Traveling guide and drive device for three-dimensional sorting machine

Abstract

A traveling guide and drive device (100) for a three-dimensional sorting machine, said traveling guide and drive device comprising: a first guide rail (150) and a second guide rail (110) which are provided in a first horizontal direction, the cross section of the first guide rail being rectangular and two sides of the first guide rail being respectively provided with a vertical track surface, the second guide rail being arranged below the first guide rail, the cross section of the second guide rail being rhombic and each side of the second guide rail being provided with a pair of inclined track surfaces, and a vertical surface being provided between each pair of inclined track surfaces; a sorting module (130), which is configured to move along the first guide rail and the second guide rail, and comprises a first guide wheel set (140) and a second guide wheel set (120), the first guide wheel set being configured to move along the two vertical track surfaces on both sides of the first guide rail, and the second guide wheel set being configured to move along the four inclined track surfaces on both sides of the second guide rail; and a traveling drive module (160), integrated at the bottom of the sorting module and configured to move along the second guide rail, so as to drive the sorting module to move along the first guide rail and the second guide rail. The present invention can reduce the redundancy of constraints on guide rails and requirements for installation accuracy, and can save the occupied space along a loop length.

Description

Walking guide and drive device for 3D sorting machine Technical Field

[0001] This invention relates to the field of cargo sorting technology, and in particular to a walking guide and drive device for an automated sorting machine. Background Technology

[0002] Existing automated sorting machines (such as the cargo sorting equipment claimed in patent application number 2024205480606) use a double-layer track with the same structure for guidance. Each layer of track has a rhomboid cross-section, and each layer bears both load-bearing and guiding functions without any primary or secondary function. This results in over-constraint in terms of degrees of freedom, thus requiring high installation precision for both layers. If there is a large error in the height distance between any two layers or poor coaxiality at turns, it will cause the guide wheels to interact, generating additional forces and significantly affecting their lifespan. Furthermore, its driving module is independent of the sorting module, causing it to occupy additional space along the loop and resulting in unequal distances between the sorting modules. This increases control complexity and reduces sorting efficiency.

[0003] Therefore, there is a need to provide a new walking guide and drive device for an automated sorting machine to solve the above-mentioned technical problems.

[0004] Application content

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

[0006] According to one aspect of the present invention, a walking guide and drive device for an automated sorting machine is provided, comprising: a first guide rail arranged along a first horizontal direction, the first guide rail having a rectangular cross-section, and a vertical track surface provided on each side of the first guide rail; a second guide rail arranged below the first guide rail along the first horizontal direction, the second guide rail having a rhomboid cross-section, and a pair of inclined track surfaces provided on each side of the second guide rail, with a vertical surface between the pair of inclined track surfaces; and a sorting module adapted to move along the first guide rail and the second guide rail, the sorting module comprising a first guide wheel group and a second guide wheel group, the first guide wheel group being... The wheel set is adapted to move along two vertical track surfaces on both sides of the first guide rail, and the second guide wheel set is adapted to move along four inclined track surfaces on both sides of the second guide rail. A walking drive module, integrated at the bottom of the sorting module, is adapted to move along the second guide rail to drive the sorting module to move along the first and second guide rails. The walking drive module includes: a main support mounting plate, fixedly connected to the bottom of the mounting frame of the sorting module; a curve compensation mounting plate, movably connected to the main support mounting plate, adapted to move relative to the main support mounting plate in a second horizontal direction perpendicular to the first horizontal direction; and a follow-up compensation mounting plate. A plate, movably connected to the main support mounting plate, is adapted to move relative to the main support mounting plate along a second horizontal direction perpendicular to the first horizontal direction; a pull rod is arranged along the second horizontal direction, and the pull rod is respectively connected to the curve compensation mounting plate and the follow-up compensation mounting plate; a compression spring is sleeved on the pull rod, and the compression spring abuts against the follow-up compensation mounting plate; a power reduction module is fixedly mounted on the curve compensation mounting plate; a travel drive wheel is connected to the power reduction module, and is adapted to move along the vertical surface of the second guide rail under the power action of the power reduction module, so as to drive the sorting module along... The first guide rail and the second guide rail move; a follower wheel is rotatably mounted on the follower compensation mounting plate, and the follower wheel and the travel drive wheel are respectively arranged on both sides of the second guide rail; wherein, during the movement of the travel drive wheel along the vertical surface of the second guide rail, under the action of the pull rod and the compression spring, the curve compensation mounting plate and the follower compensation mounting plate are adapted to move relative to each other along the second horizontal direction toward the direction closer to the second guide rail, and respectively drive the travel drive wheel and the follower wheel to press against the two vertical surfaces on both sides of the second guide rail, so as to provide positive pressure for the travel drive wheel to move along the vertical surface.

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

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

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

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

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

[0012] Optionally, in the walking guide and drive device for a three-dimensional sorting machine according to the present invention, both the first guide rail and the second guide rail are racetrack-shaped. The first guide rail includes a first straight segment and a first arc segment, and the second guide rail includes a second straight segment and a second arc segment. When the sorting module passes through the first arc segment and the second arc segment, the sorting module and the main support mounting plate move together along the second guide rail toward the center of the second arc segment. The curve compensation mounting plate and the follower compensation mounting plate are adapted to move relative to the main support mounting plate and drive the power reduction module, the walking drive wheel, the follower wheel, the pull rod, and the compression spring to move synchronously. The walking drive wheel and the follower wheel are adapted to press against two vertical surfaces on both sides of the second guide rail under the action of the pull rod and the compression spring, so as to provide positive pressure for the walking drive wheel to move along the vertical surface.

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

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

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

[0016] Optionally, in the walking guide and drive device for a three-dimensional sorting machine according to the present invention, the sorting module further includes: a sorting cart, mounted on the mounting frame and adapted to move vertically along the mounting frame.

[0017] According to the technical solution of the present invention, a walking guide and drive device for a three-dimensional sorting machine is provided. A main guide rail (first guide rail) and an auxiliary guide rail (second guide rail) are used in conjunction with corresponding guide wheel sets to guide the walking of the sorting module. The cooperation between the main guide rail and the corresponding guide wheel sets ensures the smooth movement of the sorting module along the guide rail, prevents the sorting module from tilting forward or backward, and can bear the weight of the sorting module. The cooperation between the auxiliary guide rail and the corresponding guide wheel sets does not need to bear the weight of the sorting module or prevent the sorting module from tilting forward or backward; it only needs to limit the lateral tilting tendency of the sorting module, playing an auxiliary role in the guiding movement. Based on this, the present invention can reduce the redundancy of the constraints on the two guide rails, and the installation accuracy requirements of the two guide rails are relatively low. In addition, this invention integrates the walking drive module at the bottom of the sorting module. On the one hand, it can save the space occupied by the loop length and improve sorting efficiency. On the other hand, during the movement of the walking drive wheel along the second guide rail, under the action of the pull rod and the compression spring, the curve compensation mounting plate and the follower compensation mounting plate move relative to each other along the second horizontal direction towards the second guide rail, and respectively drive the walking drive wheel and the follower wheel to press against the two vertical surfaces of the second guide rail. In this way, positive pressure can be provided for the movement of the walking drive wheel along the vertical surface to ensure that the walking drive wheel moves stably along the second guide rail, and it is applicable to both straight and curved guide rails.

[0018] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

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

[0020] Figure 1 shows a schematic diagram of the structure of a walking guide and drive device 100 for a three-dimensional sorting machine according to an embodiment of the present invention;

[0021] Figure 2 shows a schematic diagram of the cooperation structure between the first guide wheel assembly 140 and the first guide rail 150 according to an embodiment of the present invention;

[0022] Figure 3 shows a cross-sectional schematic diagram of the second guide rail 110 according to an embodiment of the present invention;

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

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

[0025] Figures 6 and 7 show schematic diagrams of the walking drive module 160 according to an embodiment of the present invention.

[0026] Figure 8 shows a schematic diagram of the sorting module 130 and the walking drive module 160 passing through the second arc segment of the second guide rail 110 according to an embodiment of the present invention. Detailed Implementation

[0027] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0028] As mentioned earlier, existing automated sorting machines use double-layer tracks with the same structure for walking guidance, which results in excessive constraints in terms of degrees of freedom and high installation accuracy requirements. Moreover, the walking drive module is independent of the sorting module, which will occupy additional space in the loop length.

[0029] To address the aforementioned technical problems, this invention proposes a walking guide and drive device for a three-dimensional sorting machine. It employs a main guide rail and an auxiliary guide rail in conjunction with corresponding guide wheel sets, which can reduce the redundancy of constraints on the two guide rails and improve installation accuracy. Furthermore, by integrating the walking drive module at the bottom of the sorting module, it can save the space occupied by the loop length.

[0030] Figure 1 shows a schematic diagram of a walking guide and drive device 100 for a three-dimensional sorting machine according to an embodiment of the present invention.

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

[0032] In this embodiment of the invention, as shown in FIG1, the sorting module 130 includes a first guide wheel assembly 140 (as the main guide wheel assembly) and a second guide wheel assembly 120 (as the auxiliary guide wheel assembly). The first guide wheel assembly 140 can move along two vertical track surfaces on both sides of the first guide rail 150. The second guide wheel assembly 120 is mounted on the bottom of the mounting frame 131 and can move along four inclined track surfaces on both sides of the second guide rail 110. In some embodiments, the sorting module 130 further includes a mounting frame 131, which can be arranged between the first guide rail 150 and the second guide rail 110. The first guide wheel assembly 140 is mounted on the top of the mounting frame 131, and the second guide wheel assembly 120 is mounted on the bottom of the mounting frame 131. In some embodiments, the mounting frame 131 can be I-shaped. In some embodiments, the sorting module 130 further includes a sorting cart 135, which is mounted on the mounting frame 131 and can move vertically along the mounting frame 131.

[0033] Figure 2 shows a schematic diagram of the mating structure of the first guide wheel assembly 140 and the first guide rail 150 according to an embodiment of the present invention. As shown in Figure 2, the cross-section of the first guide rail 150 is rectangular (square), and a vertical track surface is provided on each side of the first guide rail 150.

[0034] Figure 3 shows a cross-sectional schematic diagram of the second guide rail 110 according to an embodiment of the present invention. Figure 4 shows a structural schematic diagram of the second guide wheel assembly 120 according to an embodiment of the present invention. As shown in Figure 3, the cross-section of the second guide rail 110 is rhomboid, and a pair of inclined track surfaces are provided on each side of the second guide rail 110 (a total of four inclined track surfaces are provided on both sides of the second guide rail 110), and there is a vertical surface (i.e., a vertical track surface, referred to here as a "vertical surface" to distinguish it from the vertical track surfaces on both sides of the first guide rail 150) between the pair of inclined track surfaces on either side of the second guide rail 110. It should be noted that the pair of inclined track surfaces on either side of the second guide rail 110 form a predetermined included angle.

[0035] In this embodiment of the invention, the walking drive module 160 is integrated into the bottom of the sorting module 130, thus saving space occupied by the loop length. The walking drive module 160 can move along the second guide rail 110, thereby driving the sorting module 130 to move along the first guide rail 150 and the second guide rail 110. Figure 5 shows a schematic diagram of the structure of the walking drive module 160 integrated into the bottom of the sorting module 130 according to an embodiment of the invention.

[0036] Figures 6 and 7 show schematic diagrams of the walking drive module 160 according to an embodiment of the present invention. As shown in Figures 6 and 7, the walking drive module 160 includes a main support mounting plate 161, a curve compensation mounting plate 163, a follow-up compensation mounting plate 165, a tie rod 167, a compression spring 168, a power reduction module 162, a walking drive wheel 164, and a follower wheel 166.

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

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

[0039] The power reduction module 162 is fixedly mounted on the curve compensation mounting plate 163. The power reduction module 162 can be connected to the drive wheel 164 to drive the drive wheel 164 to move; in other words, the power reduction module 162 can provide power to the drive wheel 164.

[0040] Follower wheel 166 and driving wheel 164 are respectively arranged on both sides of the second guide rail 110. The driving wheel 164 is connected to the power reduction module 162; specifically, the driving wheel 164 can be installed at the output end of the power reduction module 162. Under the power of the power reduction module 162, the driving wheel 164 can move along the vertical surface of the second guide rail 110 (the vertical surface on one side of the second guide rail 110), thereby driving the sorting module 130 to move along the first guide rail 150 and the second guide rail 110. The follower wheel 166 is rotatably mounted on the follower compensation mounting plate 165 and can move along the vertical surface of the second guide rail 110 (the vertical surface on the other side of the second guide rail 110) along with the driving wheel 164.

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

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

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

[0044] In some embodiments, as shown in FIG1, the sorting module 130 includes two first guide wheel sets 140 and two second guide wheel sets 120. That is, two first guide wheel sets 140 are mounted on the top of the mounting frame 131, and two second guide wheel sets 120 are mounted on the bottom of the mounting frame 131. The two first guide wheel sets 140 and the two second guide wheel sets 120 are arranged at intervals along a first horizontal direction; that is, the two first guide wheel sets 140 are arranged at intervals along the direction of the first guide rail 150 (first horizontal direction), and the two second guide wheel sets 120 are arranged at intervals along the direction of the second guide rail 110 (first horizontal direction). Furthermore, the spacing between the two first guide wheel sets 140 is equal to the spacing between the two second guide wheel sets 120, and the two first guide wheel sets 140 are vertically aligned with their corresponding two second guide wheel sets 120.

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

[0046] In some embodiments, the walking drive module 160 can be installed between two second guide wheel sets 120. By installing the walking drive module 160 in the gap between the two second guide wheel sets 120, space for the loop length can be saved, and it has strong applicability and can operate normally even on the curved section of the guide rail.

[0047] In some embodiments, as shown in FIG4, the second guide wheel assembly 120 includes a second guide frame 121, two second traveling wheels 123, and two second limiting wheels 124. The second guide frame 121 can be hinged to the bottom of the mounting frame 131 via a second pivot 122. The two second traveling wheels 123 can be symmetrically mounted on the upper part of the second guide frame 121 and can move along the two inclined track surfaces on the upper part of the second guide rail 110. The two second limiting wheels 124 can be symmetrically mounted on the lower part of the second guide frame 121 and can move (roll) along the two inclined track surfaces on the lower part of the second guide rail 110.

[0048] In some embodiments, as shown in FIG2, the first guide wheel assembly 140 includes a first guide frame 141 and two first traveling wheels 143. The first guide frame 141 can be hinged to the top of the mounting frame 131 via a first pivot 142. The two first traveling wheels 143 can be mounted on the first guide frame 141, and the two first traveling wheels 143 can be symmetrically arranged on both sides of the first guide rail 150, and can move (roll) along the two vertical track surfaces on both sides of the first guide rail 150.

[0049] According to the embodiments of the present invention, the walking guide and drive device 100 for a three-dimensional sorting machine, in which the second guide wheel set 120 and the second guide rail 110 cooperate, not only ensures the smooth movement of the sorting module 130 along the second guide rail 110 (including straight and curved sections), but also limits the forward or backward tilting tendency of the sorting module 130 during movement, and can bear the weight of the sorting module. The cooperation between the first guide wheel set 140 and the first guide rail 150 does not need to bear the weight of the sorting module 130, nor does it need to prevent the forward or backward tilting tendency of the sorting module 130; it only needs to limit the lateral tilting tendency of the sorting module 130 (i.e., the direction perpendicular to the vertical track plane of the first guide rail 150), playing an auxiliary role in the guiding movement of the sorting module 130 along the first guide rail 150 and the second guide rail 110. Based on this, the present invention has relatively low requirements for the installation accuracy of the first guide rail 150 and the second guide rail 110, making installation easier.

[0050] In some embodiments, the three-dimensional sorting machine includes a frame. As shown in FIG3, a second guide rail 110 (between the two inclined track surfaces at the bottom) extends downward to form a horizontal track bottom surface. The track bottom surface of the second guide rail 110 can be fixedly connected to the frame, thereby enabling it to support the sorting module 130.

[0051] In some embodiments, as shown in Figures 6 and 7, one end of the pull rod 167 is connected to the curve compensation mounting plate 163, and the other end of the pull rod 167 passes through the follower compensation mounting plate 165, with a nut and a washer provided at the other end of the pull rod 167. One end of the compression spring 168 abuts against the side of the follower compensation mounting plate 165, and the other end of the compression spring 168 abuts against the nut and the washer.

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

[0053] The walking guide and drive device 100 for a three-dimensional sorting machine provided in this embodiment of the invention uses a main guide rail (first guide rail) and an auxiliary guide rail (second guide rail) in cooperation with corresponding guide wheel sets to guide the walking of the sorting module. The cooperation between the main guide rail and the corresponding guide wheel sets ensures the smooth movement of the sorting module along the guide rail, prevents the sorting module from tilting forward or backward, and can bear the weight of the sorting module. The cooperation between the auxiliary guide rail and the corresponding guide wheel sets does not need to bear the weight of the sorting module or prevent the sorting module from tilting forward or backward; it only needs to limit the lateral tilting tendency of the sorting module and plays an auxiliary role in the guiding movement. Based on this, the invention can reduce the redundancy of the constraints on the two guide rails and has relatively low requirements for the installation accuracy of the two guide rails. In addition, this invention integrates the walking drive module at the bottom of the sorting module. On the one hand, it can save the space occupied by the loop length and improve sorting efficiency. On the other hand, during the movement of the walking drive wheel along the second guide rail, under the action of the pull rod and the compression spring, the curve compensation mounting plate and the follower compensation mounting plate move relative to each other along the second horizontal direction towards the second guide rail, and respectively drive the walking drive wheel and the follower wheel to press against the two vertical surfaces of the second guide rail. In this way, positive pressure can be provided for the movement of the walking drive wheel along the vertical surface to ensure that the walking drive wheel moves stably along the second guide rail, and it is applicable to both straight and curved guide rails.

[0054] In this specification, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. Furthermore, the terms "front," "rear," "upper," "lower," "inner," "outer," "top," "bottom," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or unit 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 invention.

[0055] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

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

[0057] Those skilled in the art will understand that modules, units, or components of the devices disclosed in the examples herein can be arranged in the devices described in this embodiment, or alternatively, can be located in one or more devices different from the devices in this example. The modules in the foregoing examples can be combined into a single module or, in addition, can be divided into multiple sub-modules.

[0058] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

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

[0060] As used herein, unless otherwise specified, the use of ordinal numbers such as “first,” “second,” “third,” etc., to describe ordinary objects merely indicates different instances of similar objects and is not intended to imply that the objects being described must have a given order in time, space, ordering, or any other manner.

[0061] Although the invention has been described with respect to a limited number of embodiments, those skilled in the art will understand from the foregoing description that other embodiments are conceivable within the scope of the invention described herein. Furthermore, it should be noted that the language used in this specification has been chosen primarily for readability and edibility purposes, and not for the purpose of interpreting or limiting the subject matter of the invention. Therefore, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of the invention is illustrative rather than restrictive, and the scope of the invention is defined by the appended claims.

Claims

1. A walking guide and drive device for an automated sorting machine, comprising: The first guide rail is arranged along the first horizontal direction. The cross-section of the first guide rail is rectangular. A vertical track surface is provided on each side of the first guide rail. The first guide rail is racetrack shaped and includes a first straight segment and a first arc segment. The second guide rail is arranged below the first guide rail along the first horizontal direction. The cross-section of the second guide rail is rhomboid. A pair of inclined track surfaces are provided on both sides of the second guide rail, and there is a vertical surface between the pair of inclined track surfaces. The second guide rail is racetrack shaped and includes a second straight segment and a second arc segment. The sorting module is adapted to move along the first guide rail and the second guide rail. The sorting module includes a first guide wheel group and a second guide wheel group. The first guide wheel group is adapted to move along two vertical track surfaces on both sides of the first guide rail, and the second guide wheel group is adapted to move along four inclined track surfaces on both sides of the second guide rail. A walking drive module, integrated at the bottom of the sorting module, is adapted to move along the second guide rail to drive the sorting module to move along the first guide rail and the second guide rail. The walking drive module includes: The main support mounting plate is fixedly connected to the bottom of the mounting frame of the sorting module; A curve compensation mounting plate is movably connected to the main support mounting plate and is adapted to move relative to the main support mounting plate in a second horizontal direction perpendicular to the first horizontal direction. The follow-up compensation mounting plate is movably connected to the main support mounting plate and is adapted to move relative to the main support mounting plate in a second horizontal direction perpendicular to the first horizontal direction; A tie rod is arranged along the second horizontal direction, and the tie rod is connected to the curve compensation mounting plate and the follow-up compensation mounting plate respectively. A compression spring is sleeved on the pull rod, and the compression spring abuts against the follower compensation mounting plate; The power reduction module is fixedly installed on the curve compensation mounting plate; The driving wheel is connected to the power reduction module and is adapted to move along the vertical surface of the second guide rail under the power of the power reduction module, so as to drive the sorting module to move along the first guide rail and the second guide rail. The follower wheel is rotatably mounted on the follower compensation mounting plate, and the follower wheel and the walking drive wheel are respectively arranged on both sides of the second guide rail; During the movement of the driving wheel along the vertical surface of the second guide rail, under the action of the pull rod and the compression spring, the curve compensation mounting plate and the follower compensation mounting plate are adapted to move relative to each other along the second horizontal direction toward the direction close to the second guide rail, and respectively drive the driving wheel and the follower wheel to press against the two vertical surfaces on both sides of the second guide rail, so as to provide positive pressure for the driving wheel to move along the vertical surface; When the sorting module passes through the first arc segment and the second arc segment, the sorting module and the main support mounting plate move together along the second guide rail toward the center of the second arc segment. The curve compensation mounting plate and the follower compensation mounting plate are adapted to move relative to the main support mounting plate, and drive the power reduction module, the walking drive wheel, the follower wheel, the pull rod and the compression spring to move synchronously. The walking drive wheel and the follower wheel are adapted to press against the two vertical surfaces on both sides of the second guide rail under the action of the pull rod and the compression spring, so as to provide positive pressure for the walking drive wheel to move along the vertical surface.

2. The apparatus of claim 1, wherein, The sorting module also includes: The mounting bracket is arranged between the first guide rail and the second guide rail; The first guide wheel assembly is mounted on the top of the mounting bracket; The second guide wheel assembly is mounted on the bottom of the mounting bracket.

3. The apparatus of claim 2, wherein, The second guide wheel assembly includes: The second guide frame is hinged to the bottom of the mounting frame via a second pivot; Two second traveling wheels are symmetrically mounted on the upper part of the second guide frame, suitable for moving along the two inclined track surfaces on the upper part of the second guide rail; Two second limit wheels are symmetrically installed on the lower part of the second guide frame, and are suitable for moving along the two inclined track surfaces at the lower part of the second guide rail.

4. The apparatus of claim 2, wherein, The first guide wheel assembly includes: The first guide frame is hinged to the top of the mounting frame via a first pivot; Two first traveling wheels are mounted on the first guide frame and symmetrically arranged on both sides of the first guide rail, suitable for moving along the two vertical track surfaces on both sides of the first guide rail.

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

6. The apparatus of claim 5, wherein, The walking drive module is installed between the two second guide wheel sets.

7. The apparatus according to any one of claims 1-4, wherein, The three-dimensional sorting machine includes a frame; The second guide rail extends downward to form a horizontal track bottom surface, which is fixedly connected to the frame to support the sorting module.

8. The apparatus according to any one of claims 1-4, wherein, One end of the tie rod is connected to the curve compensation mounting plate, and the other end of the tie rod passes through the follow-up compensation mounting plate. The other end of the tie rod is provided with a nut and a washer. One end of the compression spring abuts against the side of the follow-up compensation mounting plate, and the other end of the compression spring abuts against the nut and washer.

9. The apparatus of claim 8, wherein, The follow-up compensation mounting plate includes: The first mounting part is rotatably connected to the follower wheel; The second mounting portion is formed by extending upward from one end of the first mounting portion; The other end of the pull rod passes through the second mounting portion of the follow-up compensation mounting plate, the compression spring is arranged on the first mounting portion, and one end of the compression spring abuts against the side of the second mounting portion.

10. The apparatus according to any one of claims 1-4, wherein, The sorting module also includes: The sorting cart is mounted on the mounting frame and is adapted to move vertically along the mounting frame.

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