Walking mechanism and walking system

Abstract

The utility model discloses a walking mechanism and a walking system. The walking mechanism comprises a first walking seat, a second walking seat, a stand column and a driving assembly. The first walking seat is movably connected to a ground rail. The second walking seat is movably connected to a sky rail. The two axial ends of the stand column are connected to the first walking base and the second walking base correspondingly. The driving assembly comprises a motor, a transmission shaft, a first driving part connected with the first walking seat and a second driving part connected with the second walking seat, the two axial ends of the transmission shaft are connected to the first driving part and the second driving part respectively, and the motor is connected to the first walking seat and is in driving connection with the first driving part. The first driving part is used for driving the first walking seat to move along the ground rail, and the second driving part is used for driving the second walking seat to move along the sky rail.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a walking mechanism and a walking system including the walking mechanism. Background Art

[0002] With the rapid development of warehousing and logistics technology, in order to improve the storage and transportation efficiency of materials, more and more equipment is used to store or transport materials. The walking mechanism is used to move between shelves to take the goods out of the storage location and put them into the designated location.

[0003] The top of the walking mechanism in the related art is driven by a set of driving components to move along the ceiling rail, and the bottom of the walking mechanism is driven by another set of driving components to move along the ground rail. However, the synchronization of the two sets of driving components in the related art is poor, resulting in low accuracy of movement of the walking mechanism. Utility Model Content

[0004] The embodiments of the present application provide a walking mechanism and a walking system to solve the problem of poor synchronization of top and bottom movements of the walking mechanism existing in the related art.

[0005] The walking mechanism of the embodiment of the present application includes:

[0006] A first running seat is movably connected to a ground rail;

[0007] A second traveling seat is movably connected to a sky rail;

[0008] A column, two axial ends of which are respectively connected to the first walking seat and the second walking seat; and

[0009] The driving assembly includes a motor, a transmission shaft, a first driving part connected to the first traveling seat, and a second driving part connected to the second traveling seat, wherein the axial ends of the transmission shaft are respectively connected to the first driving part and the second driving part, the motor is connected to the first traveling seat, and is drivingly connected to the first driving part; the first driving part is used to drive the first traveling seat to move along the ground rail, and the second driving part is used to drive the second traveling seat to move along the overhead rail.

[0010] According to some embodiments of the present application, it also includes:

[0011] a first transmission member, fixedly disposed relative to the ground rail and drivingly connected to the first driving part; and

[0012] The second transmission member is fixedly arranged relative to the ceiling rail and is drivingly connected to the second driving part.

[0013] According to some embodiments of the present application, the first driving unit includes:

[0014] A first steering gear having a first input shaft, a first output shaft and a second output shaft, wherein the first input shaft is connected to the motor, and the first output shaft is connected to one axial end of the transmission shaft;

[0015] The first rotating member is connected to the second output shaft and is drivingly connected to the first transmission member.

[0016] According to some embodiments of the present application, the first transmission member covers at least a portion of the outer circumference of the first rotating member.

[0017] According to some embodiments of the present application, the first transmission member is a synchronous belt and has a first tooth structure, the outer periphery of the first rotating member has a second tooth structure, and the first tooth structure is meshed with the second tooth structure.

[0018] According to some embodiments of the present application, the first walking seat includes a rotatable first pressure wheel, the rotation axis of the first pressure wheel is parallel to the rotation axis of the first rotating member, and presses the first transmission member to increase the wrap angle between the first transmission member and the first rotating member.

[0019] According to some embodiments of the present application, the second driving unit includes:

[0020] A second steering gear having a second input shaft and a third output shaft, wherein the second input shaft is connected to the other axial end of the transmission shaft;

[0021] The second rotating member is connected to the third output shaft and is drivingly connected to the second transmission member.

[0022] According to some embodiments of the present application, the second transmission member is coated on at least a portion of the outer circumference of the second rotating member.

[0023] According to some embodiments of the present application, the second transmission member is a synchronous belt and has a third tooth structure, the outer periphery of the second rotating member has a fourth tooth structure, and the third tooth structure is meshed with the fourth tooth structure.

[0024] According to some embodiments of the present application, the second walking seat includes a rotatable second pressure wheel, the rotation axis of the second pressure wheel is parallel to the rotation axis of the second rotating member, and presses the second transmission member to increase the wrap angle between the second transmission member and the second rotating member.

[0025] According to some embodiments of the present application, a first triggering member is provided on one of the ground rail and the first walking seat, and a first sensor is provided on the other of the ground rail and the first walking seat, and the first triggering member is used to trigger the first sensor so that the first sensor generates a first verification signal;

[0026] A second triggering member is provided on one of the overhead rail and the second walking seat, and a second sensor is provided on the other of the overhead rail and the second walking seat. The second triggering member is used to trigger the second sensor so that the second sensor generates a second verification signal.

[0027] The walking system of the embodiment of the present application includes:

[0028] Ground rails, arranged on the ground;

[0029] A ceiling rail, arranged opposite to the ground rail in a vertical direction;

[0030] In any of the above-mentioned walking mechanisms, the first walking seat of the walking mechanism is movably connected to the ground rail, and the second walking seat of the walking mechanism is movably connected to the ceiling rail.

[0031] One embodiment of the above application has at least the following advantages or beneficial effects:

[0032] The walking mechanism of the embodiment of the present application is connected to the first driving part by a motor, the first driving part is connected to one axial end of the transmission shaft, and the other axial end of the transmission shaft is connected to the second driving part, so that the power of the motor can drive the first driving part to move, and can also drive the second driving part to move through the transmission shaft. Through the setting of the transmission shaft, the synchronization between the first driving part and the second driving part is effectively improved, thereby ensuring the walking accuracy of the walking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 What is shown is a three-dimensional schematic diagram of the walking mechanism of an embodiment of the present application.

[0034] Figure 2 It shows Figure 1 A local enlarged view of point X1 in the middle.

[0035] Figure 3 It shows Figure 1 A local enlarged view of the X2 point in the middle.

[0036] Figure 4 Shown is a schematic diagram of the first walking seat of an embodiment of the present application.

[0037] Figure 5 Shown is a schematic diagram of the second walking seat of an embodiment of the present application.

[0038] The reference numerals are described as follows:

[0039] 400. Traveling mechanism

[0040] 401, Ground Rail

[0041] 402, Sky Track

[0042] 410, Column

[0043] 420, First Walking Seat

[0044] 421, first pressure wheel

[0045] 422, First Pedestal

[0046] 423. Traveling wheels

[0047] 424, first roller

[0048] 430, Second Walking Seat

[0049] 431, Second Pressing Wheel

[0050] 432, Second Pedestal

[0051] 433, Second Roller

[0052] 440, drive components

[0053] 441. Motor

[0054] 442. Drive shaft

[0055] 443. First driving unit

[0056] 4431, first steering gear

[0057] 4432, first rotating member

[0058] 444. Second driving unit

[0059] 4441, Second Steering Gear

[0060] 4442, second rotating member

[0061] 450, first transmission member

[0062] 460, second transmission member

[0063] 471, First Trigger

[0064] 472. First Sensor

[0065] 481. Second Trigger

[0066] 482. Second Sensor

[0067] D1, first direction

[0068] D2, Second Direction

[0069] D3. Third direction DETAILED DESCRIPTION

[0070] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0071] It is understood that the terms "including" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or components that are inherent to these processes, methods, products, or devices.

[0072] like Figure 1 As shown, the walking system of the embodiment of the present application includes a walking mechanism 400, a ceiling rail 402 and a ground rail 401. The ground rail 401 is arranged on the ground, the ceiling rail 402 and the ground rail 401 are arranged opposite to each other in the vertical direction, and the walking mechanism 400 can move along the ground rail 401 and the ceiling rail 402.

[0073] For convenience of explanation, the moving direction of the walking mechanism 400 is defined as the first direction D1, the length direction of the column 410 is defined as the second direction D2, the first direction D1 is perpendicular to the second direction D2, and the direction perpendicular to the first direction D1 and the second direction D2 is defined as the third direction D3.

[0074] The walking mechanism 400 of the embodiment of the present application includes a first walking seat 420, a second walking seat 430, a column 410 and a driving assembly 440. The first walking seat 420 is movably connected to the ground rail 401. The second walking seat 430 is movably connected to the overhead rail 402. The axial ends of the column 410 are respectively connected to the first walking seat 420 and the second walking seat 430; the driving assembly 440 includes a motor 441, a transmission shaft 442, a first driving part 443 connected to the first walking seat 420 and a second driving part 444 connected to the second walking seat 430, and the axial ends of the transmission shaft 442 are respectively connected to the first driving part 443 and the second driving part 444, and the motor 441 is connected to the first walking seat 420 and is drivingly connected to the first driving part 443. The first driving part 443 is used to drive the first walking seat 420 to move along the ground rail 401. The second driving part 444 is used to drive the second walking seat 430 to move along the overhead rail 402.

[0075] In the walking mechanism 400 of the embodiment of the present application, the motor 441 is drivingly connected to the first driving part 443, the first driving part 443 is connected to one axial end of the transmission shaft 442, and the other axial end of the transmission shaft 442 is connected to the second driving part 444, so that the power of the motor 441 can not only drive the first driving part 443 to move, but also drive the second driving part 444 to move through the transmission shaft 442. Through the provision of the transmission shaft 442, the synchronization between the first driving part 443 and the second driving part 444 is effectively improved, thereby ensuring the walking accuracy of the walking mechanism 400.

[0076] The walking mechanism 400 further includes a first transmission member 450 and a second transmission member 460. The first transmission member 450 is disposed adjacent to the ground rail 401 and is fixed relative to the ground rail 401. For example, the ground rail 401 is fixedly arranged on the ground. The second transmission member 460 is disposed adjacent to the ceiling rail 402 and is fixed relative to the ceiling rail 402. The first driving part 443 is drivingly connected to the first transmission member 450, and the second driving part 444 is drivingly connected to the second transmission member 460.

[0077] In the embodiment of the present application, the first driving part 443 is drivingly connected to the first transmission member 450. Since the first transmission member 450 is fixedly arranged relative to the ground rail 401, the first driving part 443 can move relative to the first transmission member 450, thereby realizing the movement of the first walking seat 420 along the ground rail 401. The second driving part 444 is drivingly connected to the second transmission member 460. Since the second transmission member 460 is fixedly arranged relative to the ceiling rail 402, the second driving part 444 can move relative to the second transmission member 460, thereby realizing the movement of the second walking seat 430 along the ceiling rail 402.

[0078] like Figure 2 As shown, the first driving part 443 includes a first steering gear 4431 and a first rotating member 4432. The first steering gear 4431 is fixedly connected to the first traveling seat 420, and has a first input shaft, a first output shaft and a second output shaft, the first input shaft is connected to the motor 441, and the first output shaft is connected to an axial end of the transmission shaft 442. The first rotating member 4432 is connected to the second output shaft and is drivingly connected to the first transmission member 450. Through the setting of the first steering gear 4431, the power of the motor 441 can be transmitted to the first output shaft and the second output shaft respectively, so that the motor 441 can simultaneously drive the first rotating member 4432 and the transmission shaft 442 to rotate.

[0079] In one embodiment, the axis of the first input shaft is parallel to the first direction D1 , the axis of the first output shaft is parallel to the second direction D2 , and the axis of the second output shaft is parallel to the third direction D3 , but not limited thereto.

[0080] like Figure 3As shown, the second driving part 444 includes a second steering gear 4441 and a second rotating member 4442. The second steering gear 4441 is fixedly connected to the second traveling seat 430, and has a second input shaft and a third output shaft, the second input shaft is connected to the other axial end of the transmission shaft 442; the second rotating member 4442 is connected to the third output shaft, and is drivingly connected to the second transmission member 460. By providing the second steering gear 4441, the power of the transmission shaft 442 can be transmitted to the second rotating member 4442.

[0081] In one embodiment, the axis of the second input shaft is parallel to the second direction D2, and the axis of the third output shaft is parallel to the third direction D3, but the present invention is not limited thereto.

[0082] The first transmission member 450 covers at least a portion of the outer periphery of the first rotating member 4432. In one embodiment, the first transmission member 450 and the first rotating member 4432 are a synchronous belt and synchronous wheel structure. For example, the first transmission member 450 is a synchronous belt and has a first tooth structure, and the outer periphery of the first rotating member 4432 has a second tooth structure, and the first tooth structure is meshed with the second tooth structure.

[0083] The second transmission member 460 covers at least a portion of the outer periphery of the second rotating member 4442. In one embodiment, the second transmission member 460 and the second rotating member 4442 are a synchronous belt and synchronous wheel structure. For example, the second transmission member 460 is a synchronous belt and has a third tooth structure, and the outer periphery of the second rotating member 4442 has a fourth tooth structure, and the third tooth structure is meshed with the fourth tooth structure.

[0084] In the embodiment of the present application, the first transmission member 450 and the first rotating member 4432, and the second transmission member 460 and the second rotating member 4442 are all synchronous belt and synchronous wheel structures. Since the transmission is achieved by meshing between teeth, on the one hand, the transmission efficiency is high and the energy loss is effectively reduced; on the other hand, during the transmission process, it is not easy to slip between the first transmission member 450 and the first rotating member 4432, and between the second transmission member 460 and the second rotating member 4442, thereby maintaining a high transmission accuracy and improving the acceleration of the walking mechanism 400.

[0085] like Figure 2As shown, the first walking seat 420 includes a first base 422, two walking wheels 423 and a plurality of first rollers 424. The first deflector 4431 is fixedly connected to the first base 422. The two walking wheels 423 are rotatably connected to the two ends of the first base 422 along the first direction D1, and are used for rolling contact with the surface of one side of the ground rail 401 facing the sky rail 402. The rotation axis of each walking wheel 423 is parallel to the third direction D3. The plurality of first rollers 424 are rotatably connected to the two sides of the first base 422 along the third direction D3, and are used for rolling contact with the two side surfaces of the ground rail 401 along the third direction D3. The rotation axis of each first roller 424 is parallel to the second direction D2.

[0086] The first traveling seat 420 further includes a first pressing wheel 421 rotatably connected to the first base 422, the rotation axis of the first pressing wheel 421 is parallel to the rotation axis of the first rotating member 4432, and presses the first transmission member 450 to increase the wrap angle between the first transmission member 450 and the first rotating member 4432. By providing the first pressing wheel 421, the length of the contact arc between the first transmission member 450 and the first rotating member 4432 can be increased, thereby improving the transmission stability.

[0087] like Figure 3 As shown, the second traveling seat 430 includes a second base 432 and a plurality of second rollers 433. The second diverter 4441 is fixedly connected to the second base 432. The plurality of second rollers 433 are rotatably connected to both sides of the second base 432 along the third direction D3, respectively, for rolling contact with the surfaces of both sides of the ceiling rail 402 along the third direction D3. The rotation axis of each second roller 433 is parallel to the second direction D2.

[0088] The second traveling seat 430 includes a second pressing wheel 431 rotatably connected to the second base 432. The rotation axis of the second pressing wheel 431 is parallel to the rotation axis of the second rotating member 4442, and presses against the second transmission member 460 to increase the wrap angle between the second transmission member 460 and the second rotating member 4442. By providing the second pressing wheel 431, the length of the contact arc between the second transmission member 460 and the second rotating member 4442 can be increased, thereby improving the transmission stability.

[0089] like Figure 4 As shown, a first triggering member 471 is provided on one of the ground rail 401 and the first traveling seat 420, and a first sensor 472 is provided on the other of the ground rail 401 and the first traveling seat 420. The first triggering member 471 is used to trigger the first sensor 472 so that the first sensor 472 generates a first verification signal.

[0090] In one embodiment, the ground rail 401 is provided with a first trigger 471 , and the first travel seat 420 is provided with a first sensor 472 ; in another embodiment, the ground rail 401 is provided with a first sensor 472 , and the first travel seat 420 is provided with a first trigger 471 .

[0091] like Figure 5 As shown, a second triggering member 481 is provided on one of the overhead rail 402 and the second traveling seat 430, and a second sensor 482 is provided on the other of the overhead rail 402 and the second traveling seat 430. The second triggering member 481 is used to trigger the second sensor 482 so that the second sensor 482 generates a second verification signal.

[0092] In one embodiment, the overhead rail 402 is provided with a second trigger 481 , and the second traveling seat 430 is provided with a second sensor 482 ; in another embodiment, the overhead rail 402 is provided with a second sensor 482 , and the second traveling seat 430 is provided with a second trigger 481 .

[0093] It is understandable that during zero point calibration, the first sensor 472 and the second sensor 482 can be triggered at the same time, thereby simultaneously sending out the first verification signal and the second verification signal.

[0094] When one of the first sensor 472 and the second sensor 482 sends a verification signal and the other sensor does not send a verification signal, it means that tooth jumping has occurred between the first transmission member 450 and the first rotating member 4432 and / or tooth jumping has occurred between the second transmission member 460 and the second rotating member 4442. Once the tooth jumping phenomenon occurs, it will affect the synchronization of the walking of the first walking seat 420 and the second walking seat 430.

[0095] In the embodiment of the present application, by setting a first trigger member 471 and a first sensor 472 and a second trigger member 481 and a second sensor 482, and by judging whether the first verification signal and the second verification signal are generated at the same time, it is possible to know whether the synchronous belt structure has tooth jumping, and then timely repair the synchronous belt structure to ensure the synchronization of walking.

[0096] It is understandable that the present application does not limit the types of the first sensor 472 and the second sensor 482 .

[0097] In summary, the walking mechanism 400 and the walking system of the embodiment of the present application have at least the following advantages and beneficial effects:

[0098] In the walking mechanism 400 of the embodiment of the present application, the motor 441 is drivingly connected to the first driving part 443, the first driving part 443 is connected to one axial end of the transmission shaft 442, and the other axial end of the transmission shaft 442 is connected to the second driving part 444, so that the power of the motor 441 can not only drive the first driving part 443 to move, but also drive the second driving part 444 to move through the transmission shaft 442. Through the provision of the transmission shaft 442, the synchronization between the first driving part 443 and the second driving part 444 is effectively improved, thereby ensuring the walking accuracy of the walking mechanism 400.

[0099] It is understandable that the various embodiments / implementations provided in the present application can be combined with each other without causing any contradiction, and will not be illustrated one by one here.

[0100] In the application embodiments, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise expressly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the application embodiments can be understood according to the specific circumstances.

[0101] In the description of the application embodiments, it should be understood that the directions or positional relationships indicated by the terms "up", "down", "left", "right", "front", "back", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the application embodiments and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be understood as a limitation on the application embodiments.

[0102] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the application embodiment. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0103] The above are only preferred embodiments of the application embodiments and are not intended to limit the application embodiments. For those skilled in the art, the application embodiments may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application embodiments shall be included in the protection scope of the application embodiments.

Claims

1. A walking mechanism, characterized in that: include: A first walking seat (420) is movably connected to a ground rail (401); A second traveling seat (430) is movably connected to a sky rail (402); A column (410), wherein two axial ends of the column (410) are respectively connected to the first walking seat (420) and the second walking seat (430); and A driving assembly (440) comprises a motor (441), a transmission shaft (442), a first driving part (443) connected to the first walking seat (420), and a second driving part (444) connected to the second walking seat (430); the axial ends of the transmission shaft (442) are respectively connected to the first driving part (443) and the second driving part (444); the motor (441) is connected to the first walking seat (420) and is drivingly connected to the first driving part (443); the first driving part (443) is used to drive the first walking seat (420) to move along the ground rail (401), and the second driving part (444) is used to drive the second walking seat (430) to move along the ceiling rail (402).

2. The walking mechanism according to claim 1, characterized in that: Also includes: A first transmission member (450) is fixedly disposed relative to the ground rail (401) and is drivingly connected to the first driving part (443); as well as The second transmission member (460) is fixedly arranged relative to the ceiling rail (402) and is drivingly connected to the second driving part (444).

3. The walking mechanism according to claim 2, characterized in that: The first driving unit (443) comprises: A first steering gear (4431) having a first input shaft, a first output shaft and a second output shaft, wherein the first input shaft is connected to the motor (441), and the first output shaft is connected to one axial end of the transmission shaft (442); The first rotating member (4432) is connected to the second output shaft and is drivingly connected to the first transmission member (450).

4. The walking mechanism according to claim 3, characterized in that: The first transmission member (450) covers at least a portion of the outer circumference of the first rotating member (4432).

5. The walking mechanism according to claim 4, characterized in that: The first transmission member (450) is a synchronous belt and has a first tooth structure. The outer periphery of the first rotating member (4432) has a second tooth structure, and the first tooth structure is meshed with the second tooth structure.

6. The walking mechanism according to claim 5, characterized in that: The first walking seat (420) includes a rotatable first pressure wheel (421), the rotation axis of the first pressure wheel (421) is parallel to the rotation axis of the first rotating member (4432), and presses against the first transmission member (450) to increase the wrap angle between the first transmission member (450) and the first rotating member (4432).

7. The walking mechanism according to claim 2, characterized in that: The second driving unit (444) comprises: A second steering gear (4441) having a second input shaft and a third output shaft, wherein the second input shaft is connected to the other axial end of the transmission shaft (442); The second rotating member (4442) is connected to the third output shaft and is drivingly connected to the second transmission member (460).

8. The traveling mechanism according to claim 7, characterized in that: The second transmission member (460) covers at least a portion of the outer circumference of the second rotating member (4442).

9. The walking mechanism according to claim 8, characterized in that: The second transmission member (460) is a synchronous belt and has a third tooth structure. The outer periphery of the second rotating member (4442) has a fourth tooth structure, and the third tooth structure is meshed with the fourth tooth structure.

10. The walking mechanism according to claim 9, characterized in that: The second walking seat (430) includes a rotatable second pressure wheel (431), the rotation axis of the second pressure wheel (431) is parallel to the rotation axis of the second rotating member (4442), and presses against the second transmission member (460) to increase the wrap angle between the second transmission member (460) and the second rotating member (4442).

11. The walking mechanism according to any one of claims 1 to 10, characterized in that: A first triggering member (471) is provided on one of the ground rail (401) and the first walking seat (420), and a first sensor (472) is provided on the other of the ground rail (401) and the first walking seat (420), wherein the first triggering member (471) is used to trigger the first sensor (472) so that the first sensor (472) generates a first verification signal; A second triggering member (481) is provided on one of the overhead rail (402) and the second walking seat (430), and a second sensor (482) is provided on the other of the overhead rail (402) and the second walking seat (430), wherein the second triggering member (481) is used to trigger the second sensor (482) so that the second sensor (482) generates a second verification signal.

12. A walking system, characterized in that: include: A ground rail (401) is arranged on the ground; A ceiling rail (402) is arranged opposite to the ground rail (401) in a vertical direction; The walking mechanism according to any one of claims 1 to 11, wherein the first walking seat (420) of the walking mechanism is movably connected to the ground rail (401), and the second walking seat (430) of the walking mechanism is movably connected to the ceiling rail (402).

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