CN108840055B

CN108840055B - Bidirectional rotary delivery trolley

Info

Publication number: CN108840055B
Application number: CN201810954051.6A
Authority: CN
Inventors: 罗升
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-08-21
Filing date: 2018-08-21
Publication date: 2024-04-05
Anticipated expiration: 2038-08-21
Also published as: CN108840055A

Abstract

The invention discloses a bidirectional rotary delivery trolley, which comprises a frame, a carriage, a track, a bogie assembly, a walking structure, a walking driving structure and a rotation driving structure, wherein the bogie assembly is arranged on the carriage; the frame is also provided with a controller, and a horizontal stabilizing component is arranged in the carriage. The bogie assembly and the rotation driving structure enable the carriage to be stable all the time when the track changes, and the carriage cannot rotate or undulate along with the change of the track; the horizontal stabilizing component in the carriage realizes the carriage inclination measurement of the delivery trolley, when the carriage is in an unbalanced state, the controller controls the rotation driving structure to adjust the rotation angle of the carriage through the measured inclination change amount, the walking structure and the walking driving structure can rotate when the track changes and can not drive the carriage to rotate together, so that the carriage is always in a horizontal state, the goods can be prevented from overturning and rolling in the carriage, and the damage caused by the collision of the goods and the carriage is avoided.

Description

Bidirectional rotary delivery trolley

Technical Field

The invention relates to the field of logistics distribution, in particular to a bidirectional rotary delivery trolley.

Background

Along with the high-speed development of informatization, the combination of electronic commerce and logistics industry is more and more intimate, so that the logistics industry rapidly develops towards the characteristics of high efficiency and rapidness, and one of the main reasons is the continuous development and application of a delivery system in the logistics industry. When goods are distributed and distributed in the logistics industry, the delivery system with the matched track and the delivery trolley is adopted, so that the distribution time is greatly saved.

At present, the delivery system is initially used in daily life of people, is mainly applied to hospitals and libraries, is used for delivering medical articles or other common goods, and can deliver the articles by arranging delivery tracks on the outer wall or the indoor wall of a building and utilizing the delivery trolley. The carriage of the delivery trolley is used for loading goods to be delivered, when the delivery trolley encounters a track for turning, turning or rising up the track, the carriage can rotate or tilt up and down along with the change of the track, so that the stability cannot be maintained, the goods in the carriage can turn over and roll, and the damage of the goods is easily caused.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: the carriage of the bidirectional rotary delivery trolley can be always kept horizontal when the track changes.

The technical scheme adopted by the invention for solving the technical problems is as follows: the bidirectional rotary delivery trolley comprises a frame, a carriage, a track, a bogie assembly, a walking structure, a walking driving structure and a rotary driving structure;

the bogie component is movably connected with the frame and can horizontally rotate;

the walking driving structure is movably connected with the bogie assembly and can vertically rotate;

the walking structure is fixed on the bogie assembly and can move along the track under the drive of the walking driving structure;

the rotating driving structure is arranged on the frame and connected with the carriage, and the carriage can horizontally rotate under the drive of the rotating driving structure;

the vehicle frame is also provided with a controller, and a horizontal stabilizing component is arranged in the vehicle box; the controller is electrically connected with the rotation driving structure and the horizontal stabilizing component respectively.

Further is: the bogie assembly consists of a first bogie and a second bogie, the walking driving structure is fixed on the second bogie, the second bogie is movably connected with the first bogie and can vertically rotate, and the first bogie can horizontally rotate.

Further is: the walking driving structure comprises a walking driving motor, a walking transmission piece and a transmission gear, wherein a rack extending along the track is arranged on the track, the walking driving motor is fixed on the second bogie, the walking transmission piece is in transmission connection with the walking driving motor, and the transmission gear is in transmission connection with the walking transmission piece and meshed with the rack.

Further is: the walking transmission part is of a gear transmission structure or a worm and gear transmission structure.

Further is: at least one group of roller assemblies matched with the track are arranged on the walking structure.

Further is: at least two groups of roller assemblies matched with the track are arranged on the walking structure, and the two groups of roller assemblies are arranged in front and back parallel.

Further is: the roller assembly consists of two vertical rollers and one horizontal roller, the track is a convex-edge track, and arc convex edges are arranged on two sides of the track; the circular arc convex edge is clamped by the vertical roller and the horizontal roller.

Further is: the rotary driving structure comprises a rotary driving motor, a rotating shaft and a rotary transmission piece, wherein the rotary driving motor is fixed on the frame, and the rotary transmission piece is in transmission connection with the rotary driving motor; one end of the rotating shaft is connected with the frame, and the other end is connected with the rotating transmission piece in a transmission way.

Further is: the rotary transmission part is of a gear transmission structure or a worm and gear transmission structure.

Further is: the horizontal stabilizing component is a gyroscope and an acceleration sensor.

The beneficial effects of the invention are as follows: the bogie assembly and the rotation driving structure enable the carriage to be stable all the time when the track changes, and the carriage cannot rotate or undulate along with the change of the track; the horizontal stabilizing component in the carriage realizes the carriage inclination measurement of the delivery trolley, when the carriage is in an unbalanced state, the controller controls the rotation driving structure to adjust the rotation angle of the carriage through the measured inclination change amount, the walking structure and the walking driving structure can rotate when the track changes and can not drive the carriage to rotate together, so that the carriage is always in a horizontal state, the goods can be prevented from overturning and rolling in the carriage, and the damage caused by the collision of the goods and the carriage is avoided.

Drawings

FIG. 1 is an isometric view of the present invention;

FIG. 2 is a front view of a first mating pattern of the track and walking structure of the present invention;

FIG. 3 is a side view of the present invention;

FIG. 4 is an isometric view of the truck bed of the present invention after rotation;

FIG. 5 is an isometric view of a track;

FIG. 6 is a schematic view of the present invention passing through a curved track;

FIG. 7 is a schematic view of the bogie assembly of the present invention as it passes over a curved track;

FIG. 8 is a schematic view of the present invention passing through undulating tracks;

FIG. 9 is a schematic view of the rotation of the travel drive structure of the present invention as it passes over a undulating track;

FIG. 10 is a schematic view of the rotation of the travel drive structure of the present invention as it passes over a undulating track;

FIG. 11 is a front view of a second mating pattern of the track and walking structure of the present invention;

FIG. 12 is a front view of a third mating pattern of the track and walking structure of the present invention;

FIG. 13 is a bottom view of a track employing a second flange in accordance with the present invention;

marked in the figure as: 1-frame, 2-carriage, 3-track, 31-rack, 32-circular arc convex edge, 4-bogie component, 41-first bogie, 42-second bogie, 5-walking structure, 51-vertical roller, 52-horizontal roller, 6-walking driving structure, 61-walking driving motor, 62-walking transmission piece, 63-transmission gear, 7-rotation driving structure, 71-rotation driving motor, 72-rotating shaft and 73-rotation transmission piece.

Detailed Description

In order to facilitate an understanding of the invention, the invention is further described below with reference to the accompanying drawings.

On the basis of the structures of the frame 1, the carriage 2 and the track 3, as shown in fig. 1 to 4, in order to ensure that the delivery trolley keeps horizontal in the process of running along with the track 3, at least one bogie assembly 4, at least one travelling structure 5, at least one travelling driving structure 6 and at least one steering driving structure 7 are arranged, and the front part and the rear part of the frame 1 are respectively arranged. The existing delivery trolley is fixed with a frame structure in the running process of the rail, so that the rotation direction of the carriage cannot be controlled by itself, but the carriage moves along with the frame structure, if the rail encounters a turn or undulation, the carriage inevitably rotates in the horizontal direction or sags and rises in the vertical direction, the cargo in the carriage can be certainly rolled, and the damage to the cargo is easily caused. The invention aims to ensure that the delivery trolley keeps horizontal all the time in the process of running along the track, and can effectively ensure that goods in the carriage cannot be damaged by rolling.

The bogie assembly 4 is movably connected with the frame 1 and can vertically rotate, the specific structure of the bogie assembly 4 is shown in fig. 1 and 2, the bogie assembly comprises a first bogie 41 and a second bogie 42, the number of the first bogie 41 is identical to that of the second bogie 42, the two first bogies 41 are arranged on the frame 1 in parallel, the first bogie 41 is movably connected with the frame 1 through a vertical shaft vertical to the frame 1, and the first bogie 41 can rotate around the vertical shaft in the horizontal direction, namely, the track 3 can horizontally rotate as a reference plane. The second bogies 42 are not directly connected with the frame 1, but are arranged on the first bogies 41, each first bogie 41 is connected with one second bogie 42, the second bogies 42 are movably connected on the first bogies 41 through a horizontal shaft parallel to the frame 1, and then the second bogies 42 can rotate around the horizontal shaft in the vertical direction, namely, the rail 3 can vertically rotate as a reference plane. The rotation of the first bogie 41 and the second bogie 42 does not depend on power, but rotates according to the change of the track 3 as shown in fig. 6 to 10. Two or more first bogies 41 and two second bogies 42 with consistent numbers are adopted to ensure that the bogie assembly 4 runs smoothly in the track 3, and limit the front end and the rear end of the delivery trolley at the same time, if only one first bogie 41 and one second bogie 42 are adopted, the running may be unstable.

In the invention, the power of the delivery trolley moving on the track 3 is derived from a walking driving structure 6, as shown in fig. 2, the walking driving structure 6 comprises a walking driving motor 61, a walking transmission piece 62 and a transmission gear 63, the walking driving motor 61 is fixed on the second bogie 42, the walking transmission piece 62 is in transmission connection with the walking driving motor 61, the transmission gear 63 is in transmission connection with the walking transmission piece 62, the walking structure 5 and the track 3 are matched, as shown in fig. 5, the track 3 is a convex track, racks 31 extending along the track 3 are arranged on the track 3, circular arc convex edges 32 are arranged on two sides of the track 3, and the transmission gear 63 is meshed with the racks; the connecting structure in the middle of the track 3 can adopt a whole plate block structure or a plurality of single connecting strip structures which are arranged in parallel between two circular arc convex edges 32; as shown in fig. 13, if a single connecting strip structure is adopted, the circular arc convex edge 32 can be set as a cylinder, that is, the structure of the track 3 is formed by connecting two parallel cylinders by a plurality of connecting strips, so that the production cost can be effectively saved. As shown in fig. 1 to 4, the running structure 5 is provided with a roller assembly matched with the track 3, the roller assembly consists of two vertical rollers 51 and one horizontal roller 52, the vertical rollers 51 and the horizontal rollers 52 clamp the circular arc convex edge 32, the running structure 5 and the track 3 are mutually matched for limiting, the running structure 5 and the track 3 are ensured not to be separated, thus the running stability of the delivery trolley can be ensured, and the delivery trolley can be ensured not to fall off when the track 3 is arranged on a vertical wall or a ceiling. In addition to the above-described manner of cooperation of the track 3 and the running structure 5, as shown in fig. 11 and 12, a channel-shaped track and an everting track may be used; as shown in the groove-shaped track in fig. 11, the track 3 clamps the roller assemblies of the walking structure 5 in the inner groove, the vertical rollers 51 of the roller assemblies respectively abut against the upper surface and the lower surface of the inner groove of the track 3, the horizontal rollers 52 abut against the side surface of the inner groove of the track 3, the roller assemblies are limited by the track 3, and the roller assemblies are clamped in the inner groove of the track 3 in an embedded manner, so that the roller assemblies cannot be separated from the track; as shown in fig. 12, the everting track is provided with an arc convex edge 32 at the flanging of the groove-shaped track, the arc convex edge 32 is clamped by a vertical roller 51 and a horizontal roller 52, two limiting modes of embedded and externally clamped are simultaneously adopted in the matching structure, the vertical roller 51 below the roller assembly is embedded in the inner groove of the track 3, and meanwhile, the roller assembly clamps the arc convex edge 32 of the track 3, so that the roller assembly cannot be separated from the everting track. The walking driving motor 61 works, the walking driving piece 62 drives the driving gear 63 to rotate, and the driving gear 63 rolls along the rack 3 due to the meshing of the driving gear 63 and the rack 3, so that the movement of the delivery trolley on the track 3 is realized.

In the above-mentioned three ways of matching of orbit 3 and walking structure 5, when adopting the chimb orbit, can only set up two sets of left and right sides of roller assemblies on each walking structure 5, namely set up a set of roller assemblies on both sides of the bogie assembly 4 separately, because in this way of matching, the roller assembly locates at outside of orbit 3, is equivalent to orbit 3 to carry on the spacing to the first bogie 41, the rotation of the first bogie 41 in horizontal direction is controlled by orbit 3 completely, only will rotate along with the bending change of orbit 3, if the orbit 3 is not bent, the first bogie 41 is limited by orbit 3 and can not rotate, when meeting the obstacle, because the first bogie 41 can not rotate by oneself outside the restriction of orbit 3, can not derail but will block in the obstacle place and make the delivery trolley stop; of course, when the flange rail is adopted, two sets of roller assemblies may be respectively arranged on the left side and the right side of the bogie assembly 4 in order to improve the stability of the delivery trolley during high-speed operation. When the grooved rail and the eversion rail are adopted, at least four groups of roller assemblies are required to be arranged on each walking structure 5, namely, two groups of roller assemblies are respectively arranged on the left side and the right side of the bogie assembly 4, the two groups of roller assemblies on the same side are in front-back parallel, if the left side and the right side of the bogie assembly 4 are only provided with one group of roller assemblies, the steering of the first bogie 41 is not completely controlled by the rail 3, if a road is in contact with an obstacle, the first bogie 41 can deflect in the rail 3 due to the influence of the obstacle, the trolley can be delivered in an off-track when the first bogie 41 is in excessive deflection degree, therefore, when the grooved rail and the eversion rail are adopted, the left side and the right side of the bogie assembly 4 are respectively provided with two groups of roller assemblies, namely, the front side and the rear side of the bogie assembly are correspondingly limited by the front side and the rear side of the roller assemblies, the front side of the first bogie 41 are arranged on the first bogie 41, the first bogie 41 can rotate in the horizontal direction, and the roller assemblies can not rotate in the horizontal direction, if the rail 3 is not bent, the road obstacle is in contact with the obstacle, the first bogie 41 can not deflect in the rail 3, and the trolley can be delivered in the off-track, and the trolley can not be caused to deflect by the influence of the obstacle.

Since the traveling driving structure 6 is fixed on the second bogie 42, when the delivery trolley encounters the undulating track, as shown in fig. 8 to 9, the traveling driving structure 6 is guided by the track 3 to vertically rotate, and drives the second bogie 42 to simultaneously rotate, so that the carriage 2 is not affected and still remains horizontal.

On the basis of the bogie assembly 4, the invention also provides the rotation driving structure 7 for adjusting the horizontal inclination angle of the carriage 2, because although the carriage 2 does not rotate along with the bogie assembly 4, the carriage 2 is inevitably deflected to a certain extent in the horizontal direction under the influence of the inertia of the movement, so that the carriage 2 is in an unbalanced state, the rotation driving structure 7 is required to correct the angle of the carriage 2, and the rotation driving structure 7 is matched with a controller arranged on the frame 1 and a horizontal stabilizing component which is arranged in the carriage 2 and is used for adjusting the balance of the delivery trolley, wherein the horizontal stabilizing component consists of a gyroscope and an acceleration sensor, and the controller is respectively electrically connected with the rotation driving structure 7, the gyroscope and the acceleration sensor. The specific structure of the rotation driving structure 7 is shown in fig. 3, and comprises a rotation driving motor 71, a rotating shaft 72 and a rotation transmission member 73, wherein the rotation driving motor 71 is fixed on the frame 1, and the rotation transmission member 73 is in transmission connection with the rotation driving motor 71; one end of the rotating shaft 72 is connected with the frame 1, and the other end is connected with the rotation driving member 73 in a driving manner. When the carriage 2 is in an unbalanced state after turning, the inclination angle of the carriage 2 can be measured through a gyroscope and an acceleration sensor in the carriage 2, and the specific program is that the gyroscope transmits an inclination signal to the controller, the acceleration sensor transmits an inclination speed to the controller, and the controller transmits an execution signal to the rotation driving structure 7 after internal processing according to the change amount of the inclination angle, so that the rotation driving structure 7 is controlled to realize the rotation of the carriage 1 in the horizontal direction, and the carriage 2 is always in balance in the horizontal direction. The rotary driving structure 7 is further provided with a driving module, and the connection and matching between the driving module and the motor are conventional technical means in the art, which will not be described herein.

The rotating shaft 72 in the rotating driving structure 7 can be a hollow rotating shaft, the center of the hollow rotating shaft is used for wiring, the external wiring is prevented from influencing the operation of the delivery trolley, and the wiring can be protected.

In the present invention, the walking transmission member 62 and the rotation transmission member 73 may be gear transmission structures or worm and gear transmission structures.

Claims

1. The utility model provides a two-way rotation delivery wagon, includes frame (1), railway carriage (2) and track (3), its characterized in that: the steering system also comprises a bogie assembly (4), a walking structure (5), a walking driving structure (6) and a rotation driving structure (7);

the bogie component (4) is movably connected with the frame (1) and can horizontally rotate;

the walking driving structure (6) is movably connected with the bogie assembly (4) and can vertically rotate;

the walking structure (5) is fixed on the bogie assembly (4) and can move along the track (3) under the drive of the walking driving structure (6), at least two groups of roller assemblies matched with the track (3) are arranged on the walking structure (5), the two groups of roller assemblies are arranged in parallel front and back, each roller assembly consists of two vertical rollers (51) and one horizontal roller (52), the track (3) is a convex edge track, and arc convex edges (32) are arranged on two sides of the track (3); the circular arc convex edge (32) is clamped by the vertical roller (51) and the horizontal roller (52);

the rotary driving structure (7) is arranged on the frame (1) and connected with the carriage (2), and the carriage (2) can horizontally rotate under the drive of the rotary driving structure (7);

a controller is further arranged on the frame (1), and a horizontal stabilizing component is arranged in the carriage (2); the controller is electrically connected with the rotation driving structure (7) and the horizontal stabilizing component respectively.

2. The bi-directional rotating delivery wagon of claim 1, wherein: the bogie assembly (4) is composed of a first bogie (41) and a second bogie (42), the walking driving structure (6) is fixed on the second bogie (42), the second bogie (42) is movably connected with the first bogie (41) and can vertically rotate, and the first bogie (41) can horizontally rotate.

3. The bi-directional rotating delivery wagon of claim 2, wherein: the walking driving structure (6) comprises a walking driving motor (61), a walking transmission piece (62) and a transmission gear (63), wherein a rack (31) extending along the track (3) is arranged on the track (3), the walking driving motor (61) is fixed on the second bogie (42), the walking transmission piece (62) is in transmission connection with the walking driving motor (61), and the transmission gear (63) is in transmission connection with the walking transmission piece (62) and meshed with the rack (31).

4. A bi-directional rotating delivery wagon as defined in claim 3, wherein: the walking transmission piece (62) is of a gear transmission structure or a worm and gear transmission structure.

5. The bi-directional rotating delivery wagon of claim 1, wherein: the rotary driving structure (7) comprises a rotary driving motor (71), a rotating shaft (72) and a rotary transmission piece (73), wherein the rotary driving motor (71) is fixed on the frame (1), and the rotary transmission piece (73) is in transmission connection with the rotary driving motor (71); one end of the rotating shaft (72) is connected with the frame (1), and the other end is connected with the rotating transmission piece (73) in a transmission way.

6. The bi-directional rotating delivery wagon of claim 5, wherein: the rotary transmission part (73) is of a gear transmission structure or a worm and gear transmission structure.

7. The bi-directional rotating delivery wagon of claim 1, wherein: the horizontal stabilizing component is a gyroscope and an acceleration sensor.