CN110667713B

CN110667713B - Self-driven logistics mobile platform

Info

Publication number: CN110667713B
Application number: CN201910813235.5A
Authority: CN
Inventors: 贺智威
Original assignee: Candela Shenzhen Technology Innovations Co Ltd
Current assignee: Kandra Shenzhen Intelligent Technology Co ltd
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2023-02-03
Anticipated expiration: 2039-08-30
Also published as: CN110667713A

Abstract

The application discloses self-propelled logistics mobile platform, this self-propelled logistics mobile platform includes: the carrying device is used for carrying goods or commodities to be transferred; a drive means independent of and releasably connected to said carrier means; and the control module is used for controlling the operation of the driving device so as to enable the driving device to be connected with the bearing device, enable the driving device to be separated from the bearing device or enable the driving device to drive the bearing device to move to a destination. According to the application, in the self-driven logistics moving platform, the driving device for providing the driving force and the carrying device for carrying goods or commodities are designed to be independently and releasably connected with each other, so that various complicated and changeable distribution modes can be met.

Description

Self-driven logistics mobile platform

Technical Field

The application relates to the field of intelligent logistics, in particular to a self-driven logistics mobile platform.

Background

Currently, the development of the field of intelligent logistics is changing day by day. The mobile platform or the mobile device for transferring and moving goods or commodities belongs to a core part in the field of intelligent logistics.

In order to adapt to the development trend of intelligent logistics, unmanned intelligent self-driven logistics mobile platforms have been developed to replace traditional logistics mobile platforms operated by people. In the intelligent self-propelled logistics mobile platform, an intelligent self-propelled walking mechanism (such as an intelligent self-propelled vehicle) is generally included, and the walking mechanism is used for bearing goods or commodities.

Then, with the continuous development of intelligent logistics, there is a need to further improve the efficiency of logistics distribution so as to realize the distribution of more goods or commodities within a certain time. Under the existing condition of the intelligent self-driven vehicle, the dispatching system needs to be configured with more intelligent self-driven vehicles so as to realize complex and variable distribution modes. On the one hand, this would bring about a drastic increase in the cost of the logistics system, and on the other hand, it would not be possible to further meet the more complex and varied distribution requirements.

Therefore, how to provide a technical solution to satisfy complicated and variable delivery modes in a manner of at least not increasing the cost is a technical problem to be solved in the field.

Disclosure of Invention

In view of the above, the present application provides a solution for a self-propelled logistics mobile platform.

According to the application, a self-driven logistics mobile platform is provided, which comprises: the carrying device is used for carrying goods or commodities to be transported; a drive means independent of and releasably connected to said carrier means; and the control module is used for controlling the operation of the driving device so as to enable the driving device to be connected with the bearing device, enable the driving device to be separated from the bearing device or enable the driving device to drive the bearing device to move to a destination.

Optionally, the carrying device comprises at least one carrying vehicle comprising a chassis with universal wheels.

Optionally, the carrier means comprises a plurality of carrier vehicles which are in turn releasably connected.

Optionally, the distance of the castor relative to the chassis is adjustable.

Optionally, this self-propelled commodity circulation moving platform is including setting up in the cabinet body on the carrier vehicle, this cabinet body has at least one storing space that can close automatically and open, wherein: the cabinet body is integrally and fixedly arranged on the upper surface of the chassis; or the cabinet body is an independent cabinet body, and the cabinet body is detachably and fixedly arranged on the upper surface of the chassis.

Optionally, the control module is further configured to receive, store and transmit storage information in each storage space in the cabinet body.

Optionally, the drive means comprises at least one drive wheel driven by a drive, the drive means being releasably hingedly connected to the carrier means, the drive means being provided with a steering mechanism to steer the drive wheel.

Alternatively, the driving device includes a driving part provided with the driving wheel and the driver, and a manipulating part connected to the driving part, and a relative position of a tip of the manipulating part with respect to the driving part is adjustable.

Optionally, the manipulating part is telescopically connected to the driving part, and the relative position of the top end of the manipulating part relative to the driving part is adjustable in the vertical direction; or the manipulating part comprises a flexible rod-shaped piece, and the relative position of the top end of the manipulating part relative to the driving part is adjustable in a three-dimensional space.

Alternatively, the drive means is a vertical drive means extending in a vertical direction, the vertical drive means comprising one drive wheel at the bottom.

Alternatively, the control module receives, stores and transmits position information of the driving device, and controls forward, reverse and steering of the driving wheels.

According to another aspect of the present application, there is provided a universal wheel apparatus including: a mounting bracket rotatably mounted to the bottom of the frame, the mounting bracket being a vertically extending axis relative to the rotational axis of the frame; at least one roller rotatably mounted to the mounting bracket, the roller having an axis of rotation parallel to a horizontal plane; wherein a distance between the rotational axis of the roller and the frame is adjustable.

Alternatively, the mounting bracket is rotatably mounted to the bottom of the frame by a rotating support shaft, the length of which is selectively adjustable.

Optionally, the rotating support shaft comprises at least two nested axially retractable sleeve members.

Optionally, the rotating support shaft further comprises a limit pin optionally penetrating the sleeve member.

Alternatively, the rotary support shaft includes a plurality of shaft segments connected by threads in the axial direction.

Optionally, the universal wheel device further comprises a roller bracket, wherein the roller is rotatably arranged at one end of the roller bracket, the other end of the roller bracket is hinged to the mounting bracket, and the other end of the roller bracket is parallel to the horizontal plane relative to the rotation axis of the mounting bracket.

Optionally, a limiting piece is arranged on the frame; the roller is provided with a first working position and a second working position, the roller bracket vertically extends at the first working position, and the roller bracket extends obliquely to the horizontal plane and abuts against the limiting piece at the second working position.

Optionally, the limiting member is a protruding structure that is mounted on the frame and protrudes downward, optionally, the protruding structure is an elastic protruding structure, and optionally, the protruding length of the limiting member protruding downward is adjustable.

Optionally, the universal wheel device further comprises a pair of rollers, each roller is rotatably mounted at one end of a respective roller bracket, the other end of each roller bracket is hinged to the mounting bracket, and the pair of rollers are respectively distributed at two sides of the mounting bracket.

Optionally, a pair of limiting members is disposed on the frame, and the limiting members are respectively located at two sides of the rotating support shaft; the pair of rollers is provided with a first working position and a second working position, each roller bracket is abutted against one corresponding limiting part at the second position, and the distance between the pair of rollers at the second working position is larger than that between the pair of rollers at the first position.

In addition, this application still provides a self-propelled commodity circulation moving platform, wherein including above-mentioned universal wheel device.

According to the technical scheme of the application, in the self-driven logistics moving platform, the driving device for providing the driving force and the bearing device for bearing goods or commodities are designed to be independently and releasably connected with each other, so that the self-driven logistics moving platform can meet the requirement of various complicated and changeable distribution modes. Moreover, additional logistics equipment is not required to be added, and the overall cost of the system is not increased. Moreover, the working flexibility and adaptability of the self-driven logistics moving platform provided by the application can be greatly improved by utilizing the adjustable chassis height.

Additional features and advantages of the present application will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application, and the illustrative embodiments and descriptions thereof are used to explain the application. In the drawings:

fig. 1 is a schematic view of a self-propelled logistics mobile platform according to an embodiment of the application, wherein a carrying device and a driving device are in a connected state.

Fig. 2 is a schematic view of the self-propelled logistics moving platform shown in fig. 1, wherein the carrying device and the driving device are in a separated state.

Fig. 3 is a schematic view of a self-propelled logistics moving platform according to another embodiment of the present application, wherein a plurality of load-bearing vehicles are connected to a driving device.

Fig. 4 is a schematic view of a self-propelled logistics mobile platform according to another embodiment of the present application, wherein a cabinet or a locker is arranged on a carrying device.

Fig. 5 is a schematic view of a self-propelled logistics mobile platform in accordance with another embodiment of the present application.

Fig. 6 is a schematic view of a universal wheel apparatus according to an embodiment of the present application.

Fig. 7 is a schematic view of a telescoping tube member used in a universal wheel apparatus according to an embodiment of the present application.

Fig. 8 and 9 are schematic views of a universal wheel apparatus according to another embodiment of the present application.

Fig. 10 and 11 are schematic views of a universal wheel apparatus according to still another embodiment of the present application.

Detailed Description

The technical solutions of the present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As shown in fig. 1 to 5, the present application provides a solution for a self-propelled logistics mobile platform. As shown in fig. 1, the self-propelled logistics moving platform according to the present application comprises: the carrying device is used for carrying goods or commodities to be transported; a drive means independent of and releasably connected to said carrier means; and the control module is used for controlling the operation of the driving device so as to enable the driving device to be connected with the bearing device, enable the driving device to be separated from the bearing device or enable the driving device to drive the bearing device to move to a destination.

In this solution, the carrier device for carrying the goods or goods to be transported is not integrated with the drive device, as in conventional mobile platforms or logistics carts, but is separate from and releasably connected to the drive device. In other words, mobile platforms that are traditionally integrated together are split into at least two parts: a carrier and a drive which are independent of each other and can cooperate. Therefore, the carrying device at least has an idle working condition (no goods or commodities to be transferred), a static standby working condition (a static state for storing the goods or the commodities to be transferred) and a dynamic moving working condition (a dynamic moving state for storing the goods or the commodities to be transferred); the driving device itself at least has idle working condition (standing for use, or charging, etc.) and moving working condition (driving the bearing device to move together). Therefore, through mutually supporting between independent load bearing device and the drive arrangement each other, can realize the delivery mode of various different operating mode combinations, and then satisfy the demand of complicated changeable delivery mode.

Under the control of the control module, the driving device and the bearing device which are separated from each other before can be connected with one corresponding bearing device; or a drive device and a carrier device, which are connected to one another before, from which the drive device can be released and disengaged; or under the condition that the driving device is connected with the corresponding bearing device, the driving device drives the bearing device to move to the destination.

Hereinafter, the respective components of the self-propelled logistics moving platform will be described in detail.

1. Bearing device

As shown in fig. 1 and 2, the carrier device 10 includes at least one carrier vehicle 11 including a chassis 14 having universal wheels 12. The universal wheels 12 are arranged below a chassis 14 of the vehicle 11, and goods or commodities to be transported are placed above the chassis 14.

The configuration of the chassis 14 is not limited to that shown in the drawings, but includes various configurations suitable for placing cargo. The number of the vehicles 11 may be one or more, as shown in fig. 3. In case the carrier means comprise a plurality of carrier vehicles 11, the plurality of carrier vehicles are in turn releasably connected. Therefore, according to different distribution requirements, the driving device can drive one bearing vehicle 11 or drive a plurality of bearing vehicles 11, and drive each bearing vehicle to a predetermined destination together, or unload the bearing vehicles of the bearing device one by one from the tail to the head of the driving device.

The universal wheels 12 disposed below the chassis 14 may be single universal wheels or universal wheel devices that incorporate other functions (which will be described in detail separately below). The universal wheels 12 may all be unpowered, and optionally, at least one of the universal wheels 12 is a device with driving force.

As shown in fig. 1 to 3, the chassis 14 may be a flat plate for carrying packaged goods or commodities. However, the present application is not limited thereto, and the cabinet 13 may be disposed on the chassis 14, that is, the self-propelled logistics moving platform includes the cabinet 13 disposed on the carrying vehicle 11, and the cabinet has at least one storage space capable of being automatically closed and opened, as shown in fig. 4. In this case, the goods or the commodities can be placed in the predetermined storage space in the cabinet body 13, and the carrying vehicle of the carrying device where the goods or the commodities are located is moved to the destination under the driving of the driving device, so that the transfer of the logistics is realized. The cabinet 13 may be integrally and fixedly disposed on the upper surface of the chassis 14; or the cabinet body 13 is an independent cabinet body, and the cabinet body 13 is detachably and fixedly arranged on the upper surface of the chassis 14.

In addition, in an alternative case, the cabinet 13 is an intelligent cabinet cooperating with the control module. Therefore, the control module is also used for receiving, storing and sending the storage information in each storage space in the cabinet body. Therefore, the cabinet may be provided with an operation panel for an end user to operate when picking up or sending goods or commodities to be transferred. And a positioning device can be arranged to know the current positioning position of the cabinet and the position of the destination. In the technical scheme of this application, intelligence locker can with control module intercommunications, can give control module with the information transmission of the thing to be delivered of its every storing space internal storage, also can give control module with its positional information transmission. According to different working conditions, the intelligent storage cabinet can send various required information to the control module, such as which storage space has been taken away for the object to be dispensed, or how much time the object has been left without being taken away. The mutual interaction information of the intelligent storage cabinet and the control module is not limited to the above, and various different required information can be selected to perform communication interaction between different devices according to different working conditions. In particular, the logistics can be conveyed by proceeding from the current position to the target position according to the instruction of the control module.

The bearing device of the present invention is described in detail above, and the driving device is explained below.

2. Driving device

The driving device 20 provides driving force for the whole self-driven logistics mobile platform, so that the logistics mobile platform has the functions of various driving conditions of advancing, stopping, backing and turning. The drive means 20 may take a variety of forms.

For example, the driving device 20 may be a "balance car" device having a single driving wheel or a double driving wheel, but its rated power should match the operating parameters such as the weight of the carrying device it is dragging. In addition, the drive means 20 may be in the form of a self-propelled trolley. The unmanned intelligent function of the driving device 20 can be realized by a control module, and includes functions of docking and detaching with a corresponding bearing device, automatic charging, path planning, automatic navigation, automatic avoidance, and the like.

As shown in fig. 1 to 5, the drive means 20 comprise at least one drive wheel 21 driven by a drive, which is releasably hinged to the carrier 10, the drive means being provided with a steering mechanism for steering the drive wheel. Alternatively, the drive means 20 is a vertical drive extending in a vertical direction and comprising one drive wheel 21 at the bottom.

The releasable articulated connection between the drive means 20 and the carrier 10 can be realized by a mechanical snap fit, also referred to as coupler construction. The realization and the release of the hinged connection can be realized automatically in an unmanned intelligent way or manually.

The steering mechanism is used for steering the driving wheel 21 so as to meet the requirement of the walking path of the logistics moving platform. The steering mechanism can be implemented in various ways, for example, in the case of a single drive wheel, the orientation of the drive wheel can be directly adjusted; in the case of a plurality of drive wheels, steering and the like can be achieved using a link mechanism; reference may also be made to existing robot steering implementations with regard to the steering mechanism.

Alternatively, in order to meet the requirements of different working conditions, such as cooperation with other material flow moving devices or manual operation, as shown in fig. 1 to 5, the driving device 20 includes a driving part 22 provided with the driving wheel 21 and the driver, and an operating part 23 connected to the driving part 22, and the relative position of the top end 231 of the operating part 23 with respect to the driving part 22 is adjustable.

That is, the driving device 20 can be roughly divided into two parts: a driving part 22 located at a lower portion and an operating part 23 located at an upper portion. The driving section 22 is provided with a driving wheel 21 and a driver (not shown) for driving the driving wheel. The drive may be any suitable motor and its controller. This may be a design choice depending on different operating conditions. The operating part 23 is located at the upper part and mainly serves the purpose of connection and operation, for example, it can be connected with other devices to transfer goods or commodities, or operated manually by an operator.

In the solution of the present application, optionally, the relative position of the top end 231 of the operating part 23 with respect to the driving part 22 is adjustable, as shown in fig. 1-5. This can be achieved in a number of ways.

For example, as shown in fig. 1 to 4, the manipulating part 23 is telescopically connected to the driving part 22, and a relative position of the top end 231 of the manipulating part 23 with respect to the driving part 22 is vertically adjustable. The telescopic design can be similar to the design of a hydraulic or pneumatic cylinder. In this embodiment, the relative position of the manipulation part 23 with respect to the driving part 22 in the height direction is adjustable.

As a further alternative, as shown in fig. 5, the manipulating part 23 comprises a flexible rod-shaped member, and the relative position of the top end of the manipulating part with respect to the driving part is adjustable in a three-dimensional space. In the technical solution of the present application, the flexible rod-shaped member is not a long rod in an absolute sense, but a member extending in a length direction is understood, and similar or similar to the rod-shaped member, and other auxiliary structures such as a pull handle, a buckle, etc. may be provided on the rod-shaped member, which is within the scope of the present application.

In this embodiment, the manipulation portion 23 is flexible, but not capable of maintaining its shape like a wool, but capable of maintaining the flexibility characteristic at a predetermined spatial position. The flexible actuating part 23 can be in the form of a metal hose, a rubber tube, for example.

The above is a detailed description of the driving device of the self-driven logistics moving platform of the application. The following describes the control module in the technical solution of the present application in detail.

3. Control module

In the technical scheme of the application, the self-driven unmanned intelligent function is realized through the control module. The control module may include various suitable controls disposed on the drive device and/or the carrier device. The control module may have various forms. For example, the system can be a cloud platform comprising a cloud server to realize full-automatic control; or the automatic control is realized by using terminals such as a computer, a mobile phone app and a remote controller. The control module can be integrated with a control algorithm to realize the control and scheduling of the driving device and/or the bearing device, thereby meeting the distribution requirements under various working conditions.

The communication function can utilize a wireless communication network, such as 4G, 5G, wifi, bluetooth, etc., to realize communication.

In order to achieve any communication interaction between the control module and the drive device and/or the carrying device, a communication module or a communication device can be arranged on each device, so that various tasks or actions can be completed in cooperation or independently.

In addition, a storage space can be arranged in the control module to store various preset programs and/or information and also store information generated in the running process of various systems. The storage space may be a cloud platform, or various suitable server devices.

The communication module or device primary functions include, but are not limited to, interacting with the control module, interacting with the drive device, and interacting with a common transmission device in the environment. Through the interaction, the information such as the working state, the driving position and the like of the interactive driving device and/or the carrying device can be realized but not limited; the function of interacting with a public transmission device in the environment mainly comprises but is not limited to interacting with a vertical ladder, an escalator, a conveyor belt device or other lifting devices, controlling the vertical ladder, the escalator, the conveyor belt device or other lifting devices to be operated to a position where the passenger can take, and transporting the passenger to a destination after the passenger is taken, wherein the function can be completed by a communication mechanism of a self-driven logistics mobile platform independently, or the control module and the communication mechanism are matched; communicate and master the specific geographical position of the bearing device to be docked.

Alternatively, (the driving device of) the self-driven logistics moving platform according to the application can be provided with a judgment module, which includes, but is not limited to, two parts.

The first part is an environment judgment module which is mainly used for judging the surrounding environment of the driving device so as to realize the functions of avoiding obstacles, identifying paths and the like. The environment determination module may have various forms such as laser radar scanning, ultrasonic detection, visual determination (camera), and the like. In order to realize environment judgment in a wider range, various environment judgment modules can be arranged at various proper positions such as the front, the rear, the two sides and the upper part of the self-driven logistics moving platform.

The second part is an identity identification module which is mainly used for identifying the identity of the bearing device to be connected. For example, the two-dimensional code can be a two-dimensional code identification camera, a non-contact wireless Radio Frequency Identification (RFID) module and the like.

The auxiliary mechanism can comprise auxiliary devices or components such as a charging device for charging the driving device, a start-stop switch, an emergency stop switch, a vehicle data recorder, a steering lamp, a loudspeaker (which can be used as a loudspeaker or used for interacting with surrounding people), a TOF instrument, an illuminating lamp and the like. In addition, the auxiliary mechanism of the driving device can also comprise a bumper strip for protecting the frame, a bumper wrap angle for protecting the wheel and the like.

As mentioned above, the control module is also used for receiving, storing and sending the storage information in each storage space in the cabinet body. The storage information can be realized through an operation panel and related sensors on the cabinet 13. In addition, the control module is also used for receiving, storing and sending the position information of the driving device and controlling the driving wheel to move forwards, backwards and turn, so that the current position and the destination position of the driving device of the self-driving logistics moving platform can be determined, and the driving device is controlled to move according to the navigation path to complete distribution work.

The technical solution of the present application has been fully explained above through the detailed description of the carrying device, the driving device and the control module, respectively. The following describes in detail a universal wheel apparatus according to an embodiment of the present invention.

4. Universal wheel or universal wheel device

As indicated above, mounted beneath the chassis 14 is a universal wheel or wheel assembly 12. The universal wheel 12 may be one, or alternatively a plurality of such wheels, such as two or three, preferably four.

Usually, the distance between the universal wheel and the chassis under the logistics moving platform is fixed. In an alternative embodiment of the present application, however, the distance of the universal wheel 12 relative to the chassis 14 is adjustable. Because the distance between the universal wheel or the universal wheel device and the chassis 14 is adjustable, the chassis height of the bearing device is adjustable, so that different chassis heights can be selected according to different road conditions, and good trafficability and adaptability are obtained. In addition, good flexibility in receiving goods or commodities or cabinets can be achieved by adjusting the height of the chassis.

As shown in fig. 6, a universal wheel or a universal wheel apparatus according to an alternative embodiment of the present application includes: a mounting bracket 121, wherein the mounting bracket 121 is rotatably mounted at the bottom of the frame 100, and the mounting bracket 121 is a vertically extending axis relative to the rotation axis L of the frame; at least one roller 122, the roller 122 being rotatably mounted to the mounting bracket 121, the rotational axis of the roller 122 being parallel to a horizontal plane; wherein a distance D between the rotational axis of the roller 122 and the frame 100 is adjustable.

The frame 100 represents a part or portion that remains relatively stationary in the solution of a universal wheel arrangement. In the case shown in fig. 1 to 5, the rack 100 may be the chassis 14. As shown in fig. 6, the mounting bracket 121 is rotatable about a vertically extending axis L to change the direction of travel or retraction as desired. The mounting bracket 121 rotatably mounts the roller 122, and the rotational axis of the roller 122 is always kept parallel to the horizontal plane regardless of the orientation of the mounting bracket 121 about the axis L. In this embodiment, the distance of the universal wheels relative to the chassis 14 is adjustable by designing the distance D between the axis of rotation of the roller 122 and the frame 100 to be adjustable, as shown in fig. 4.

The measurement of the distance D may be performed by: a fixed measurement datum on the frame 100 (e.g., the bottom surface of the chassis 14 or a fixed measurement point, such as the lowest point of the chassis 14) is first selected and then the distance between the measurement datum and the central axis of the roller 122 is measured.

As shown in fig. 6, the mounting bracket 121 is rotatably mounted to the bottom of the frame by a rotation support shaft 123, and the length of the rotation support shaft 123 is selectively adjustable. This is achieved in a number of ways.

For example, as shown in fig. 7, the rotating support shaft 123 includes at least two nested axially telescoping

sleeve members

1231 and 1232. The sleeve member may have a limiting structure to satisfy that the rotation support shaft 123 has a corresponding axial length when the sleeve member is at different telescopic positions. Alternatively, the rotation support shaft 123 may further include a stopper pin (not shown) selectively penetrating the

sleeve members

1231 and 1232, and the axial length of the axial telescopic tube may be maintained by aligning the sleeve members with different stopper holes and inserting the stopper pin into the stopper holes.

As another example, the rotation support shaft 123 includes a plurality of shaft segments (not shown) that are screwed in the axial direction. The relative axial position between different shaft segments is realized through threaded fit so as to adjust the axial length of the rotary supporting shaft.

Further, the adjustment of the axial length of the rotation support shaft 123 may be achieved by a mechanism or a device that moves linearly, such as a hydraulic cylinder mechanism or a pneumatic cylinder mechanism.

Fig. 8 and 9 show another alternative embodiment, in which the universal wheel device further includes a roller bracket 124, the roller is rotatably mounted on one end of the roller bracket 124, the other end of the roller bracket 124 is hinged to the mounting bracket 121, and the other end of the roller bracket 124 is parallel to the horizontal plane with respect to the rotation axis of the mounting bracket 121. In this embodiment, the axis of rotation of the roller bracket 124 relative to the mounting bracket 121 is parallel to the axis of rotation of the roller 122 relative to the roller bracket 124, both parallel to the horizontal plane.

In this embodiment, for example, when the roller 122 is suspended, the roller bracket 124 may be rotated to a vertically extended state under the gravity action of the roller 122 or under the driving action of an external force, so as to enter the working condition shown in fig. 8, in which the roller 122 is in the first working position. In the first working position state as shown in fig. 8, alternatively, the hinge between the roller bracket 124 and the mounting bracket 121 (rotation supporting shaft 123) has a self-locking function, thereby being maintained at the first working position, and obtaining a large chassis height.

When the roller 122 is under the action of a large gravity or an external force, the roller bracket 124 can rotate relative to the mounting bracket 121 (the rotation support shaft 123), so that the roller 122 approaches the frame 100, as shown in fig. 9, and enters the second working position. In the second working position, the roller bracket 124 extends obliquely to the horizontal plane and abuts against the stopper 125 mounted on the frame 100. Although the roller holder 124 is deflected to the right in the configuration shown in fig. 9 with respect to the so-called position in fig. 8, the present application is not limited to the configuration shown in the drawings, and may be designed to be deflected to the left. The position-limiting member 125 is a protruding structure that is installed on the frame and protrudes downward. The position limiting member 125 may have any suitable structure, and is not limited to the specific structure shown in the drawings, and in the technical solution of the present application, various structures capable of performing a position limiting function or a stopping function may be adopted, such as a baffle, a stopper rod, and the like. Alternatively, the protruding structure is an elastic protruding structure, so as to obtain a shock absorbing and buffering effect when the roller bracket 124 collides with the stopper 125. In addition, in an optional case, a length of the limiting member 125 protruding downward is adjustable or a position of the limiting member 125 on the rack 100 is adjustable, so that the adjustment of the limiting member 125 is used to adjust the second working position of the roller 122.

In another alternative embodiment shown in fig. 10 and 11, the universal wheel device further includes a pair of rollers 122, each roller 122 is rotatably mounted at one end of a respective roller bracket 124, the other end of each roller bracket 124 is hinged to the mounting bracket 121, and the pair of rollers 122 are respectively disposed at two sides of the mounting bracket 121. Thus, similar to the operating conditions shown in fig. 8 and 9, the pair of rollers 122 has a first operating position in which the pair of rollers approach each other, as shown in fig. 11, and a second operating position in which the pair of rollers are kept from interference by other limiting members (e.g., stop members respectively disposed on the respective roller brackets 124, and in the first operating position, the stop members limit the pair of rollers from continuing to approach); in the second working position, each roller bracket 124 abuts against a corresponding one of the position-limiting members 125, as shown in fig. 10. As can be seen from a comparison between fig. 10 and fig. 11, the distance between the pair of rollers in the second working position is greater than the distance between the pair of rollers in the first working position, so as to obtain different chassis heights.

As shown in fig. 10 and 11, a pair of stoppers 125 may be optionally disposed on the frame, and the stoppers 125 are respectively disposed at two sides of the rotation support shaft 123 and respectively correspond to the roller brackets 124 of each roller 122.

It should be noted that although the universal wheel device is mainly described in the present application by taking the self-propelled logistics moving platform as an example, it is understood that the universal wheel device can also be applied to other application fields, such as various trolleys and the like.

The technical solution of the present application is described in detail above. According to the application, in the self-driven logistics moving platform, the driving device for providing the driving force and the carrying device for carrying goods or commodities are designed to be independently and releasably connected with each other, so that various complicated and changeable distribution modes can be met. Moreover, the working flexibility and adaptability of the self-driven logistics moving platform provided by the application can be greatly improved by utilizing the adjustable chassis height and/or the height of the adjustable driving device.

Alternative embodiments of the present application have been described in detail above, however, the present application is not limited to the specific details of the above embodiments, and many simple modifications may be made to the technical solution of the present application within the technical idea of the present application, and these simple modifications all belong to the protection scope of the present application.

It should be noted that, in the above embodiments, the various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described separately in the present application.

In addition, any combination of the various embodiments of the present application can be made, and the same should be considered as the disclosure of the present invention as long as the combination does not depart from the spirit of the present application.

Claims

1. Self-propelled logistics mobile platform, this self-propelled logistics mobile platform includes:

-a carrier device (10) for carrying goods or goods to be transported, the carrier device (10) comprising at least one carrier vehicle (11) comprising a chassis (14) with a castor (12), the castor (12) being adjustable in distance with respect to the chassis (14), the castor (12) comprising a mounting bracket (121), a roller bracket (124) and rollers (122), the mounting bracket (121) being rotatably mounted to the bottom of the chassis (14) via a rotating support shaft (123), the rollers (122) being rotatably mounted to one end of the roller bracket (124), the other end of the roller bracket (124) being hinged to the mounting bracket (121), the roller bracket (124) being extendable obliquely to the horizontal plane and abutting against a downwardly projecting stop member (125) mounted to the chassis (14), the downwardly projecting length of the stop member (125) being adjustable or the position of the stop member (125) on the chassis (14) being adjustable, wherein the castor comprises a pair of rollers (122), each roller (122) being rotatably mounted to a respective roller bracket (124), the roller bracket (121) being hinged to the respective roller bracket (124), the respective pair of rollers (121) being arranged on either side of the respective roller bracket (124), the chassis (14) is provided with a pair of limiting pieces (125), and the limiting pieces (125) are respectively positioned on two sides of the rotating support shaft (123); the pair of rollers (122) has a first working position and a second working position, in the second working position, each roller bracket (124) is abutted against a corresponding one of the stoppers (125), and the distance between the pair of rollers (122) in the second working position is larger than that between the pair of rollers (122) in the first working position;

-a drive means (20), which drive means (20) is independent of the carrier means and releasably connected to the carrier means (10);

the control module is used for controlling the operation of the driving device (20), so that the driving device (20) is connected with the carrying device (10), the driving device (20) is separated from the carrying device (10), or the driving device (20) drives the carrying device (10) to move to a destination.

2. A self-propelled logistics mobile platform according to claim 1, wherein the carrying means comprises a plurality of carrying vehicles (11) which are in turn releasably connected.

3. The self-propelled logistics mobile platform of claim 1, wherein the self-propelled logistics mobile platform comprises a cabinet (13) arranged on the carrying vehicle (11), the cabinet having at least one storage space capable of being automatically closed and opened, wherein:

the cabinet body is integrally and fixedly arranged on the upper surface of the chassis; or

The cabinet body is an independent cabinet body, and the cabinet body detachably fixed set up in the upper surface on chassis.

4. The self-propelled logistics mobile platform of claim 3, wherein the control module is further configured to receive, store and transmit storage information within each storage space within the cabinet body.

5. A self-propelled logistics mobile platform according to claim 1, wherein the drive means (20) comprises at least one drive wheel (21) driven by a drive, the drive means being releasably hinged to the carrying means (10), the drive means being provided with a steering mechanism to steer the drive wheel.

6. A self-propelled logistics moving platform according to claim 5, wherein the drive arrangement (20) comprises a drive section (22) provided with the drive wheel (21) and drive and a handling section (23) connected to the drive section (22), the relative position of the top end (231) of the handling section (23) with respect to the drive section (22) being adjustable.

7. The self-propelled logistics mobile platform of claim 6, wherein,

the operating part (23) is telescopically connected to the driving part (22), and the relative position of the top end (231) of the operating part (23) relative to the driving part (22) is adjustable in the vertical direction; or

The manipulation part (23) comprises a flexible rod-shaped piece, and the relative position of the top end of the manipulation part relative to the driving part is adjustable in a three-dimensional space.

8. A self-propelled logistics mobile platform of claim 5, wherein the drive apparatus (20) is a vertical drive apparatus extending in a vertical direction, the vertical drive apparatus including one drive wheel (21) located at the bottom.

9. The self-propelled logistics mobile platform of claim 5, wherein the control module receives, stores and sends position information of the drive device and controls forward, reverse and steering of the drive wheel.