Handling equipment with three-stage guiding device

Abstract

The present disclosure discloses a handling equipment with a three-stage guiding device, where the first stage guiding assembly limiting fits with the inner sides of the changing-over track at the moment of reversing of the handling equipment, so as to adjust a posture of the handling equipment for a first time and reduce the offset angle of an equipment frame relative to the sub rail. Then, the posture of the handling equipment embedded in the sub rail is adjusted for a second time through the second stage guiding assembly, so as to further reduce the offset angle of the equipment frame relative to the sub rail. Finally, the posture of the handling equipment embedded in the sub rail is adjusted for a third time through the third stage guiding assembly, further reducing the offset angle of the equipment frame relative to the sub rail.

What is claimed is: 
     
         1 . A handling equipment with a three-stage guiding device, comprising an equipment frame, and a traveling mechanism and the three-stage guiding device both provided on the equipment frame, wherein:
 the traveling mechanism comprises a first traveling wheel set and a second traveling wheel set, the first traveling wheel set is provided on a first side and a second side of the equipment frame, and the second traveling wheel set is provided on a third side and a fourth side of the equipment frame, the first side is opposite to the second side, and the third side is opposite to the fourth side;   the three-stage guiding device comprises a first stage guiding assembly, a second stage guiding assembly, and a third stage guiding assembly, the first stage guiding assembly, the second stage guiding assembly, and the third stage guiding assembly each are symmetrically distributed on the first side and the second side, and are rotatable relative to the equipment frame;   a longest distance between two corresponding second guiding members in the second stage guiding assembly is less than a longest distance between two corresponding third guiding members in the third stage guiding assembly;   the first stage guiding assembly is configured to limiting fit with inner sides of a changing-over track at a moment of reversing of the handling equipment, so as to limit an offset angle of the equipment frame relative to a sub rail;   the second stage guiding assembly is configured to guide by generating rolling friction with a limit plate located on an outer side of the sub rail during the handling equipment enters the sub rail, so as to reduce the offset angle of the equipment frame relative to the sub rail; and   the third stage guiding assembly is configured to guide by generating rolling friction with the limit plate during and after the handling equipment enters the sub rail, so as to reduce the offset angle of the equipment frame relative to the sub rail.   
     
     
         2 . The handling equipment according to  claim 1 , wherein the first side and the second side each are provided with at least two second guiding members and at least two third guiding members;
 wherein along extension directions of the first side and the second side, the at least two third guiding members on a same side are located between the at least two second guiding members, so that the at least two second guiding members are embedded into the sub rail before the at least two third guiding members.   
     
     
         3 . The handling equipment according to  claim 1 , wherein the first stage guiding assembly comprises four first guiding members, and any one of the four first guiding members is a wheel blocking edge of a first traveling wheel in a middle position of one side in the first traveling wheel set, wherein a distance between circle centers of two first traveling wheels with the wheel blocking edge and on a same side is greater than or equal to one-third of a length of the first side of the equipment frame. 
     
     
         4 . The handling equipment according to  claim 3 , wherein each first guiding member has an inclined guiding surface that fits with an inner side of the sub rail, and an inclined direction of the inclined guiding surface is such that a distance between circle centers of each first guiding member and the first traveling wheel gradually increases radially outward. 
     
     
         5 . The handling equipment according to  claim 3 , wherein along extension directions of the first side and the second side, at least two first guiding members on a same side are located between at least two third guiding members. 
     
     
         6 . The handling equipment according to  claim 2 , wherein the first stage guiding assembly comprises four first guiding members, and any one of the four first guiding members is a wheel blocking edge of a first traveling wheel in a middle position of one side in the first traveling wheel set, wherein a distance between circle centers of two first traveling wheels with the wheel blocking edge and on a same side is greater than or equal to one-third of a length of the first side of the equipment frame. 
     
     
         7 . The handling equipment according to  claim 6 , wherein each first guiding member has an inclined guiding surface that fits with an inner side of the sub rail, and an inclined direction of the inclined guiding surface is such that a distance between circle centers of each first guiding member and the first traveling wheel gradually increases radially outward. 
     
     
         8 . The handling equipment according to  claim 6 , wherein along extension directions of the first side and the second side, at least two first guiding members on a same side are located between the at least two third guiding members. 
     
     
         9 . The handling equipment according to  claim 1 , wherein the first stage guiding assembly comprises at least four first guiding members, and each of the first side and the second side is provided with at least two first guiding members;
 wherein the at least four first guiding members are guiding wheels and located at a bottom of the equipment frame, central axes of the at least four first guiding members are parallel to a vertical direction, and the at least four first guiding members are configured to guide by generating rolling friction with the inner sides of the changing-over track during the reversing of the handling equipment.   
     
     
         10 . The handling equipment according to  claim 9 , wherein a ratio of a distance between circle centers of two first guiding members located on a same side and at outermost ends to a length of the first side of the equipment frame is greater than or equal to a first ratio;
 wherein the first ratio is determined based on a maximum deviation angle between a first guiding straight line formed by the two first guiding members and the sub rail.   
     
     
         11 . The handling equipment according to  claim 2 , wherein the at least two second guiding members are guiding wheels, central axes of the at least two second guiding members are parallel to a vertical direction, and the at least two second guiding members are configured to guide by generating rolling friction with the limit plate. 
     
     
         12 . The handling equipment according to  claim 11 , wherein in response to the second stage guiding assembly comprising four second guiding members, the four second guiding members are respectively provided at four side vertices of the equipment frame. 
     
     
         13 . The handling equipment according to  claim 2 , wherein the at least two third guiding members are guiding wheels, and central axes of the at least two third guiding members are parallel to a vertical direction. 
     
     
         14 . The handling equipment according to  claim 13 , wherein a ratio of a distance between circle centers of two third guiding members located on a same side and at outermost ends to a length of the first side of the equipment frame is greater than or equal to a second ratio;
 wherein the second ratio is determined based on a maximum deviation angle between a third guiding straight line formed by the two third guiding members and the sub rail.   
     
     
         15 . The handling equipment according to  claim 1 , wherein the handling equipment comprises one of the following: a four-way shuttle vehicle, a six-way shuttle vehicle, or a track robot.