Walking guiding and driving device for three-dimensional sorting machine

Abstract

The walking guiding and driving device comprises a first guide rail and a second guide rail which are arranged in the first horizontal direction, the section of the first guide rail is rectangular, the two sides of the first guide rail are each provided with a vertical rail face, and the second guide rail is arranged below the first guide rail; the cross section of the second guide rail is rhombic, two sides of the second guide rail are respectively provided with a pair of inclined rail surfaces, and a vertical surface is arranged between the inclined rail surfaces; the sorting module is suitable for moving along the first guide rail and the second guide rail and comprises a first guide wheel set and a second guide wheel set, the first guide wheel set is suitable for moving along two vertical rail surfaces on the two sides of the first guide rail, and the second guide wheel set is suitable for moving along four inclined rail surfaces on the two sides of the second guide rail; and the driving module moves along the second guide rail so as to drive the sorting module to move along the first guide rail and the second guide rail. According to the invention, the redundancy and the installation precision of the guide rail constraint can be reduced, and the occupied loop length space can be saved.

Description

Technical Field

[0001] The present invention relates to the technical field of cargo sorting, and in particular to a walking guide and driving device for a three-dimensional sorting machine. Background Art

[0002] Existing three-dimensional sorting machines (such as the cargo sorting equipment protected by the patent application number 2024205480606) use double-layer tracks of the same structure for walking and guiding. Each layer of track has a diamond cross-section, and each layer of track bears the functions of load-bearing and guiding, regardless of priority. It is over-constrained in terms of freedom, so the installation accuracy of the two layers of tracks is very high. If the height spacing error of any part of the two layers of tracks is large or the coaxiality of the turning part is not good, it will cause the guide wheels to interact with each other, generate additional force, and greatly affect the life of the guide wheels. In addition, its walking drive module is independent of the sorting module, which causes the walking drive module to occupy additional length space of the loop line, and causes unequal distances between the sorting modules, which increases the control difficulty and affects the sorting efficiency.

[0003] Therefore, it is necessary to provide a new walking guide and driving device for a three-dimensional sorting machine to solve the above technical problems.

[0004] Application Contents

[0005] To this end, the present invention provides a walking guide and driving device for a three-dimensional sorting machine to solve or at least alleviate the above problems.

[0006] According to one aspect of the present invention, a walking guide and drive device for a three-dimensional sorting machine is provided, comprising: a first guide rail arranged along a first horizontal direction, the cross section of the first guide rail is rectangular, and a vertical track surface is respectively provided on both sides of the first guide rail; a second guide rail arranged below the first guide rail along a first horizontal direction, the cross section of the second guide rail is rhombus-shaped, a pair of inclined track surfaces are respectively provided on both sides of the second guide rail, and a vertical surface is provided between the pair of inclined track surfaces; a sorting module, suitable for moving along the first guide rail and the second guide rail, the sorting module comprising a first guide wheel group and a second guide wheel group, the first guide The wheel group is suitable for moving along the two vertical track surfaces on both sides of the first guide rail, and the second guide wheel group is suitable for moving along the four inclined track surfaces on both sides of the second guide rail: a walking drive module, integrated at the bottom of the sorting module, suitable for moving along the second guide rail, so as to drive the sorting module to move along the first guide rail and the second guide rail, and the walking drive module includes: a main support mounting plate, fixedly connected to the bottom of the mounting frame of the sorting module; a curve compensation mounting plate, movably connected to the main support mounting plate, suitable for moving relative to the main support mounting plate along a second horizontal direction perpendicular to the first horizontal direction; a follow-up compensation mounting plate A plate is movably connected to the main support mounting plate and is suitable for moving relative to the main support mounting plate along a second horizontal direction perpendicular to the first horizontal direction; a pull rod is arranged along the second horizontal direction, and the pull rod is respectively connected to the curve compensation mounting plate and the follow-up compensation mounting plate; a compression spring is sleeved on the pull rod, and the compression spring presses against the follow-up compensation mounting plate; a power deceleration module is fixedly mounted on the curve compensation mounting plate; a walking drive wheel is connected to the power deceleration module and is suitable for moving along the vertical surface of the second guide rail under the power action of the power deceleration module, so as to drive the sorting module along The first guide rail and the second guide rail move; the follower wheel can be rotatably mounted on the follower compensation mounting plate, and the follower wheel and the travel drive wheel are respectively arranged on both sides of the second guide rail; wherein, during the vertical movement of the travel drive wheel along the second guide rail, under the action of the pull rod and the compression spring, the curve compensation mounting plate and the follower compensation mounting plate are suitable for relative movement along the second horizontal direction toward the direction close to the second guide rail, and respectively drive the travel drive wheel and the follower wheel to be pressed against the two vertical surfaces on both sides of the second guide rail, so as to provide positive pressure for the travel drive wheel to move along the vertical surface.

[0007] Optionally, in the walking guide and drive device for a three-dimensional sorting machine according to the present invention, the sorting module also includes: a mounting frame, arranged between the first guide rail and the second guide rail; the first guide wheel group is installed on the top of the mounting frame; and the second guide wheel group is installed on the bottom of the mounting frame.

[0008] Optionally, in the walking guide and drive device for a three-dimensional sorting machine according to the present invention, the second guide wheel group includes: a second guide frame, hinged to the bottom of the mounting frame through a second pivot; two second walking wheels, symmetrically installed on the upper part of the second guide frame, suitable for moving along the two inclined track surfaces on the upper part of the second guide rail; two second limiting wheels, symmetrically installed on the lower part of the second guide frame, suitable for moving along the two inclined track surfaces on the lower part of the second guide rail.

[0009] Optionally, in the walking guide and drive device for a three-dimensional sorting machine according to the present invention, the first guide wheel group includes: a first guide frame, hinged to the top of the mounting frame through a first pivot; two first walking wheels, mounted on the first guide frame, and symmetrically arranged on both sides of the first guide rail, suitable for moving along two vertical track surfaces on both sides of the first guide rail.

[0010] Optionally, in the walking guide and drive device for a three-dimensional sorting machine according to the present invention, the sorting module includes two first guide wheel groups and two second guide wheel groups, the two first guide wheel groups and the two second guide wheel groups are respectively arranged at intervals along the first horizontal direction, and the spacing between the two first guide wheel groups is equal to the spacing between the two second guide wheel groups, and the two first guide wheel groups are respectively vertically aligned with the corresponding two second guide wheel groups.

[0011] Optionally, in the travel guide and drive device for a three-dimensional sorting machine according to the present invention, the travel drive module is installed between two of the second guide wheel groups.

[0012] Optionally, in the walking guide and drive device for a three-dimensional sorting machine according to the present invention, the first guide rail and the second guide rail are both runway-shaped, the first guide rail includes a first straight segment and a first arc segment, and the second guide rail includes a second straight segment and a second arc segment; wherein, when the sorting module passes through the first arc segment and the second arc segment, the sorting module and the main support mounting plate move together along the second guide rail toward the center of the second arc segment, the curve compensation mounting plate and the follow-up compensation mounting plate are suitable for moving relative to the main support mounting plate, and driving the power deceleration module, the walking drive wheel, the follower wheel, the pull rod and the compression spring to move synchronously, and the walking drive wheel and the follower wheel are suitable for being pressed on the two vertical surfaces on both sides of the second guide rail under the action of the pull rod and the compression spring, so as to provide positive pressure for the walking drive wheel to move along the vertical surface.

[0013] Optionally, in the travel guide and drive device for a three-dimensional sorting machine according to the present invention, the three-dimensional sorting machine includes a frame; the second guide rail extends downward to form a horizontal track bottom surface, and the track bottom surface is fixedly connected to the frame to bear the weight of the sorting module.

[0014] Optionally, in the walking guide and drive device for a three-dimensional sorting machine according to the present invention, one end of the pull rod is connected to the curve compensation mounting plate, the other end of the pull rod passes through the follow-up compensation mounting plate, and the end of the other end of the pull rod is provided with a nut and a washer; one end of the compression spring is against the side of the follow-up compensation mounting plate, and the other end of the compression spring is against the nut and the washer.

[0015] Optionally, in the walking guide and drive device for a three-dimensional sorting machine according to the present invention, the follower compensation mounting plate includes: a first mounting portion, rotatably connected to the follower wheel; a second mounting portion, formed by extending upward from one end of the first mounting portion; the other end of the pull rod passes through the second mounting portion of the follower compensation mounting plate, the compression spring is arranged on the first mounting portion, and one end of the compression spring is against the side of the second mounting portion.

[0016] Optionally, in the walking guide and driving device for a three-dimensional sorting machine according to the present invention, the sorting module further comprises: a sorting vehicle, which is mounted on the mounting frame and is suitable for vertical movement along the mounting frame.

[0017] According to the technical solution of the present invention, a walking guide and drive device for a three-dimensional sorting machine is provided, which adopts a main guide rail (first guide rail) and an auxiliary guide rail (second guide rail) to cooperate with the corresponding guide wheel group to realize the walking guide of the sorting module, wherein the cooperation between the main guide rail and the corresponding guide wheel group can ensure the smooth movement of the sorting module along the guide rail, prevent the sorting module from tilting forward or backward, and can bear the weight of the sorting module; the cooperation between the auxiliary guide rail and the corresponding guide wheel group does not need to bear the weight of the sorting module, nor does it need to prevent the sorting module from tilting forward or backward, but only needs to limit the sideways tilting tendency of the sorting module, and plays an auxiliary role in the guiding movement; based on this, the present invention can reduce the redundancy of the constraints on the two guide rails, and has relatively low requirements for the installation accuracy of the two guide rails. In addition, the present invention integrates the walking drive module at the bottom of the sorting module. On the one hand, it can save the occupied loop length space and improve the sorting efficiency; on the other hand, during the movement of the walking drive wheel along the second guide rail, under the action of the pull rod and the compression spring, the curve compensation mounting plate and the follower compensation mounting plate move relative to each other along the second horizontal direction toward the direction close to the second guide rail, and respectively drive the walking drive wheel and the follower wheel to be pressed against the two vertical surfaces of the second guide rail. In this way, positive pressure can be provided for the walking drive wheel to move along the vertical surface, so as to ensure that the walking drive wheel can move stably along the second guide rail, and it is suitable for straight segment and arc segment guide rails.

[0018] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] To achieve the above and related purposes, certain illustrative aspects are described herein in conjunction with the following description and accompanying drawings, which indicate various ways in which the principles disclosed herein can be practiced, and all aspects and their equivalents are intended to fall within the scope of the claimed subject matter. The above and other purposes, features and advantages of the present disclosure will become more apparent by reading the following detailed description in conjunction with the accompanying drawings. Throughout the present disclosure, the same reference numerals generally refer to the same parts or elements.

[0020] Figure 1 A schematic structural diagram of a walking guide and driving device 100 for a three-dimensional sorting machine provided according to an embodiment of the present invention is shown;

[0021] Figure 2 A schematic diagram of the matching structure between the first guide wheel set 140 and the first guide rail 150 according to an embodiment of the present invention is shown;

[0022] Figure 3A schematic cross-sectional view of a second guide rail 110 according to an embodiment of the present invention is shown;

[0023] Figure 4 It shows a schematic structural diagram of a second guide wheel set 120 according to an embodiment of the present invention;

[0024] Figure 5 It shows a schematic structural diagram of the walking drive module 160 integrated at the bottom of the sorting module 130 according to an embodiment of the present invention;

[0025] Figure 6 , Figure 7 The schematic diagrams of the structure of the walking driving module 160 according to the embodiment of the present invention are shown respectively;

[0026] Figure 8 A schematic structural diagram of the sorting module 130 and the travel drive module 160 passing through the second arc segment of the second guide rail 110 according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0027] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0028] As mentioned above, the existing three-dimensional sorting machine uses a double-layer track of the same structure for walking guidance, which leads to over-constraint in terms of freedom and high installation precision requirements. Moreover, the walking drive module is independent of the sorting module, which will occupy additional loop length space.

[0029] In view of the above technical problems, the present invention proposes a walking guide and drive device for a three-dimensional sorting machine, which adopts a main rail and an auxiliary guide rail to cooperate with the corresponding guide wheel group, which can reduce the redundancy and installation accuracy of the constraints on the two guide rails, and by integrating the walking drive module at the bottom of the sorting module, the occupied loop length space can be saved.

[0030] Figure 1 A schematic structural diagram of a walking guide and driving device 100 for a three-dimensional sorting machine provided according to an embodiment of the present invention is shown.

[0031] like Figure 1As shown, in an embodiment of the present invention, the walking guide and driving device 100 for the three-dimensional sorting machine includes a first guide rail 150 (as a main guide rail), a second guide rail 110 (as an auxiliary guide rail), a sorting module 130, and a walking driving module 160. Among them, the first guide rail 150 and the second guide rail 110 are arranged along the first horizontal direction, and the first guide rail 150 and the second guide rail 110 are parallel to each other, and the second guide rail 110 is arranged below the first guide rail 150. The sorting module 130 can move along the first guide rail 150 and the second guide rail 110.

[0032] In the embodiment of the present invention, Figure 1 As shown, the sorting module 130 includes a first guide wheel group 140 (as a main guide wheel group) and a second guide wheel group 120 (as an auxiliary guide wheel group). Among them, the first guide wheel group 140 can move along the two vertical track surfaces on both sides of the first guide rail 150. The second guide wheel group 120 is installed at the bottom of the mounting frame 131, and the second guide wheel group 120 can move along the four inclined track surfaces on both sides of the second guide rail 110. In some embodiments, the sorting module 130 also includes a mounting frame 131, which can be arranged between the first guide rail 150 and the second guide rail 110, the first guide wheel group 140 is installed at the top of the mounting frame 131, and the second guide wheel group 120 is installed at the bottom of the mounting frame 131. In some embodiments, the mounting frame 131 can be an I-shaped. In some embodiments, the sorting module 130 also includes a sorting vehicle 135, which is installed on the mounting frame 131, and the sorting vehicle 135 can move vertically along the mounting frame 131.

[0033] Figure 2 FIG. 1 shows a schematic diagram of the matching structure of the first guide wheel set 140 and the first guide rail 150 according to an embodiment of the present invention. Figure 2 As shown, the cross section of the first guide rail 150 is rectangular (square), and a vertical track surface is respectively provided on both sides of the first guide rail 150 .

[0034] Figure 3 FIG. 1 is a schematic cross-sectional view of a second guide rail 110 according to an embodiment of the present invention. Figure 4 FIG. 1 is a schematic diagram showing the structure of the second guide wheel group 120 according to an embodiment of the present invention. Figure 3 As shown, the cross section of the second guide rail 110 is a rhombus, and a pair of inclined track surfaces are respectively provided on both sides of the second guide rail 110 (four inclined track surfaces are provided on both sides of the second guide rail 110), and there is a vertical surface (i.e., a vertical track surface, which is referred to as a "vertical surface" here to distinguish it from the vertical track surfaces on both sides of the first guide rail 150). It should be noted that a pair of inclined track surfaces on either side of the second guide rail 110 form a predetermined angle.

[0035] In the embodiment of the present invention, the travel drive module 160 is integrated at the bottom of the sorting module 130, which can save the occupied loop length space. The travel drive module 160 can move along the second guide rail 110, and then drive the sorting module 130 to move along the first guide rail 150 and the second guide rail 110. Figure 5 It shows a schematic structural diagram of the walking driving module 160 integrated at the bottom of the sorting module 130 according to an embodiment of the present invention.

[0036] Figure 6 , Figure 7 1 and 2 respectively show the structural schematic diagrams of the walking drive module 160 according to the embodiment of the present invention. Figure 6 and Figure 7 As shown, the walking drive module 160 includes a main support mounting plate 161, a curve compensation mounting plate 163, a follower compensation mounting plate 165, a pull rod 167, a compression spring 168, a power deceleration module 162, a walking drive wheel 164, and a follower wheel 166.

[0037] Among them, the main support mounting plate 161 can be fixedly connected to the bottom of the mounting frame 131 of the sorting module 130. The bend compensation mounting plate 163 is movably connected to the main support mounting plate 161, and the bend compensation mounting plate 163 can move relative to the main support mounting plate 161 in a second horizontal direction perpendicular to the first horizontal direction. The follow-up compensation mounting plate 165 is movably connected to the main support mounting plate 161, and the follow-up compensation mounting plate 165 can move relative to the main support mounting plate 161 in a second horizontal direction perpendicular to the first horizontal direction.

[0038] The pull rod 167 is arranged along a second horizontal direction perpendicular to the first horizontal direction, and is respectively connected to the curve compensation mounting plate 163 and the follow-up compensation mounting plate 165. The compression spring 168 is sleeved on the pull rod 167, and the compression spring 168 abuts against the follow-up compensation mounting plate 165.

[0039] The power deceleration module 162 is fixedly mounted on the curve compensation mounting plate 163. The power deceleration module 162 can be connected to the travel driving wheel 164 to drive the travel driving wheel 164 to move. In other words, the power deceleration module 162 can provide power for the travel driving wheel 164.

[0040] The follower wheel 166 and the travel drive wheel 164 are arranged on both sides of the second guide rail 110, respectively. The travel drive wheel 164 is connected to the power reduction module 162. Specifically, the travel drive wheel 164 can be installed at the output end of the power reduction module 162. The travel drive wheel 164 can move along the facade of the second guide rail 110 (the facade on one side of the second guide rail 110) under the power of the power reduction module 162, and then drive the sorting module 130 to move along the first guide rail 150 and the second guide rail 110. The follower wheel 166 can be rotatably installed on the follower compensation mounting plate 165, and can move along the facade of the second guide rail 110 (the facade on the other side of the second guide rail 110) with the travel drive wheel 164.

[0041] It should be noted that, according to the walking drive module 160 in the embodiment of the present invention, during the vertical movement of the walking drive wheel 164 along the second guide rail 110, under the action of the pull rod 167 and the compression spring 168, the curve compensation mounting plate 163 and the follow-up compensation mounting plate 165 can move relative to each other along the second horizontal direction toward the second guide rail 110. During this process, the curve compensation mounting plate 163 and the follow-up compensation mounting plate 165 can respectively drive the walking drive wheel 164 and the follow-up wheel 166 to be pressed against the two vertical surfaces on both sides of the second guide rail 110, thereby providing positive pressure for the walking drive wheel 164 to move along the vertical surface, so as to ensure that the walking drive wheel 164 can stably walk along the second guide rail 110, and is suitable for straight segment and arc segment guide rails.

[0042] In some embodiments, the first guide rail 150 and the second guide rail 110 are both in a racetrack shape, wherein the first guide rail 150 includes a first straight segment and a first arc segment, and the second guide rail 110 includes a second straight segment and a second arc segment.

[0043] Figure 8 FIG. 1 shows a schematic diagram of the structure of the sorting module 130 and the travel drive module 160 passing through the second arc segment of the second guide rail 110 according to an embodiment of the present invention. Figure 8When the sorting module 130 passes through the first arc segment of the first guide rail 150 and the second arc segment of the second guide rail 110, the sorting module 130 and the main support mounting plate 161 move together along the second guide rail 110 toward the center of the second arc segment, and the curve compensation mounting plate 163 and the follower compensation mounting plate 165 can move relative to the main support mounting plate 161, and then, the curve compensation mounting plate 163 and the follower compensation mounting plate 165 can drive the power deceleration module 162, the walking drive wheel 164, the follower wheel 166, the pull rod 167 and the compression spring 168 to move synchronously. At the same time, the walking drive wheel 164 and the follower wheel 166 can be pressed on the two vertical surfaces on both sides of the second guide rail 110 under the action of the pull rod 167 and the compression spring 168, thereby providing positive pressure for the walking drive wheel 164 to move along the vertical surface of the second guide rail 110, so as to ensure that the walking drive wheel 164 can stably walk along the second arc segment of the second guide rail 110.

[0044] In some embodiments, Figure 1 As shown, the sorting module 130 includes two first guide wheel groups 140 and two second guide wheel groups 120. That is, two first guide wheel groups 140 are installed on the top of the mounting frame 131, and two second guide wheel groups 120 are installed on the bottom of the mounting frame 131. Among them, the two first guide wheel groups 140 and the two second guide wheel groups 120 are arranged at intervals along the first horizontal direction, that is, the two first guide wheel groups 140 are arranged at intervals along the direction of the first guide rail 150 (the first horizontal direction), and the two second guide wheel groups 120 are arranged at intervals along the direction of the second guide rail 110 (the first horizontal direction). In addition, the spacing between the two first guide wheel groups 140 is equal to the spacing between the two second guide wheel groups 120, and the two first guide wheel groups 140 are vertically aligned with the corresponding two second guide wheel groups 120.

[0045] It should be noted that when the two second guide wheel groups 120 move along the second guide rail 110, they can not only ensure that the sorting module 130 moves smoothly along the second guide rail 110 (including straight segments and arc segments), but also limit the tendency of the sorting module 130 to lean forward or backward during movement.

[0046] In some embodiments, the travel drive module 160 can be installed between the two second guide wheel groups 120. By installing the travel drive module 160 in the gap between the two second guide wheel groups 120, the loop length space can be saved, and the applicability is strong, and it can also operate normally in the guide rail arc section.

[0047] In some embodiments, Figure 4As shown, the second guide wheel group 120 includes a second guide frame 121, two second running wheels 123, and two second limiting wheels 124. The second guide frame 121 can be hinged to the bottom of the mounting frame 131 through a second pivot 122. The two second running wheels 123 can be symmetrically mounted on the upper part of the second guide frame 121, and can move along the two inclined track surfaces on the upper part of the second guide rail 110. The two second limiting wheels 124 can be symmetrically mounted on the lower part of the second guide frame 121, and can move (roll and walk) along the two inclined track surfaces on the lower part of the second guide rail 110.

[0048] In some embodiments, Figure 2 As shown, the first guide wheel group 140 includes a first guide frame 141 and two first running wheels 143. The first guide frame 141 can be hinged to the top of the mounting frame 131 through a first pivot 142. The two first running wheels 143 can be installed on the first guide frame 141, and the two first running wheels 143 can be symmetrically arranged on both sides of the first guide rail 150, and can move (roll) along the two vertical track surfaces on both sides of the first guide rail 150.

[0049] According to the walking guide and driving device 100 for a three-dimensional sorting machine provided by the embodiment of the present invention, the cooperation of the second guide wheel group 120 and the second guide rail 110 can not only ensure the smooth movement of the sorting module 130 along the second guide rail 110 (including straight segments and arc segments), but also limit the tendency of the sorting module 130 to lean forward or backward during the movement, and can bear the weight of the sorting module. The cooperation of the first guide wheel group 140 and the first guide rail 150 does not need to bear the weight of the sorting module 130, nor does it need to prevent the tendency of the sorting module 130 to lean forward or backward. It only needs to limit the tilting tendency of the sorting module 130 (i.e., the direction perpendicular to the vertical track surface of the first guide rail 150), and plays an auxiliary role in the guiding movement of the sorting module 130 along the first guide rail 150 and the second guide rail 110. Based on this, the present invention has relatively low requirements for the installation accuracy of the first guide rail 150 and the second guide rail 110, which is easy to install.

[0050] In some embodiments, the three-dimensional sorting machine includes a frame. Figure 3 As shown, the second guide rail 110 (between the two inclined track surfaces at the lower part) extends downward to form a horizontal track bottom surface, and the track bottom surface of the second guide rail 110 can be fixedly connected to the frame, so as to bear the weight of the sorting module 130.

[0051] In some embodiments, Figure 6 and Figure 7As shown, one end of the pull rod 167 is connected to the bend compensation mounting plate 163, and the other end of the pull rod 167 passes through the follow-up compensation mounting plate 165, and a nut and a washer are provided at the end of the other end of the pull rod 167. One end of the compression spring 168 abuts against the side of the follow-up compensation mounting plate 165, and the other end of the compression spring 168 abuts against the nut and the washer.

[0052] In some embodiments, Figure 6 and Figure 7 As shown, the follow-up compensation mounting plate 165 is L-shaped, and includes a first mounting portion and a second mounting portion, wherein the second mounting portion is formed by extending upward from one end of the first mounting portion. The first mounting portion is rotatably connected to the follower wheel 166. The other end of the pull rod 167 passes through the second mounting portion of the follow-up compensation mounting plate 165, and the compression spring 168 is arranged on the first mounting portion, and one end of the compression spring 168 abuts against the side of the second mounting portion.

[0053] According to the walking guide and drive device 100 for a three-dimensional sorting machine provided by an embodiment of the present invention, a main guide rail (first guide rail) and an auxiliary guide rail (second guide rail) are used in cooperation with corresponding guide wheel groups to realize walking guide of the sorting module, wherein the cooperation between the main guide rail and the corresponding guide wheel group can ensure that the sorting module moves smoothly along the guide rail, prevents the sorting module from tilting forward or backward, and can bear the weight of the sorting module; the cooperation between the auxiliary guide rail and the corresponding guide wheel group does not need to bear the weight of the sorting module, nor does it need to prevent the sorting module from tilting forward or backward, but only needs to limit the sideways tilting tendency of the sorting module, and plays an auxiliary role in the guiding movement; based on this, the present invention can reduce the redundancy of the constraints on the two guide rails, and has relatively low requirements for the installation accuracy of the two guide rails. In addition, the present invention integrates the walking drive module at the bottom of the sorting module. On the one hand, it can save the occupied loop length space and improve the sorting efficiency; on the other hand, during the movement of the walking drive wheel along the second guide rail, under the action of the pull rod and the compression spring, the curve compensation mounting plate and the follower compensation mounting plate move relative to each other along the second horizontal direction toward the direction close to the second guide rail, and respectively drive the walking drive wheel and the follower wheel to be pressed against the two vertical surfaces of the second guide rail. In this way, positive pressure can be provided for the walking drive wheel to move along the vertical surface, so as to ensure that the walking drive wheel can move stably along the second guide rail, and it is suitable for straight segment and arc segment guide rails.

[0054] In the description of this specification, unless otherwise clearly specified and limited, the terms "connected", "fixed", etc. should be understood in a broad sense. In addition, the directions or positional relationships indicated by the terms "front", "rear", "upper", "lower", "inner", "outer", "top", "bottom", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the equipment or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as limiting the present invention.

[0055] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0056] Similarly, it should be understood that in order to streamline the disclosure and aid in understanding one or more of the various application aspects, in the above description of exemplary embodiments of the invention, the various features of the invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. Therefore, the claims that follow the detailed description are hereby expressly incorporated into the detailed description, with each claim itself serving as a separate embodiment of the invention.

[0057] Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in the devices described in the embodiment, or alternatively may be located in one or more devices different from the devices in the examples. The modules in the foregoing examples may be combined into one module or may be divided into multiple submodules.

[0058] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition they may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0059] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present invention and to form different embodiments.

[0060] As used herein, unless otherwise specified, the use of ordinal numbers "first," "second," "third," etc. to describe common objects merely indicates that different instances of similar objects are involved, and is not intended to imply that the objects so described must have a given order in time, space, order, or in any other manner.

[0061] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is selected primarily for readability and teaching purposes, rather than for explaining or defining the subject matter of the present invention. Therefore, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is illustrative and not restrictive with respect to the scope of the present invention, and the scope of the present invention is defined by the appended claims.

Claims

1. A walking guide and driving device for a three-dimensional sorting machine, comprising: A first guide rail is arranged along a first horizontal direction, the cross section of the first guide rail is rectangular, and two sides of the first guide rail are respectively provided with a vertical track surface; A second guide rail is arranged below the first guide rail along a first horizontal direction, the second guide rail has a rhombus-shaped cross section, a pair of inclined track surfaces are respectively provided on both sides of the second guide rail, and a vertical surface is provided between the pair of inclined track surfaces; A sorting module is adapted to move along the first guide rail and the second guide rail, and the sorting module comprises a first guide wheel group and a second guide wheel group, wherein the first guide wheel group is adapted to move along two vertical track surfaces on both sides of the first guide rail, and the second guide wheel group is adapted to move along four inclined track surfaces on both sides of the second guide rail: A travel drive module, integrated at the bottom of the sorting module, adapted to move along the second guide rail so as to drive the sorting module to move along the first guide rail and the second guide rail, the travel drive module comprising: A main support mounting plate, fixedly connected to the bottom of the mounting frame of the sorting module; A bend compensation mounting plate, movably connected to the main support mounting plate, adapted to move relative to the main support mounting plate along a second horizontal direction perpendicular to the first horizontal direction; A follow-up compensation mounting plate, movably connected to the main support mounting plate, adapted to move relative to the main support mounting plate along a second horizontal direction perpendicular to the first horizontal direction; A pull rod is arranged along the second horizontal direction, and the pull rod is connected to the curve compensation mounting plate and the follow-up compensation mounting plate respectively; A compression spring is sleeved on the pull rod, and the compression spring abuts against the follow-up compensation mounting plate; A power deceleration module, fixedly mounted on the curve compensation mounting plate; A travel driving wheel connected to the power reduction module, adapted to move along the vertical surface of the second guide rail under the power of the power reduction module, so as to drive the sorting module to move along the first guide rail and the second guide rail; A follower wheel is rotatably mounted on the follower compensation mounting plate, and the follower wheel and the travel driving wheel are respectively arranged on both sides of the second guide rail; Among them, during the vertical movement of the walking driving wheel along the second guide rail, under the action of the pull rod and the compression spring, the curve compensation mounting plate and the follower compensation mounting plate are suitable for relative movement along the second horizontal direction toward the second guide rail, and respectively drive the walking driving wheel and the follower wheel to be pressed against the two vertical surfaces on both sides of the second guide rail, so as to provide positive pressure for the walking driving wheel to move along the vertical surface.

2. The device according to claim 1, wherein: The sorting module also includes: A mounting frame, arranged between the first guide rail and the second guide rail; The first guide wheel set is installed on the top of the mounting frame; The second guide wheel set is installed at the bottom of the mounting frame.

3. The device as claimed in claim 2, wherein: The second guide wheel set comprises: A second guide frame is hinged to the bottom of the mounting frame via a second pivot; Two second running wheels are symmetrically mounted on the upper portion of the second guide frame and are suitable for moving along two inclined track surfaces on the upper portion of the second guide rail; The two second limiting wheels are symmetrically mounted on the lower portion of the second guide frame and are suitable for moving along the two inclined track surfaces on the lower portion of the second guide rail.

4. The device according to claim 2 or 3, wherein: The first guide wheel set comprises: A first guide frame, hinged to the top of the mounting frame via a first pivot; Two first running wheels are mounted on the first guide frame and symmetrically arranged on both sides of the first guide rail, and are suitable for moving along two vertical track surfaces on both sides of the first guide rail.

5. The device according to any one of claims 1 to 4, wherein: The sorting module includes two first guide wheel groups and two second guide wheel groups, the two first guide wheel groups and the two second guide wheel groups are respectively arranged at intervals along the first horizontal direction, and the spacing between the two first guide wheel groups is equal to the spacing between the two second guide wheel groups, and the two first guide wheel groups are respectively vertically aligned with the corresponding two second guide wheel groups.

6. The device according to claim 5, wherein: The travel drive module is installed between the two second guide wheel groups.

7. The device according to any one of claims 1 to 6, wherein: The first guide rail and the second guide rail are both in the shape of a runway, the first guide rail comprises a first straight line segment and a first arc segment, and the second guide rail comprises a second straight line segment and a second arc segment; Among them, when the sorting module passes through the first arc segment and the second arc segment, the sorting module and the main support mounting plate move together along the second guide rail toward the center of the second arc segment, and the curve compensation mounting plate and the follower compensation mounting plate are suitable for moving relative to the main support mounting plate, and drive the power deceleration module, the walking drive wheel, the follower wheel, the pull rod and the compression spring to move synchronously, and the walking drive wheel and the follower wheel are suitable for being pressed on the two vertical surfaces on both sides of the second guide rail under the action of the pull rod and the compression spring, so as to provide positive pressure for the walking drive wheel to move along the vertical surface.

8. The device according to any one of claims 1 to 7, wherein: The three-dimensional sorting machine includes a frame; The second guide rail extends downward to form a horizontal rail bottom surface, and the rail bottom surface is fixedly connected to the frame to bear the weight of the sorting module.

9. The device according to any one of claims 1 to 8, wherein: One end of the pull rod is connected to the bend compensation mounting plate, the other end of the pull rod passes through the follow-up compensation mounting plate, and a nut and a washer are provided at the end of the other end of the pull rod; One end of the compression spring abuts against the side of the follow-up compensation mounting plate, and the other end of the compression spring abuts against the nut and the washer.

10. The device of claim 9, wherein: The follow-up compensation mounting plate comprises: A first mounting portion, rotatably connected to the follower wheel; A second mounting portion, formed by extending upward from one end of the first mounting portion; The other end of the pull rod passes through the second mounting portion of the follow-up compensation mounting plate, the compression spring is arranged on the first mounting portion, and one end of the compression spring abuts against the side of the second mounting portion.

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