Wheel devices, climbing devices and storage robots

Abstract

The present disclosure provides a wheel device, comprising a wheel body and a central shaft assembly, wherein the wheel body has a first connecting hole extending in an axial direction, an internal gear coaxial with the first connecting hole is arranged on the wheel body, the central shaft assembly comprises a shaft body and an external gear, the shaft body passes through the first connecting hole in an axial direction and can rotate and move axially relative to the wheel body, the external gear is sleeved on the shaft body and fixedly connected to the shaft body, and the external gear matches the internal gear. The present disclosure also provides a climbing device and a storage robot.

Description

Technical Field

[0001] The present disclosure relates to the field of machinery, and more specifically, to a wheel device, a climbing device and a warehouse robot. Background Art

[0002] With the rapid development of artificial intelligence, automatic control, communication and computer technologies, autonomous mobile devices are increasingly being used in many fields such as industrial and agricultural production, construction, logistics, and daily life. In some scenarios, autonomous mobile devices need to climb to a higher position, such as a pickup cart in a warehouse, which needs to climb to a high position on the shelf to pick up goods. This requires that the autonomous mobile device can not only move on the ground, but also climb up and down.

[0003] In the process of implementing the concept of the present disclosure, the inventors found that there are at least the following problems in the related art:

[0004] In order to realize the up and down movement of the vehicle body, gears can be set on the transmission shaft of the wheel. The autonomous mobile device can be moved up and down under the cooperation of the gears and the external rack. However, during the up and down movement, the transmission shaft is always rotationally connected with the wheel, that is, the gear and the wheel are always rotationally connected. The gear will drive the wheel to rotate together, causing a certain amount of energy waste. In addition, during the up and down movement, the inertia of the wheel will cause the automatic mobile device to be unstable and prone to shaking. Summary of the invention

[0005] In view of this, the present disclosure provides a wheel device, a climbing device and a warehouse robot.

[0006] One aspect of the present disclosure provides a wheel device, comprising: a wheel body, having a first connecting hole extending axially, and an internal gear coaxial with the first connecting hole being provided on the wheel body; and a central shaft assembly, the central shaft assembly comprising: a shaft body, axially extending through the first connecting hole and capable of axially moving relative to the wheel body; and an external gear, sleeved on the shaft body and fixedly connected to the shaft body, the external gear matching the internal gear.

[0007] According to an embodiment of the present disclosure, the shaft body can switch between a first axial position and a second axial position; when the shaft body is in the first axial position, the internal gear is meshed with the external gear, and the shaft body drives the wheel body to rotate; when the shaft body is in the second axial position, the external gear is disengaged from the internal gear and extends out of the wheel body, and the shaft body rotates relative to the wheel body.

[0008] According to an embodiment of the present disclosure, the wheel device also includes: a transmission member, which is sleeved on the shaft body and circumferentially fixed to the shaft body, so that the transmission member can drive the shaft body to rotate, and the shaft body can move axially relative to the transmission member; the transmission member is rotatably connected to the first connecting hole, so that the transmission member can rotate relative to the wheel body and be axially fixed to the wheel body.

[0009] According to an embodiment of the present disclosure, the transmission member has a second connecting hole, which is provided with a first internal spline; the shaft body passes through the second connecting hole, and a first external spline matching the first internal spline is provided on the circumferential surface of the shaft body.

[0010] According to an embodiment of the present disclosure, the wheel device also includes: a transmission wheel, which is sleeved on the shaft and fixedly connected to the transmission member, and the shaft can move axially relative to the transmission wheel; the transmission wheel is connected to a driving device to transmit the driving force of the driving device to the transmission member.

[0011] According to an embodiment of the present disclosure, the wheel device also includes: a supporting wheel, the external gear and the supporting wheel are both sleeved on the first end of the shaft body, and the supporting wheel is located on the outside of the external gear; the supporting wheel has an outer circumferential surface, which is used to maintain a fixed distance between the external gear and the rack, and support the external gear to move on the rack.

[0012] Another aspect of the present disclosure provides a climbing device for the wheel device as described above, comprising: a climbing rod, comprising a rack extending in the height direction of the climbing rod, the rack matching the external gear of the wheel device, the multiple teeth of the rack comprising engaging teeth, the length of the engaging teeth being greater than the length of adjacent teeth, the engaging teeth protruding toward the inner side of the climbing rod relative to the adjacent teeth, the inner side of the climbing rod being the side engaging with the external gear.

[0013] According to an embodiment of the present disclosure, the climbing device also includes: a coupling plate fixed to the first surface of the climbing rod, the first surface facing the inner side of the climbing rod, the coupling plate having extended teeth, the extended teeth aligned with the first teeth in the rack, the first teeth and the extended teeth forming the coupling teeth.

[0014] According to an embodiment of the present disclosure, a support surface is also provided on one side of the rack, and the support surface is used to contact the circumferential surface of the support wheel of the wheel device, and cooperate with the support wheel to maintain a fixed distance between the rack and the external gear of the wheel device, thereby supporting the external gear to move on the rack.

[0015] Another aspect of the present disclosure provides a warehouse robot, comprising: a frame; and a wheel device, the wheel device comprising: a wheel body, having a first connecting hole extending axially, the wheel body being provided with an internal gear coaxial with the first connecting hole; and a central axis assembly, comprising a shaft body and an external gear, the shaft body axially extending through the first connecting hole and being able to rotate and move axially relative to the wheel body, the external gear being sleeved on the shaft body and fixedly connected to the shaft body, and the external gear matching the internal gear.

[0016] According to the embodiments of the present disclosure, an internal gear is arranged in the center hole of the wheel body, and an external gear is arranged on the shaft body, and the shaft body and the external gear are enabled to move axially relative to the wheel body. Based on this structure, the shaft body and the wheel body can be rotationally connected or released according to actual conditions. Therefore, the technical problems in the prior art that the shaft body is always connected to the wheel body during the climbing process of the vehicle body, causing energy waste and vehicle body instability, are at least partially overcome, thereby achieving the technical effect of releasing the rotational connection between the shaft body and the wheel body during the climbing process of the vehicle body, saving energy and ensuring the stability of the vehicle body.

[0017] According to the embodiments of the present disclosure, the wheel device also at least partially overcomes the technical problem in the prior art that the shaft body is always connected to the wheel body during the climbing process of the vehicle body, which makes it difficult to introduce the engagement between the gear and the rack, thereby achieving the technical effect that the rotational connection between the shaft body and the wheel body can be released during the climbing process of the vehicle body, so that the gear can rotate at any angle to better engage with the rack. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0019] Figure 1 Schematically illustrates an exemplary application scenario in which the wheel device according to the embodiment of the present disclosure can be applied;

[0020] Figure 2A The structure diagram of the wheel device according to the embodiment of the present disclosure is schematically shown;

[0021] Figure 2B The schematic diagram of the structure of the wheel body according to the embodiment of the present disclosure is schematically shown;

[0022] Figure 2C The structural diagram of the central axis assembly according to the embodiment of the present disclosure is schematically shown;

[0023] Figure 3A A schematic cross-sectional view of a shaft body located at a first axial position according to an embodiment of the present disclosure is shown;

[0024] Figure 3B A schematic cross-sectional view of a shaft body located at a second axial position according to an embodiment of the present disclosure is shown;

[0025] Figure 4A Schematically shows a cross-sectional view of a wheel device according to another embodiment of the present disclosure;

[0026] Figure 4B Schematically shows a cross-sectional view of an axle in a second axial position according to another embodiment of the present disclosure;

[0027] Figure 5 A schematic diagram of a wheel device according to another embodiment of the present disclosure is schematically shown;

[0028] Figure 6 A schematic diagram of a climbing device according to an embodiment of the present disclosure is schematically shown;

[0029] Fig. 7A A schematic diagram schematically shows a process of engagement between a rack and an external gear in the related art; and

[0030] Figure 7B The schematic diagram schematically shows the process of engagement between the rack and the external gear according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0032] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0033] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0034] In the case of using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a device having at least one of A, B, and C" should include but is not limited to a device having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.). In the case of using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a device having at least one of A, B, or C" should include but is not limited to a device having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0035] The embodiment of the present disclosure provides a wheel device, which includes a wheel body and a central shaft assembly, wherein the wheel body has a first connecting hole extending in an axial direction, and an internal gear coaxial with the first connecting hole is arranged on the wheel body. The central shaft assembly includes a shaft body and an external gear, wherein the shaft body passes through the first connecting hole in an axial direction and can rotate and move axially relative to the wheel body, and the external gear is sleeved on the shaft body and fixedly connected to the shaft body, and the external gear matches the internal gear.

[0036] Figure 1 The following schematically illustrates an exemplary application scenario in which the wheel device according to the embodiment of the present disclosure can be applied. It should be noted that: Figure 1 What is shown are merely examples of application scenarios to which the embodiments of the present disclosure can be applied, in order to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that the embodiments of the present disclosure cannot be used in other devices, systems, environments or scenarios.

[0037] like Figure 1 As shown, the wheel device of the embodiment of the present disclosure can be applied to the cargo pickup cart 110 as a part of the chassis structure of the cargo pickup cart 110 .

[0038] A plurality of shelves 120 are placed in the warehouse, each shelf 120 may have multiple storage spaces arranged in a vertical direction, and each storage space may store multiple goods 130. The pickup cart 100 may move on the floor of the warehouse, shuttle between the shelves 120, or climb from the ground to the top of the shelf along a climbing device arranged near the shelf 120 to pick up goods, and then return to the ground along the climbing device after picking up the goods, and deliver the goods to a designated location.

[0039] Understandably, Figure 1 The application scenario in the figure is only an example. In addition to being applied to pickup carts, the wheel device can also be applied to other mobile devices that need to move on the ground and climb up and down.

[0040] Figure 2A The structural diagram of the wheel device 200 according to the embodiment of the present disclosure is schematically shown.

[0041] like Figure 2A As shown, the wheel device 200 includes a wheel body 210 and a central shaft assembly 220 .

[0042] Figure 2B The structural diagram of the wheel body 210 according to an embodiment of the present disclosure is schematically shown.

[0043] Figure 2C The structural diagram of the central axis assembly 220 according to an embodiment of the present disclosure is schematically shown.

[0044] Combination Figure 2A , 2B As shown in FIG. 2C , the wheel body 210 has a first connecting hole 211 extending in the axial direction, and an internal gear 212 coaxial with the first connecting hole 211 is provided on the wheel body 210. The central shaft assembly 220 includes a shaft body 221 and an external gear 222, the shaft body 221 axially passes through the first connecting hole 211 and can move axially relative to the wheel body 210, the external gear 222 is sleeved on the shaft body 221 and fixedly connected to the shaft body 221, and the external gear 222 matches the internal gear 212.

[0045] The wheel body 210 may be, for example, a wheel hub, and the first connection hole 211 is located at the center of the wheel body 210 and penetrates the wheel body 210 along the axial direction of the wheel body 210. The internal gear 212 may be, for example, disposed outside the first connection hole 211. Figure 2B What is shown is the outer side of the wheel body 210 , and a plurality of teeth of the internal gear 212 are arranged along the circumferential direction of the first connecting hole 211 .

[0046] The outer gear 222 may be close to the first end of the shaft 221, that is, Figure 2C The outer gear 222 is fixedly connected to the shaft 221. For example, the outer gear 222 can be fixed to the shaft 221 circumferentially by a key connection, and then fixed to the shaft 221 axially by a limiting structure such as a boss or an end cover.

[0047] The shaft body 221 axially penetrates the first connection hole 211 and can move axially relative to the wheel body 210. According to an embodiment of the present disclosure, the shaft body 221 can switch between a first axial position and a second axial position.

[0048] Figure 3A A cross-sectional schematic diagram of a shaft body located at a first axial position according to an embodiment of the present disclosure is schematically shown.

[0049] like Figure 3AAs shown, when the shaft body 221 is located at the first axial position, the internal gear of the wheel body 210 is meshed with the external gear of the shaft body 221, and the shaft body 221 drives the wheel body 210 to rotate. During the rotation of the shaft body 221, the external gear on the shaft body 221 rotates accordingly, and since the external gear is meshed with the internal gear, the internal gear rotates together with the drive of the external gear, and the internal gear can drive the wheel body 210 to rotate.

[0050] The wheel body 210 can be connected to the frame 310 via a bearing 320 so that the wheel body 210 can rotate relative to the frame. The bearing 320 has an inner ring and an outer ring that can rotate relatively. The inner ring of the bearing 320 can be fixedly connected to the outer circumferential surface of the wheel body 210, and the outer ring of the bearing 320 can be fixedly connected to the frame 310.

[0051] Figure 3B A cross-sectional schematic diagram of the shaft body located at the second axial position according to an embodiment of the present disclosure is schematically shown.

[0052] like Figure 3B As shown, when the shaft body 221 is located at the second axial position, the outer gear 222 is separated from the inner gear 212 and extends out of the wheel body 210, and the shaft body 221 can rotate relative to the wheel body 210. The outer gear 222 can mesh with the rack 410 located outside the wheel body 210. During the rotation of the shaft body 221, the outer gear 222 on the shaft body 221 rotates accordingly. Since the outer gear 222 is separated from the inner gear 212, the outer gear 222 can rotate relative to the wheel body 210, and the wheel body 210 and the frame 310 remain stationary. During the rotation of the outer gear 222, the outer gear 222 can rise or fall along the rack 410, thereby driving the wheel device and the frame 310 to move up and down. An intermediate structure may also be provided between the shaft body 221 and the first connecting hole, and the intermediate structure is used to support the shaft body 221 and the first connecting hole, maintain the radial spacing between the shaft body 221 and the first connecting hole, and ensure the relative rotation between the shaft body 221 and the first connecting hole.

[0053] The second end of the shaft body 221 may be connected to an axial driving device to drive the shaft body 221 to move axially.

[0054] According to the embodiments of the present disclosure, when the mobile device equipped with the wheel device needs to move horizontally on the ground, the shaft body can be kept in the first axial position, the shaft body and the wheel body maintain a rotational connection relationship, and the wheel body is driven to roll forward on the ground. When the mobile device needs to move up or down, the shaft body can be switched to the second axial position, so that the shaft body is released from the rotational connection relationship with the wheel body and meshes with the external rack, so that the wheel device can move up and down along the rack.

[0055] According to the embodiments of the present disclosure, an internal gear is arranged in the center hole of the wheel body, and an external gear is arranged on the shaft body, and the shaft body and the external gear are enabled to move axially relative to the wheel body. Based on this structure, the shaft body and the wheel body can be rotationally connected or released according to actual conditions. Therefore, the technical problems in the prior art that the shaft body is always connected to the wheel body during the climbing process of the vehicle body, causing energy waste and vehicle body instability, are at least partially overcome, thereby achieving the technical effect of releasing the rotational connection between the shaft body and the wheel body during the climbing process of the vehicle body, saving energy and ensuring the stability of the vehicle body.

[0056] In addition, if during the meshing process of the gear and the rack, the transmission shaft is always connected to the wheel for rotation, and the gear rotates with the wheel, in this way, during the process of the gear being introduced into the rack, if the gear needs to rotate a certain angle, the wheel must be driven to rotate together. The consequence of the wheel rotation is that either the vehicle body moves, causing the gear and the rack to be unable to mesh correctly, or the wheel slips, requiring a larger introduction thrust, causing difficulty in introduction. The wheel device of the disclosed embodiment can solve this problem. Since the rotational connection relationship between the shaft body and the wheel body can be released during the meshing process of the external gear and the rack, when the external gear needs to rotate a certain angle, the shaft body can be driven to rotate freely, so that the external gear rotates to a suitable angle without driving the wheel body to rotate. During this process, the vehicle body will not move and will not interfere with the meshing of the gear and the rack. Therefore, the wheel device of the disclosed embodiment also at least partially overcomes the technical problem in the prior art that the shaft body is always connected to the wheel body during the climbing process of the vehicle body, causing the gear and the rack to be difficult to introduce and mesh, thereby achieving the technical effect that the rotational connection relationship between the shaft body and the wheel body can be released during the climbing process of the vehicle body, so that the gear can rotate at any angle to better mesh with the rack.

[0057] Figure 4A A schematic cross-sectional view of a wheel device according to another embodiment of the present disclosure is shown. Figure 4A In the embodiment, the shaft body 221 is located at a first axial position, and the external gear on the shaft body 221 is meshed with the internal gear of the wheel body 210 .

[0058] like Figure 4A As shown, according to an embodiment of the present disclosure, the wheel device may further include a transmission member 230, which is sleeved on the shaft body 221 and circumferentially fixed to the shaft body 221, so that the transmission member 230 can drive the shaft body 221 to rotate together. The shaft body 221 can move axially relative to the transmission member 230.

[0059] The transmission member 230 may be roughly cylindrical, and the transmission member 230 has a second connection hole, and the shaft body 221 passes through the second connection hole of the transmission member 230 and is fixed to the transmission member 230 in the circumferential direction. For example, the second connection hole may be provided with a first internal spline, that is, the side wall of the second connection hole may be provided with splines arranged along the circumferential direction, the shaft body 221 passes through the second connection hole, and the circumferential surface of the shaft body 221 is provided with a first external spline matching the first internal spline, that is, the first internal spline and the first external spline can mesh with each other. When the first internal spline and the first external spline are meshed, the shaft body 221 and the transmission member 230 can be fixed in the circumferential direction, and the transmission member 230 can drive the shaft body 221 to rotate together. In addition, by means of spline connection, the shaft body 221 can be moved axially relative to the transmission member 230. Since the shaft body 221 and the transmission member 230 can be connected by splines, the shaft body 221 can also be called a spline shaft, and the transmission member 230 can also be called a spline nut.

[0060] According to an embodiment of the present disclosure, the transmission member 230 is rotatably connected to the first connection hole 211 , so that the transmission member 230 can rotate relative to the wheel body 210 and is axially fixed to the wheel body 210 .

[0061] For example, the transmission member 230 can be installed in the first connection hole 211 through a bearing 240. The bearing 240 has an inner ring and an outer ring that can rotate relatively. The inner ring of the bearing can be sleeved on the outer circumferential surface of the transmission member 230 and fixedly connected to the transmission member 230. The outer ring of the bearing can be fixedly connected to the side wall of the first connection hole. Based on the above structure, the transmission member 230 can be rotated relative to the wheel body 210, and the transmission member 230 can be axially fixed to the wheel body 210, so that the transmission member 230 cannot move axially relative to the wheel body 210. Among them, the number of bearings 240 can be one or more. In the case where the number of bearings 240 is multiple, multiple bearings 240 can be arranged side by side along the axial direction.

[0062] The transmission member 230 and the bearing may be installed on the inner side of the first connection hole 211 , for example.

[0063] According to an embodiment of the present disclosure, the wheel device may further include a transmission wheel 250 , which is sleeved on the shaft body 221 and fixedly connected to the transmission member 230 , and the shaft body 221 can move axially relative to the transmission wheel 250 .

[0064] For example, the transmission wheel 250 and the transmission member 230 may be fixedly connected together by a screw or other structure. A through hole may be provided at the center of the transmission wheel 250, and the shaft body 221 may pass through the through hole of the transmission wheel 250, and the diameter of the through hole of the transmission wheel 250 is larger than the diameter of the shaft body 221, so that the shaft body 221 can rotate in the through hole of the transmission wheel 250.

[0065] The transmission wheel 250 can be connected to a driving device such as a motor to transmit the driving force of the driving device to the transmission member 230. The transmission wheel 250 can be connected to the motor through a transmission structure such as a belt or a gear, and the motor can drive the transmission wheel 250 to rotate.

[0066] Based on the above structure, when the shaft 221 is located at the first axial position, the transmission member 230 can be driven to rotate together during the rotation of the transmission wheel 250. Since the transmission member 230 and the shaft 221 are circumferentially fixed, the transmission member 230 can drive the shaft 221 to rotate. Since the external gear on the shaft 221 is meshed with the internal gear of the wheel body 210, the shaft 221 can drive the wheel body 210 to rotate together, and the wheel body 210 can rotate relative to the frame 310 through the bearing 320. When the shaft 221 is located at the first axial position, the transmission wheel 250, the transmission member 230, the shaft 221 and the wheel body 210 rotate together.

[0067] When the shaft body 221 switches from the first axial position to the second axial position, the shaft body 221 moves Figure 4A As shown in the left movement, since the relative axial positions of the transmission wheel 250 and the transmission member 230 and the wheel body remain unchanged, during this process, the shaft body 221 needs to slide to the left relative to the transmission wheel 250 and the transmission member 230 to disengage the outer gear from the inner gear.

[0068] Figure 4B A cross-sectional schematic diagram of an axle in a second axial position according to another embodiment of the present disclosure is schematically shown.

[0069] like Figure 4B As shown, when the shaft body 221 is located at the second axial position, during the rotation of the transmission wheel 250, the transmission member 230 can be driven to rotate together. Since the transmission member 230 and the shaft body 221 are circumferentially fixed, the transmission member 230 can drive the shaft body 221 to rotate. Since the external gear on the shaft body 221 has been separated from the internal gear of the wheel body 210 and meshed with the external rack 410, the shaft body 221 and the transmission member 230 can rotate relative to the wheel body 210, and the wheel body 210 can remain stationary. When the shaft body 221 is located at the second axial position, the transmission wheel 250, the transmission member 230 and the shaft body 221 rotate together, and the wheel body 210 remains stationary.

[0070] According to an embodiment of the present disclosure, by arranging a transmission member and a bearing between the shaft body and the first connecting hole, not only can a supporting effect be achieved between the shaft body and the first connecting hole, but also the rotation process of the shaft body relative to the wheel body can be smoother and the transmission effect of the driving force can be better.

[0071] In other embodiments of the present disclosure, the shaft body and the first connecting hole can also be directly connected by a bearing without a transmission member. For example, the bearing can be sleeved between the circumferential surface of the shaft body and the side wall of the first connecting hole, the shaft body and the inner ring of the bearing can be connected by a spline, the outer ring of the bearing can be fixedly connected to the first connecting hole, and the bearing can achieve a supporting effect between the shaft body and the first connecting hole, and can make the rotation process of the shaft body relative to the wheel body smoother. The rotating wheel and the shaft body can also be connected by a spline, so that the transmission wheel can directly rotate the driving force to the shaft body, and can make the shaft body move axially relative to the transmission wheel.

[0072] Figure 5 A schematic diagram of a wheel device according to another embodiment of the present disclosure is schematically shown.

[0073] like Figure 5 As shown, according to an embodiment of the present disclosure, the wheel device may further include a support wheel 260, and the outer gear 222 and the support wheel 260 are both sleeved on the first end of the shaft body 221. The support wheel 260 is located outside the outer gear 222, and the support wheel 260 may be closer to the end of the shaft body 221 relative to the outer gear 222. The support wheel 260 may be fixedly connected to the outer gear 222 to rotate with the outer gear. The support wheel 260 has an outer circumferential surface, which is used to keep the outer gear and the rack at a fixed distance, and support the outer gear to move on the rack 410.

[0074] A smooth support surface 420 may be provided on one side of the rack 410. When the external gear is meshed with the rack, the outer circumferential surface of the support wheel 260 contacts the support surface 420. When the external gear rolls on the rack, the support wheel 260 rolls on the support surface 420. With the cooperation of the support wheel 260 and the support surface 420, the external gear and the rack can maintain a fixed distance, ensuring that the external gear and the rack will not get stuck and the external gear can roll on the rack.

[0075] The teeth on the rack can be straight teeth or helical teeth. In order to ensure that the external gear does not disengage from the rack, some limiting structures can be provided. For example, another rack can be provided on the back of the rack shown in the figure, and another wheel device can be provided above the wheel device shown in the figure. The external gear of the upper wheel device can mesh with the rack on the back, and the external gear of the lower wheel device can mesh with the rack on the front. In this way, the wheel device and the rack can be ensured not to disengage during the lifting process of the vehicle body.

[0076] Another aspect of the embodiments of the present disclosure further provides a climbing device that can be used for the above-mentioned wheel device.

[0077] Figure 6 A schematic diagram of a climbing device according to an embodiment of the present disclosure is schematically shown.

[0078] like Figure 6 As shown, the climbing device includes a climbing rod 400, and the climbing rod 400 includes a rack 410 extending in the height direction. The rack 410 can match the shape of the outer gear of the wheel device. The multiple teeth of the rack 410 include an engagement tooth 411, which is a tooth engaged with the outer gear. The length of the engagement tooth 411 is greater than the length of the adjacent teeth, and the engagement tooth 411 protrudes toward the inner side of the climbing rod 400 relative to the adjacent teeth. The inner side of the climbing rod 400 is the side engaged with the outer gear. That is, the length of a certain tooth in the rack 410 is greater than the length of the other teeth, and the tooth protrudes one end distance toward the inner side of the climbing rod 400. When the outer gear is engaged with the rack, the tooth on the outer gear is engaged with the tooth.

[0079] Fig. 7A The schematic diagram schematically shows the process of the rack and the external gear engaging in the related art.

[0080] like Fig. 7A As shown, in the related art, multiple teeth of the rack are of the same length. During the engagement process between the external gear and the rack, multiple teeth of the rack participate in the engagement process, and one tooth on the rack needs to be inserted into the gap between any two teeth on the external gear. When multiple teeth participate in the engagement, there is a certain probability that multiple sharp corners of the external gear will intersect with multiple sharp corners of the rack. When this happens, the external gear and the rack cannot be brought into engagement, and the angle of the external gear needs to be adjusted. However, due to the complex structure of the engagement position, repeated adjustments may be required to dock with the rack, making the engagement process less efficient. The climbing device of the disclosed embodiment can solve this problem.

[0081] Figure 7B The schematic diagram schematically shows the process of engagement between the rack and the external gear according to an embodiment of the present disclosure.

[0082] like Figure 7B As shown, the engaging teeth on the rack are longer than the adjacent teeth. Therefore, the engaging teeth are first contacted during the engagement process between the external gear and the rack. Only the engaging teeth participate in the engagement process. The engaging teeth can be inserted into the gap between any two teeth on the external gear. After the external gear is introduced into the engaging teeth, it can continue to move forward and smoothly introduce into the rack. When the sharp corner of the external gear intersects with the engaging teeth of the rack, the angle of the external gear can be slightly adjusted to allow it to be introduced into the engaging teeth. The connection process is relatively quick.

[0083] As mentioned above, the external gear is very likely not in the correct meshing position in the circumferential direction before the engaging teeth are introduced. During the introduction process, the external gear needs to rotate a certain angle. Since the external gear has been disengaged from the internal gear on the wheel body before the engaging teeth are introduced, the external gear can rotate freely without driving the wheel body to rotate together. Conversely, when the external gear is converted from the meshing state with the rack to the meshing state with the internal gear, it is disengaged from the meshing state with the rack before the internal gear is introduced.

[0084] Please refer to Figure 6 According to an embodiment of the present disclosure, the climbing device further comprises a coupling plate 430, which is fixed to the first surface 412 of the climbing rod 410, and the first surface 412 faces the inner side of the climbing rod. The coupling plate 430 has an extended tooth, which is aligned with the first tooth in the rack 410, and the first tooth and the extended tooth together form the above-mentioned coupling tooth.

[0085] As mentioned above, a support surface (not shown in the figure) can also be provided on one side of the rack, and the support surface is used to contact the circumferential surface of the support wheel of the wheel device, and cooperate with the support wheel to maintain a fixed distance between the rack and the external gear of the wheel device, thereby supporting the external gear to move on the rack.

[0086] Another aspect of the disclosed embodiment further provides a storage robot, including a frame and a wheel device. The wheel device includes a wheel body and a central shaft assembly, the wheel body has a first connecting hole extending in the axial direction, and the wheel body is provided with an internal gear coaxial with the first connecting hole. The central shaft assembly includes a shaft body and an external gear, the shaft body passes through the first connecting hole in the axial direction and can rotate and move axially relative to the wheel body, the external gear is sleeved on the shaft body and fixedly connected to the shaft body, and the shape of the external gear matches that of the internal gear.

[0087] Specifically, the wheel device can be seen in Figures 2A to 5 , and the above descriptions about the corresponding drawings will not be repeated here.

[0088] Warehouse robots can be used, for example, to pick up, place and deliver items.

[0089] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0090] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A wheel device (200), comprising: A wheel body (210) having a first connection hole (211) extending in an axial direction, wherein the first connection hole (211) is located at the center of the wheel body (210) and passes through the wheel body (210), and an internal gear (212) coaxial with the first connection hole (211) is provided on the wheel body (210); as well as The central shaft assembly (220) comprises: A shaft body (221) axially passes through the first connection hole (211) and is capable of axially moving relative to the wheel body (210); as well as an external gear (222) sleeved on the shaft body (221) and fixedly connected to the shaft body (221), the external gear (222) matching the internal gear (212); The shaft body (221) is capable of switching between a first axial position and a second axial position; When the shaft body (221) is located at the first axial position, the internal gear (212) is meshed with the external gear (222), and the shaft body (221) drives the wheel body (210) to rotate; When the shaft body (221) is located at the second axial position, the outer gear (222) is disengaged from the inner gear (212) and extends out of the wheel body (210), thereby meshing with a rack extending in the height direction of the climbing pole to achieve climbing of the wheel device (200), and the shaft body (221) rotates relative to the wheel body (210).

2. The apparatus according to claim 1, further comprising: The transmission member (230) is sleeved on the shaft body (221) and is circumferentially fixed to the shaft body (221), so that the transmission member (230) can drive the shaft body (221) to rotate. The shaft body (221) is capable of moving axially relative to the transmission member (230). The transmission member (230) is rotatably connected to the first connection hole (211), so that the transmission member (230) can rotate relative to the wheel body (210) and is axially fixed to the wheel body (210).

3. The device according to claim 2, wherein: The transmission member (230) has a second connection hole, and the second connection hole is provided with a first internal spline; The shaft body (221) passes through the second connecting hole, and a first external spline matching the first internal spline is provided on the circumferential surface of the shaft body (221).

4. The apparatus according to claim 2, further comprising: A transmission wheel (250) is sleeved on the shaft body (221) and fixedly connected to the transmission member (230); the shaft body (221) is capable of axially moving relative to the transmission wheel (250); The transmission wheel (250) is connected to a driving device to transmit the driving force of the driving device to the transmission member (230).

5. The device according to any one of claims 1 to 4, further comprising: A support wheel (260), wherein the external gear (222) and the support wheel (260) are both sleeved on the first end of the shaft (221), and the support wheel (260) is located outside the external gear (222); The support wheel (260) has an outer circumferential surface, which is used to maintain a fixed spacing between the external gear (222) and the rack, and to support the external gear (222) to move on the rack.

6. A climbing device, used for the wheel device according to any one of claims 1 to 5, comprising: A climbing rod (400) comprises a rack (410) extending in a height direction of the climbing rod, the rack (410) matching an outer gear of the wheel device, A plurality of teeth of the rack include engaging teeth (411), the length of the engaging teeth (411) being greater than the length of adjacent teeth, the engaging teeth (411) protruding toward the inner side of the climbing rod relative to the adjacent teeth, and the inner side of the climbing rod (400) being the side engaged with the external gear; Wherein, the external gear (222) is axially fixed to the shaft body (221) via a limiting structure.

7. The apparatus according to claim 6, further comprising: A joint plate (430) is fixed to a first surface (412) of the climbing rod (400), wherein the first surface faces the inner side of the climbing rod. The engaging plate (430) has an extended tooth, the extended tooth is aligned with a first tooth in the rack, the first tooth and the extended tooth forming the engaging tooth (411).

8. The device according to claim 7, wherein: A support surface is also provided on one side of the rack (410), the support surface being used to contact the circumferential surface of the support wheel of the wheel device and cooperate with the support wheel to maintain a fixed spacing between the rack and the external gear of the wheel device, thereby supporting the external gear to move on the rack.

9. A storage robot comprising: Frame; as well as The wheel device according to any one of claims 1 to 5, comprising: A wheel body having a first connecting hole extending in the axial direction, wherein the wheel body is provided with an internal gear coaxial with the first connecting hole; as well as The central shaft assembly includes a shaft body and an external gear. The shaft body axially passes through the first connecting hole and can rotate and move axially relative to the wheel body. The external gear is sleeved on the shaft body and fixedly connected to the shaft body. The external gear matches the internal gear.

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