Connection device, rail-guided robot, and warehousing system
The rope-driven assembly and disassembly mechanism solves the problem of needing to work at height for track assembly and disassembly, and achieves a safe and efficient track assembly and disassembly process.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- HAI ROBOTICS CO LTD
- Filing Date
- 2025-10-21
- Publication Date
- 2026-05-15
AI Technical Summary
The existing track requires working at heights during assembly and dismantling, which poses safety hazards and is cumbersome and inefficient.
The assembly and disassembly mechanism is driven by a rope. By pulling the component, the transmission component and the auxiliary wheel swing between the first and second positions, which can realize the rapid assembly and disassembly of the longitudinal and transverse tracks and avoid working at height.
It enables rapid assembly and disassembly of the track, improving operational safety and efficiency, and simplifying the assembly and disassembly process.
Smart Images
Figure CN2025129044_15052026_PF_FP_ABST
Abstract
Description
Connecting devices, tracked robots and warehousing systems
[0001] This application claims priority to Chinese Patent Application No. 202422751278.4, filed on November 11, 2024, entitled “Connecting Device, Tracked Robot and Warehousing System”, the entire contents of which are incorporated herein by reference. Technical Field
[0002] This application relates to the field of logistics and warehousing technology, specifically to a connection device, a tracked robot, and a warehousing system. Background Technology
[0003] In some industrial scenarios such as warehousing systems, the movement between tracks is required to meet corresponding functional or operational needs. For example, a track robot is assembled from two perpendicular tracks and the robot body.
[0004] Considering the large volume of multiple tracks after assembly, for ease of transportation, most current methods involve transporting each track separately and assembling it on-site. However, the existing moving and limiting mechanisms between multiple tracks are generally assembled and fixed using bolts or similar methods. Furthermore, the connection points between multiple tracks are usually located at high positions. When installing or dismantling, not only is it necessary to use an aerial work platform for high-altitude operations, posing safety hazards, but the dismantling and assembly operations are also cumbersome and inefficient. Summary of the Invention
[0005] In view of the above problems, this application provides a connecting device, a track robot and a storage system, which can realize rapid assembly and disassembly between tracks and eliminate the need for working at heights, making the operation safer and more efficient.
[0006] According to one aspect of the embodiments of this application, a connecting device is provided for assembling a longitudinal track and a transverse track, comprising: a fixed base for fixedly connecting to the longitudinal track; a drive wheel rotatably connected to the fixed base along a horizontal axis perpendicular to the transverse track, and for overlapping the top end of the transverse track and rolling along the transverse track to drive the longitudinal track to translate relative to the transverse track; and a disassembly / assembly mechanism, comprising a pulling component, a transmission component, and an auxiliary wheel, wherein the pulling component is mounted on the longitudinal track, the transmission component is oscillatingly connected to the fixed base along a horizontal axis parallel to the transverse track, the pulling component and the transmission component are connected by a pull rope, and the auxiliary wheel is rotatably connected to the transmission component along an axis perpendicular to the transverse track; wherein the pulling component drives the transmission component to move via the pull rope, causing the auxiliary wheel to oscillate between a first position and a second position, wherein in the first position the auxiliary wheel is separated from the transverse track, and in the second position the auxiliary wheel abuts against the bottom end of the transverse track.
[0007] In one alternative approach, when the pull rope is not under the tension of the pulling component, the transmission component self-locks to keep the auxiliary wheel in the second position.
[0008] In one optional embodiment, the transmission assembly includes a primary transmission block, a secondary transmission block, and a tertiary transmission block. The primary transmission block is rotatably connected to the fixed base and the secondary transmission block along a horizontal axis parallel to the transverse track, respectively. The tertiary transmission block is rotatably connected to the secondary transmission block and the fixed base along a horizontal axis parallel to the transverse track, respectively. At the same rotational connection point, only two components are connected. An auxiliary wheel is rotatably connected to the tertiary transmission block. When the transmission assembly is self-locking, the first rotational connection point between the fixed base and the primary transmission block, the second rotational connection point between the primary and secondary transmission blocks, and the third rotational connection point between the secondary and tertiary transmission blocks are collinear along a first straight line in the longitudinal direction. Furthermore, the fourth rotational connection point between the tertiary transmission block and the fixed base is collinear with the third rotational connection point in the horizontal direction along a second straight line. A pull rope is connected to a position on the primary transmission block that deviates from the first straight line.
[0009] In one alternative embodiment, the fixed base has opposing first and second side arms along the extension direction of the transverse track, and a primary transmission block is rotatably connected between the first and second side arms; the secondary transmission block includes a first block and a second block; the tertiary transmission block has opposing third and fourth side arms along the extension direction of the transverse track, the first block is rotatably connected between one side of the primary transmission block and the third side arm, the second block is rotatably connected between the other side of the primary transmission block and the fourth side arm; the third side arm is rotatably connected to the first side arm, and the fourth side arm is rotatably connected to the second side arm.
[0010] In one alternative embodiment, the first pivot between the first side arm and the third side arm has a first limiting portion protruding from the surface of the third side arm. The first limiting portion is used to abut against the first block when the transmission assembly moves from the self-locking state to the unlocking state, so as to limit the maximum travel of the transmission assembly when it is unlocked; and / or, the second pivot between the second side arm and the fourth side arm has a second limiting portion protruding from the surface of the fourth side arm. The second limiting portion is used to abut against the second block when the transmission assembly moves from the locked state to the unlocking state, so as to limit the maximum travel of the transmission assembly when it is unlocked.
[0011] According to another aspect of the embodiments of this application, a track robot is provided, including a robot body, a longitudinal track, and a connecting device as described above. The robot body can be raised and lowered on the longitudinal track, and the longitudinal track can be translatably installed on the transverse track through the connecting device.
[0012] In one alternative embodiment, the transverse track includes a first transverse track and a second transverse track of different heights, and there are multiple connecting devices, including a first connecting device and a second connecting device; the longitudinal track is connected to the first transverse track through the first connecting device and to the second transverse track through the second connecting device.
[0013] In one alternative embodiment, the pulling component in the first connecting device and the second connecting device is the same pulling component, which is positioned on the longitudinal track between the first transverse track and the second transverse track; the transmission component in the first connecting device is a first transmission component, and the transmission component in the second connecting device is a second transmission component; the pulling component is connected to the first transmission component and the second transmission component respectively via a pull rope, so that the pulling component can simultaneously drive the first transmission component and the second transmission component to move.
[0014] In one alternative embodiment, the longitudinal track includes a first longitudinal track and a second longitudinal track arranged in an array, and the robot body is vertically connected to the first longitudinal track and the second longitudinal track; there are multiple first connecting devices and multiple second connecting devices; the side of the first longitudinal track is connected to the first transverse track through at least one first connecting device, and is connected to the second transverse track through at least one second connecting device; the side of the second longitudinal track is connected to the first transverse track through at least one first connecting device, and is connected to the second transverse track through at least one second connecting device; the pulling component includes a first pulling component disposed on the first longitudinal track and a second pulling component disposed on the second longitudinal track, the first pulling component can simultaneously drive the first transmission component in the first connecting device connected to the first longitudinal track and the second transmission component in the second connecting device connected to the first longitudinal track to move, and the second pulling component can simultaneously drive the first transmission component in the first connecting device connected to the second longitudinal track and the second transmission component in the second connecting device connected to the second longitudinal track to move.
[0015] In one alternative embodiment, a drive unit is provided on the fixed base, the output shaft of the drive unit is connected to the drive wheel, and the drive unit is used to drive the drive wheel to rotate.
[0016] In one alternative approach, a power supply guide rail is provided on the transverse track, and a current collector is also provided on the transmission assembly. When the transmission assembly drives the auxiliary wheel to move to the first position, the current collector separates from the power supply guide rail. When the transmission assembly drives the auxiliary wheel to move to the second position, the current collector makes electrical contact with the power supply guide rail. The current collector is used to draw power from the power supply guide rail and supply it to the drive components and the robot body.
[0017] According to another aspect of the embodiments of this application, a warehousing system is provided, including a shelf and a track robot as described in any of the above. The shelf is provided with a transverse guide rail, and the track robot can be translatably installed on the transverse guide rail. The track robot is used to pick up and place goods on the shelf.
[0018] In the connecting device provided in this embodiment, a fixed base is fixedly connected to the longitudinal rail, and a drive wheel on the fixed base is attached to the top of the transverse rail. A transmission component and an auxiliary wheel, which are swayably connected to the fixed base, are provided. This allows a pulling component on the longitudinal rail to swing via a pull rope, which in turn drives the auxiliary wheel to swing between a first position and a second position. Therefore, when assembling or disassembling the longitudinal rail on the transverse rail, it is only necessary to operate the pulling component to make the auxiliary wheel abut or separate from the bottom end of the transverse rail. In this structural design, since the pull rope drive method has no requirements on the position or height of the pulling component, setting the pulling component at a suitable height eliminates the need for climbing during rail assembly or disassembly. Furthermore, during assembly or disassembly, it is simply a matter of using the pulling component to drive the pull rope to provide tension to the transmission component, eliminating cumbersome assembly or disassembly processes and resulting in high efficiency.
[0019] The track robot provided in this application uses the above-mentioned connecting device to assemble the longitudinal track on the transverse track. When assembling or disassembling the longitudinal track on the transverse track, only the pulling component on the longitudinal track needs to be operated to engage or disengage the connecting device from the transverse track. The entire assembly and disassembly process is simple and efficient, and convenient for on-site deployment and assembly. Furthermore, since the pulling component drives the transmission component to move by pulling a rope, there are no height requirements for it. Therefore, the pulling component can be set at a suitable height so that the assembly and disassembly process does not require climbing, thus ensuring the safety of the assembly and disassembly process.
[0020] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description
[0021] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:
[0022] Figure 1 is a schematic diagram of the warehousing system provided in an embodiment of the present utility model;
[0023] Figures 2 and 3 are schematic diagrams of the auxiliary wheel in the connecting device provided in the embodiment of this utility model when it is in the first position and the second position, respectively.
[0024] Figures 4 and 5 are schematic side views of the auxiliary wheel in the connecting device provided in the embodiment of this utility model when it is in the second position and the first position, respectively.
[0025] Figures 6 and 7 are schematic diagrams of two rope-pulling force application methods provided in the embodiments of this utility model;
[0026] Figures 8 and 9 are schematic diagrams of the transmission component in the connection device provided in the embodiment of this utility model when the auxiliary wheel is in the second position, in a three-dimensional view and a side perspective view, respectively.
[0027] Figures 10 and 11 are schematic diagrams of the transmission component in the connecting device provided in the embodiment of the present invention when the auxiliary wheel is in the first position, from a side perspective and a stereoscopic perspective, respectively.
[0028] Figure 12 is a structural schematic diagram of the track robot provided in an embodiment of this utility model;
[0029] Figure 13 is a structural schematic diagram of the current collector in the track robot provided in the embodiment of this utility model, in the state of electrical contact between the current collector and the power supply track.
[0030] Figure 14 is a structural schematic diagram of the track robot provided in the embodiment of this utility model in the state where the current collector and the power supply track are separated.
[0031] The reference numerals in the attached drawings of the specific embodiments are as follows: 100, connecting device; 101, first connecting device; 102, second connecting device; 110, fixed base; 111, limiting notch; 112, first side arm; 113, second side arm; 120, drive wheel; 130. Assembly / disassembly mechanism; 131. Pulling assembly; 1311. First pulling assembly; 1312. Second pulling assembly; 132. Transmission assembly; 13201. First transmission assembly; 13202. Second transmission assembly; 1321. Primary transmission block; 1322. Secondary transmission block; 13221. First block; 13222. Second block; 1323. Tertiary transmission block; 13231. Third side arm; 13232. Fourth side arm; 1324. Torsion spring; 1325. Current collector; 133. Auxiliary wheel; 134. Pull rope; 1341. Rope body; 1342. Rope loop; 1351. First limiting part; 1352. Second limiting part; 140. Driving component; 200. Longitudinal track; 210. First longitudinal track; 220. Second longitudinal track; 300, lateral track; 301, chute; 310, first lateral track; 320, second lateral track; 330, power supply rail; 400, robot body; 500, track robot; 600, shelf; 1000, warehousing system. Detailed Implementation
[0032] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.
[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.
[0034] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.
[0035] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0036] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.
[0037] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).
[0038] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.
[0039] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.
[0040] Taking the track assembly in a tracked robot as an example, the track usually includes a transverse track and a longitudinal track. The transverse track is fixedly installed, and the longitudinal track can be translatably connected to the transverse track. The robot body can be raised and lowered and connected to the longitudinal track. By raising and lowering the robot body relative to the longitudinal track and translating the longitudinal track relative to the transverse track, the robot body can move in both the transverse and longitudinal directions at the same time.
[0041] Typically, the moving mechanism and limiting mechanism between the longitudinal and transverse tracks are assembled and fixed with bolts, and the connection point between the two tracks is usually located at a high position. Therefore, when assembling or disassembling the two tracks, it is necessary to work at height, and the disassembly and assembly operations are relatively cumbersome.
[0042] In response, this application addresses the assembly connection between the transverse and longitudinal tracks by abandoning the traditional moving and limiting mechanisms that rely on bolts for assembly. Instead, it employs a disassembly and assembly mechanism that can be remotely operated via a pull rope, where the longitudinal track is connected to the transverse track via a drive wheel. During installation, the disassembly and assembly mechanism is connected to the transverse track by pulling the rope, and during disassembly, the mechanism is separated from the transverse track by pulling the rope. This achieves the disassembly and assembly of the tracks without the need for high-altitude operations, enabling rapid disassembly and assembly of the tracks.
[0043] Based on this, according to one aspect of the embodiments of this application, a connecting device is provided. Please refer to Figures 1 and 2 for details. Figure 1 shows the structure of a storage system using the connecting device, and Figure 2 shows the structure at the connecting device. As shown in Figure 1, the connecting device 100 is used for assembly between a longitudinal track 200 and a transverse track 300. As shown in Figure 2, the connecting device 100 includes: a fixed base 110, a drive wheel 120, and a disassembly / assembly mechanism 130. The fixed base 110 is fixedly connected to the longitudinal track 200, and the drive wheel 120 is rotatably connected to the fixed base 110 along a horizontal axis perpendicular to the transverse track 300 (i.e., a horizontal axis parallel to the y-axis in the figure). The drive wheel 120 is also used to rest on the top of the transverse track 300 and can roll along the transverse track 300, thereby driving the longitudinal track 200 to translate relative to the transverse track 300 along the x-axis direction in the figure.
[0044] Referring to Figures 1 and 2, the disassembly / assembly mechanism 130 includes a pulling assembly 131, a transmission assembly 132, and an auxiliary wheel 133. The pulling assembly 131 is mounted on the longitudinal rail 200. The transmission assembly 132 is oscillatingly connected to the fixed base 110 along a horizontal axis parallel to the transverse rail 300. The pulling assembly 131 and the transmission assembly 132 are connected by a pull rope 134. The auxiliary wheel 133 is rotatably connected to the transmission assembly 132 along an axis perpendicular to the transverse rail 300.
[0045] The pulling component 131 drives the transmission component 132 to move via the pull rope 134, causing the auxiliary wheel 133 to swing between a first position and a second position. Specifically, as shown in Figure 2, when the auxiliary wheel 133 is in the first position, it is separated from the transverse track 300, allowing the longitudinal track 200 to be easily detached from it. As shown in Figure 3, when the auxiliary wheel 133 is in the second position, it abuts against the bottom end of the transverse track 300. At this time, the drive wheel 120 and the auxiliary wheel 133 cooperate to clamp onto the transverse track 300, thus restricting the longitudinal track 200 to the transverse track 300, thereby achieving a movable connection between the longitudinal track 200 and the transverse track 300.
[0046] Specifically, to improve the stability of the connection between the drive wheel 120 and the transverse track 300, the transverse track 300 can limit the drive wheel 120 along the y-axis direction, as shown in the side view of Figure 4. The top of the transverse track 300 can be set as a groove 301. The extension direction of the groove 301 is the same as the extension direction of the transverse track 300, which is the x-axis direction. The groove 301 has side walls on both sides along the y-axis direction. When the drive wheel 120 is connected to the top of the transverse track 300, its bottom is inserted into the groove 301, so that the drive wheel 120 can roll along the groove 301 along the x-axis direction. At the same time, the side walls of the groove 301 limit the drive wheel 120 along the y-axis direction to prevent it from derailing.
[0047] Regarding the cooperation between the pull rope 134, the transmission assembly 132, and the auxiliary wheel 133, a simple implementation method is provided below. Please continue to refer to Figure 4. The transmission assembly 132 is rotatably connected to the fixed base 110 at position M, and the transmission assembly 132 is connected to the pull rope 134 at position N. Position M is between position N and the transverse track 300. In the state shown in Figure 4, the auxiliary wheel 133 is in the second position, abutting against the bottom end of the transverse track 300. The drive wheel 120 and the auxiliary wheel 133 abut against the top and bottom ends of the transverse track 300, respectively, thereby limiting and fixing the longitudinal track 200 relative to the transverse track 300 along the z-axis direction.
[0048] When it is necessary to detach the longitudinal track 200 from the transverse track 300, based on Figure 4, the pull assembly 131 pulls the pull rope 134, so that the pull rope 134 applies a pulling force F1 as shown by the dashed arrow in Figure 4 to the transmission assembly 132 at position N. Under the action of the pulling force F1, the transmission assembly 132 swings relative to the fixed seat 110 along the rotating shaft at position M, and the swing direction is shown by the dashed rotation arrow in Figure 4.
[0049] After the pulling component 131 drives the transmission component 132 and its auxiliary wheel 133 to swing via the pull rope 134, the auxiliary wheel 133 moves to the first position and separates from the transverse track 300, as shown in Figure 5. In this state, the longitudinal track 200 and the connecting device 100 can be easily removed from the transverse track 300. It should be noted that when the drive wheel 120 is limited and connected to the slide groove 301 on the transverse track 300 as shown in Figures 4 and 5, when the transmission component 132 drives the auxiliary wheel 133 to swing to the first position, it is necessary to ensure that the auxiliary wheel 133 and the transverse track 300 are misaligned along the y-axis. That is, from the perspective of Figure 5, the distance D between the leftmost end of the auxiliary wheel 133 and the rightmost end of the transverse track 300 is greater than or equal to 0. This ensures that during the process of the drive wheel 120 moving completely upward out of the slide groove 301, the auxiliary wheel 133 will not interfere with the bottom end of the transverse track 300, ensuring that the longitudinal track 200 can be easily installed and removed.
[0050] In summary, in the connecting device 100 provided in this application embodiment, the fixed base 110 is fixedly connected to the longitudinal rail 200, and the drive wheel 120 on the fixed base 110 is attached to the top of the transverse rail 300. By setting a transmission component 132 and an auxiliary wheel 133 that are swayably connected to the fixed base 110, the pulling component 131 set on the longitudinal rail 200 can drive the transmission component 132 to swing through the pull rope 134. Then, the transmission component 132 drives the auxiliary wheel 133 on it to swing between the first position and the second position. So when the longitudinal rail 200 is disassembled and assembled on the transverse rail 300, it is only necessary to operate the pulling component 131 to limit the auxiliary wheel 133 to abut or separate from the bottom end of the transverse rail 300. In this structural design, since the pull rope 134 driving method does not require any position or height of the pull component 131, after setting the pull component 131 at a suitable height, there is no need to climb to a height when disassembling or assembling the track. Moreover, during disassembly or assembly, it is only necessary to simply drive the pull rope 134 to provide tension to the transmission component 132 through the pull component 131. There is no cumbersome disassembly or assembly process, and the disassembly or assembly efficiency is high.
[0051] Regarding the way the pull rope 134 applies force to the transmission assembly 132, two specific structures are provided below. For one of them, please refer to Figure 6. The pull rope 134 may include a rope body 1341 and a rope sleeve 1342 covering part of the outer periphery of the rope body 1341. A limiting notch 111 is provided on the fixing seat 110. The rope body 1341 passes through the limiting notch 111 and its two ends are fixedly connected between the pulling assembly 131 and the transmission assembly 132, respectively. The rope sleeve 1342 abuts against the pulling assembly 131 and the outer wall of the fixing seat 110 located at the edge of the limiting notch 111. When the pulling component 131 drives the rope 1341 to move, the rope 1341 provides tension to the transmission component 132. During the process of the rope 1341 being subjected to force, the rope sleeve 1342 is in close contact with the outer wall of the fixed seat 110, so the rope sleeve 1342 is not easy to move relative to the fixed seat 110. Therefore, the rope 1341 will not change position much under the limiting effect of the rope sleeve 1342, so as to ensure that the rope 1341 can always provide tension to the transmission component 132 in the effective direction.
[0052] In another embodiment, as shown in Figure 7, the pull rope 134 also includes a rope body 1341 and a rope sleeve 1342. The fixed seat 110 also has a limiting notch 111. However, in this embodiment, one end of the rope body 1341 is connected to the pulling component 131, and the other end is inserted into the limiting notch 111 and fixedly connected to the fixed seat 110. The two ends of the rope sleeve 1342 are respectively abutted between the transmission component 132 and the pulling component 131. When the pulling component 131 moves, it applies a pushing force to the rope sleeve 1342, while the rope body 1341 does not move. Based on this, the transmission component 132 swings under the pushing force of the rope sleeve 1342 to achieve the limiting contact and separation of the auxiliary wheel 133 and the transverse track 300.
[0053] Regardless of the type of pull rope structure mentioned above, the pulling component 131 can be pulled manually, such as by a handbrake mechanism, or automatically, such as by roller winding or cylinder pulling. No specific method is specified here.
[0054] To ensure that the auxiliary wheel 133 can play a more reliable limiting role after it comes into contact with the transverse rail 300, the transmission component 132 can also keep the auxiliary wheel 133 in the second position by self-locking when the pull rope 134 is not pulled by the pull component 131.
[0055] Specifically, for the embodiments shown in Figures 4 and 5, a torsion spring capable of providing a large torque can be provided at the rotatable connection between the transmission assembly 132 and the fixed base 110. In the state and view shown in Figure 4, the pull rope 134 is not subjected to the force of the pulling assembly 131. The torsion spring provides a clockwise rotational torque to the transmission assembly 132, so that the transmission assembly 132 self-locks in the second position and tightly abuts against the bottom end of the transverse track 300. When it is necessary for the auxiliary wheel 133 to swing from the state in Figure 4 to the state in Figure 5, a larger force is applied to the transmission assembly 132 by the pulling assembly 131 and the pull rope 134 to overcome the torque of the torsion spring and drive the transmission assembly 132 and the auxiliary wheel 133 to swing.
[0056] Furthermore, this application has also made corresponding structural designs for the transmission assembly 132, providing a method that can utilize the mechanical dead point of the transmission assembly 132 itself for self-locking. Please refer to Figure 8 for details, which shows the structure of the transmission assembly 132 provided in another embodiment of this application. As shown in the figure, the transmission assembly 132 includes a primary transmission block 1321, a secondary transmission block 1322, and a tertiary transmission block 1323.
[0057] The primary transmission block 1321 is rotatably connected to the fixed base 110 and the secondary transmission block 1322 along a horizontal axis parallel to the x-axis. Please refer to Figure 9 for details. The figure shows the perspective structure of the portion shown in Figure 8 from the side. The primary transmission block 1321 is rotatably connected to the fixed base at the first rotational connection point A, and the primary transmission block 1321 is rotatably connected to the secondary transmission block 1322 at the second rotational connection point B. It should be noted that, as shown in Figure 8, from the side view, the secondary transmission block 1322 is completely obscured by the fixed base 110 and the tertiary transmission block 1323. Therefore, for ease of demonstration and understanding, the secondary transmission block 1322 is represented by denser dashed lines in Figure 9, while the remaining perspective portions are represented by normal, sparser dashed lines.
[0058] The third-stage transmission block 1323 is rotatably connected to the second-stage transmission block 1322 and the fixed base 110 along a horizontal axis parallel to the x-axis, as shown in Figure 9. The second-stage transmission block 1322 and the third-stage transmission block 1323 are rotatably connected at the third rotational connection point C, and the third-stage transmission block 1323 is rotatably connected to the fixed base 110 at the fourth rotational connection point D. The auxiliary wheel 133 is rotatably connected to the third-stage transmission block 1323.
[0059] In the above-mentioned rotating connection method, only two parts are connected at the same rotating connection point. That is, any three or four of the fixed seat 110, the first-level transmission block 1321, the second-level transmission block 1322 and the third-level transmission block 1323 will not rotate and connect with each other on the same rotating shaft. The purpose of this setting is to ensure that the first-level transmission block 1321, the second-level transmission block 1322 and the third-level transmission block 1323 can transmit normally.
[0060] The states shown in Figures 8 and 9 are the self-locking states of the transmission assembly 132. As shown in Figure 9, in this state, the first rotational connection point A, the second rotational connection point B, and the third rotational connection point C contribute longitudinally to the first straight line u, and the third rotational connection point C and the fourth rotational connection point D are collinear in the horizontal direction on the second straight line v.
[0061] After the longitudinal track 200 is assembled onto the transverse track 300 via the connecting device 100, since the auxiliary wheel 133 abuts against the bottom end of the transverse track 300, the auxiliary wheel 133 will be subjected to a vertically downward force F from the transverse track 300 during operation. a The force F a There is a lever arm L at the fourth rotational connection point D. a Therefore, the three-stage transmission block 1323 will generate a torque M that rotates counterclockwise (as seen in Figure 9). a =F a ×L a .
[0062] However, based on the above structural design, the torque M generated in the three-stage transmission block 1323 is... a When the rotation tends to be counterclockwise, since the first rotation connection point A, the second rotation connection point B, and the third rotation connection point C are all located on the first vertical straight line u, and the third rotation connection point C and the fourth rotation connection point D are both located on the second horizontal straight line v, the four rotation connection points (first rotation connection point A, second rotation connection point B, third rotation connection point C, and fourth rotation connection point D) cooperate with each other to form a mechanical dead point.
[0063] Specifically, referring to Figure 9, for the third-stage transmission block 1323 to rotate counterclockwise relative to the fourth rotational connection point D, the third rotational connection point C must first be able to rotate normally. However, since the third rotational connection point C and the fourth rotational connection point D are horizontally collinear on the second straight line v, the counterclockwise rotation tendency of the third-stage transmission block 1323 will cause it to exert a vertically downward force F on the second-stage transmission block 1322 at the third rotational connection point C. b Since the third rotational connection point C, the second rotational connection point B, and the first rotational connection point A are longitudinally collinear on the first straight line u, the force F... bThe lever arm of both the second rotating connection point B and the first rotating connection point A is 0, meaning no torque is generated. Therefore, neither the second-stage transmission block 1322 nor the first-stage transmission block 1321 can rotate. Based on this, the counterclockwise rotation of the third-stage transmission block 1323 is restricted, and the transmission assembly 132 forms a self-locking mechanism.
[0064] Based on the above explanation, when the auxiliary wheel 133 is in the second position, the transmission assembly 132 is self-locked, preventing reverse rotation from the third-stage transmission block 1323 to the first-stage transmission block 1321. To enable normal transmission from the first-stage transmission block 1321 to the third-stage transmission block 1323 via the pull rope 134 for normal unlocking, as shown in Figures 8 and 9, the pull rope 134 is connected to a position where the first-stage transmission block 1321 deviates from the first straight line u. That is, the connection point E between the pull rope 134 and the first-stage transmission block 1321 is not on the first straight line u. This arrangement ensures that the force applied by the pull rope 134 to the first-stage transmission block 1321 generates a torque relative to the first rotational connection point A, thus enabling the first-stage transmission block 1321 to rotate relative to the first rotational connection point A. Finally, through the transmission of the second-stage transmission block 1322 and the third-stage transmission block 1323, the auxiliary wheel 133 swings to the first position for unlocking.
[0065] For a detailed force analysis of the unlocking process, please refer to Figure 9. First, the pulling component 131 provides a pulling force F1 to the primary transmission block 1321 via the pull rope 134. For the embodiment shown in Figure 7, this is a pushing force F1; both have the same direction and effect. The following explanation uses the pulling force as an example. The lever arm of the pulling force F1 relative to the first rotating connection point A is L1, thus causing the primary transmission block 1321 to generate a bending moment M1 = F1 × L1 in the direction shown in Figure 9. The rotation of the primary transmission block 1321 is unrestricted, so it will rotate counterclockwise. Then, as indicated by the dotted arrows at various positions in the figure, the primary transmission block 1321 will drive the secondary transmission block 1322 to rotate counterclockwise via the second rotating connection point B. During this counterclockwise rotation, the secondary transmission block 1322 will drive the tertiary transmission block 1323 to rotate counterclockwise, ultimately causing the auxiliary wheel 133 to swing counterclockwise to the first position shown in the side perspective view in Figure 10 and the three-dimensional perspective view in Figure 11, completing the unlocking process.
[0066] After the longitudinal track 200 is pre-positioned on the transverse track 300 by the connecting device 100, that is, when the drive wheel 120 is engaged on the transverse track 300 and the auxiliary wheel 133 is still in the unlocked state of the first position, when the pull rope 134 is not subjected to the force of the pulling component 131, that is, when the pull rope 134 does not apply a pulling force to the primary transmission block 1321, the auxiliary wheel 133 can move quickly to the second position and lock itself under the action of gravity, as shown in Figure 8. A torsion spring 1324 can also be provided at the rotational connection between the primary transmission block 1321 and the fixed seat 110. The torsion spring 1324 is used to provide the primary transmission block 1321 with a clockwise rotation torque in the view of Figure 10, so as to ensure that after the pull rope 134 does not apply a force to the primary transmission block 1321, the primary transmission block 1321 rotates on its own under the drive of the torsion spring 1324 and finally drives the auxiliary wheel 133 to swing to the second position and abut against the bottom end of the transverse track 300.
[0067] Based on the self-locking structure design of the above embodiments, this application also makes corresponding designs for the arrangement of the fixed base 110 and the transmission blocks at each stage to improve the structural stability of the transmission assembly 132 during movement. Specifically, please refer to Figures 8 and 11. As shown in the figures, the fixed base 110 has a first side arm 112 and a second side arm 113 opposite to each other along the x-axis. The first-stage transmission block 1321 is rotatably connected between the first side arm 112 and the second side arm 113. The first-stage transmission block 1321 is connected to the first side arm 112 and the second side arm 113 by a rotating shaft S. a (Corresponding to the first rotating connection point A in Figure 9) Rotating connection.
[0068] As shown in Figures 8 and 11, the secondary transmission block 1322 includes a first block 13221 and a second block 13222, and the tertiary transmission block 1323 has a third side arm 13231 and a fourth side arm 13232 opposite each other along the x-axis. The first block 13221 is rotatably connected between one side of the primary transmission block 1321 and the third side arm 13231. Specifically, one end of the first block 13221 is connected via a rotating shaft S. b (Corresponding to the second rotating connection point B in Figure 9, since the rotating shaft S is visible from the perspectives of Figures 8 and 11) b (Both are concealed internally, so their approximate locations are only indicated in the diagram) It is rotatably connected to the first-stage transmission block 1321, and the other end is connected to the rotating shaft S. c1 (Corresponding to the third rotating connection point C in Figure 9) is rotatably connected to the third side arm 13231. The second block 13222 is rotatably connected between the other side of the first-stage transmission block 1321 and the fourth side arm 13232. Specifically, one end of the second block 13222 is also connected via the rotating shaft S. bOne end is rotatably connected to the first-stage transmission block 1321, and the other end is rotatably connected to the fourth side arm 13232 via the rotating shaft Sc2 (which also corresponds to the third rotating connection point C in Figure 9). The third side arm 13231 is rotatably connected to the fourth side arm 13232 via the rotating shaft S. d1 (Corresponding to the fourth rotating connection point D in Figure 9) Rotatably connected to the first side arm 112, the fourth side arm 13232 is connected to the rotating shaft S d2 It is rotatably connected to the second side arm 113.
[0069] In this embodiment, after the fixed base 110, the first-stage transmission block 1321, the second-stage transmission block 1322, and the third-stage transmission block 1323 are arranged and assembled in the above manner, the overall structure is mirror-symmetrical along the longitudinal vertical line. This ensures that when each component rotates or is subjected to force, the overall structure remains in a state of uniform force, guaranteeing the stability of the connecting device 100 structure. This provides a reliable guarantee for the assembly and operation of the longitudinal track 200 on the transverse track 300, and improves operational safety.
[0070] To prevent excessive rotation of the transmission blocks in each stage of the transmission assembly 132 from causing impact, vibration, or even structural damage, a rotation limit design was further implemented. Please refer to Figure 11 again for details. As shown in the figure, the first rotating shaft (i.e., the rotating shaft Sd1) between the first side arm 112 and the third side arm 13231 has a first limiting part 1351 protruding from the surface of the third side arm 13231. The first limiting part 1351 is used to abut against the first block 13221 when the transmission assembly 132 moves from the self-locking state to the unlocking state, that is, when it moves from the state shown in Figures 8 and 9 to the state shown in Figures 10 and 11, so as to limit the maximum movement stroke of the transmission assembly 132 when it is unlocked.
[0071] Specifically, as shown in Figures 8 and 9, when the auxiliary wheel 133 is in the second position, that is, when the transmission assembly 132 is in the self-locking state, the first block 13221 of the secondary transmission block 1322 extends longitudinally, and it is connected to the rotating shaft S. d1 The first limiting part 1351 on the upper part does not make contact. Based on this, the entire transmission assembly 132 can move normally to the unlocked state. When the auxiliary wheel 133 swings to the first position as shown in Figures 10 and 11, that is, when the transmission assembly 132 moves to the unlocked state, the first block 13221 of the secondary transmission block 1322 approaches horizontal. In the view of Figure 10, the top of its right end abuts against the rotation connection point D, that is, in Figure 11, the first block 13221 abuts against the rotating shaft S. d1 The first limiting part 1351 on the upper part abuts at position Q, and the first block 13221 is restricted by the first limiting part 1351 and cannot continue to rotate, thereby limiting the maximum stroke of the transmission component 132 when it is unlocked and preventing it from moving excessively.
[0072] Similarly, as shown in Figures 8 and 11, the second rotating shaft (i.e., rotating shaft S) between the second side arm 113 and the fourth side arm 13232 d2 It may also have a second limiting part 1352 protruding from the surface of the fourth side arm 13232. The principle by which the second limiting part 1352 limits the second block 13222 is the same as the principle by which the first limiting part 1351 limits the first block 13221, and will not be repeated here. However, it should be noted that in specific implementation, only one of the first limiting part 1351 and the second limiting part 1352 may be provided, or both may be provided.
[0073] The above describes the relevant embodiments of the connecting device 100 provided in this application. Further, according to another aspect of the embodiments of this application, a track robot is also provided. Please refer again to Figure 1 and further to Figure 12, which shows the three-dimensional structure of the track robot. As shown in the figure, the track robot 500 includes a robot body 400, a longitudinal track 200, and the connecting device 100 provided in any of the above embodiments. The robot body 400 can be raised and lowered on the longitudinal track 200. Specifically, the robot body 400 can be slidably positioned on the longitudinal track 200 through sliding cooperation methods such as pulleys and slide rails or sliders. Furthermore, the robot body 400 can be automatically raised and lowered on the longitudinal track 200 through methods such as lead screw modules, cylinders, push rods, gear racks, synchronous pulleys, and synchronous belts. The longitudinal track 200, as shown in Figure 1, can be translatably installed on the transverse track 300 through the connecting device 100.
[0074] In the field of warehousing systems, the robot body 400 can be the fork shown in the figure. Of course, in other fields, the robot body 400 can also be the main structure that realizes the corresponding function. The specific is not limited here. By utilizing the translation of the longitudinal track 200 relative to the transverse track 300, the position of the robot body 400 in the horizontal direction can be changed. By raising and lowering the robot body 400 relative to the longitudinal track 200, the height of the robot body 400 in the longitudinal direction can be changed. This allows the robot body 400 to operate at different positions and heights. In the implementation where the robot body 400 is a fork, the fork can perform picking and placing operations at different horizontal positions and heights on the shelf.
[0075] The track robot 500 provided in this application embodiment uses the connecting device 100 provided in any of the above embodiments to assemble the longitudinal track 200 on the transverse track 300. When assembling or disassembling the longitudinal track 200 on the transverse track 300, it is only necessary to operate the pulling component 131 on the longitudinal track 200 to engage or disengage the connecting device 100 from the transverse track 300. The entire assembly and disassembly process is simple and efficient, and convenient for on-site deployment and assembly. Furthermore, since the pulling component 131 drives the transmission component 132 to move through the pull rope 134, there are no height requirements for it. Therefore, the pulling component 131 can be set at a suitable height so that the assembly and disassembly process does not require climbing, thus ensuring the safety of the assembly and disassembly process.
[0076] To improve the stability of the assembly connection between the longitudinal track 200 and the transverse track 300, as shown in Figure 1, the transverse track 300 may include a first transverse track 310 and a second transverse track 320 with different heights. Multiple connecting devices 100 are included, among which a first connecting device 101 and a second connecting device 102 are present. The longitudinal track 200 is connected to the first transverse track 310 via the first connecting device 101 and to the second transverse track 320 via the second connecting device 102.
[0077] In this embodiment, the longitudinal track 200 is assembled and connected to the first transverse track 310 and the second transverse track 320 at at least two points with different heights through the first connecting device 101 and the second connecting device 102, making the overall connection between the longitudinal track 200 and the first transverse track 310 and the second transverse track 320 more reliable, and the longitudinal track 200 is also more stable when moving on the first transverse track 310 and the second transverse track 320.
[0078] As shown in Figure 12, to facilitate the assembly and disassembly of the track robot 500, the pulling component 131 in the first connecting device 101 and the second connecting device 102 can be the same. The pulling component 131 is positioned on the longitudinal track 200 between the first transverse track 310 and the second transverse track 320. The transmission component in the first connecting device 101 is the first transmission component 13201, and the transmission component in the second connecting device 102 is the second transmission component 13202. The pulling component 131 is connected to both the first transmission component 13201 and the second transmission component 13202 via a pull rope 134. This allows the pulling component 131 to simultaneously drive both the first transmission component 13201 and the second transmission component 13202 when adjusting the auxiliary wheel 133 for assembly and disassembly, making the assembly and disassembly process more convenient and efficient.
[0079] Furthermore, referring to Figures 1 and 12, the longitudinal track 200 can also be set to two, specifically including a first longitudinal track 210 and a second longitudinal track 220 arranged in a row. The robot body 400 can be lifted and connected to the first longitudinal track 210 and the second longitudinal track 220. This arrangement can make the robot body 400 be balanced by forces, ensuring that the robot body 400 is more stable and reliable when lifting and lowering on the first longitudinal track 210 and the second longitudinal track 220.
[0080] There are multiple first connecting devices 101 and second connecting devices 102. The side of the first longitudinal track 210 is connected to the first transverse track 310 through at least one first connecting device 101, and is connected to the second transverse track 320 through at least one second connecting device 102. The side of the second longitudinal track 220 is connected to the first transverse track 310 through at least one first connecting device 101, and is connected to the second transverse track 320 through at least one second connecting device 102. In the specific embodiments shown in Figures 1 and 12, the opposite outer sides of the first longitudinal track 210 and the second longitudinal track 220 are each connected to the first transverse track 310 through a first connecting device 101, and each is connected to the second transverse track 320 through a second connecting device 102. This does not constitute a limitation on the specific position and number of the first connecting devices 101 and the second connecting devices 102. For example, in another embodiment, the first longitudinal track 210 and the second longitudinal track 220 can each be connected to the first transverse track 310 via a first connecting device 101 on their opposing inner sides, and to the second transverse track 320 via a second connecting device 102, as long as it is ensured that the robot body 400 does not interfere with the first connecting device 101 and the second connecting device 102 when it is raised or lowered. Of course, the first connecting device 101 can also be provided on both the inner and outer sides of the first longitudinal track 210 and the inner and outer sides of the second longitudinal track 220 to connect to the first transverse track 310, and the second connecting device 102 can also be provided on both sides to connect to the second transverse track 320.
[0081] Based on the above structural setup, if the transmission components in all first connecting devices 101 and all second connecting devices 102 are still driven by the same pulling component 131, then the pull rope 134 needs to extend and shuttle between the first longitudinal track 210 and the second longitudinal track 220. This will result in the pull rope 134 being too long and the extension direction being uncontrollable. As a result, during the lifting and lowering of the robot body 400 and the translation of the longitudinal track 200, the pull rope 134 is prone to getting caught on other parts and being subjected to force, causing the auxiliary wheel 133 to be unlocked incorrectly, thus causing safety hazards. When the pull rope 134 is subjected to excessive force, it is also prone to breakage, affecting the safety of operation.
[0082] Based on this, the number of pulling components 131 has also been increased accordingly. As shown in Figure 12, the pulling components 131 include a first pulling component 1311 disposed on the first longitudinal rail 210 and a second pulling component 1312 disposed on the second longitudinal rail 220. As shown in the structure on the left side of the first longitudinal rail 210, the first pulling component 1311 can simultaneously drive the first transmission component 13201 in the first connecting device 101 connected to the first longitudinal rail 210 and the second transmission component 13202 in the second connecting device 102 connected to the first longitudinal rail 210. As shown in the structure on the right side of the second longitudinal rail 220, the second pulling component 1312 can simultaneously drive the first transmission component 13201 in the first connecting device 101 connected to the second longitudinal rail 220 and the second transmission component 13202 in the second connecting device 102 connected to the second longitudinal rail 220. It should be noted that regardless of how many first connecting devices 101 or second connecting devices 102 are connected to the first longitudinal track 210, they can all be driven by the same first pulling component 1311 through multiple pull ropes 134, so as to fully simplify the structure and reduce costs. The same applies to the second longitudinal track 220.
[0083] The above structural design ensures that all pull ropes 134 extend and are oriented vertically, which allows the pull ropes 134 to better drive the transmission component 132 to move. Furthermore, the extension direction of the pull ropes 134 will not change significantly, ensuring that the pull ropes 134 will not interfere with other components during operation and thus prevent safety issues.
[0084] To achieve automated operation, as shown in Figure 13, a drive component 140, such as a motor, can be installed on the fixed base 110. The output shaft of the drive component 140 (not shown) is connected to the drive wheel 120. The drive component 140 drives the drive wheel 120 to rotate, so that the longitudinal track 200 can automatically move and run on the transverse track 300 to improve operation efficiency.
[0085] Please refer to Figures 13 and 14. A power supply rail 330 can also be installed on the transverse track 300, and a current collector 1325, such as a brush, is installed on the transmission assembly 132. When the transmission assembly 132 drives the auxiliary wheel 133 to the first position shown in Figure 14, the current collector 1325 separates from the power supply rail 330. At this time, the power is cut off on the longitudinal track 200 and the robot body 400, and the connecting device 100 is unlocked, so that the track robot 500 can be safely and efficiently assembled and disassembled on the transverse track 300. When the transmission assembly 132 drives the current collector 1325 to the second position shown in Figure 13, the track robot 500 is assembled on the transverse track 300, and the current collector 1325 is in electrical contact with the power supply rail 330. At this time, the current collector 1325 can draw power from the power supply rail 330 and supply it to the drive component 140 and the robot body 400.
[0086] According to another aspect of the embodiments of this application, a warehousing system is also provided. Please refer to Figure 1 again for details. The warehousing system 1000 includes a shelf 600 and a track robot 500 provided in any of the above embodiments. A transverse track 300 is provided on the shelf 600. The track robot 500 can be laterally installed on the transverse track 300. The track robot 500 is used to pick up and put down goods on the shelf 600.
[0087] Specifically, by translating the longitudinal track 200 of the track robot 500 relative to the transverse track 300 on the shelf 600, the robot body 400 can be moved to any horizontal position on the shelf 600. Furthermore, by lifting and lowering the robot body 400 relative to the longitudinal track 200 within the track robot 500, the robot body 400 can be raised and lowered to any height on the shelf 600, thereby enabling the robot body 400 to perform retrieval and placement operations at any storage location on the shelf 600.
[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way.
Claims
1. A connecting device for assembling longitudinal and transverse tracks, characterized in that, include: A fixing seat is used for fixed connection with the longitudinal rail; A drive wheel, rotatably connected to the fixed base along a horizontal axis perpendicular to the transverse track, and for resting on the top of the transverse track and rolling along the transverse track to drive the longitudinal track to translate relative to the transverse track; and, The disassembly and assembly mechanism includes a pulling component, a transmission component, and an auxiliary wheel. The pulling component is mounted on the longitudinal track. The transmission component is oscillatingly connected to the fixed base along a horizontal axis parallel to the transverse track. The pulling component and the transmission component are connected by a pull rope. The auxiliary wheel is rotatably connected to the transmission component along an axis perpendicular to the transverse track. The pulling component drives the transmission component to move via the pull rope, causing the auxiliary wheel to swing between a first position and a second position. In the first position, the auxiliary wheel is separated from the transverse track. In the second position, the auxiliary wheel abuts against the bottom end of the transverse track.
2. The connecting device according to claim 1, characterized in that, When the pull rope is not under the tension of the pulling component, the transmission component self-locks to keep the auxiliary wheel in the second position.
3. The connecting device according to claim 2, characterized in that, The transmission assembly includes a primary transmission block, a secondary transmission block, and a tertiary transmission block. The primary transmission block is rotatably connected to the fixed base and the secondary transmission block along a horizontal axis parallel to the transverse track. The tertiary transmission block is rotatably connected to the secondary transmission block and the fixed base along a horizontal axis parallel to the transverse track. At the same rotational connection point, only two components are connected. The auxiliary wheel is rotatably connected to the three-stage transmission block; When the transmission assembly is self-locking, the first rotational connection point between the fixed seat and the first-stage transmission block, the second rotational connection point between the first-stage transmission block and the second-stage transmission block, and the third rotational connection point between the second-stage transmission block and the third-stage transmission block are collinear along the first straight line in the longitudinal direction, and the fourth rotational connection point between the third-stage transmission block and the fixed seat is collinear with the third rotational connection point in the horizontal direction on the second straight line. The pull rope is connected to the first-stage transmission block at a position that deviates from the first straight line.
4. The connecting device according to claim 3, characterized in that, The fixed base has a first side arm and a second side arm that are opposite each other along the extension direction of the transverse track, and the primary transmission block is rotatably connected between the first side arm and the second side arm; The secondary transmission block includes a first block and a second block. The tertiary transmission block has a third side arm and a fourth side arm that are opposite each other along the extension direction of the transverse track. The first block is rotatably connected between one side of the primary transmission block and the third side arm, and the second block is rotatably connected between the other side of the primary transmission block and the fourth side arm. The third side arm is rotatably connected to the first side arm, and the fourth side arm is rotatably connected to the second side arm.
5. The connecting device according to claim 4, characterized in that, The first pivot between the first side arm and the third side arm has a first limiting portion protruding from the surface of the third side arm. This first limiting portion abuts against the first block when the transmission assembly moves from a self-locking state to an unlocked state, thereby limiting the maximum travel of the transmission assembly during unlocking; and / or, The second pivot between the second side arm and the fourth side arm has a second limiting portion protruding from the surface of the fourth side arm. The second limiting portion is used to abut against the second block when the transmission assembly moves from the locked state to the unlocked state, so as to limit the maximum travel of the transmission assembly when it is unlocked.
6. A track-based robot, characterized in that, The robot includes a robot body, a longitudinal track, and a connecting device as described in any one of claims 1-5. The robot body is vertically mounted on the longitudinal track, and the longitudinal track is translatably mounted on a transverse track via the connecting device.
7. The track robot according to claim 6, characterized in that, The transverse track includes a first transverse track and a second transverse track with different heights, and there are multiple connecting devices, including a first connecting device and a second connecting device. The longitudinal track is connected to the first transverse track via the first connecting device, and to the second transverse track via the second connecting device.
8. The orbital robot according to claim 7, characterized in that, The pulling component in the first connecting device and the second connecting device is the same pulling component, and the pulling component is disposed on the longitudinal track at a position between the first transverse track and the second transverse track; The transmission component in the first connecting device is a first transmission component, and the transmission component in the second connecting device is a second transmission component; The pulling component is connected to the first transmission component and the second transmission component via pull ropes, so that the pulling component can simultaneously drive the first transmission component and the second transmission component to move.
9. The orbital robot according to claim 8, characterized in that, The longitudinal track includes a first longitudinal track and a second longitudinal track arranged in a row, and the robot body can be lifted and connected to the first longitudinal track and the second longitudinal track; Both the first connecting device and the second connecting device are multiple; The side of the first longitudinal track is connected to the first transverse track via at least one of the first connecting devices, and is connected to the second transverse track via at least one of the second connecting devices; The side of the second longitudinal track is connected to the first transverse track via at least one of the first connecting devices, and is also connected to the second transverse track via the at least one second connecting device; The pulling assembly includes a first pulling assembly disposed on the first longitudinal track and a second pulling assembly disposed on the second longitudinal track. The first pulling assembly can simultaneously drive the first transmission assembly in the first connecting device connected to the first longitudinal track and the second transmission assembly in the second connecting device connected to the first longitudinal track to move. The second pulling assembly can simultaneously drive the first transmission assembly in the first connecting device connected to the second longitudinal track and the second transmission assembly in the second connecting device connected to the second longitudinal track to move.
10. The orbital robot according to any one of claims 6-9, characterized in that, A driving component is provided on the fixed base, and the output shaft of the driving component is connected to the driving wheel. The driving component is used to drive the driving wheel to rotate.
11. The orbital robot according to claim 10, characterized in that, A power supply guide rail is provided on the transverse track, and a current collector is also provided on the transmission assembly. When the transmission assembly drives the auxiliary wheel to move to the first position, the current collector separates from the power supply guide rail. When the transmission assembly drives the auxiliary wheel to move to the second position, the current collector makes electrical contact with the power supply guide rail. The current collector is used to draw power from the power supply guide rail and provide it to the drive component and the robot body.
12. A warehousing system, characterized in that, The device includes a shelf and a tracked robot as described in any one of claims 6-11, wherein the shelf is provided with a transverse guide rail, the tracked robot is translatably mounted on the transverse guide rail, and the tracked robot is used to pick up and place goods on the shelf.