Travel wheel device of shuttle, shuttle and freight system

Abstract

The present disclosure relates to a running wheel device of a shuttle, a shuttle and a freight system, wherein the running wheel device comprises a base; a clamping mechanism comprises a first clamping member and a second clamping member, the first clamping member and / or the second clamping member are movably arranged on the base, and are respectively provided with running wheels that can move on a track; and a driving device, which is used to drive the first clamping member and / or the second clamping member to move so that the two can approach or move away from each other, and switch between a first position and a second position, in which the running wheels of the first clamping member and the second clamping member are used to clamp the track and roll with it; in the second position, the running wheels of the first clamping member and the second clamping member are used to disengage from the track to release the track. The running wheel device has a simple structure and is easy to cooperate with or disengage from the track, which is conducive to eliminating the track switching device arranged on the track, reducing the requirements for the entire freight system, and improving the reliability of the freight system.

Description

Technical Field

[0001] The present disclosure relates to the technical field of logistics warehousing, and in particular to a running wheel device of a shuttle vehicle, a shuttle vehicle and a freight system. Background Art

[0002] In recent years, shuttle vehicles have been widely used in the field of logistics and warehousing as a kind of intelligent robot equipment. Shuttle vehicles can replace manual labor to perform a series of warehousing operations and efficiently deliver goods to designated shelves, greatly improving the warehouse's operating efficiency and space utilization, and avoiding the risks of manual high-altitude operations.

[0003] The shuttle is usually equipped with a running device so that it can move along the rack rails. In the related art, when the shuttle moves to the intersection of two rack rails, it is necessary to determine the target position of the shuttle and switch the track switching device corresponding to the two rack rails, so as to realize the movement of the shuttle from one track to another. This method makes the structure of the shuttle complex and places extremely high requirements on the entire freight system, reducing the reliability of the freight system. Summary of the invention

[0004] The purpose of the present disclosure is to provide a running wheel device for a shuttle vehicle, which has a simple structure and is easy to cooperate with or disengage from a track, thereby facilitating the elimination of a track switching device arranged on the track, reducing the requirements for the entire freight system, and improving the reliability of the freight system.

[0005] In order to achieve the above-mentioned objectives, the present disclosure provides a walking wheel device of a shuttle vehicle, the walking wheel device comprising: a base; a clamping mechanism, the clamping mechanism comprising a first clamping member and a second clamping member arranged on the base, the first clamping member and / or the second clamping member being movably arranged on the base, and respectively provided with walking wheels that can move on a track; and a driving device, the driving device being arranged on the base, and being used to drive the first clamping member and / or the second clamping member to move so that the two can approach each other or move away from each other, and switch between a first position and a second position, in the first position, the walking wheels of the first clamping member and the second clamping member are used to clamp the track and roll with it; in the second position, the walking wheels of the first clamping member and the second clamping member are used to disengage from the track to release the track.

[0006] Optionally, the first clamping member and the second clamping member respectively have at least one group of running wheels, and the at least one group of running wheels includes a first running wheel and a second running wheel. The axes of the first running wheel and the second running wheel are arranged at an angle on a plane perpendicular to the extension direction of the track, so as to cooperate with different sides of the track along the circumferential direction.

[0007] Optionally, the axes of the first walking wheel and the second walking wheel in the at least one group of walking wheels are arranged in the same plane, the first clamping member and the second clamping member have multiple groups of walking wheels arranged at intervals along the extension direction of the track, and the axes of the first walking wheel and the second walking wheel in the same group are perpendicular to each other and are used to respectively cooperate with two adjacent side surfaces of the track with a rectangular cross-section.

[0008] Optionally, the driving device includes a screw mechanism and a driving motor, the screw mechanism includes a screw, the screw is fixedly arranged on the base and includes a first rod portion, a second rod portion and an intermediate rod portion connecting the first rod portion and the second rod portion, the first rod portion has a first external thread matching with the first clamping member, the second rod portion has a second external thread matching with the second clamping member, wherein the first external thread and the second external thread have opposite rotation directions, and the output shaft of the driving motor is drivingly connected to the intermediate rod portion for driving the first clamping member and the second clamping member to move closer to or away from each other on the screw.

[0009] Optionally, the screw mechanism includes a first nut and a second nut, the first nut is sleeved on the first rod portion, and the second nut is sleeved on the second rod portion, wherein one of the first nut and the second nut is fixed to the first clamping member, and the other of the first nut and the second nut is fixed to the second clamping member.

[0010] Optionally, the driving device further comprises an auxiliary guide rail and a first slider and a second slider respectively sleeved on the auxiliary guide rail, the auxiliary guide rail extends in a direction parallel to the axis of the screw rod and is fixedly arranged on the base, one of the first slider and the second slider is arranged on the first clamping member, and the other of the first slider and the second slider is arranged on the second clamping member.

[0011] On the basis of the above scheme, the present disclosure also provides a shuttle vehicle, which includes a frame, a track changing device and a running device. The running device is the running wheel device of the above-mentioned shuttle vehicle, and the track changing device is used to drive the running device to move closer to or away from the frame to cooperate with or detach from the track.

[0012] Optionally, the running device is installed on the frame and includes a first running device that moves along a first track and a second running device that moves along a second track. The track changing device is installed on the frame, and is used to adjust the distance between the first running device and the second running device so that the shuttle vehicle can switch between a first working state and a second working state. In the first working state, the first running device can move along the first track, and the second running device can detach from the second track; in the second working state, the second running device can move along the second track, and the first running device can detach from the first track.

[0013] Optionally, the track changing device includes a telescopic mechanism, which is arranged between the first walking device and the second walking device and one end of the telescopic mechanism is connected to the first walking device, and the other end is connected to the second walking device to adjust the distance between the first walking device and the second walking device.

[0014] Optionally, the track changing device also includes a guiding mechanism, which includes a matching guiding rail and a guiding slider, wherein the guiding rail extends in a direction parallel to the central axis of the telescopic mechanism, and one of the guiding rail and the guiding slider is fixedly connected to the first traveling device; the other of the guiding rail and the guiding slider is fixedly connected to the second traveling device, and there are multiple guiding mechanisms, and the multiple guiding mechanisms are symmetrically arranged about the central axis of the telescopic mechanism.

[0015] Optionally, the first running device and the second running device are located on adjacent two side surfaces of the frame, and the clamping directions are perpendicular to each other, so as to cooperate with the first rail and the second rail respectively.

[0016] In addition, the present disclosure also provides a freight system, including a first track and a second track, and also including the above-mentioned shuttle vehicle, the first running device cooperates with the first track, and the second running device cooperates with the second track, wherein the first track and the second track do not intersect.

[0017] Optionally, one of the first rail and the second rail is configured to extend in a horizontal direction, the other of the first rail and the second rail is configured to extend in a vertical direction, or both of the first rail and the second rail extend in a horizontal direction or in a vertical direction.

[0018] Through the above technical solution, in the running wheel device of the shuttle provided by the present disclosure, the first clamping member and / or the second clamping member are driven to move by the driving device, that is, at least one of the two clamping members is driven to move, so that the first clamping member and the second clamping member can move closer to each other or farther away from each other and switch between the first position and the second position, so as to realize the running wheel device to cooperate or disengage with the track, wherein, in the first position, the running wheels of the first clamping member and the second clamping member can clamp the track and roll with the track, and in the second position, the running wheels of the first clamping member and the second clamping member can disengage from the track to release the track. The running wheel device has a simple structure and is easy to cooperate or disengage with the track, so it is beneficial to omit the track switching device arranged on the track, reduce the requirements for the entire freight system, and improve the reliability of the freight system.

[0019] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0021] Figure 1 is a structural schematic diagram of a freight system provided according to a first embodiment of the present disclosure;

[0022] Figure 2 is an azimuth arrangement diagram of a first track and a second track in a freight system provided according to a first embodiment of the present disclosure;

[0023] Figure 3 is another orientation layout diagram of the first track and the second track in the freight system provided according to the first embodiment of the present disclosure;

[0024] Figure 4 is a diagram of the arrangement of the first track and the second track in the freight system according to the first embodiment of the present disclosure;

[0025] Figure 5 is a schematic structural diagram of a shuttle vehicle provided according to a second embodiment of the present disclosure;

[0026] Figure 6 is another structural schematic diagram of a shuttle vehicle provided according to the second embodiment of the present disclosure;

[0027] Figure 7 It is a schematic structural diagram of a traveling wheel device of a shuttle vehicle provided according to a third embodiment of the present disclosure.

[0028] Description of Reference Numerals

[0029] 100-first track; 200-second track; 300-shuttle; 1-carriage frame; 11-cargo trough; 2-first walking device; 21-base; 22-clamping mechanism; 221-first clamping member; 222-second clamping member; 23-screw mechanism; 231-screw; 2311-first rod; 2312-second rod; 2313-middle rod; 234-driving motor; 235-transmission mechanism; 2351-first gear; 2352-second gear; 236-auxiliary guide rail; 237-first slider; 238-second slider; 239-walking wheel; 2391-first walking wheel; 2392-second walking wheel; 2393-motor; 3-second walking device; 4-track changing device; 41-telescopic mechanism; 42-guide mechanism; 421-guide rail; 422-guide slider. DETAILED DESCRIPTION

[0030] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0031] In the present disclosure, unless otherwise specified, directional words such as "inside" and "outside" refer to the inside and outside relative to the outline of the component itself; in addition, the use of words such as "first" and "second" is intended to distinguish different components and does not have order and importance. In addition, in the following description, when referring to the drawings, unless otherwise explained, the same figure numbers in different drawings represent the same or similar elements. The above definitions are only used to explain and illustrate the present disclosure and should not be understood as limiting the present disclosure.

[0032] According to a specific embodiment of the present disclosure, a running wheel device of a shuttle vehicle is provided. Figure 7 An embodiment of the walking wheel device is shown. Figure 7 As shown, the walking wheel device includes: a base 21; a clamping mechanism 22, the clamping mechanism 22 includes a first clamping member 221 and a second clamping member 222 arranged on the base 21, the first clamping member 221 and / or the second clamping member 222 are movably arranged on the base 21, and are respectively provided with walking wheels 239 that can move on the track; and a driving device, the driving device is arranged on the base 21, and is used to drive the first clamping member 221 and / or the second clamping member 222 to move so that the two can approach each other or move away from each other, and switch between a first position and a second position. In the first position, the walking wheels 239 of the first clamping member 221 and the second clamping member 222 are used to clamp the track and roll with it; in the second position, the walking wheels 239 of the first clamping member 221 and the second clamping member 222 are used to disengage from the track to release the track.

[0033] Among them, the above "and / or" in this application includes three technical solutions, namely: the first clamping member 221 is movably arranged on the base 21, and the driving device is used to drive the first clamping member 221 to move, and the second clamping member 222 can be fixedly arranged on the base 21; the first clamping member 221 is fixedly arranged on the base 21, and the second clamping member 222 is movably arranged on the base 21, and the driving device is used to drive the second clamping member 222 to move; the first clamping member 221 and the second clamping member 222 are both movably arranged on the base 21, and the driving device is used to simultaneously drive the first clamping member 221 and the second clamping member 222 to move simultaneously. It can be seen that no matter which solution is used, it is possible to make the two approach or move away from each other, thereby achieving the clamping and release of the guide rail.

[0034] Through the above technical solution, in the running wheel device of the shuttle provided by the present disclosure, the first clamping member 221 and / or the second clamping member 222 are driven to move by the driving device, that is, at least one of the two clamping members is driven to move, so that the first clamping member 221 and the second clamping member 222 can move closer to each other or farther away from each other and switch between the first position and the second position, so as to realize the running wheel device to cooperate or disengage with the track, wherein, in the first position, the running wheels 239 of the first clamping member 221 and the second clamping member 222 can clamp the track and roll with the track, and in the second position, the running wheels 239 of the first clamping member 221 and the second clamping member 222 can disengage from the track to release the track. The running wheel device has a simple structure and is easy to cooperate or disengage with the track, so it is beneficial to omit the track switching device arranged on the track, reduce the requirements for the entire freight system, and improve the reliability of the freight system.

[0035] In the specific embodiments provided in the present disclosure, reference is made to Figure 7 As shown, the first clamping member 221 and the second clamping member 222 may each have at least one set of running wheels 239, and the at least one set of running wheels 239 includes a first running wheel 2391 and a second running wheel 2392, and the axes of the first running wheel 2391 and the second running wheel 2392 are arranged at an angle on a plane perpendicular to the extension direction of the track, and are used to cooperate with different sides of the track along the circumferential direction. In this way, in the first position, the first running wheel 2391 and the second running wheel 2392 on the first clamping member 221 and the second clamping member 222 can clamp the track and roll with different sides of the track along the circumferential direction, thereby realizing the movement of the running wheel device on the track. In the second position, the first running wheel 2391 and the second running wheel 2392 on the first clamping member 221 and the second clamping member 222 can disengage from the corresponding side of the track to release the track, thereby realizing the disengagement of the running wheel device from the track.

[0036] In a specific embodiment provided in the present disclosure, the axes of the first running wheel 2391 and the second running wheel 2392 in at least one group of running wheels 239 can be staggered and non-coplanar, that is, the projections of the axes of the first running wheel 2391 and the second running wheel 2392 on a plane perpendicular to the extension direction of the track are set at an angle.

[0037] You can also choose to refer to Figure 7 As shown, the axes of the first running wheel 2391 and the second running wheel 2392 in at least one set of running wheels 239 can also be arranged in the same plane, and the first clamping member 221 and the second clamping member 222 have multiple sets of running wheels 239 arranged at intervals along the extension direction of the track, and the axes of the first running wheel 2391 and the second running wheel 2392 in the same group are perpendicular to each other and are used to respectively cooperate with the adjacent two sides of the track with a rectangular cross section. The first running wheel 2391 and the second running wheel 2392 in the same group are correspondingly matched with the adjacent two sides of the track with a rectangular cross section to clamp the track and roll with the adjacent two sides of the track along the circumferential direction. It should be noted that in other embodiments of the present disclosure, the angle between the axes of the first running wheel 2391 and the second running wheel 2392 in the multiple sets of running wheels 239 can also be other suitable angles to correspondingly adapt to different side surfaces of the track. This disclosure does not impose any restrictions on this, and those skilled in the art can adaptively select according to actual needs.

[0038] In the specific embodiments provided in the present disclosure, the drive device can be configured in any suitable manner. Figure 7As shown, the driving device may include a screw mechanism 23 and a driving motor 234, the screw mechanism 23 includes a screw 231, the screw 231 is fixedly arranged on the base 21 and includes a first rod portion 2311, a second rod portion 2312 and an intermediate rod portion 2313 connecting the first rod portion 2311 and the second rod portion 2312, the first rod portion 2311 has a first external thread matched with the first clamping member 221, the second rod portion 2312 has a second external thread matched with the second clamping member 222, wherein the first external thread and the second external thread have opposite rotation directions, and the output shaft of the driving motor 234 is transmission-connected with the intermediate rod portion 2313, for driving the first clamping member 221 and the second clamping member 222 to move closer to or away from each other on the screw 231. The driving motor 234 drives the middle rod 2313 to rotate, and then drives the first rod 2311 and the second rod 2312 connected to the middle rod 2313 to rotate together. Since the first external thread on the first rod 2311 and the second external thread on the second rod 2312 have opposite rotation directions, the rotation of the screw rod 231 can make the first clamping member 221 matched with the first rod 2311 and the second clamping member 222 matched with the second rod 2312 move closer to or away from each other on the screw rod 231. In other embodiments of the present disclosure, the driving device can also be configured in other ways, and the present disclosure does not impose any restrictions on this.

[0039] In the specific embodiments provided in the present disclosure, reference is made to Figure 7 As shown, the output shaft of the driving motor 234 is connected to the intermediate rod 2313 through the transmission mechanism 235. Figure 7 As shown, the transmission mechanism 235 includes a first gear 2351 and a second gear 2352 that are meshed with each other, the first gear 2351 is connected to the driving shaft of the driving motor 234, and the second gear 2352 is sleeved and fixed to the middle rod 2313. Through the mutual meshing of the first gear 2351 and the second gear 2352, the driving motor 234 can drive the middle rod 2313 to rotate, thereby driving the entire screw rod 231 to rotate. In other embodiments of the present disclosure, the transmission mechanism 235 can also be configured in other ways, and the present disclosure does not impose any restrictions on this.

[0040] In a specific embodiment provided in the present disclosure, the screw mechanism 23 may include a first nut and a second nut, the first nut is sleeved on the first rod portion 2311, and the first nut has a first internal thread that matches the first external thread, the second nut is sleeved on the second rod portion 2312, and the second nut has a second internal thread that matches the second external thread. Among them, one of the first nut and the second nut can be fixed to the first clamping member 221, and the other of the first nut and the second nut can be fixed to the second clamping member 222. The rotation of the first rod portion 2311 and the second rod portion 2312 drives the corresponding nut to rotate, thereby causing the first clamping member 221 and the second clamping member 222 to move closer to or away from each other on the screw 231. Among them, reference Figure 7 As shown, the first nut can be fixed to the first clamping member 221, and the second nut can be fixed to the second clamping member 222. In some specific embodiments of the present disclosure, the first nut can be integrally formed with the first clamping member 221; in other specific embodiments of the present disclosure, the second nut can be integrally formed with the second clamping member 222; in still other embodiments of the present disclosure, the first nut can be integrally formed with the first clamping member 221, and the second nut can be integrally formed with the second clamping member 222. In this regard, the present disclosure does not impose any limitation, and those skilled in the art can make adaptive choices according to actual needs.

[0041] In the specific embodiments provided in the present disclosure, reference is made to Figure 7 As shown, the driving device may further include an auxiliary guide rail 236 and a first slider 237 and a second slider 238 respectively sleeved on the auxiliary guide rail 236, the auxiliary guide rail 236 extends in a direction parallel to the axis of the screw rod 231 and is fixedly arranged on the base 21, one of the first slider 237 and the second slider 238 is arranged on the first clamping member 221, and the other of the first slider 237 and the second slider 238 is arranged on the second clamping member 222. Figure 7 As shown, the first slider 237 is disposed on the first clamping member 221, and the second slider 238 is disposed on the second clamping member 222. Here, the first slider 237, the second slider 238 and the auxiliary guide rail 236 can support the first clamping member 221 and the second clamping member 222 on one hand, and can guide the first clamping member 221 and the second clamping member 222 to move closer to or away from each other on the screw rod 231 on the other hand.

[0042] In the specific embodiments provided in the present disclosure, reference is made to Figure 7 As shown, there may be multiple auxiliary guide rails 236 , and the multiple auxiliary guide rails 236 are symmetrically arranged about the axis of the screw rod 231 to ensure that the first clamping member 221 and the second clamping member 222 move smoothly toward or away from each other on the screw rod 231 .

[0043] Based on the above solution, the present disclosure further provides a shuttle vehicle 300. Figure 5 and Figure 6 An embodiment of the shuttle 300 is shown, wherein reference Figure 5 and Figure 6 As shown, the shuttle vehicle 300 may include a frame 1, a track changing device 4 and a running device. The running device is the running wheel device of the above-mentioned shuttle vehicle. The track changing device 4 is used to drive the running device to move closer to or away from the frame 1 to cooperate with or leave the track. Through the shuttle vehicle 300, the track switching device arranged on the track in the prior art can be omitted, which is beneficial to reduce the requirements for the entire freight system and improve the reliability of the freight system.

[0044] In the specific embodiments provided in the present disclosure, reference is made to Figure 5 and Figure 6 As shown, the running device is installed on the frame 1 and includes a first running device 2 moving along the first track 100 and a second running device 3 moving along the second track 200. The track-changing device 4 is installed on the frame 1 and is used to adjust the distance between the first running device 2 and the second running device 3 so that the shuttle 300 switches between the first working state and the second working state. In the first working state, the first running device 2 can move along the first track 100, and the second running device 3 can be separated from the second track 200; in the second working state, the second running device 3 can move along the second track 200, and the first running device 2 can be separated from the first track 100. The distance between the first running device 2 and the second running device 3 is adjusted by the track-changing device 4 to switch the shuttle 300 between the first working state and the second working state, so that the shuttle 300 can switch between the first track 100 and the second track 200. Among them, in the first working state, the shuttle 300 moves on the first track 100, and in the second working state, the shuttle 300 moves on the second track 200, thereby eliminating the track switching device arranged on the track in the prior art, which is beneficial to reduce the requirements for the entire freight system and improve the reliability of the freight system.

[0045] In the specific implementation manner provided in the present disclosure, the track changing device 4 can be configured in any suitable manner. Figure 5 and Figure 6As shown, the track-changing device 4 may include a telescopic mechanism 41, which is arranged between the first running device 2 and the second running device 3, and one end of the telescopic mechanism 41 is connected to the first running device 2, and the other end is connected to the second running device 3, so as to adjust the distance between the first running device 2 and the second running device 3. The arrangement of the telescopic mechanism 41 can omit the track switching device arranged on the track in the prior art, which is conducive to reducing the requirements for the entire freight system and improving the reliability of the freight system. In other embodiments of the present disclosure, the track-changing device 4 can also be other configurations, and the present disclosure does not impose any restrictions on this.

[0046] In the specific embodiments provided in the present disclosure, reference is made to Figure 5 and Figure 6 As shown, the track changing device 4 also includes a guide mechanism 42, which includes a matching guide rail 421 and a guide slider 422, the guide rail 421 extends along a direction parallel to the central axis of the telescopic mechanism 41, and one of the guide rail 421 and the guide slider 422 is fixedly connected to the first running device 2; the other of the guide rail 421 and the guide slider 422 is fixedly connected to the second running device 3, wherein, with reference to Figure 5 and Figure 6 As shown, the guide slider 422 is fixed to the first running device 2, and the guide rail 421 is fixed to the second running device 3. Here, the arrangement of the guide slider 422 and the guide rail can guide the telescopic movement of the telescopic mechanism 41 itself.

[0047] In the specific embodiments provided in the present disclosure, reference is made to Figure 5 and Figure 6 As shown, there can be multiple guide mechanisms 42, and the multiple guide mechanisms 42 are symmetrically arranged about the central axis of the telescopic mechanism 41 to ensure the telescopic movement of the telescopic mechanism 41 itself and thus smoothly adjust the distance between the first walking device 2 and the second walking device 3, which is beneficial to improving the reliability of the freight system.

[0048] In the specific embodiments provided by the present disclosure, the first running device 2 and the second running device 3 can be arranged in any suitable manner. Optionally, the first running device 2 and the second running device 3 can be located on adjacent two side surfaces of the frame 1, and the clamping directions are perpendicular to each other, so as to cooperate with the first rail 100 and the second rail 200 respectively. Figure 5 and Figure 6As shown, the first running device 2 is located on the upper side or lower side of the frame 1, the second running device 3 is located on the peripheral side of the frame 1, and the clamping directions of the first running device 2 and the second running device 3 are perpendicular to each other, and are used to cooperate with the first track 100 and the second track 200 in the corresponding directions respectively. In other embodiments of the present disclosure, the first running device 2 can be located on the peripheral side of the frame 1, the second running device 3 is located on the upper side or lower side of the frame 1, and the clamping directions of the first running device 2 and the second running device 3 are perpendicular to each other, and are used to cooperate with the first track 100 and the second track 200 in the corresponding directions respectively. In some other embodiments of the present disclosure, the first running device 2 and the second running device 3 are respectively located on two adjacent peripheral sides of the frame 1, and the clamping directions of the first running device 2 and the second running device 3 are perpendicular to each other, and are used to cooperate with the first track 100 and the second track 200 in the corresponding directions respectively. Such a setting can realize the switching of the shuttle 300 between two non-intersecting and non-parallel tracks.

[0049] Alternatively, the first running device 2 and the second running device 3 can be located on opposite sides of the frame 1, and the clamping directions are parallel and opposite to each other, so as to cooperate with the first track 100 and the second track 200 respectively. In this case, the first track 100 and the second track 200 are two parallel tracks. Figure 3 to Figure 4 As shown, the first track 100 and the second track 200 are two tracks extending in the vertical direction or in the horizontal direction. In this way, the shuttle 300 can switch between two parallel tracks. In other embodiments of the present disclosure, the first running device 2 and the second running device 3 can also be arranged in other ways, and the present disclosure does not impose any restrictions on this.

[0050] In addition, the present disclosure also provides a freight system. Figures 1 to 4 An embodiment of the freight system is shown, wherein reference Figures 1 to 4As shown, the freight system may include a first track 100 and a second track 200, and also includes the above-mentioned shuttle 300, the first running device 2 cooperates with the first track 100, and the second running device 3 cooperates with the second track 200, wherein the first track 100 and the second track 200 do not intersect. When the shuttle 300 is in the first working state, the first running device 2 of the shuttle 300 can cooperate with the first track 100, so as to realize the movement of the shuttle 300 on the first track 100; when the shuttle 300 is in the second working state, the second running device 3 of the shuttle 300 can cooperate with the second track 200, so as to realize the movement of the shuttle 300 on the second track 200. The track changing device 4 of the shuttle 300 can enable the shuttle 300 to switch between the first working state and the second working state, that is, the shuttle 300 can switch between the non-intersecting first track 100 and the second track 200, thereby eliminating the track switching device arranged on the track in the prior art, which is beneficial to reduce the requirements for the entire freight system and improve the reliability of the freight system.

[0051] In the specific embodiment provided by the present disclosure, the first track 100 and the second track 200 can be arranged in any suitable manner. Optionally, one of the first track 100 and the second track 200 is configured to extend in the horizontal direction, and the other of the first track 100 and the second track 200 is configured to extend in the vertical direction. That is, the shuttle 300 can switch between the track in the horizontal direction and the track in the vertical direction. Figure 1 to Figure 2 As shown, the first rail 100 is configured to extend in a horizontal direction, and the second rail 200 is configured to extend in a vertical direction.

[0052] Alternatively, the first track 100 and the second track 200 may both extend in the horizontal direction or in the vertical direction. That is, the shuttle 300 can switch between two tracks in the horizontal direction or two tracks in the vertical direction. This disclosure does not impose any limitation on this, and those skilled in the art may make an adaptive choice according to actual needs.

[0053] Here, the switching process of the shuttle vehicle 300 on the first track 100 and the second track 200 in the freight system provided by the present disclosure is described in combination with the above-mentioned embodiments. Figures 1 to 7As shown, the cargo is placed in the cargo receiving slot 11 on the shuttle vehicle 300 frame 1. When the shuttle vehicle 300 switches from the first track 100 to the second track 200, first, the motor 2393 of the first walking device 2 drives the walking wheel 239 on the first walking device 2 to move to the specified position on the first track 100. Then, the telescopic mechanism 41 itself telescopes to increase the distance between the second walking device 3 and the first walking device 2 until the walking wheel 239 of the second walking device 3 can clamp the second track 200. Then, the output shaft of the driving motor 234 in the second walking device 3 drives the screw rod 231 to rotate through the transmission mechanism 235, thereby making the first clamping member 221 and the second clamping member 222 approach each other so that the walking wheel 239 of the second walking device 3 clamps the second track 200 and makes the walking wheel 239 and the second track 200 rollingly cooperate. Afterwards, the output shaft of the driving motor 234 in the first walking device 2 drives the screw 231 to rotate through the transmission mechanism 235, thereby moving the first clamping member 221 and the second clamping member 222 away from each other so that the walking wheel 239 of the first walking device 2 is disengaged from the first track 100 to release the first track 100. Afterwards, the telescopic mechanism 41 itself telescopes to reduce the distance between the second walking device 3 and the first walking device 2 until the walking wheel 239 of the first walking device 2 can be disengaged from the first track 100. Finally, the motor 2393 of the second walking device 3 drives the walking wheel 239 on the second walking device 3 to move on the second track 200, that is, the shuttle 300 is switched from the first track 100 to the second track 200. Conversely, when the shuttle 300 switches from the second track 200 to the first track 100, its working principle is the same as the working principle of the shuttle 300 switching from the first track 100 to the second track 200, and the present disclosure will not repeat it here.

[0054] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0055] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0056] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A shuttle vehicle, characterized in that: The shuttle vehicle comprises a frame (1), a track changing device (4) and a running device, wherein the track changing device (4) is used to drive the running device to move towards or away from the frame (1) to engage with a track or detach from the track, and the running device comprises: Base (21); a clamping mechanism (22), the clamping mechanism (22) comprising a first clamping member (221) and a second clamping member (222) arranged on the base (21), the first clamping member (221) and / or the second clamping member (222) being movably arranged on the base (21) and respectively provided with a running wheel (239) capable of moving on the track; and a driving device, the driving device being arranged on the base (21) and being used for driving the first clamping member (221) and / or the second clamping member (222) to move so that the two can move closer to each other or farther away from each other, and switch between the first position and the second position, In the first position, the running wheels (239) of the first clamping member (221) and the second clamping member (222) are used to clamp the track and roll with it; in the second position, the running wheels (239) of the first clamping member (221) and the second clamping member (222) are used to disengage from the track to release the track; the track comprises a first track (100) and a second track (200); one of the first track (100) and the second track (200) is configured to extend in a horizontal direction, and the other of the first track (100) and the second track (200) is configured to extend in a vertical direction, or both of the first track (100) and the second track (200) extend in a horizontal direction or in a vertical direction; The running device is mounted on the vehicle frame (1) and comprises a first running device (2) moving along the first track (100) and a second running device (3) moving along the second track (200); the track changing device (4) is mounted on the vehicle frame (1) and is used to adjust the distance between the first running device (2) and the second running device (3) so that the shuttle vehicle (300) switches between a first working state and a second working state. In the first working state, the first running device (2) can move along the first track (100), and the second running device (3) can detach from the second track (200); In the second working state, the second running device (3) can move along the second track (200), and the first running device (2) can be separated from the first track (100).

2. The shuttle vehicle according to claim 1, characterized in that: The first clamping member (221) and the second clamping member (222) respectively have at least one group of running wheels (239), the at least one group of running wheels (239) comprising a first running wheel (2391) and a second running wheel (2392), the axes of the first running wheel (2391) and the second running wheel (2392) being arranged at an angle on a plane perpendicular to the extension direction of the track, for cooperating with different side surfaces of the track along the circumferential direction.

3. The shuttle vehicle according to claim 2, characterized in that: The axes of the first running wheel (2391) and the second running wheel (2392) in the at least one group of running wheels (239) are arranged in the same plane, and the first clamping member (221) and the second clamping member (222) have multiple groups of running wheels (239) arranged at intervals along the extension direction of the track, and the axes of the first running wheel (2391) and the second running wheel (2392) in the same group are perpendicular to each other and are used to respectively cooperate with two adjacent side surfaces of the track having a rectangular cross-section.

4. The shuttle vehicle according to claim 1, characterized in that: The drive device comprises a screw mechanism (23) and a drive motor (234); the screw mechanism (23) comprises a screw (231); the screw (231) is fixedly arranged on the base (21) and comprises a first rod portion (2311), a second rod portion (2312), and an intermediate rod portion (2313) connecting the first rod portion (2311) and the second rod portion (2312); the first rod portion (2311) has a first external thread that matches the first clamping member (221); the second rod portion (2312) has a second external thread that matches the second clamping member (222); the first external thread and the second external thread have opposite rotation directions; The output shaft of the driving motor (234) is drivingly connected to the intermediate rod portion (2313) and is used to drive the first clamping member (221) and the second clamping member (222) to move towards or away from each other on the screw rod (231).

5. The shuttle vehicle according to claim 4, characterized in that: The screw mechanism (23) comprises a first nut and a second nut, the first nut being sleeved on the first rod portion (2311), and the second nut being sleeved on the second rod portion (2312), wherein one of the first nut and the second nut is fixed to the first clamping member (221), and the other of the first nut and the second nut is fixed to the second clamping member (222).

6. The shuttle vehicle according to claim 4, characterized in that: The driving device further comprises an auxiliary guide rail (236) and a first slider (237) and a second slider (238) respectively sleeved on the auxiliary guide rail (236); the auxiliary guide rail (236) extends in a direction parallel to the axis of the screw rod (231) and is fixedly arranged on the base (21); one of the first slider (237) and the second slider (238) is arranged on the first clamping member (221); and the other of the first slider (237) and the second slider (238) is arranged on the second clamping member (222).

7. The shuttle vehicle according to claim 1, characterized in that: The track changing device (4) comprises a telescopic mechanism (41), wherein the telescopic mechanism (41) is arranged between the first running device (2) and the second running device (3), and one end of the telescopic mechanism (41) is connected to the first running device (2), and the other end is connected to the second running device (3), so as to adjust the distance between the first running device (2) and the second running device (3).

8. The shuttle vehicle according to claim 7, characterized in that: The track changing device (4) further comprises a guide mechanism (42), wherein the guide mechanism (42) comprises a matching guide rail (421) and a guide slider (422), wherein the guide rail (421) extends in a direction parallel to a central axis of the telescopic mechanism (41), and one of the guide rail (421) and the guide slider (422) is fixedly connected to the first running device (2); and the other of the guide rail (421) and the guide slider (422) is fixedly connected to the second running device (3). There are multiple guide mechanisms (42), and the multiple guide mechanisms (42) are symmetrically arranged about the central axis of the telescopic mechanism (41).

9. The shuttle vehicle according to claim 1, characterized in that: The first running device (2) and the second running device (3) are located on adjacent two side surfaces of the vehicle frame (1), and their clamping directions are perpendicular to each other, and are used to respectively cooperate with the first track (100) and the second track (200).

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