A walking mechanism

Abstract

An embodiment of the present application provides a traveling mechanism. The traveling mechanism travels on a first track and a second track arranged in parallel. The traveling mechanism includes at least one traveling chassis. Each traveling chassis includes a support frame arranged in a first direction and at least one wheel frame arranged perpendicular to the first direction. The wheel frame is fixedly connected to the support frame; first and second traveling wheels that respectively travel on the first track and the second track are provided at both ends of the wheel frame; the traveling chassis is used to carry a traveling device; a driving assembly, the driving assembly is fixedly connected to the support frame and includes a driving motor and a driving wheel connected to the output shaft of the driving motor. The driving motor is used to drive the output shaft to rotate and drive the driving wheel to rotate; a swing plate, one end of the swing plate is elastically connected to the support frame through an elastic member, and the other end of the swing plate is rotatably connected to the output shaft. The elastic member is used to force the driving wheel to be in close contact with the side wall of the first track close to the second track or the side wall of the second track close to the first track.

Description

Technical Field

[0001] This application relates to the technical field of logistics equipment, and particularly to a traveling mechanism. Background Art

[0002] With the booming development of the logistics industry, the automatic sorting and transportation of goods, for example: in large freight yards, a rail traveling mechanism is used to travel on rails for goods transportation, or sorting equipment such as robotic arms is installed on the rail traveling mechanism.

[0003] It can be seen that the importance of the rail traveling mechanism is becoming increasingly obvious. Most of the existing traveling mechanisms use linear motors for driving. When using a linear motor to drive the rail traveling mechanism, since the linear motor is prone to generate large vibrations during operation and is likely to cause resonance of other parts of the traveling mechanism during high-speed movement, which in turn affects the stability of the rail traveling equipment, and further leads to damage to the transported goods. Moreover, when the linear motor drives the rail traveling mechanism, an additional locking mechanism is required to lock the traveling mechanism, resulting in a complex structure and high cost of this existing traveling mechanism, causing a lot of inconvenience in future use and maintenance. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a traveling mechanism to improve the running stability of the traveling mechanism, simplify the structure of the traveling mechanism, and reduce production costs. The specific technical solutions are as follows:

[0005] The embodiments of this application propose a traveling mechanism. The traveling mechanism is used to travel on a first rail and a second rail arranged in parallel. The traveling mechanism includes:

[0006] At least one traveling chassis. Each traveling chassis includes a support frame arranged along a first direction and at least one wheel frame arranged perpendicular to the first direction. At least one wheel frame is fixedly connected to the support frame; both ends of at least one wheel frame are provided with first traveling wheels for traveling on the first rail and second traveling wheels for traveling on the second rail; the traveling chassis is used to carry goods sorting equipment;

[0007] A driving assembly. The driving assembly is fixedly connected to the support frame. The driving assembly includes a driving motor and a driving wheel connected to the output shaft of the driving motor. The driving motor is used to drive the output shaft to rotate and drive the driving wheel to rotate;

[0008] A swing plate, one end of the swing plate is elastically connected to the support frame through an elastic member, and the other end of the swing plate is rotatably connected to the output shaft, the elastic member is used to force the driving wheel to be in close contact with the side wall of the first track close to the second track, or the elastic member is used to force the driving wheel to be in close contact with the side wall of the second track close to the first track, so that the driving wheel can move along the side wall of the first track close to the second track when rotating, or can move along the side wall of the two tracks close to the first track when rotating.

[0009] An embodiment of the present application provides a walking mechanism, including at least one walking chassis and a drive assembly. The support frame in at least one walking chassis can play the role of connecting the wheel frame and the drive assembly, and keep the wheel frame and the drive assembly at a distance to prevent the drive wheel and the walking wheel from colliding with each other during movement. The walking chassis walks on the first track and the second track through the walking wheels. Arranging the walking wheels at both ends of the wheel frame can make the entire walking mechanism walk more smoothly on the first track and the second track. Other walking equipment can be installed on at least one walking chassis and keep the other walking equipment moving synchronously with the walking chassis, so that the walking equipment can reach different points on the first track and the second track to work.

[0010] The driving assembly is fixedly connected to the support frame, so that the driving assembly can drive the entire walking chassis to walk on the first track and the second track. The driving motor is a component that provides power in the driving assembly, and the driving motor drives the driving wheel to rotate.

[0011] The walking mechanism also includes a swing plate. The elastic force generated by the elastic member connected to one end of the swing plate can enable the driving wheel to generate positive pressure on the inner wall of the first track or the second track, thereby ensuring that the driving wheel is always in contact with the inner wall of the first track or the second track during rotation, and then the friction force generated with the first track during rotation drives the entire walking chassis to move along the track, thereby preventing the driving wheel from leaving the track and causing the walking mechanism to malfunction.

[0012] The walking mechanism provided in the embodiment of the present application can drive the walking chassis to walk on the first track and the second track through the friction force generated by the walking wheels and the first track and the second track. Compared with the linear motor directly driving the walking chassis, the walking mechanism provided in the present application can avoid the linear motor directly driving the walking device to generate large vibrations, thereby causing resonance of other parts of the walking mechanism, which can make the walking chassis more stable during walking and improve the performance of the walking mechanism.

[0013] In addition, the refrigeration system according to the embodiment of the present application may also have the following technical features:

[0014] In some embodiments, each of the walking chassis includes two wheel frames arranged along the traveling direction of the track, and the support frame connects the two wheel frames to form an I-shaped chassis; the drive assembly and the swing plate are located between the two wheel frames; and the upper surfaces of the two wheel frames are provided with preset mounting holes for installing cargo sorting equipment.

[0015] In some embodiments, the swing plate includes a first part, one side of the first part is connected to the support frame through the elastic member, the other side of the first part is bent in a direction away from the support frame to form a second part, the connection between the first part and the second part is rotatably connected to the support frame, and the second part is rotatably connected to the output shaft.

[0016] In some embodiments, the swing plate is an integrally formed structure.

[0017] In some embodiments, the swing plate is fixedly connected to the support frame via a first mounting member; the first mounting member faces a side wall of the support frame, and the first mounting member is rotatably connected to the connection via a bearing.

[0018] In some embodiments, along the height direction of the walking mechanism, the upper surface of the swing plate is lower than the lower surface of the support frame; the elastic member is connected to the support frame through a second mounting member; the second mounting member is arranged on a side of the support frame away from the swing plate, at least a portion of the second mounting member is lower than the lower surface of the support frame, and the elastic member passes through the bottom of the support frame and is connected to the second mounting member.

[0019] In some embodiments, the walking mechanism also includes a limit assembly, wherein the limit assembly is disposed on at least one of the wheel frames on the same side as the driving wheel, and the limit assembly includes a first limit portion and a second limit portion spaced apart along an extension direction of the wheel frame, and the limit assembly is disposed across the first track or the second track so that the first limit portion and the second limit portion are respectively located on the outside of the two side walls of the first track, or on the outside of the two side walls of the second track, and the limit assembly is used to limit the displacement of the walking mechanism along an extension direction perpendicular to the first track and the second track.

[0020] In some embodiments, the first limiting portion and the second limiting portion are both limiting wheels, and the limiting wheels are horizontally arranged and rotatably connected to the wheel frame.

[0021] In some embodiments, the traveling mechanism includes a plurality of the traveling chassis and a plurality of clamping members. At least one clamping portion is provided on each of the wheel frames. Each of the clamping members includes two clamping and mating portions located at both ends. The two clamping and mating portions of the clamping member are respectively clamped with the clamping portions of the two traveling chassis, so that the two traveling chassis are connected to form a traveling mechanism.

[0022] In some embodiments, at least one of the traveling chassis is provided with a driving motor, a driving wheel and a swing plate connected to the support frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other embodiments can also be obtained based on these drawings.

[0024] Figure 1 It is a top view of the traveling mechanism provided by the embodiment of the present application;

[0025] Figure 2 It is an isometric view of the traveling chassis provided by the embodiment of the present application;

[0026] Figure 3 It is a partial enlarged view of the isometric view of the traveling chassis provided by the embodiment of the present application;

[0027] Figure 4 It is an isometric view of the swing plate and the drive assembly after installation provided by the embodiment of the present application;

[0028] Figure 5 It is an isometric view of the traveling chassis of the present application in the A-A' direction.

[0029] The reference numerals are:

[0030] Traveling chassis 10; drive assembly 30; swing plate 40; support frame 11; wheel frame 12; first wheel frame 1201; second wheel frame 1202; first traveling wheel 121; mounting side plate 1211; second traveling wheel 122; first track 21; second track 22; connecting frame 23; drive motor 31; drive wheel 32; output shaft 33; elastic member 34; first part 41; second part 42; connection part 43; first mounting member 111; rotating shaft 113; second mounting member 112; first limiting part 123; second limiting part 124; rotating rod 1240; clamping member 13; clamping part 14. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0032] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "comprising", "including", "containing", and "having" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or their combinations. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the particular order described or illustrated, unless the order of performance is explicitly stated. It should also be understood that additional or alternative steps may be used.

[0033] Although the terms first, second, third, etc. may be used in this document to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Unless the context clearly indicates otherwise, terms such as "first" and "second" and other numerical terms used herein do not imply an order or sequence. Thus, the first element, component, region, layer, or section discussed below may be referred to as a second element, component, region, layer, or section without departing from the teachings of the example embodiments.

[0034] For ease of description, spatial relative relationship terms may be used in this document to describe the relationship of one element or feature shown in the figure to another element or feature, such relative relationship terms such as "inside", "outside", "inner side", "outer side", "below", "beneath", "above", "upper" and the like. Such spatial relative relationship terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is flipped, the element described as "below" or "beneath" another element or feature will then be oriented "above" or "over" the other element or feature. Thus, the example term "below" can include both an orientation above and below. The device may be otherwise oriented, such as rotated 90 degrees or in other directions, and the spatial relative relationship descriptors used herein are interpreted accordingly.

[0035] In order to improve the running stability of the traveling mechanism, simplify the structure of the traveling mechanism, and reduce the production cost, as Figure 1 , Figure 2 , and Figure 5 shown, the embodiment of the present application provides a traveling mechanism, which is used to travel on the first track 21 and the second track 22 arranged in parallel. The traveling mechanism includes: at least one traveling chassis 10, each traveling chassis 10 includes a support frame 11 arranged along the first direction and at least one wheel frame 12 arranged perpendicular to the first direction, and at least one wheel frame 12 is fixedly connected to the support frame 11; both ends of at least one wheel frame 12 are provided with first traveling wheels 121 for traveling on the first track 21 and second traveling wheels 122 for traveling on the second track 22; the traveling chassis 10 is used to carry the goods sorting equipment.

[0036] A driving assembly 30, the driving assembly 30 is fixedly connected to the support frame 11, the driving assembly 30 includes a driving motor 31 and a driving wheel 32 connected to the output shaft 33 of the driving motor 31, and the driving motor 31 is used to drive the output shaft 33 to rotate and drive the driving wheel 32 to rotate.

[0037] A swing plate 40, one end of the swing plate 40 is elastically connected to the support frame 11 through an elastic member 34, the other end of the swing plate 40 is rotatably connected to the output shaft 33, and the elastic member 34 is used to force the driving wheel 32 to be in close contact with the side wall of the first track 21 close to the second track 22, or the elastic member 34 is used to force the driving wheel 32 to be in close contact with the side wall of the second track 22 close to the first track 21, so that the driving wheel 32 can move along the side wall of the first track 21 close to the second track 22 when rotating or so that the driving wheel 32 can move along the side wall of the second track close to the first track 21 when rotating.

[0038] The embodiment of the present application provides a traveling mechanism, as Figure 2The structure shown in the figure includes at least one walking chassis 10, a driving assembly 30 and a swing plate 40. The driving assembly 30 can drive the walking chassis 10 to walk on the first track 21 and the second track 22. Each of the walking chassis 10 includes a support frame 11 arranged along a first direction and at least one wheel frame 12 arranged perpendicular to the first direction. The first direction refers to the extension direction of the first track 21 and the second track 22. Among them, the support frame 11 can play the role of connecting the wheel frame 12 and the driving assembly 30, and keep the wheel frame 12 and the driving assembly 30 at a distance to prevent the driving wheel 32 and the walking wheel from colliding with each other during movement. The support frame 11 is perpendicular to the first wheel frame 1201, and the walking direction of the support frame 11 is the same as the walking direction of the walking wheel. The walking chassis 10 walks on the first track 21 and the second track 22 through the first walking wheel 121 and the second walking wheel 122. The first walking wheel 121 and the second walking wheel 122 are respectively arranged at both ends of the wheel frame 12, so that the entire walking mechanism can walk more smoothly on the first track 21 and the second track 22. Other traveling equipment can be installed on at least one traveling chassis 10 and can move synchronously with the traveling chassis 10 , so that the traveling equipment can reach different points on the first track 21 and the second track 22 to work.

[0039] In this embodiment, both the first track 21 and the second track 22 are groove-shaped structures, that is, the first track 21 includes two side walls connected by a bottom wall, and the second track 22 also includes a bottom wall and two side walls connected by a bottom wall. The driving wheel 32 can be in close contact with the side wall of the first track 21 close to the second track 22, or it can be in close contact with the side wall of the second track 22 close to the first track 21. One end of the swing plate 40 is elastically connected to the support frame 11 through an elastic member 34. The elastic force generated by the elastic member 34 can enable the driving wheel 32 to generate positive pressure on the side wall of the first track 21 close to the second track 22, thereby ensuring that the driving wheel 32 is always in close contact with the side wall of the first track 21 close to the second guide rail 22 during the rotation process, so that the driving wheel 32 and the side wall are always in close contact, so that when the driving motor 31 drives the output shaft 33 to rotate, it can drive the driving wheel 32 to rotate together. The driving wheel 32 drives the entire walking chassis 10 to move along the track through the friction force generated by the side wall of the first track 21 close to the second track 22 during the rotation process. Since the elastic force on one side of the swing plate 40 always exists, it can prevent the driving wheel 32 from being separated from the first track 21 and causing the walking mechanism to fail to work normally.

[0040] The traveling mechanism provided by the embodiments of the present application can drive the traveling chassis 10 to travel on the first track 21 and the second track 22 through the frictional force generated by the traveling wheels and the first track 21 or the second track 22. Compared with directly driving the traveling chassis 10 by a linear motor, the traveling mechanism provided by the present application can avoid large vibrations generated during the process of directly driving the traveling device by the linear motor, thereby causing resonance of other parts of the traveling mechanism, and can make the traveling chassis 10 more stable during traveling, improving the service performance of the traveling mechanism.

[0041] Specifically, the first track 21 and the second track 22 can be annular tracks or linear tracks, and the present application does not limit this. The driving wheel 32 is driven by the driving motor 31 to slide on the side wall of the first track 21 close to the second track 22; the cooperation mode between the second track 22 and the second traveling wheel 122 is the same. The driving wheel 32 and the first traveling wheel 121 are respectively located on different sides of the first track 21, which can prevent collision between the driving wheel 32 and the first traveling wheel 121 during traveling.

[0042] Of course, the track for the traveling mechanism to travel can also only include a bottom wall and two side walls connected to the bottom wall and arranged in parallel. The width between the two side walls is slightly larger than the distance between the two traveling wheels. When the traveling chassis 10 travels, the two side walls can limit the traveling trajectories of the first traveling wheel 121 and the second traveling wheel 122. The track structure in this form is simple and can realize restricting the traveling wheels to travel within the side walls, which can save costs to a great extent.

[0043] Specifically, as Figure 1 shown, there are also several connecting frames 23 between the first track 21 and the second track 22. One end of the several connecting frames 23 is connected to the second track 22, and the other end is connected to the first track 21. The connecting frames 23 are used to support the first track 21 and the second track 22 from the ground. Supporting the first track 21 and the second track 22 from the ground facilitates the traveling mechanism to cooperate with other sorting devices at different heights, and thus it is more convenient to grab or sort goods.

[0044] Specifically, as Figure 2 shown, mounting side plates 1211 are provided on both sides of the first traveling wheel 121 and the second traveling wheel 122 along their axial directions. The mounting side plates 1211 can be long plates with a curvature in the middle. The first traveling wheel 121 and the second traveling wheel 122 are rotatably mounted on the wheel frame 12 through the mounting side plates 1211. The mounting side plates 1211 can drive the traveling wheels to rotate around the connection point between the mounting side plates 1211 and the wheel frame 12. When the first track 21 and the second track 22 are non-linear tracks, the traveling wheels swing and adjust along with the direction of the track, so that the traveling chassis 10 can adapt to more types of the first track 21 and the second track 22.

[0045] In some embodiments of the present application, as Figure 2 shown, each traveling chassis 10 includes two wheel carriers 12 arranged along the traveling direction of the track. The support frame 11 connects the two wheel carriers 12 to form an I-shaped chassis; the drive assembly 30 and the swing plate 40 are located between the two wheel carriers 12; preset mounting holes for mounting the goods sorting equipment are provided on the upper surfaces of the two wheel carriers 12.

[0046] In an embodiment of the present application, the number of wheel carriers 12 is two. The drive assembly 30 is located between the first wheel carrier 1201 and the second wheel carrier 1202. The first wheel carrier 1201 is located at the first end of the support frame 11, and the second wheel carrier 1202 is located at the second end of the support frame 11. The entire traveling chassis 10 is in the shape of "I", making the structure of the traveling chassis 10 more stable and the operation smoother. Preferably, the first wheel carrier 1201 is parallel to the second wheel carrier 1202, improving the structural stability of the traveling chassis 10.

[0047] Specifically, as Figure 2 shown, a number of preset mounting holes can be provided on the wheel carrier 12 for connecting other traveling devices, such as various mechanisms like belt conveyors, chain conveyors, roller conveyors, forklifts, etc., and then performing actions such as conveying, sorting, and grasping of goods.

[0048] In some embodiments of the present application, as Figure 4 shown, the swing plate 40 includes a first part 41. One side of the first part 41 is connected to the support frame 11 through an elastic member 34. The other side of the first part 41 is bent away from the support frame 11 to form a second part 42. The connection part between the first part 41 and the second part 42 is rotatably connected to the support frame 11, and the second part 42 is rotatably connected to the output shaft 33.

[0049] In an embodiment of the present application, as Figure 2 shown, the swing plate 40 is rotatably connected to the support frame 11 at the connection part of the two parts, which can improve the connection stability of the swing plate 40, and the swing plate 40 can rotate around the support frame 11. When the elastic member 34 pulls the first part 41, the second part 42 rotates towards the first track 21, thereby driving the output shaft 33 to rotate towards the first track 21, and then making the driving wheel 32 generate a positive pressure on the first track 21. When the drive motor 31 drives the driving wheel 32 to rotate, the frictional force generated between the driving wheel 32 and the first track 21 drives the traveling chassis 10 to travel along the track. The connection part 43 between the first part 41 and the second part 42 forms a certain angle between the first part 41 and the second part 42, rather than the first part 41 and the second part 42 being in a straight line, which can leave a larger margin between the first part 41 and the support frame 11, enabling the first part 41 to have a larger rotation space when the swing plate 40 rotates around the support frame 11.

[0050] In some embodiments of the present application, the swing plate 40 is an integrally formed structure.

[0051] In an embodiment of the present application, as Figure 2 shown, by using the integrally formed swing plate 40, the connection structure between the first part 41 and the second part 42 can be omitted, thereby reducing the mass of the swing plate 40, further reducing the weight of the entire traveling mechanism, and thus reducing the wear of the first track 21 and the second track 22 caused by the traveling of the traveling mechanism on the first track 21 and the second track 22. Moreover, the integrally formed swing plate 40 can also make the installation and disassembly process more convenient.

[0052] In some embodiments of the present application, the swing plate 40 is fixedly connected to the support frame 11 through the first mounting member 111; on the side wall of the first mounting member 111 facing the support frame 11, the first mounting member 111 and the connection portion 43 are rotatably connected through a bearing.

[0053] In an embodiment of the present application, as Figure 4 shown, the swing plate 40 is connected to the support frame 11 through the first mounting member 111. By setting the bent portion of the swing plate 40 as the rotation point, the first part 41 and the second part 42 of the swing plate 40 can rotate around the rotation shaft 113 in the bearing. Specifically, the rotation direction of the swing plate 40 can be clockwise rotation or counterclockwise rotation around the bearing. Since the mass of the driving motor 31 is relatively large, the mass of the swing plate 40 connected to the driving assembly 30 is relatively large. The bearing can bear a large load and reduce the friction generated between the rotation shaft 113 and the first mounting member 111 during rotation. Therefore, the swing plate 40 and the support frame 11 on the traveling chassis 10 are connected by a bearing. This can make the structure of the entire traveling mechanism more stable, and further increase the smoothness of the traveling process of the traveling mechanism.

[0054] Specifically, the first mounting member 111 can be a device such as a bearing seat for carrying the bearing.

[0055] In some embodiments of the present application, as Figure 2 shown, along the height direction of the traveling mechanism, the upper surface of the swing plate 40 is lower than the lower surface of the support frame 11; the elastic member 34 is connected to the support frame 11 through the second mounting member 112; the second mounting member 112 is arranged on the side of the support frame 11 away from the swing plate 40, and at least a part of the second mounting member 112 is lower than the lower surface of the support frame 11. The elastic member 34 passes through the lower part of the support frame 11 and is connected to the second mounting member 112.

[0056] In an embodiment of the present application, as Figure 2As shown, during the turning process, the tensile force generated by the elastic member 34 pulls the swing plate 40 to swing around the rotation axis 113. To avoid collision between the swing plate 40 and the support frame 11 during the swinging process of the swing plate 40, the position of the swing plate 40 is set below the support frame 11, that is, the upper surface of the swing plate 40 is lower than the lower surface of the support frame 11. Due to the lack of obstruction by the support frame 11, the swinging range of the swing plate 40 is larger. Since the support frame 11 has a certain width, the second mounting member 112 is arranged on the side of the support frame 11 away from the swing plate 40. The stretching or contracting range of the elastic member 34 is larger than that when the second mounting member 112 is arranged on the side of the support frame 11 close to the swing plate 40. Furthermore, it can also enable the swing plate 40 to have a larger rotation range during the swinging process. At least a part of the second mounting member 112 is lower than the lower surface of the support frame 11, which is convenient for connecting the elastic member 34 to the second mounting member 112 and will not interfere with the support frame 11 during the connection process.

[0057] Specifically, the second mounting member 112 can be a long plate, a long rod, etc.

[0058] In some embodiments of the present application, as Figure 2 and Figure 3 shown, the traveling mechanism further includes a limiting component. The limiting component is arranged on at least one wheel frame 12 on the same side as the driving wheel 32. The limiting component includes a first limiting portion 123 and a second limiting portion 124 that are spaced apart along the extending direction of the wheel frame 12. The limiting component straddles the first track 21 or the second track 22, so that the first limiting portion 123 and the second limiting portion 124 are respectively located outside the two side walls of the first track 21, or located outside the two side walls of the second track 22. The limiting component is used to limit the displacement of the traveling mechanism along the direction perpendicular to the extending directions of the first track 21 and the second track 22.

[0059] In the embodiments of the present application, when the traveling chassis 10 drives the traveling device to travel on the first track 21 and the second track 22, due to the interference of external force factors, it is easy to cause the traveling chassis 10 to deviate from the track or even derail. By arranging a limiting component on the traveling mechanism, the running stability of the traveling chassis 10 on the first track 21 and the second track 22 can be increased, and it can be ensured that the traveling chassis 10 always adheres to the first track 21 and the second track 22 to travel.

[0060] In one embodiment, as Figure 2 and Figure 5As shown, the first limiting portion 123 can be attached to the first side wall of the first track 21, and the second limiting portion 124 can be attached to the second side wall of the first track 21. The first side wall is parallel to the second side wall, so that the first track 21 is disposed between the first limiting portion 123 and the second limiting portion 124. The limiting assembly limits the traveling chassis 10 by attaching to both side walls of the first track 21, preventing the traveling chassis 10 from deviating from the track during the process of driving the traveling device to travel.

[0061] In another embodiment, the first limiting portion 123 can be attached to the first side wall of the second track 22, and the second limiting portion 124 can be attached to the second side wall of the second track 22. The first side wall is parallel to the second side wall, so that the second track 22 is disposed between the first limiting portion 123 and the second limiting portion 124. The limiting assembly limits the traveling chassis 10 by attaching to both side walls of the second track 22, preventing the traveling chassis 10 from deviating from the track during the process of driving the traveling device to travel.

[0062] In some embodiments of the present application, as Figure 2 and Figure 3 shown, both the first limiting portion 123 and the second limiting portion 124 are limiting wheels, and the limiting wheels are horizontally arranged and rotatably connected to the wheel frame 12.

[0063] In the embodiments of the present application, since the traveling chassis 10 needs to continuously move on the first track 21 and the second track 22, in order to prevent excessive static friction between the limiting wheels and the first track 21 and the second track 22, resulting in excessive resistance and thus hindering the normal movement of the traveling chassis 10, the limiting wheels are rotatably connected to the wheel frame 12. Under the drive of the drive assembly 30 on the traveling chassis 10, the limiting wheels can be driven to travel on the side walls of the first track 21 or the second track 22. Without interfering with the traveling wheels and the drive wheels 32, the limiting wheels can play a good role in limiting the traveling chassis 10, and can also better reduce the friction generated between the limiting wheels and the track. The limiting wheels can be arranged on the bottom surface of the wheel frame 12 close to the drive wheels 32, and the limiting wheels can be rotatably connected to the wheel frame 12 through the rotating rod 1240. The wheel frame 12 can not only support the traveling wheels, but also support the limiting wheels.

[0064] In addition, in some embodiments, the limiting wheels can also be fixedly connected to the wheel frame 12, that is, the limiting wheels can also not rotate. When the limiting wheels do not rotate, the friction between the limiting wheels and the track side wall is static friction, which is slightly greater than the rolling friction, but compared with other limiting portions such as limiting blocks, the friction with the track side wall can still be reduced. This is because the contact area between the limiting wheels and the track side wall is small, so the friction of the traveling mechanism on the first track 21 and the second track 22 is reduced. At a certain motor output power, using the limiting wheels can well improve the traveling speed of the traveling mechanism.

[0065] In some embodiments of the present application, as Figure 2 and Figure 3 shown, the traveling mechanism includes a plurality of traveling chassis 10 and a plurality of clamping members 13. At least one clamping portion 14 is provided on each wheel carrier 12. Each clamping member 13 includes two clamping and mating portions located at both ends. The two clamping and mating portions of the clamping member 13 are respectively clamped with the clamping portions 14 of the two traveling chassis 10, so that the two traveling chassis 10 are connected to form a traveling mechanism.

[0066] In the embodiments of the present application, a traveling mechanism may include a plurality of traveling chassis 10, and the number of traveling chassis 10 can be adjusted according to the number, mass, and size of the traveling devices carried. The connection between the traveling chassis 10 is realized by the cooperation of the clamping member 13 and the clamping portion 14. The clamping portion 14 is fixed on the wheel carrier 12, and the clamping member 13 serves to connect the two traveling chassis 10.

[0067] Further, the clamping portion 14 can be provided on the side of the wheel carrier 12 close to the limiting portion. The specific position can be on the upper surface or side surface of the wheel carrier 12. The present application does not limit the setting positions of the clamping portion 14 and the clamping member 13.

[0068] Specifically, as Figure 3 shown, the clamping portion 14 can be a cylindrical base with a depression, and the clamping member 13 can be a cylindrical rod or a polygonal rod adapted to the shape of the depression of the clamping portion 14.

[0069] In some embodiments of the present application, at least one traveling chassis 10 is provided with a driving motor 31, a driving wheel 32, and a swing plate 40 connected to the support frame 11.

[0070] In the embodiments of the present application, the traveling chassis 10 provided with the driving motor 31, the driving wheel 32, and the swing plate 40 can be located at the tail end or the head end of the traveling mechanism or at a position between the head and the tail, and it is not necessary for each traveling chassis 10 to be connected with the driving motor 31, the driving wheel 32, and the swing plate 40. The driving motor 31 drives a traveling chassis 10 to travel, and then drives a plurality of interconnected traveling chassis 10 to travel, which plays a role in saving energy consumption.

[0071] The above are only the preferred embodiments of the present application and are not used to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application are all included in the protection scope of the present application.

Claims

1. A traveling mechanism, characterized in that, the traveling mechanism is used to travel on a first track (21) and a second track (22) arranged in parallel, and the traveling mechanism includes: at least one traveling chassis (10), each traveling chassis (10) includes a support frame (11) arranged in a first direction and at least one wheel frame (12) arranged perpendicular to the first direction, and at least one of the wheel frames (12) is fixedly connected to the support frame (11); at both ends of at least one of the wheel frames (12), there are first traveling wheels (121) for traveling on the first track (21) and second traveling wheels (122) for traveling on the second track (22); the traveling chassis (10) is used to carry a goods sorting device; a driving assembly (30), the driving assembly (30) is fixedly connected to the support frame (11), the driving assembly (30) includes a driving motor (31) and a driving wheel (32) connected to the output shaft (33) of the driving motor (31), and the driving motor (31) is used to drive the output shaft (33) to rotate and drive the driving wheel (32) to rotate; a swing plate (40), one end of the swing plate (40) is elastically connected to the support frame (11) through an elastic member (34), the other end of the swing plate (40) is rotatably connected to the output shaft (33), and the elastic member (34) is used to force the driving wheel (32) to approach the first track (21) to press against the side wall of the first track (21), or the elastic member (34) is used to force the driving wheel (32) to approach the second track (22) to press against the side wall of the second track (22), so that the driving wheel (32) can move along the side wall of the first track (21) when rotating or so that the driving wheel (32) can move along the side wall of the second track (22) when rotating; along the height direction of the traveling mechanism, the upper surface of the swing plate (40) is lower than the lower surface of the support frame (11); the elastic member (34) is connected to the support frame (11) through a second mounting member (112); the second mounting member (112) is arranged on the side of the support frame (11) away from the swing plate (40), at least part of the second mounting member (112) is lower than the lower surface of the support frame (11), and the elastic member (34) passes under the support frame (11) and is connected to the second mounting member (112); The walking mechanism further includes a limiting component, which is provided on at least one of the wheel brackets (12) on the same side as the driving wheel (32). The limiting component includes a first limiting portion (123) and a second limiting portion (124) that are spaced apart along the extending direction of the wheel bracket (12). The limiting component is disposed across the first track (21) or the second track (22), such that the first limiting portion (123) and the second limiting portion (124) are respectively located outside the two side walls of the first track (21), or outside the two side walls of the second track (22). The limiting component is used to limit the displacement of the walking mechanism in a direction perpendicular to the extending directions of the first track (21) and the second track (22).

2. The walking mechanism according to claim 1, wherein, each of the walking chassis (10) includes two wheel brackets (12) arranged along the track traveling direction, and the support frame (11) connects the two wheel brackets (12) to form an I-shaped chassis; the driving component (30) and the swing plate (40) are located between the two wheel brackets (12); preset mounting holes for mounting a goods sorting device are provided on the upper surfaces of the two wheel brackets (12).

3. The walking mechanism according to claim 1, wherein, the swing plate (40) includes a first portion (41), one side of the first portion (41) is connected to the support frame (11) through the elastic member (34), the other side of the first portion (41) is bent away from the support frame (11) to form a second portion (42), the connection portion (43) between the first portion (41) and the second portion (42) is rotatably connected to the support frame (11), and the second portion (42) is rotatably connected to the output shaft (33).

4. The walking mechanism according to claim 3, wherein, the swing plate (40) is an integrally formed structure.

5. The walking mechanism according to claim 3, wherein, the swing plate (40) is fixedly connected to the support frame (11) through a first mounting member (111); on the side wall of the first mounting member (111) facing the support frame (11), the first mounting member (111) and the connection portion (43) are rotatably connected through a bearing.

6. The walking mechanism according to claim 1, wherein, both the first limiting portion (123) and the second limiting portion (124) are limiting wheels, the limiting wheels are horizontally arranged and are rotatably connected to the wheel bracket (12).

7. The walking mechanism according to any one of claims 1-5, wherein, The walking mechanism includes a plurality of the walking chassis (10) and a plurality of clamping members (13). At least one clamping portion (14) is provided on each of the wheel brackets (12). Each of the clamping members (13) includes two clamping and mating portions located at both ends. The two clamping and mating portions of the clamping member (13) are respectively clamped with the clamping portions (14) of the two walking chassis (10), so that the two walking chassis (10) are connected to form one walking mechanism.

8. The walking mechanism according to claim 7, wherein, at least one of the walking chassis (10) is provided with the drive motor (31), the drive wheel (32) and the swing plate (40) connected to the support frame (11).

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