Ball spline device, automated guided vehicle and stereoscopic warehouse system

An automated guided vehicle, comprising a ball spline device, a wheel and a drive member, wherein the ball spline device, comprises:

• a spline shaft, an outer side wall of which is provided with a raceway groove extending along an axial direction, the raceway groove comprising a first groove section and a second groove section communicated along the axial direction, a width of the second groove section being greater than a width of the first groove section;
• a spline nut, coaxially sleeved outside the spline shaft;
• and
• a first rolling body, movably disposed in the raceway groove along the axial direction, so as to achieve relative movement of the spline nut and the spline shaft;
• wherein when the spline nut is in a first position, the first rolling body is in the first groove section and cooperates with the first groove section in a constrained manner, so as to cause synchronous rotation of the spline nut and the spline shaft;
• and when the spline nut is in a second position, the first rolling body is in the second groove section, so that there is a predetermined gap in a circumferential direction between the spline shaft and the spline nut;
• wherein the wheel is coaxially mounted to the spline nut, the drive member is configured to provide drive power for the rotation of the spline shaft, and the spline nut comprises:
• an inner nut, sleeved outside the spline shaft and connected with the wheel;
• an outer nut, sleeved outside the inner nut, the outer nut is provided with a flange structure, and the outer nut is connected with a support frame disposed on the automated guided vehicle by means of the flange structure;
• and
• a second rolling body, movably disposed between the inner nut and the outer nut along the circumferential direction, so as to enable relative rotation of the inner nut and the outer nut;
• wherein the first rolling body is disposed between the inner nut and the raceway groove.