixed shaft, wherein, the input shaft of the telescopic universal joint is connected with the horizontal fixed shaft, and the output shaft of the telescopic universal joint is connected with the lateral traveling wheel.
  • the traveling transmission assembly further includes: a transverse driving wheel connected to the traveling driving mechanism; a transverse driven wheel installed on the cardan shaft and connected to the transverse driving wheel.
  • the transverse drive wheel is a transverse drive sprocket
  • the transverse driven wheel is a transverse driven sprocket
  • the transverse drive sprocket is connected to the transverse driven sprocket through a chain
  • the Described transverse drive pulley is transverse drive pulley
  • described transverse driven pulley is transverse driven pulley
  • described transverse drive pulley and described transverse driven pulley are connected by belt
  • described transverse drive pulley is transverse drive gear
  • the transverse driven wheel is a transverse driven gear, and the transverse drive gear meshes with the transverse driven gear.
  • two universal joint shafts are provided, namely a first universal joint shaft and a second universal joint shaft, and the first universal joint shaft and the second universal joint shaft respectively arranged on both sides of the vehicle frame in the lateral direction;
  • the travel transmission assembly further includes: a first transfer wheel, connected to the lateral drive wheel; a second transfer wheel, connected to the first transfer wheel wheel connection; the second transverse driven wheel is connected with the second cardan shaft; the transverse connecting piece is connected with the second transfer wheel and the second transverse driven wheel.
  • the traveling drive mechanism includes: a traveling motor; a traveling reducer, the traveling reducer includes a traveling input end, a longitudinal output end, and a transverse output end, and the walking input end and the output end of the traveling motor
  • the longitudinal output end is connected to the longitudinal connection shaft, and the transverse output end is connected to the transverse transmission assembly.
  • the transport vehicle further includes a partition, and the partition forms an accommodating space with the side panels on the peripheral side of the vehicle frame, and the accommodating space is used to accommodate the transverse transmission assembly and the The longitudinal transmission assembly described above.
  • it further includes: a jacking and reversing mechanism, connected with the horizontal traveling wheels, driving the horizontal traveling wheels up and down, so that the horizontal traveling wheels are detached from or abutted against the running surface.
  • the jacking and reversing mechanism includes: a lifting frame connected to the lateral traveling wheels; at least one crank mechanism connected to the lifting frame; a reversing drive mechanism connected to the crank mechanism, The crank mechanism is driven to swing, so that the elevating frame drives the horizontal traveling wheels to elevate.
  • 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 connected with the driving mechanism; a swing shaft is fixed on the first The oscillating part of the crank, the oscillating shaft passes through the through hole to support the elevating frame.
  • the crank mechanism further 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 jacking and reversing mechanism further includes: a reversing transmission assembly, the reversing transmission assembly includes a first synchronous gear mechanism, and the first synchronous gear mechanism includes a reversing input end, a first reversing To the output end and the second reversing output end, the reversing input end is connected with the output shaft of the reversing drive mechanism; 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 are respectively connected to the first reversing output end and the second reversing output end.
  • 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 reversing transmission assembly also includes: a second synchronous gear mechanism, including a reversing connection end, a fourth reversing output end and a fifth reversing output end;
  • the reversing connection shaft one end is connected to the third reversing output end, 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 The crank mechanisms are respectively connected to the second lifting frame, and are respectively connected to the fourth reversing output end and the fifth reversing output end, and the first crank mechanism and the second crank mechanism are respectively connected to the first reversing output end.
  • a lifting frame is connected to the first reversing output end and the second reversing output
  • the jacking and reversing mechanism further includes: at least one first guiding mechanism, and the first guiding mechanism includes: a first guiding shaft, vertically arranged on the vehicle frame; a sliding seat, slidably arranged on the first guide shaft, and fixedly connected with the lifting frame.
  • the transport vehicle further includes: a lifting plate, which is used to directly or indirectly carry the items to be transported; a second guiding mechanism, arranged on the lifting plate, and the The lifting frame is slidingly connected.
  • the lifting frame includes a frame body and support frames arranged at both ends of the frame body, the lateral travel wheels are arranged in the support frame, and guide holes are provided on the support frame;
  • the second guide mechanism includes a guide shaft, one end of which is connected to the lifting plate, and the other end extends into the guide hole.
  • 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 horizontal transmission assembly and the longitudinal transmission assembly are arranged on the same side of the vehicle frame, which can reduce the space occupied by the vehicle frame and provide more space for stacking other devices.
  • Fig. 1 is a schematic diagram of the internal structure of a transport vehicle according to an exemplary embodiment.
  • Fig. 2 is an internal plan view of a transport vehicle according to an exemplary embodiment.
  • Fig. 3 is a partial structural diagram of a transport vehicle according to an exemplary embodiment.
  • Fig. 4 is a schematic structural diagram of a crank mechanism according to an exemplary embodiment.
  • Fig. 5 is an enlarged schematic diagram of a partial structure of a transport vehicle according to an exemplary embodiment.
  • Fig. 6 is a partial structural sectional view 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 present disclosure provides a transport vehicle 100 , including a vehicle frame 10 , a traveling mechanism 20 , a traveling transmission assembly 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, and includes a chassis 11, a side plate 12 extending upward around the periphery of the chassis 11, and an upper cover. Set each component.
  • the side plate 12 can be provided with a charging port for the data line to pass through, a sensor port for the sensor to be exposed outside the vehicle frame 10 , an indicator port for the indicator light to be exposed to the outside of the vehicle frame 10 , and the like.
  • the traveling mechanism 20 is used to drive the transport vehicle 100 to travel along a predetermined route.
  • the transport vehicle 100 of the embodiment of the present disclosure can be a four-way walking transport vehicle, that is, the transport vehicle 100 can travel forward and backward along the horizontal direction (x direction in the figure), and forward and backward along the longitudinal direction (y direction in the figure), so as to improve the transportation efficiency.
  • the travel flexibility of the cart 100 is adapted to complex working environments.
  • the horizontal direction (x direction in the figure) and longitudinal direction (y direction in the figure) mentioned in the embodiments of the present disclosure refer to the traveling direction of the transport vehicle 100. In some The cases are completely interchangeable.
  • the traveling mechanism 20 includes a transverse traveling wheel 21 and a longitudinal traveling wheel 22 .
  • the transverse traveling wheels 21 can drive the transport vehicle 100 to move forward and backward along the x direction on the running surface.
  • the longitudinal traveling wheels 22 can drive the transport vehicle 100 to move back and forth along the y direction on the running surface.
  • the driving surface can be a flat ground or a track surface.
  • the longitudinal travel wheels 22 can travel along the first track surface (such as the main roadway), the first track surface can extend along the y direction (longitudinal), and the transverse travel wheels 21 can travel along the second track surface (such as a sub-lane) travels, and 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 transverse traveling wheels 21 are located on the traveling surface, and the truck 100 moves on the traveling surface along the transverse direction through the transverse traveling wheels 21 .
  • the longitudinal traveling wheels 22 are located on the traveling surface, and the transport vehicle 100 moves longitudinally on the traveling surface through the longitudinal traveling wheels 22 .
  • the horizontal travel wheels 21 can be separated from the running surface, and the longitudinal travel wheels 22 are positioned on the running surface, so that the truck 100 can pass through the longitudinal travel.
  • the wheels 22 travel in the longitudinal direction.
  • the longitudinal travel wheels 22 can be separated from the running surface, and the lateral travel wheels 21 are located on the travel surface, so that the transfer vehicle 100 can pass through the lateral travel wheels 21 along the lateral travel.
  • the travel transmission assembly 30 includes a transverse transmission assembly 31 and a longitudinal transmission assembly 32 disposed on the vehicle frame 10 .
  • the transverse transmission assembly 31 is connected with the transverse traveling wheel 21 to drive the transverse traveling wheel 21 to rotate.
  • Longitudinal transmission assembly 32 is connected with longitudinal traveling wheel 22, drives longitudinal traveling wheel 22 to rotate.
  • the transverse transmission assembly 31 and the longitudinal transmission assembly 32 are located adjacent to the peripheral side of the vehicle frame 10 .
  • a partition 13 can be provided on the chassis 11 of the vehicle frame 10 , the partition 13 extends toward the y direction, and is close to the side plate 12 to form an accommodating space with the side plate 12 for accommodating the transverse transmission assembly 31 and longitudinal transmission assembly 32.
  • the transverse transmission assembly 31 can be arranged along the y direction, and the transverse traveling wheels 21 are respectively connected to two ends thereof.
  • the longitudinal transmission assembly 32 is also arranged along the y direction, and the longitudinal traveling wheel 22 is connected to its side.
  • two partitions 13 may be provided, and the two partitions 13 are arranged opposite to each other to form a first accommodation space and a second accommodation space with the opposite side panels on the peripheral side of the vehicle frame 10 .
  • Two sets of transverse transmission assemblies 31 and longitudinal transmission assemblies 32 can be provided respectively, and two sets of transverse transmission assemblies 31 and longitudinal transmission assemblies 32 are respectively arranged on opposite sides of the vehicle frame 10 .
  • one set of transverse transmission assemblies 31 and longitudinal transmission assemblies 32 are located in the first accommodation space on one side of the vehicle frame 10, that is, one set of transverse transmission assemblies 31 and longitudinal transmission assemblies 32 are located on the same side of the vehicle frame 10;
  • One set of transverse transmission assembly 31 and longitudinal transmission assembly 32 is located in the second accommodation space on the other side of the vehicle frame 10 , that is, another set of transverse transmission assembly 31 and longitudinal transmission assembly 32 is located on the other side of the vehicle frame 10 . Therefore, such an arrangement can reduce the space occupied by the vehicle frame 10 and provide more space for other devices.
  • the travel transmission assembly 30 is connected with the travel drive mechanism 40 , and the travel drive mechanism 40 drives the travel transmission assembly 30 to drive the horizontal travel wheels 21 and the longitudinal travel wheels 22 to rotate.
  • the travel driving mechanism 40 can also be disposed on the vehicle frame 10 at a position adjacent to one set of the transverse transmission assembly 31 and the longitudinal transmission assembly 32 .
  • the truck 100 of the embodiment of the present disclosure arranges the lateral transmission assembly 31 connected with the lateral travel wheel 21 and the longitudinal transmission assembly 32 connected with the longitudinal travel wheel 22 on the peripheral side adjacent to the vehicle frame 10, thus reducing the impact on the vehicle.
  • the occupation of the space in the middle of the rack 10 provides more space for other devices. Under the same situation that the devices on the vehicle frame 10 require the same space, the overall size of the vehicle frame 10 can be reduced, and the transport vehicle 100 is more miniaturized. In this way, in a narrow storage environment, the passing efficiency of the transport vehicle 100 can be improved, and The storage space per unit volume of the three-dimensional warehouse can be increased.
  • the longitudinal traveling wheels 22 are disposed on the vehicle frame 10 , for example, the longitudinal traveling wheels 22 are rotatably disposed on the side panels 12 of the vehicle frame 10 to drive the vehicle frame 10 to move longitudinally.
  • the aforementioned longitudinal transmission assembly 32 may include a longitudinal driving wheel 321 , a longitudinal driven wheel 322 and a longitudinal transmission member 323 .
  • the longitudinal driving wheel 321 is connected with the traveling driving mechanism 40 .
  • the longitudinal driven wheel 322 is connected with the longitudinal traveling wheel 22
  • the longitudinal transmission member 323 is connected with the longitudinal driving wheel 321 and the longitudinal driven wheel 322 .
  • the longitudinal driving wheel 321 , the longitudinal driven wheel 322 and the longitudinal transmission member 323 are all located in the accommodation space formed by the partition plate 13 and the side plate 12 of the vehicle frame 10 to prevent oil from flowing out or sundries from entering.
  • the longitudinal driving wheel 321 and the longitudinal driven wheel 322 may be located on the same straight line in the y direction.
  • the traveling driving mechanism 40 drives the longitudinal driving wheel 321 to rotate, and the longitudinal driving wheel 321 drives the longitudinal driven wheel 322 to rotate through the longitudinal transmission member 323, thereby driving the longitudinal traveling wheel 22 to rotate.
  • Longitudinal travel wheels 22 can be provided with a plurality of, and a plurality of longitudinal travel wheels 22 can be divided into multiple groups, for example two groups, each group comprises two longitudinal travel wheels 22, and two groups of longitudinal travel wheels 22 are arranged at intervals along the y direction.
  • a longitudinal driven wheel 322 positioned at the inner side of the side plate 12 is installed on each longitudinal traveling wheel 22, and a plurality of longitudinal driven wheels 322 are connected by a longitudinal transmission member 323, and the longitudinal transmission member 323 is connected with longitudinal driving wheel 321.
  • the traveling driving mechanism 40 drives the longitudinal driving wheel 321 to rotate, and drives the plurality of longitudinal driven wheels 322 to rotate through the longitudinal transmission member 323 , thereby driving the plurality of longitudinal traveling wheels 22 to rotate.
  • both the longitudinal driving wheel 321 and the longitudinal driven wheel 322 are sprockets, that is, the driving sprocket and the driven sprocket
  • the longitudinal transmission member 323 is a chain
  • the chain can respectively go around the driving sprocket and the driven sprocket . That is, a plurality of longitudinal traveling wheels are connected through a chain drive.
  • One or more tensioning wheel assemblies can also be arranged on the side plate 12 of the vehicle frame 10 to tension the sprocket to ensure stable transmission and reduce backlash.
  • both the longitudinal driving wheel 321 and the longitudinal driven wheel 322 are pulleys, and the longitudinal transmission member 323 is a belt. That is, the plurality of longitudinal traveling wheels 22 are connected through a belt transmission.
  • the longitudinal travel wheels 22 include a plurality of first longitudinal travel wheels 22a and a plurality of second longitudinal travel wheels 22b, and the first longitudinal travel wheels 22a and the second longitudinal travel wheels 22b are arranged on the transverse direction of the vehicle frame 10 respectively. both sides of the direction.
  • the longitudinal transmission assembly 32 is provided with two groups, respectively the first longitudinal transmission assembly 32a and the second longitudinal transmission assembly 32b, wherein the plurality of first longitudinal traveling wheels 22a are connected through the first longitudinal transmission assembly 32a, and the plurality of second longitudinal transmission assemblies 32a
  • the longitudinal travel wheels 22b are connected through the second longitudinal transmission assembly 32b.
  • the travel transmission assembly 30 further includes a longitudinal connection shaft 35 connected to the travel drive mechanism 40, and the longitudinal connection shaft 35 connects the first longitudinal transmission assembly 32a and the second longitudinal transmission assembly 32b.
  • the travel driving mechanism 40 drives the longitudinal connecting shaft 35 to rotate, thereby driving the first longitudinal transmission assembly 32a and the second longitudinal transmission assembly 32b to drive the plurality of first longitudinal traveling wheels 22a and the plurality of second longitudinal traveling wheels 22b to rotate.
  • a plurality of longitudinal traveling wheels 22 of the transport vehicle 100 are driving wheels, which can improve driving power and transport performance.
  • first longitudinal traveling wheels 22a can be provided, and each group of two is arranged on the left side (x negative direction side) peripheral side plate 12a of the vehicle frame 10, and along the vehicle frame 10 The y-direction interval setting.
  • the second longitudinal traveling wheel 22b can be provided with four, every two as a group, and each group is arranged on the right side (x positive direction side) side plate 12b of the vehicle frame 10, and is spaced along the y direction of the vehicle frame 10 set up.
  • a longitudinal driven wheel 322 is installed on each first longitudinal traveling wheel 22a, and a plurality of longitudinal driven wheels 322 and the longitudinal driving wheel 321 may be on a horizontal line and connected by a longitudinal transmission member 323 .
  • the longitudinal driving wheel of the first longitudinal transmission assembly 32 a is connected with the longitudinal driving wheel of the second longitudinal transmission assembly 32 b through a connecting shaft 35 .
  • the transversal drive assembly 31 includes a cardan shaft.
  • the cardan shaft is connected with the walking drive mechanism 40, and the two ends of the cardan shaft are respectively provided with transverse travel wheels 21.
  • the cardan shaft is arranged along the y-direction of the vehicle frame 10 .
  • the PTO shaft is a telescoping universal joint.
  • the universal transmission shaft includes a transmission part and a swing part respectively movably arranged at two ends of the transmission part, and a transverse traveling wheel 21 is installed on the swing part.
  • the lateral travel wheel 21 and the swinging part In the state where the lateral travel wheel 21 is separated from the running surface, the lateral travel wheel 21 and the swinging part generate an angular displacement relative to the transmission part of the cardan shaft and tilt up; Wheel 21 falls back to driving surface.
  • the transport vehicle 100 needs to change directions, for example, the transport vehicle 100 needs to be converted from lateral travel to longitudinal travel, and the lateral travel wheel 21 follows the swing part relative to the transmission part of the cardan shaft to swing upwards to produce angular displacement tilting, and breaks away from the travel
  • the transmission portion of the cardan shaft only rotates and does not move upwards with the transverse travel wheels 21, and the longitudinal travel wheels 22 are located on the running surface so that the truck 100 can pass the longitudinal travel wheels 22 along the longitudinal direction.
  • the swing part is lowered relative to the transmission part, so that the lateral travel wheel 21 falls back to contact with the running surface, and the transmission part of the cardan shaft does not follow the lateral travel wheel 21 to descend , the longitudinal travel wheels 22 are separated from the running surface, so that the transport vehicle 100 travels in the lateral direction through the lateral travel wheels 21 .
  • the transmission part of the cardan shaft does not rise and fall together with the transverse traveling wheel 21 and the longitudinal traveling wheel 22 .
  • the transport vehicle 100 of the embodiment of the present disclosure when reversing, the swing parts at both ends of the cardan shaft have little space in the height direction required for swinging and tilting relative to the transmission part. Therefore, the transport vehicle 100 can be made thinner, which can improve the passing performance of the transport vehicle 100 in the three-dimensional storage, and is also conducive to reducing the shelf layer spacing and improving the utilization rate of warehouse space.
  • the cardan shaft may include a transverse fixed shaft 311 and a pair of telescoping universal joints 312 .
  • the horizontal fixed shaft 311 is used as the above-mentioned transmission part to perform rotational movement, so as to transmit torque to the telescopic universal joint 312 .
  • a pair of telescopic direction joints 312 are used as the above-mentioned oscillating parts, which can swing up and down relative to the horizontal fixed shaft 311 while following the rotation of the horizontal fixed shaft 311 .
  • the input shafts of a pair of telescopic direction joints 312 are respectively connected to both ends of the fixed shaft 311 in the y direction, and the output shafts of a pair of telescopic direction joints 312 are respectively connected to the transverse travel wheels 21 .
  • the travel driving mechanism 40 drives the horizontal fixed shaft 311 to rotate, and drives the telescopic universal joints 312 at both ends to rotate, thereby driving the horizontal travel wheels 21 to rotate.
  • the lateral travel wheels 21 can be separated from the running surface.
  • the lateral fixed shaft 311 has no displacement relative to the height direction of the vehicle frame 10.
  • the telescopic universal joint 312 is elongated and tilted relative to the horizontal fixed shaft 311 to generate an angular displacement, and the longitudinal traveling wheels 22 are located on the running surface, so that the transport vehicle 100 can pass the longitudinal traveling wheels 22 to move along the longitudinal direction.
  • the longitudinal traveling wheels 22 can be separated from the driving surface, and the transverse traveling wheels 21 can be retracted following the telescopic universal joint 312, and swing back to the traveling surface relative to the transverse fixed shaft 311 , so that the transport vehicle 100 travels along the lateral direction through the lateral travel wheels 21 .
  • the transport vehicle 100 of the embodiment of the present disclosure by setting the telescopic universal joint 312, during the reversing process, when the lateral traveling wheel 21 rises or descends, it does not interfere with the lateral fixed shaft, preventing the universal drive shaft from deforming and ensuring performance.
  • the traveling transmission assembly 30 further includes a lateral driving wheel 331 and a lateral driven wheel 332 .
  • the transverse driving wheel 331 is connected with the traveling drive mechanism 40
  • the transverse driven wheel 332 is installed on the cardan shaft and connected with the transverse driving wheel 331 .
  • the traveling driving mechanism 40 drives the horizontal driving wheel 331 to rotate, drives the horizontal driven wheel 332 to rotate, and thus drives the cardan shaft to rotate.
  • the transverse driving wheel 331 is a transverse driving sprocket
  • the transverse driven wheel 332 is a transverse driven sprocket
  • the transverse driving sprocket and the transverse driven sprocket are connected by a chain. That is, the transverse driving wheel 331 and the transverse driven wheel 332 are connected by a chain transmission.
  • the transverse driving pulley 331 is a transverse driving pulley
  • the transverse driven pulley 332 is a transverse driven pulley
  • the transverse driving pulley and the first transverse driven pulley are connected by a belt.
  • the transverse driving wheel 331 is a transverse driving gear
  • the transverse driven wheel 332 is a transverse driven gear
  • the transverse driving gear meshes with the transverse driven gear.
  • the cardan shaft rotates through gear transmission. Compared with the chain transmission mode, the transmission accuracy is high and the transmission noise is small.
  • the traveling transmission assembly 30 further includes a first transfer wheel 341 , a second transfer wheel 342 , a second transverse driven wheel 344 and a transverse connecting member 343 .
  • the first transfer wheel 341 is connected with the transverse driving wheel 331;
  • the second transfer wheel 342 is connected with the first transfer wheel 341,
  • the second transverse driven wheel 344 is connected with the second cardan shaft, and
  • the transverse connecting member 343 is connected The second transfer wheel 342 and the second transverse driven wheel 344 .
  • the travel driving mechanism 40 drives the horizontal drive wheel 331 to rotate, drives the first horizontal driven wheel 332 and the first transfer wheel 341 to rotate, and the first horizontal driven wheel 332 drives the first cardan shaft and the horizontal travel wheel connected thereto to rotate, and at the same time , the second adapter wheel 342 rotates with the first adapter wheel 341, and the second adapter wheel 342 drives the second transverse driven wheel on the second cardan shaft through the transverse connector 343 to rotate, thereby driving the second cardan The drive shaft and the transverse travel wheels on it rotate.
  • the transverse driving wheel 331, the first transverse driven wheel 332, and the first transfer wheel 341 can be gears
  • the second transfer wheel 342 and the second transverse driven wheel 344 can be sprockets
  • the transverse connecting member 343 can be is the chain.
  • the rotation of the first cardan shaft and the second cardan shaft is realized through the cooperation of the gear assembly and the chain, and the plurality of transverse traveling wheels 21 all have driving force, which improves the transport performance of the transport vehicle 100 .
  • the travel drive mechanism 40 includes: the travel drive mechanism 40 may include a travel motor 41 and a travel reducer 42, and the travel reducer 42 includes a travel input end, a longitudinal travel output end, and a lateral travel output end, wherein the travel input end is connected with the output shaft of the travel motor, the longitudinal travel output end is connected with the longitudinal transmission assembly 32, and the lateral travel output end is connected with the lateral transmission assembly 31.
  • the longitudinal travel output end is connected to the above-mentioned longitudinal connection shaft 35
  • the longitudinal connection shaft 35 runs through the longitudinal travel output end
  • the lateral travel output end is connected to the lateral drive wheel 331 .
  • the traveling motor 41 rotates and drives the longitudinal traveling output end of the traveling reducer 42 to drive the longitudinal connecting shaft 35 to rotate, thereby driving the longitudinal traveling wheels 22 on both sides of the vehicle frame 10 to rotate, and at the same time, the transverse driving wheel 331 is driven to rotate by the transverse traveling output end , thereby driving the cardan shaft and the transverse travel wheel 21 to rotate.
  • the transport vehicle 100 also includes a jacking and reversing mechanism, which is connected with the lateral traveling wheels 21 and drives the lateral traveling wheels 21 to go up and down, so that the lateral traveling wheels 21 are disengaged from or abutted against the driving position. noodle.
  • the jacking and reversing mechanism may include a lifting frame 51 , at least one crank mechanism 52 and a reversing drive motor 54 . Further, the jacking and reversing mechanism may also include a reversing transmission assembly.
  • Lifting frame 51 is arranged on vehicle frame 10, can lift up and down with respect to vehicle frame 10, and on lateral direction (x direction in figure) or vertical direction (y direction in figure) interferes with vehicle frame 10, does not produce relative. displacement.
  • the lifting frame 51 is connected with the transverse traveling wheel 21 .
  • At least one crank mechanism 52 is connected to the lifting frame 51 .
  • the reversing drive mechanism is connected with the crank mechanism 52, and drives the crank mechanism 52 to swing, so that the elevating frame 51 drives the transverse traveling wheel 21 to go up and down.
  • the reversing drive mechanism includes a reversing drive motor 54 , which is fixed to the vehicle frame 10 , for example, to the chassis 11 .
  • the crank mechanism 52 is connected with the lifting frame 51 .
  • the reversing transmission assembly connects the output shaft of the reversing drive motor 54 and the crank mechanism 52; wherein, the reversing drive motor 54 is used to drive the crank mechanism 52 to swing, and drives the lifting frame 51 to lift, so that the lateral travel wheel 21 is separated from or is in contact with the traveling wheel. noodle.
  • the reversing drive motor 54 rotates, and drives the crank mechanism 52 to swing from the lowest position to the highest position through the reversing transmission assembly, driving the lifting frame 51 to rise, and the lateral traveling wheel 21 rises together with the lifting frame 51.
  • the lateral traveling wheel 21 follows the swing shaft Relative to the fixed axis of the cardan shaft, an angular displacement is generated upwards to lift away from the driving surface, and the transport vehicle 100 moves longitudinally through the longitudinal traveling wheels 22 .
  • the lifting frame 51 When the reversing drive motor 54 rotates, and the crank mechanism 52 is driven from the highest position to the lowest position through the reversing transmission assembly, the lifting frame 51 is driven to descend, and the transverse traveling wheel 21 follows the lifting frame 51 to descend, so that the transverse traveling wheel 21 falls back to the bottom position. on the driving surface, and the vehicle frame 10 is jacked up, and the longitudinal traveling wheels 22 are separated from the traveling surface.
  • the lifting frame 51 can directly or indirectly carry the items to be transported.
  • the crank mechanism 52 During the swinging process of 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 transverse running wheel 21 may not be in contact with the running surface.
  • the wheels 22 are in contact with the running surface, and the truck 100 is supported by the longitudinal running wheels 22 .
  • the crank mechanism 52 swings between the highest position and the middle position, it drives the lifting frame 51 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 51 is provided with through holes.
  • 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 54 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 54 through a reversing transmission assembly.
  • 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 to support the lifting frame 51 .
  • 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, and the lifting frame 51 is against the swing shaft 5221 .
  • the reversing drive motor 54 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 51 and the lateral travel wheels 21 follow the swing shaft 5221 to rise, so that the lateral travel wheels 21 are separated from the running surface, and the truck 100 moves laterally through the longitudinal travel wheels 22.
  • the elevating frame 51 descends following the swing shaft 5221, so that the lateral running wheels 21 are on the driving surface, and the vehicle frame 10 is jacked up, so that the longitudinal running wheels 22 are separated from the driving surface, and the transport vehicle 100 moves laterally through the lateral traveling wheels 21.
  • the first crank 5211 and the swing shaft 5221 swing to drive the elevating frame 51 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 each 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 each transport vehicle 100.
  • the widget's layout is beneficial to each transport vehicle 100.
  • the swing shaft 5221 is provided with a bearing 5231 , and the bearing 5231 is in contact with the lifting frame 51 .
  • the bearing 5231 is sleeved and fixed on the swing shaft 5221 , located in the through hole of the lifting frame 51 , and offset against the lifting frame 51 .
  • the bearing 5231 generates rotational friction with the through hole of the lifting frame 51.
  • the friction force can be reduced and the Risk of excessive friction damage, increasing transmission reliability.
  • the crank mechanism 52 also 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 vehicle frame 10 through a crank bearing.
  • 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 hoisting frame 51 lifting process more stable.
  • the through hole of the lifting frame 51 may extend along the longitudinal direction (y direction) of the lifting frame 51 in a racetrack shape, and the longitudinal direction of the lifting frame 51 is also the extending direction of the lifting frame 51 .
  • the runway-shaped through hole can provide the swinging shaft 5221 with a space to avoid in the longitudinal direction. The interference of 51 in the longitudinal direction reduces the swing range of lifting frame 51 and improves the stability of lifting items.
  • the reversing transmission assembly includes a first synchronous gear mechanism 55
  • the first synchronous gear mechanism 55 includes a reversing input end, a first reversing output end and a second reversing output end, the reversing input end and the reversing input end It is connected to the output shaft of the drive motor 54, and the rotation of the reversing drive motor 54 drives the first reversing output end and the second reversing output end to rotate synchronously.
  • the above-mentioned crank mechanism 52 includes a first crank mechanism and a second crank mechanism.
  • the first crank mechanism and the second crank mechanism are respectively connected to the lifting frame 51 and connected to the first reversing output end and the second reversing output end respectively.
  • Two through holes spaced along the longitudinal direction are provided on the lifting frame 51 .
  • the crank of the first crank mechanism and the crank of the second crank mechanism are respectively connected with the first reversing output end and the second reversing output end, and the swing shaft of the first crank mechanism and the swing shaft of the second crank mechanism respectively pass through the lift
  • the two through holes of the frame 51 support the elevating frame 51 together.
  • the rotation of the reversing drive motor 54 drives the first reversing output end and the second reversing output end to rotate synchronously, thereby driving the two crank mechanisms 52 to synchronously drive the elevating frame 51 up and down, so as to realize reversing and lifting.
  • the rise is more stable.
  • a reversing drive motor 54 cooperates with the first synchronous gear mechanism to realize the crank mechanism 52 synchronously driving the elevating frame 51 up and down, which reduces space occupation, facilitates control, and reduces costs.
  • two lifting frames 51 may be provided, namely a first lifting frame and a second lifting frame.
  • first lifting frame and the second lifting frame are respectively arranged on lateral sides of the vehicle frame 10 .
  • the above-mentioned first synchronous gear mechanism 55 also includes a third reversing output end, and the reversing drive motor 54 rotates to drive the first reversing output end, the second reversing output end and the third reversing output end to rotate synchronously.
  • the reversing transmission assembly also includes a second synchronous gear mechanism 57 and a reversing connecting shaft 56 .
  • the second synchronizing gear mechanism 57 may be adjacent to the second crane and the first synchronizing gear mechanism 55 may be adjacent to the first crane.
  • the second synchronous gear mechanism 57 may include a reversing connection end, a fourth reversing output end and a fifth reversing output end.
  • One end of the reversing connection shaft 56 is connected to the third reversing output end, and the other end passes through the first transfer wheel 341 and the second transfer wheel 342 (as shown in FIG. 6 ), and is connected to the reversing connection end.
  • the first transfer wheel 341 is connected with the second transfer wheel 342 by a hollow shaft, and there is an avoidance gap between the reversing connection shaft 56 and the first transfer wheel 341, the second transfer wheel 342 and the hollow shaft to prevent mutual interference between them.
  • the rotation of the reversing drive motor 54 drives the first reversing output end, the second reversing output end and the third reversing output end to rotate synchronously, and the rotation of the third reversing output end drives the reversing connecting shaft 56 to rotate, thereby driving the second synchronous
  • the fourth reversing output end and the fifth reversing output end of the gear mechanism 57 rotate synchronously.
  • the crank mechanism 52 also includes a third crank mechanism and a fourth crank mechanism, wherein the third crank mechanism and the fourth crank mechanism are respectively connected to the second lifting frame, and are respectively connected to the fourth reversing output end and the fifth reversing output end. end, the first crank mechanism and the second crank mechanism are respectively connected to the first lifting frame, and are respectively connected to the first reversing output end and the second reversing output end.
  • the rotation of the reversing drive motor 54 drives the first reversing output end, the second reversing output end and the third reversing output end to rotate synchronously, and the rotation of the third reversing output end drives the reversing connecting shaft 56 to rotate synchronously, thereby driving the second
  • the fourth reversing output end and the fifth reversing output end of the synchronous gear mechanism 57 rotate synchronously, and then make the first crank mechanism, the second crank mechanism, the third crank mechanism and the fourth crank mechanism oscillate synchronously together, driving the first lift
  • the frame and the second lifting frame are lifted and lowered synchronously.
  • a reversing drive motor 54 drives the synchronous lifting of the two lifting frames, which saves space, is easy to control, and lifts smoothly.
  • the first synchronous gear mechanism 55 includes a first gear box and a first gear set disposed in the first gear box.
  • the second synchronous gear mechanism 57 includes a second gear box and a second gear set disposed in the second gear box.
  • the reversing transmission assembly adopts a synchronous gear mechanism, and the synchronous gear is sealed in the gearbox, 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 51 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 51 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, and drives the nut and the lifting frame 51 to lift, so that The lateral running wheels 21 break away from or abut against the running surface.
  • the lifting frame 51 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 51 for supporting the lifting frame 51 .
  • 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 51, and the gear and the rack are meshed.
  • the reversing drive motor rotates and drives the gear to rotate, drives the rack to lift, and the rack drives the lifting frame 51 to lift, so that the lateral travel wheel 21 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 51 to drive the lifting frame 51 up and down, so that the lateral traveling wheels 21 are disengaged. Or reach the driving surface.
  • the lifting frame 51 is driven up and down by the air cylinder or the hydraulic cylinder, so that the objects can be lifted more accurately.
  • the truck 100 includes at least one first guide mechanism 60 , which guides the lifting frame 51 during the lifting process, and prevents the lifting frame 51 from swinging and causing damage due to vibration.
  • the first guiding mechanism 60 may include a guiding shaft and a sliding seat.
  • the guide shaft is vertically arranged on the vehicle frame 10 .
  • the sliding seat is slidably arranged on the guide shaft, and is fixedly connected with the lifting frame 51 .
  • Lifting frame 51 is fixedly connected with sliding seat by bolt, and in lifting frame 51 lifting process, sliding seat lifts along the vertical guide shaft, swings to limit lifting frame 51, makes lifting frame 51 vertical lifting.
  • the lifting frame 51 can also be lifted and lowered more stably by the first guiding mechanism 60 .
  • a support frame 53 is provided at the end of the lifting frame 51 , and the lateral traveling wheels 21 are located in the support frame 53 .
  • a second guide mechanism 70 is also provided between the above-mentioned lifting plate 80 and the lifting frame 51 for guiding the lifting of the lifting plate 80 .
  • a guide hole 531 may be provided on the support frame 53
  • the second guide mechanism 70 may be a guide shaft, one end of which is connected to the lifting plate 80 , and the other end extends into the guide hole 531 .
  • the lifting plate 80 extends along the longitudinal direction, and its two ends are respectively arranged on the jacking and reversing mechanism in the longitudinal direction. Specifically, the two ends of the lifting plate 80 are respectively connected to the supporting frame 53 through guide shafts.
  • the supporting frame 53 moves up and down following the lifting frame 51. During the lifting process, the supporting frame 53 touches the bottom of the lifting plate 80 and drives the lifting plate 80 to lift up and down.
  • the guide shaft slides up and down in the guide hole 531 and passes through the guide shaft and the guide hole. 531 to guide the lifting plate 80.
  • 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 transverse traveling wheels 21 of the transport vehicle 100 travel on the longitudinal rails, and the longitudinal traveling wheels 22 of the transport vehicle 100 travel on the transverse rails.
  • the transport vehicle 100 moves laterally through the longitudinal traveling wheels 22 .
  • the transport vehicle 100 moves longitudinally via the transverse traveling wheels 21 .
  • the transfer vehicle 100 is moved in different directions by alternately using the longitudinal traveling wheels 22 and the transverse traveling wheels 21 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 used only 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.

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Abstract

一种搬运车(100)及搬运车***，其中，搬运车(100)包括：车架(10)；行走机构(20)，包括横向行走轮(21)和纵向行走轮(22)；行走传动组件(30)，包括设置于车架(10)的横向传动组件(31)及纵向传动组件(32)，横向传动组件(31)与横向行走轮(21)连接，纵向传动组件(32)与纵向行走轮(22)连接，其中，横向传动组件(31)及纵向传动组件(32)设置于车架(10)的周侧；以及行走驱动机构(40)，与行走传动组件(30)连接，驱动行走传动组件(30)带动横向行走轮(21)以及纵向行走轮(22)转动。该搬运车(100)的行走传动组件(30)占用车架(10)空间小，为其他器件提供更多空间。

Description

一种搬运车及搬运车*** 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***。
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。
搬运车通过设置在车架上的传动机构带动行走轮行走，然而相关技术中的搬运车传动机构占用车架空间较大，不利于其他器件的堆叠。
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***。
根据本公开实施例的第一方面，提供一种搬运车，其中，包括：车架；行走机构，包括横向行走轮和纵向行走轮；行走传动组件，包括设置于所述车架的横向传动组件及纵向传动组件，所述横向传动组件与所述横向行走轮连接，所述纵向传动组件与所述纵向行走轮连接，其中，所述横向传动组件及所述纵向传动组件设置于所述车架的周侧；以及行走驱动机构，与行走传动组件连接，驱动所述行走传动组件带动所述横向行走轮以及所述纵向行走轮转动；其中，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，所述纵向行走轮设置于所述车架的侧部；所述纵向传动组件包括：纵向驱动轮，与所述行走驱动机构连接；纵向从动轮，与所述纵向行走轮连接；纵向传动件，连接所述纵向驱动轮和所述纵向从动轮。
在一些实施例中，所述纵向驱动轮及所述纵向从动轮均为链轮，所述纵向传动件为链条；或者，所述纵向驱动轮及所述纵向从动轮均为带轮，所述纵向传动件为皮带。
在一些实施例中，所述纵向行走轮包括多个第一纵向行走轮及多个第二纵向行走轮，所述第一纵向行走轮及所述第二纵向行走轮分别设置于所述车架的横向方向的两侧；所述纵向传动组件设置有两组，分别为第一纵向传动组件和第二纵向传动组件，其中，多个所述第一纵向行走轮之间通所述第一纵向传动组件连接，多个所述第二纵向行走轮之间通过所述第二纵向传动组件连接；所述行走传动组件还包括与所述行走驱动机构连接的纵向连接轴，所述纵向连接轴连接所述第一纵向传动组件及所述第二纵向传动组件。
在一些实施例中，所述横向传动组件包括：万向传动轴，与所述驱动行走机构连接，所述万向传动轴包括传动部以及分别活动设置于所述传动部两端的摆动部，所述摆动部上设置有所述横向行走轮；在所述横向行走轮脱离行驶面的状态下，所述横向行走轮及所述摆动部相对于所述传动部摆动翘起。
在一些实施例中，所述传动部为横向固定轴，所述横向固定轴与所述驱动行走机构连接；所述摆动部为伸缩万向节，所述伸缩万向节分别设置在所述横向固定轴的两端，其中，所述伸缩万向节的输入轴与所述横向固定轴连接，所述伸缩万向节的输出轴与所述横向行走轮连接。
在一些实施例中，所述行走传动组件还包括：横向驱动轮，与所述行走驱动机构连接；横向从动轮，安装于所述万向传动轴，与所述横向驱动轮连接。
在一些实施例中，所述横向驱动轮为横向驱动链轮，所述横向从动轮为横向从动链轮，所述横向驱动链轮与所述横向从动链轮通过链条连接；或者，所述横向驱动轮为横向驱动皮带轮，所述横向从动轮为横向从动皮带轮，所述横向驱动皮带轮及所述横向从动皮带轮通过皮带连接；或者，所述横向驱动轮为横向驱动齿轮，所述横向从动轮为横向从动齿轮，所述横向驱动齿轮与所述横向从动齿轮相啮合。
在一些实施例中，所述万向传动轴设置有两个，分别为第一万向传动轴及第二万向传动轴，所述第一万向传动轴及所述第二万向传动轴分别设置在所述车架的横向方向上的两侧；所述行走传动组件还包括：第一转接轮，与所述横向驱动轮连接；第二转接轮，与所述第一转接轮连接；第二横向从动轮，与所述第二万向传动轴连接；横向连接件，连接所述第二转接轮及所述第二横向从动轮。
在一些实施例中，所述行走驱动机构包括：行走电机；行走减速器，所述行走减速器包括行走输入端、纵向输出端及横向输出端，所述行走输入端与所述行走电机的输出轴连接，所述纵向输出端与所述纵向连接轴连接，所述横向输出端与所述横向传动组件连接。
在一些实施例中，所述搬运车还包括隔板，所述隔板与所述车架的所述周侧的侧板形成容纳空间，所述容纳空间用于容纳所述横向传动组件及所述纵向传动组件。
在一些实施例中，还包括：顶升换向机构，与所述横向行走轮连接，驱动所述横向行走轮升降，以使所述横向行走轮脱离或者抵于所述行驶面。
在一些实施例中，所述顶升换向机构包括：升降架，与所述横向行走轮连接；至少一个曲柄机构，与所述升降架连接；换向驱动机构，与所述曲柄机构连接，驱动所述曲柄机构摆动，以使所述升降架带动所述横向行走轮升降。
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 曲柄的驱动连接部与所述驱动机构连接；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，所述曲柄机构还包括：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，所述顶升换向机构还包括：换向传动组件，所述换向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机构的输出轴连接；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；所述换向传动组件还包括：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；换向连接轴，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，所述顶升换向机构还包括：至少一个第一导向机构，所述第一导向机构包括：第一导向轴，竖直设置于所述车架；滑动座，滑动设置于所述第一导向轴，并与所述升降架固定连接。
在一些实施例中，所述搬运车还包括：举升板，所述举升板用于直接或间接的承载待搬运的物品；第二导向机构，设置于所述举升板，与所述升降架滑动连接。
在一些实施例中，所述升降架包括架体以及设置于所述架体两端的支撑框架，所述横向行走轮设置于所述支撑框架内，所述支撑框架上设置有导向孔；所述第二导向机构包括导向轴，一端与所述举升板连接，另一端伸入到所述导向孔内。
本公开实施例还提供一种搬运车***，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，通过横向传动组件与纵向传动组件设置在车架的同一侧，能够减少对车架空间的占用，为其他器件的堆叠提供更多的空间。
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内部结构示意图。
图2是根据一示例性实施例示出的一种搬运车的内部俯视图。
图3是根据一示例性实施例示出的一种搬运车的部分结构示意图。
图4是根据一示例性实施例示出的一种曲柄机构的结构示意图。
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放大示意图。
图6是根据一示例性实施例示出的一种搬运车的部分结构剖面图。
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***(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***、仓储管理、设备调度***、订单分配***等软件***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2所示，本公开提供一种搬运车100，包括车架10、行走机构20、行走传动组件30及行走驱动机构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11周侧并向上延伸的侧板12、以及上盖板，底盘11、侧板12及上盖板共同围成容置空间，用于容置各个零部件。在侧板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。
行走机构20用于驱动搬运车100沿着预定的路线行进。本公开实施例的搬运车100可以为四向行走搬运车，即搬运车100可以沿着横向(图示中x方向)前后行进、以及沿着纵向(图示中y方向)前后行进，提高搬运车100的行进灵活性，以适应复杂的工作环境。
需要说明的是，为便于区分搬运车100的行进方向，本公开实施例提到的横向(图示中x方向)、纵向(图示中y方向)是指搬运车100的行进方向，在一些情况下完全可以互换。
行走机构20包括横向行走轮21和纵向行走轮22。横向行走轮21可以带动搬运车100在行驶面上沿着x方向前后移动。纵向行走轮22可以带动搬运车100在行驶面上沿着y方向前后移动。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22可以沿着第一轨道面(如主巷道)行进，第一轨道面可以沿着y方向(纵向)延伸，横向行走轮21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。
在纵向行走轮22脱离行驶面的状态下，横向行走轮21位于行驶面上，搬运车100通过横向行走轮21沿横向在行驶面上移动。在横向行走轮21脱离行驶面的状态下，纵向行走轮22位于行驶面上，搬运车100通过纵向行走轮22沿纵向在行驶面上移动。
搬运车100需要换向行进时，例如，搬运车100需要从横向行进转换到纵向行进，可以使横向行走轮21脱离行驶面，纵向行走轮22位于行驶面上，以使搬运车100通过纵向行走轮22沿着纵向行进。搬运车100需要从纵向行进方向转换到横向行进方向时，可以使纵向行走轮22脱离行驶面，横向行走轮21位于行驶面上，以使搬运车100通过横向行走轮21沿着横向行进。
行走传动组件30包括设置于车架10的横向传动组件31及纵向传动组件32。横向传动组件31与横向行走轮21连接，带动横向行走轮21转动。纵向传动组件32与纵向行走 轮22连接，带动纵向行走轮22转动。其中，横向传动组件31及纵向传动组件32位于邻近车架10的周侧。
如图1所示，可以在车架10的底盘11上设置隔板13，隔板13朝向y方向延伸，且靠近侧板12隔板13与侧板12形成容纳空间，用于容纳横向传动组件31及纵向传动组件32。
横向传动组件31可以沿着y方向布置，其两端分别连接有横向行走轮21。纵向传动组件32也沿着y方向布置，其侧方连接有纵向行走轮22。
如图1所示，隔板13可以设置两个，两个隔板13相对设置，分别与车架10周侧的相对的两侧板形成第一容纳空间和第二容纳空间。横向传动组件31和纵向传动组件32可以分别设置有两组，两组横向传动组件31和纵向传动组件32分别设置在车架10的相对侧。例如，其中一组横向传动组件31和纵向传动组件32位于车架10上的一侧的第一容纳空间内，即一组横向传动组件31和纵向传动组件32位于车架10的同一侧；另一组横向传动组件31和纵向传动组件32位于车架10上的另一侧的第二容纳空间内，即另一组横向传动组件31和纵向传动组件32位于车架10的另一侧。因此，这样的设置，能够减少对车架10空间的占用，为其他器件提供更多的空间。行走传动组件30与行走驱动机构40连接，行走驱动机构40驱动行走传动组件30带动横向行走轮21以及纵向行走轮22转动。行走驱动机构40也可以设置在车架10的位于邻近其中一组横向传动组件31及纵向传动组件32的位置。本公开实施例的搬运车100，通过将与横向行走轮21连接的横向传动组件31以及与纵向行走轮22连接的纵向传动组件32设置在邻近车架10的周侧，这样，能够减少对车架10中部空间的占用，为其他器件提供更多的空间。车架10上的器件所需空间相同的情形下，能够减小车架10的整体尺寸，搬运车100更加小型化，这样，在狭窄的仓储环境中，可以提高搬运车100的通过效率，也能使立体仓储库单位体积的存储位增多。
在一些实施例中，纵向行走轮22设置于车架10，例如，纵向行走轮22可转动的设置在车架10的侧板12，带动车架10沿着纵向移动。
如图1所示，上文提到的纵向传动组件32可以包括纵向驱动轮321、纵向从动轮322及纵向传动件323。
其中，纵向驱动轮321与行走驱动机构40连接。纵向从动轮322与纵向行走轮22连接，纵向传动件323连接纵向驱动轮321和纵向从动轮322。纵向驱动轮321、纵向从动轮322及纵向传动件323均位于车架10的隔板13与侧板12形成的容纳空间内，以防止油污流出或者杂物进入。纵向驱动轮321及纵向从动轮322可以位于y方向上的同一直线 上。行走驱动机构40驱动纵向驱动轮321转动，纵向驱动轮321通过纵向传动件323带动纵向从动轮322转动，从而带动纵向行走轮22转动。
纵向行走轮22可以设置有多个，多个纵向行走轮22可以分为多组，例如两组，每组包含两个纵向行走轮22，且两组纵向行走轮22沿着y方向间隔设置在车架10的侧板12的外侧，每个纵向行走轮22上安装有位于侧板12内侧的纵向从动轮322，多个纵向从动轮322之间通过纵向传动件323连接，并且，纵向传动件323与纵向驱动轮321连接。行走驱动机构40驱动纵向驱动轮321转动，并通过纵向传动件323带动多个纵向从动轮322转动，从而带动多个纵向行走轮22转动。
在一示例中，纵向驱动轮321及纵向从动轮322均为链轮，即，驱动链轮、从动链轮，纵向传动件323为链条，链条可以分别绕过驱动链轮及从动链轮。即，多个纵向行走轮之间通过链条传动连接。在车架10的侧板12上还可以设置有一个或者多个张紧轮组件，以张紧链轮，确保传动平稳，减少回程间隙。
在另一个示例中，纵向驱动轮321及纵向从动轮322均为带轮，纵向传动件323为皮带。即，多个纵向行走轮22之间通过皮带传动连接。
如图2所示，纵向行走轮22包括多个第一纵向行走轮22a及多个第二纵向行走轮22b，第一纵向行走轮22a及第二纵向行走轮22b分别设置于车架10的横向方向的两侧。纵向传动组件32设置有两组，分别为第一纵向传动组件32a和第二纵向传动组件32b，其中，多个第一纵向行走轮22a之间通过第一纵向传动组件32a连接，多个第二纵向行走轮22b之间通第二纵向传动组件32b连接。行走传动组件30还包括与行走驱动机构40连接的纵向连接轴35，纵向连接轴35连接第一纵向传动组件32a及第二纵向传动组件32b。
行走驱动机构40驱动纵向连接轴35转动，从而带动第一纵向传动组件32a及第二纵向传动组件32b带动多个第一纵向行走轮22a及多个第二纵向行走轮22b转动。搬运车100的多个纵向行走轮22均为驱动轮，这样能提高行进动力，提高运输性能。
示例的，第一纵向行走轮22a可以设置有四个，每两个为一组，每组设置在车架10的左侧(x负方向侧)周侧板12a上，且沿着车架10的y方向间隔设置。第二纵向行走轮22b可以设置有四个，每两个为一组，每组设置在车架10的右侧(x正方向侧)侧板12b上，且沿着车架10的y方向间隔设置。在每个第一纵向行走轮22a上安装有纵向从动轮322，多个纵向从动轮322与纵向驱动轮321可以在一条水平线上，且通过纵向传动件323相连接。其中，第一纵向传动组件32a的纵向驱动轮与第二纵向传动组件32b的纵向驱动轮通过连接轴35连接。
在一些实施例中，上述横向传动组件31包括万向传动轴。万向传动轴与行走驱动机 构40连接，万向传动轴的两端分别设置有横向行走轮21。万向传动轴沿着车架10的y方向布置。例如，万向传动轴为可伸缩式万向节。
万向传动轴包含传动部以及分别活动设置于传动部两端摆动部，摆动部上安装有横向行走轮21。在横向行走轮21脱离行驶面的状态下，横向行走轮21及摆动部相对于万向传动轴的传动部摆动产生角位移而翘起；在纵向行走轮22脱离行驶面的状态下，横向行走轮21回落至行驶面。
搬运车100需要换向行进时，例如，搬运车100需要从横向行进转换到纵向行进，横向行走轮21跟随摆动部相对于万向传动轴的传动部向上摆动产生角位移翘起，而脱离行驶面，万向传动轴的传动部只做旋转运动，并不跟随横向行走轮21向上移动，纵向行走轮22位于行驶面上，以使搬运车100通过纵向行走轮22沿着纵向行进。
搬运车100需要从纵向行进方向转换到横向行进方向时，摆动部相对于传动部下降，使横向行走轮21回落至与行驶面接触，万向传动轴的传动部并不跟随横向行走轮21下降，纵向行走轮22脱离行驶面，从而搬运车100通过横向行走轮21沿着横向行进。
也就是说，在横向行走轮21上升或者下降过程中，万向传动轴的传动部并不跟随横向行走轮21及纵向行走轮22一起升降。
本公开实施例的搬运车100，在换向时，万向传动轴两端的摆动部相对于传动部摆动倾斜所需高度方向上的空间小。因此，搬运车100可以更薄型化，能够提升搬运车100在立体仓储中的通过性能，还有利于减少货架层间距，提高仓库空间利用率。
万向传动轴可以包括横向固定轴311及一对伸缩万向节312。横向固定轴311作为上述传动部做旋转运动，以向伸缩万向节312传递扭力。一对伸缩方向节312作为上述摆动部，跟随横向固定轴311转动的同时，可以相对于横向固定轴311上下摆动。具体的，一对伸缩方向节312的输入轴分别与固定轴311的y方向上的两端连接，一对伸缩方向节312的输出轴分别连接横向行走轮21。
行走驱动机构40驱动横向固定轴311转动，带动两端的伸缩万向节312转动，从而带动横向行走轮21转动。搬运车100换向时，例如搬运车100需要从横向行进方向转换到纵向行进方向时，可以使横向行走轮21脱离行驶面，此时，横向固定轴311相对于车架10高度方向无位移，伸缩万向节312伸长并相对于横向固定轴311摆动产生角位移而翘起，纵向行走轮22位于行驶面上，以使搬运车100通过纵向行走轮22沿着纵向行进。搬运车100需要从纵向行进方向转换到横向行进方向时，可以使纵向行走轮22脱离行驶面，横向行走轮21跟随伸缩万向节312缩回，并相对于横向固定轴311摆动回落到行驶面上，以使搬运车100通过横向行走轮21沿着横向行进。
本公开实施例的搬运车100，通过设置可伸缩的万向节312，在换向过程中，横向行走轮21上升或者下降时，不与横向固定轴发生干涉，防止万向传动轴变形，确保的使用性能。
在一些实施例中，行走传动组件30还包括横向驱动轮331及横向从动轮332。横向驱动轮331与行走驱动机构40连接，横向从动轮332安装于万向传动轴，与横向驱动轮331连接。
行走驱动机构40驱动所述横向驱动轮331转动，带动横向从动轮332转动，从而带动万向传动轴转动。
在一示例中，横向驱动轮331为横向驱动链轮，横向从动轮332为横向从动链轮，横向驱动链轮与横向从动链轮通过链条连接。即，横向驱动轮331及横向从动轮332通过链条传动连接。
在另一示例中，横向驱动轮331为横向驱动皮带轮，横向从动轮332为横向从动皮带轮，横向驱动皮带轮及第一横向从动皮带轮通过皮带连接。
在又一示例中，横向驱动轮331为横向驱动齿轮，横向从动轮332为横向从动齿轮，横向驱动齿轮与横向从动齿轮相啮合。万向传动轴通过齿轮传动的方式转动，与链条传动的方式相比，传动的精准度高，传动噪音小。
在一实施例中，万向传动轴设置有两个，分别为第一万向传动轴及第二万向传动轴，第一万向传动轴311及第二万向传动轴311分别设置在车架10的横向方向上的两侧。行走传动组件30还包括第一转接轮341、第二转接轮342、第二横向从动轮344及横向连接件343。其中，第一转接轮341与横向驱动轮331连接；第二转接轮342与第一转接轮341连接，第二横向从动轮344与第二万向传动轴连接，横向连接件343连接第二转接轮342及第二横向从动轮344。
行走驱动机构40驱动横向驱动轮331转动，带动第一横向从动轮332及第一转接轮341转动，第一横向从动轮332带动第一万向传动轴及其连接的横向行走轮转动，同时，第二转接轮342跟随第一转接轮341一起转动，第二转接轮342通过横向连接件343带动第二万向传动轴上的第二横向从动轮转动，从而带动第二万向传动轴及其上的横向行走轮转动。
在一示例中，横向驱动轮331、第一横向从动轮332、第一转接轮341可以为齿轮，第二转接轮342及第二横向从动轮344可以为链轮，横向连接件343可以是链条。通过齿轮组件与链条配合的方式实现第一万向轴和第二万向轴的转动，多个横向行走轮21均具有驱动力，提高搬运车100的搬运性能。
在一些实施例中，行走驱动机构40包括：行走驱动机构40可以包括行走电机41及行走减速器42，行走减速器42包括行走输入端、纵向行走输出端及横向行走输出端，其中，行走输入端与行走电机的输出轴连接，纵向行走输出端与纵向传动组件32连接，横向行走输出端与横向传动组件31连接。具体来说，纵向行走输出端与上文提到的纵向连接轴35连接，纵向连接轴35贯穿纵向行走输出端，横向行走输出端与横向驱动轮331连接。行走电机41转动驱动行走减速器42的纵向行走输出端带动纵向连接轴35转动，从而带动车架10两侧的纵向行走轮22转动，与此同时，通过横向行走输出端带动横向驱动轮331转动，从而带动万向轴和横向行走轮21转动。
在一些实施例中，如图1至3所示，搬运车100还包括顶升换向机构，与横向行走轮21连接，驱动横向行走轮21升降，以使横向行走轮21脱离或者抵于行驶面。
顶升换向机构可以包括升降架51、至少一个曲柄机构52及换向驱动电机54。进一步的，顶升换向机构还可以包括换向传动组件。
升降架51设置于车架10，相对于车架10可上下升降，且在横向方向上(图示中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。升降架51与横向行走轮21连接。至少一个曲柄机构52与升降架51连接。换向驱动机构与曲柄机构52连接，驱动曲柄机构52摆动，以使升降架51带动横向行走轮21升降。
换向驱动机构包括换向驱动电机54，固定于车架10，例如固定于底盘11。曲柄机构52与升降架51连接。换向传动组件连接换向驱动电机54的输出轴与曲柄机构52；其中，换向驱动电机54用于驱动曲柄机构52摆动，带动升降架51升降，以使横向行走轮21脱离或者抵于行驶面。
换向驱动电机54转动，并通过换向传动组件驱动曲柄机构52由最低位置摆动到最高位置，带动升降架51升起，横向行走轮21跟随升降架51一起升起横向行走轮21跟随摆动轴相对于万向传动轴的固定轴向上产生角位移翘起，脱离行驶面，搬运车100通过纵向行走轮22沿纵向移动。当换向驱动电机54转动，并通过换向传动组件驱动曲柄机构52由最高位置摆动到最低位置，带动升降架51下降，横向行走轮21跟随升降架51下降，使横向行走轮21回落至抵于行驶面，并将车架10顶起，纵向行走轮22脱离行驶面，此时，搬运车100通过横向行走轮21沿横向移动。与此同时，升降架51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54转动，并通过换向传动组件驱动曲柄机构52位于最高位置与最低位置之间的中间位置时，横向行走轮21也可以不与行驶面接触，此时，纵向行走 轮22与行驶面接触，通过纵向行走轮22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51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3和图4所示，升降架51设置有通孔。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54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的一端部通过换向传动组件与换向驱动电机54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穿过通孔支撑升降架51。
第一曲柄5211的一端部固定于换向传动组件的输出端，换向驱动电机54转动，通过换向传动组件带动第一曲柄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，升降架51抵于摆动轴5221。换向驱动电机54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51及横向行走轮21跟随摆动轴5221升起，使横向行走轮21脱离行驶面，搬运车100通过纵向行走轮22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51跟随摆动轴5221下降，使横向行走轮21抵于行驶面，将车架10顶起，使纵向行走轮22脱离行驶面，搬运车100通过横向行走轮21沿横向移动。
通过第一曲柄5211及摆动轴5221摆动驱动升降架51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，摆动轴5221上设置有轴承5231，轴承5231与升降架51接触。轴承5231套接固定在摆动轴5221上，位于升降架51的通孔中，与升降架51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51的通孔产生转动摩擦，相较于摆动轴5221直接与升降架51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，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51升降过程更平稳。
在一些实施例中，升降架51的通孔可以沿着升降架51的纵向方向(y方向)延伸呈跑道形，升降架51的纵向方向也为升降架51的延伸方向。摆动轴5221摆动的过程中，跑道形的通孔可以为摆动轴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51在纵向方向上的干涉，降低升降架51的摆动幅度，提高举升物品的平稳性。
在一些实施例中，换向传动组件包括第一同步齿轮机构55，第一同步齿轮机构55包括换向输入端、第一换向输出端及第二换向输出端，换向输入端与换向驱动电机54的输出轴连接，换向驱动电机54转动带动第一换向输出端及第二换向输出端同步转动。
上述曲柄机构52包括第一曲柄机构和第二曲柄机构，第一曲柄机构和第二曲柄机构分别与升降架51连接，且分别连接于第一换向输出端和第二换向输出端。在升降架51上设置有两个沿纵向间隔设置的通孔。第一曲柄机构的曲柄和第二曲柄机构的曲柄分别与第一换向输出端和第二换向输出端连接，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51的两个通孔，共同支撑升降架51。
换向驱动电机54转动带动第一换向输出端及第二换向输出端同步转动，从而带动两个曲柄机构52同步驱动升降架51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54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51升降，减少空间占用，便于控制，降低成本。
在一些实施例中，升降架51可以设置有两个，分别为第一升降架和第二升降架。其中，第一升降架和第二升降架分别设置于车架10的横向两侧。上述第一同步齿轮机构55还包括第三换向输出端，换向驱动电机54转动带动第一换向输出端、第二换向输出端及第三换向输出端同步转动。
换向传动组件还包括第二同步齿轮机构57及换向连接轴56。第二同步齿轮机构57可以邻近第二升降架，第一同步齿轮机构55可以邻近第一升降架。其中，第二同步齿轮机构57可以包括换向连接端、第四换向输出端及第五换向输出端。换向连接轴56一端与第三换向输出端连接，另一端穿过第一转接轮341及第二转接轮342(如图6所示)，且与换向连接端连接。第一转接轮341与第二转接轮342之间通过中空轴连接，换向连接轴56与第一转接轮341、第二转接轮342及中空轴之间具有避让间隙，防止相互之间产生干涉。 换向驱动电机54转动带动第一换向输出端、第二换向输出端及第三换向输出端同步转动，第三换向输出端转动带动换向连接轴56转动，从而带动第二同步齿轮机构57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和第四曲柄机构，其中，第三曲柄机构和第四曲柄机构分别与第二升降架连接，且分别连接于第四换向输出端和第五换向输出端，第一曲柄机构和第二曲柄机构分别与第一升降架连接，且分别连接于第一换向输出端和第二换向输出端。
换向驱动电机54转动带动第一换向输出端、第二换向输出端及第三换向输出端同步转动，第三换向输出端转动带动换向连接轴56同步转动，从而带动第二同步齿轮机构57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、第二曲柄机构、第三曲柄机构及第四曲柄机构一起同步摆动，带动第一升降架和第二升降架同步升降。通过一个换向驱动电机54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55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57包括第二齿轮箱及设置于第二齿轮箱内的第二齿轮组。换向传动组件采用同步齿轮机构，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51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51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51升降，从而使横向行走轮21脱离或者抵于行驶面。通过丝杠螺母副配合实现升降架51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51的底部，用于支撑升降架51。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51抵于凸轮轮廓的接触点位置发生变化，使升降架51升降。通过凸轮转动带动升降架51升降，使横向行走轮21脱离或者抵于行驶面，能够提高升降架51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51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51升降，使横向行走轮21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51连接，驱动升降架51升降，使横向行走轮21脱离或者抵于行驶面。通过气缸或者液压缸驱动升降架51升降，举升物品更精准。
在一些实施例中，如图1和图3所示，搬运车100包括至少一个第一导向机构60，对升降架51升降过程起到导向作用，防止升降架51摆动，发生振动导致损坏。第一导向机构60可以包括导向轴及滑动座。导向轴竖直设置于车架10。滑动座滑动设置于导向轴，并与升降架51固定连接。升降架51通过螺栓与滑动座固定连接，升降架51升降过程中，滑动座沿着竖直方向导向轴升降，以限制升降架51摆动，使升降架51竖直升降。通过第一导向机构60还能使升降架51升降更平稳。
在一实施例中，升降架51的端部设置有支撑框架53，横向行走轮21位于支撑框架53内。
在上文提到的举升板80与升降架51之间还设置有第二导向机构70，用于对举升板80的升降起到导向作用。如图5所示，可以在支撑框架53上设置有导向孔531，第二导向机构70可以是导向轴，一端与举升板80连接，另一端伸入导向孔531内。
举升板80沿着纵向方向延伸，其两端分别设置于纵向方向上的顶升换向机构上。具体的举升板80的两端分别通过导向轴与支撑框架53连接。支撑框架53跟随升降架51升降，在升降过程中，支撑框架53抵于举升板80的底部，并带动举升板80升降，导向轴在导向孔531内上下滑动，通过导向轴与导向孔531配合，以对举升板80起到导向的作用。
本公开实施例还提供一种搬运车***，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的横向行走轮21在纵向轨道上行走，搬运车100的纵向行走轮22在横向轨道上行走。其中，在横向行走轮21脱离行驶面的状态下，搬运车100通过纵向行走轮22沿横向移动。在纵向行走轮22脱离行驶面的状态下，搬运车100通过横向行走轮21沿纵向移动。通过纵向行走轮22及横向行走轮21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 (20)

  1. 一种搬运车，其中，包括：
    车架；
    行走机构，包括横向行走轮和纵向行走轮；
    行走传动组件，包括设置于所述车架的横向传动组件及纵向传动组件，所述横向传动组件与所述横向行走轮连接，所述纵向传动组件与所述纵向行走轮连接，其中，所述横向传动组件及所述纵向传动组件设置于所述车架的周侧；以及
    行走驱动机构，与行走传动组件连接，驱动所述行走传动组件带动所述横向行走轮以及所述纵向行走轮转动。
  2. 根据权利要求1所述的搬运车，其中，
    所述纵向行走轮设置于所述车架的侧部；
    所述纵向传动组件包括：
    纵向驱动轮，与所述行走驱动机构连接；
    纵向从动轮，与所述纵向行走轮连接；
    纵向传动件，连接所述纵向驱动轮和所述纵向从动轮。
  3. 根据权利要求1或2所述的搬运车，其中，
    所述纵向行走轮包括多个第一纵向行走轮及多个第二纵向行走轮，所述第一纵向行走轮及所述第二纵向行走轮分别设置于所述车架的横向方向的两侧；
    所述纵向传动组件设置有两组，分别为第一纵向传动组件和第二纵向传动组件，其中，多个所述第一纵向行走轮之间通过所述第一纵向传动组件连接，多个所述第二纵向行走轮之间通过所述第二纵向传动组件连接；
    所述行走传动组件还包括与所述行走驱动机构连接的纵向连接轴，所述纵向连接轴连接所述第一纵向传动组件及所述第二纵向传动组件。
  4. 根据权利要求1-3中任一项所述的搬运车，其中，
    所述横向传动组件包括：
    万向传动轴，与所述驱动行走机构连接，所述万向传动轴包括传动部以及分别活动设置于所述传动部两端的摆动部，所述摆动部与所述横向行走轮连接；
    在所述横向行走轮脱离行驶面的状态下，所述横向行走轮及所述摆动部相对于所述传 动部摆动翘起。
  5. 根据权利要求4所述的搬运车，其中，
    所述传动部为横向固定轴，所述横向固定轴与所述驱动行走机构连接；
    所述摆动部为伸缩万向节，所述伸缩万向节分别设置在所述横向固定轴的两端，其中，所述伸缩万向节的输入轴与所述横向固定轴连接，所述伸缩万向节的输出轴与所述横向行走轮连接。
  6. 根据权利要求4或5所述的搬运车，其中，
    所述行走传动组件还包括：
    横向驱动轮，与所述行走驱动机构连接；
    横向从动轮，安装于所述万向传动轴，与所述横向驱动轮连接。
  7. 根据权利要求6所述的搬运车，其中，
    所述横向驱动轮为横向驱动链轮，所述横向从动轮为横向从动链轮，所述横向驱动链轮与所述横向从动链轮通过链条连接；或者，
    所述横向驱动轮为横向驱动皮带轮，所述横向从动轮为横向从动皮带轮，所述横向驱动皮带轮及所述横向从动皮带轮通过皮带连接；或者，
    所述横向驱动轮为横向驱动齿轮，所述横向从动轮为横向从动齿轮，所述横向驱动齿轮与所述横向从动齿轮相啮合。
  8. 根据权利要求6或7所述的搬运车，其中，
    所述万向传动轴设置有两个，分别为第一万向传动轴及第二万向传动轴，所述第一万向传动轴及所述第二万向传动轴分别设置在所述车架的横向方向上的两侧；
    所述行走传动组件还包括：
    第一转接轮，与所述横向驱动轮连接；
    第二转接轮，与所述第一转接轮连接；
    第二横向从动轮，与所述第二万向传动轴连接；
    横向连接件，连接所述第二转接轮及所述第二横向从动轮。
  9. 根据权利要求3所述的搬运车，其中，
    所述行走驱动机构包括：
    行走电机；
    行走减速器，所述行走减速器包括行走输入端、纵向输出端及横向输出端，所述行走输入端与所述行走电机的输出轴连接，所述纵向输出端与所述纵向连接轴连接，所述横向输出端与所述横向传动组件连接。
  10. 根据权利要求1-9中任一项所述的搬运车，其中，还包括：
    隔板，所述隔板与所述车架的所述周侧的侧板形成容纳空间，所述容纳空间用于容纳所述横向传动组件及所述纵向传动组件。
  11. 根据权利要求1-10中任一项所述的搬运车，其中，还包括：
    顶升换向机构，与所述横向行走轮连接，驱动所述横向行走轮升降，以使所述横向行走轮脱离或者抵于所述行驶面；
    其中，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；或者，
    在所述横向行走轮抵于所述行驶面的状态下，所述搬运车通过所述横向行走轮沿横向移动。
  12. 根据权利要求11所述的搬运车，其中，
    所述顶升换向机构包括：
    升降架，与所述横向行走轮连接；
    至少一个曲柄机构，与所述升降架连接；
    换向驱动机构，与所述曲柄机构连接，驱动所述曲柄机构摆动，以使所述升降架带动所述横向行走轮升降。
  13. 根据权利要求12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与所述驱动机构连接；
    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。
  14. 根据权利要求13所述的搬运车，其中，
    所述曲柄机构还包括：
    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。
  15. 根据权利要求14所述的搬运车，其中，
    所述顶升换向机构还包括：
    换向传动组件，所述换向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机构的输出轴连接；
    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。
  16. 根据权利要求15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；
    所述换向传动组件还包括：
    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；
    换向连接轴，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。
  17. 根据权利要求12-16中任一项所述的搬运车，其中，所述顶升换向机构还包括：
    至少一个第一导向机构，所述第一导向机构包括：
    第一导向轴，竖直设置于所述车架；
    滑动座，滑动设置于所述第一导向轴，并与所述升降架固定连接。
  18. 根据权利要求12-17中任一项所述的搬运车，其中，所述搬运车还包括：
    举升板，所述举升板用于直接或间接的承载待搬运的物品；
    第二导向机构，设置于所述举升板，与所述升降架滑动连接。
  19. 根据权利要求18所述的搬运车，其中，
    所述升降架包括架体以及设置于所述架体两端的支撑框架，所述横向行走轮设置于所述支撑框架内，所述支撑框架上设置有导向孔；
    所述第二导向机构包括导向轴，一端与所述举升板连接，另一端伸入到所述导向孔内。
  20. 一种搬运车***，其中，包括：
    如权利要求1至19中任一项所述的搬运车；
    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。
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CN212447846U (zh) * 2019-11-12 2021-02-02 昆明创迪科技开发有限公司 一种四向行走搬运车
CN112794013A (zh) * 2020-12-14 2021-05-14 中烟物流技术有限责任公司 一种四向驱动行走机构及具有其的物流穿梭车
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CN117508980B (zh) * 2024-01-02 2024-04-30 广东赛斐迩物流科技有限公司 一种自锁型机械式升降四向车

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