CN110834688A - Dysmorphism dolly and robot - Google Patents
Dysmorphism dolly and robot Download PDFInfo
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- CN110834688A CN110834688A CN201911171761.2A CN201911171761A CN110834688A CN 110834688 A CN110834688 A CN 110834688A CN 201911171761 A CN201911171761 A CN 201911171761A CN 110834688 A CN110834688 A CN 110834688A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
Abstract
The application relates to the field of robots, in particular to a special-shaped trolley and a robot. The special-shaped trolley comprises a special-shaped chassis and at least three trundles, wherein the special-shaped chassis is connected with the special-shaped chassis; the outline of the orthographic projection of the special-shaped chassis on the horizontal plane can be completely positioned in the outline range of the preset shape; the orthographic projections of all the casters are located within the outline of the preset shape. The area enclosed by the outline of the orthographic projection of the special-shaped chassis is larger than R2. Through the design of the shape and the size of the special-shaped chassis, the special-shaped trolley can pass through a right-angle channel with the width more than or equal to R; meanwhile, the area of the special-shaped chassis capable of loading articles is increased to 2.207R2. The problem that the installation space of the movable trolley is limited by the right-angle channel is solved.
Description
Technical Field
The application relates to the field of robots, in particular to a special-shaped trolley and a robot.
Background
The application and popularization of the construction robot needs a large number of mobile robot chassis, and aiming at indoor application scenes, the structural size and the layout of the mobile chassis of the robot are limited by narrow right-angle channels, narrow door frames and the like, therefore, the shapes of most structures of the AGV chassis in the prior art are rectangular or square, and the installation size and the installation space of the AGV chassis are limited by the appearance structure.
Disclosure of Invention
An object of the embodiment of the application is to provide a special-shaped trolley and a robot, which aim to improve the problem that the installation size and the installation space of an existing AGV chassis are small due to the fact that the shape and the size of the chassis are limited by the shape of a right-angle channel.
The application provides a special-shaped trolley which can pass through a right-angle channel with the width of R, wherein the special-shaped trolley comprises a special-shaped chassis and at least three trundles, wherein the special-shaped chassis is connected with the special-shaped chassis;
at least one caster is a steerable drive wheel.
The outline of the orthographic projection of the special-shaped chassis on the horizontal plane can be completely positioned in the outline range of the preset shape; the orthographic projections of all the casters are located within the outline of the preset shape.
The preset shape includes:
a first region; the first region is a quarter-circle face with a radius R.
A second region; the second area is obtained by cutting out a semicircle through a rectangular surface; wherein, the length of the rectangular surface is 4R/pi, and the width is R; the diameter of the cut semicircle is 4R/pi; the cut semicircle is positioned at the edge of the long edge of the rectangular surface; and
a third region; the third region is a quarter-circle face with a radius R.
The third region is symmetrical to the first region about the second region; the centers of the first area and the third area are respectively superposed with two end points of the semicircle from which the second area is cut off.
The special-shaped chassis comprises a first part, a second part and a third part which are sequentially connected along the length direction; the orthographic projection of the first portion is located in the first region, while the orthographic projection of the second portion is located in the second regionThe orthographic projection can be located in the second region, and simultaneously the orthographic projection of the third portion can be located in the third region; the area enclosed by the outline of the orthographic projection of the special-shaped chassis is larger than R2。
Through the design of the shape and the size of the special-shaped chassis, the special-shaped trolley can pass through a right-angle channel with the width more than or equal to R; meanwhile, the area of the special-shaped chassis capable of loading articles is increased to 2.207R2. The problem that the installation space of the movable trolley is limited by the right-angle channel is solved.
In some embodiments of the first aspect of the present application, the profiled base has a width in the range of 0.85R to R in a direction perpendicular to the length direction.
In the embodiment that the width of the special-shaped chassis is within the range of 0.85R-R, the area of the special-shaped chassis capable of loading goods is larger than R2And the special-shaped trolley can smoothly pass through the right-angle channel with the width of R.
In some embodiments of the first aspect of the present application, an outer contour of an orthographic projection of the shaped chassis in a horizontal plane can coincide with a contour of the pre-set shape.
The area of the special-shaped chassis capable of loading articles is approximate to 2.207R2. The loading area of the special-shaped trolley is increased.
In some embodiments of the first aspect of the present application, at least three casters are spaced apart along the length.
At least three casters are arranged at intervals in a direction perpendicular to the length direction.
And at least one driving wheel is arranged on the first part or the third part.
Through the arrangement mode, the special-shaped trolley is more stable in the moving process.
In some embodiments of the first aspect of the present application, the contoured cart comprises five casters, two of which are mounted to the first portion as drive wheels; two driving wheels are arranged on the third part; one mounted to the second portion as a driven or driving wheel.
In some embodiments of the first aspect of the present application, the shaped trolley further comprises a guide wheel, the guide wheel being mounted on a side of the shaped chassis remote from the caster; the outer contour of the guide wheel extends out of the edge of the special-shaped chassis, and the orthographic projection of the guide wheel is located in a preset shape.
In some embodiments of the first aspect of the present application, the shaped trolley comprises a plurality of guide wheels, and orthographic projections of the plurality of guide wheels respectively cover inflection points of the projection area.
The leading wheel can make special-shaped dolly turn fast. The steering of the whole special-shaped vehicle body can be assisted.
In some embodiments of the first aspect of the present application, the profiled chassis further comprises a bumper strip attached to an outer periphery of the profiled chassis.
The impact of the special-shaped chassis and the barrier can be reduced by the aid of the anti-collision strips.
The second aspect of the application provides a robot, which comprises a main body and the special-shaped trolley; the main body is arranged on one side of the special-shaped trolley, which is far away from the caster.
The robot has the advantages of the special-shaped trolley, is large in installation space, and can smoothly pass through the right-angle channel.
The third aspect of the application provides a special-shaped trolley, which comprises a special-shaped chassis and at least three casters, wherein the special-shaped chassis and the at least three casters are connected with each other.
The outer contour of the special-shaped chassis is formed by sequentially enclosing a first straight edge, a semi-circular arc edge, a second straight edge, a third arc edge, a fourth straight edge and a fifth arc edge.
The first straight edge and the second straight edge are collinear and have the length of R.
The diameter of the semicircular arc edge is 4R/pi, and two ends of the semicircular arc edge are respectively connected with the first straight edge and the second straight edge.
The fourth straight edge is parallel to the first straight edge, and the semi-circular arc edge is sunken towards the fourth straight edge.
The third arc-shaped edge and the fifth arc-shaped edge are both in a quarter arc shape with the radius of R; the circle centers of the third arc-shaped edge and the fifth arc-shaped edge are two end points of the semi-arc-shaped edge respectively.
At least one caster is a driving wheel; at least one caster is installed in first plate, and at least one caster is installed in the third plate.
By means of profiled solesThe shape and size of the disc are designed, so that the special-shaped trolley can pass through a right-angle channel with the width more than or equal to R; meanwhile, the area of the loaded articles of the special-shaped chassis is approximate to 2.207R2. The problem that the installation space of the movable trolley is limited by the right-angle channel is solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic structural diagram illustrating a first view angle of a special-shaped trolley provided by an embodiment of the application;
FIG. 2 shows a schematic view of a right angle channel;
FIG. 3 illustrates an orthographic view of a profiled chassis provided by an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a first position where a profiled chassis provided by an embodiment of the present application passes through a right-angle channel;
FIG. 5 is a schematic structural diagram of a second position where the special-shaped chassis provided by the embodiment of the application passes through a right-angle channel;
FIG. 6 is a schematic structural diagram illustrating a second view angle of the special-shaped trolley provided by the embodiment of the application;
FIG. 7 is a schematic structural diagram illustrating a third view angle of the special-shaped trolley provided by the embodiment of the application;
FIG. 8 shows an external profile view of a second embodiment of the profiled chassis in an example of the present application;
FIG. 9 shows an external profile view of a third embodiment of the profiled chassis in an example of the present application;
FIG. 10 shows an outer contour view of a fourth embodiment of the profiled chassis in an example of the present application;
fig. 11 shows an external contour view of a fifth embodiment of the profiled bottom disc in the example of the present application.
Icon: 100-special-shaped trolley; 101-a first straight road; 102-a second straight road; 110-a profiled chassis; 111-a first region; 112-a second region; 113-a third region; 120-a caster; 130-a guide wheel; 140-crash strips.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it should be understood that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the products of the application usually place when in use, or the orientations or positional relationships that the skilled person usually understands, are only for convenience of description and simplification of description, and do not indicate or imply that the indicated devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the application.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly connected, indirectly connected through an intermediate medium, or communicated between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Examples
Fig. 1 shows a schematic structural diagram of a first view angle of a special-shaped trolley 100 provided in the present embodiment, and referring to fig. 1, the present embodiment provides a special-shaped trolley 100, and the special-shaped trolley 100 provided in the present embodiment can pass through a right-angle channel with a width R.
The shaped trolley 100 comprises a shaped chassis 110 and casters 120, the casters 120 being mounted to the shaped chassis 110.
In the present application, the contoured cart 100 is capable of passing through a right angle passage having a width R. Figure 2 shows a right angle channel. Referring to fig. 2, the right-angle channel has a first straight-going channel 101 and a second straight-going channel 102 which are communicated with each other, and the first straight-going channel 101 and the second straight-going channel 102 are perpendicular to each other; in detail, the inner angle of the first straight-going lane 101 and the second straight-going lane 102 is 90 °, the outer angle may be greater than or equal to 90 °, and in the right-angled lane shown in fig. 2, both the inner angle and the outer angle are 90 °.
It should be noted that, in the embodiments of the present application, the above description of mutually perpendicular, 90 ° and the like is not absolutely perpendicular or absolutely 90 °; which should be allowed to fluctuate within a certain error range.
As mentioned above, the special-shaped trolley 100 can pass through the right-angle channel; thus, the shape and size of the contoured cart 100 is limited by the right angle channel.
For convenience of describing the shape of the shaped chassis 110 provided in the embodiment of the present application, the shape and size of the orthographic projection of the outer contour of the shaped chassis 110 on the horizontal plane are described in the present embodiment. The orthographic projection of the outer contour of the shaped chassis 110 refers to the projection of the outer edge of the shaped chassis 110, and the application does not limit the internal structure and configuration of the shaped chassis 110. In this application, the orthographic projection refers to a projection formed by vertical light irradiating the shaped chassis 110 when the shaped chassis 110 is placed on a horizontal plane (e.g., the ground).
Fig. 3 shows an orthographic view of the outer contour of the profiled chassis 110 provided by the embodiment of the present application. Referring to fig. 3, the projection area of the irregular bottom plate 110 includes a first area 111, a second area 112 and a third area 113; the second region 112 is located between the first region 111 and the third region 113, and the first region 111, the second region 112, and the third region 113 are continuous projection regions, and there is no space between adjacent two regions.
The first region 111 is a quarter-circle face with a radius R; the third region 113 is a quarter-circle face with a radius R.
The second area 112 is a special-shaped surface, and the second area 112 is obtained by cutting out a semicircle through a rectangular surface; in other words, the second region 112 is not a rectangular surface, which is a special-shaped surface obtained by missing a semicircular surface on one side of the rectangular surface, wherein the length of the rectangular surface is 4R/pi, and the width is R; the diameter of the semicircle cut off is 4R/pi. And the cut-off semicircle is located at the edge of the long side of the rectangular face.
The first region 111 and the third region 113 are symmetrical with respect to the second region 112.
The two ends of the semicircle cut out by the second region 112 coincide with the centers of the first and third regions 111 and 113. In other words, the end points of the two ends of the arc line segment of the second region 112 coincide with the centers of the first region 111 and the third region 113.
In other words, in the embodiment, referring to the shape shown in fig. 3, the shape of the irregular chassis 110 is as follows: the outer contour of the special-shaped chassis 110 is formed by sequentially enclosing a first straight edge, a semi-circular arc edge, a second straight edge, a third arc edge, a fourth straight edge and a fifth arc edge; the first straight edge and the second straight edge are collinear and have the length of R. The diameter of the semicircular arc edge is 4R/pi, and two ends of the semicircular arc edge are respectively connected with the first straight edge and the second straight edge. The fourth straight edge is parallel to the first straight edge, and the semi-circular arc edge is sunken towards the fourth straight edge. The third arc-shaped edge and the fifth arc-shaped edge are both in a quarter arc shape with the radius of R; the circle centers of the third arc-shaped edge and the fifth arc-shaped edge are two end points of the semi-arc-shaped edge respectively.
The area of the orthographic projection of the special-shaped chassis 110 is approximately equal to 2.207R through calculation2。
In the embodiment of the present application, the values R, 4R/pi are positive numbers, which are merely used to express the ratio of the dimensions of the irregular chassis 110 in each direction, and the dimensions of the irregular chassis 110 in each direction are not limited. In the embodiments of the present application, specific values of R are not limited, and may be, for example, 1m, 0.5m, 0.1m, 5cm, 2m, 8m, 10m, or the like.
Further, the shaped trolley 100 can pass through a right-angled passage; in the moving process of the special-shaped trolley 100, the caster wheels 120 can rotate, and the caster wheels 120 rotating at any time are not abutted to the right-angle channel and can be tangent. In other words, the caster 120 is mounted behind the shaped chassis 110, the caster 120 being located within the footprint of the shaped chassis 110.
In the present application, the projection area is divided into the first area 111, the second area 112, and the third area 113, which does not mean that the irregular base 110 is formed by connecting three parts, and in the present embodiment, the irregular base 110 is integrally formed. In other embodiments of the present application, the special-shaped chassis 110 may also include three parts corresponding to the first region 111, the second region 112, and the third region 113 one to one, and the three parts are fixedly connected to form the special-shaped chassis 110. Alternatively, in other embodiments of the present application, the contoured pan 110 may be formed by two, four, or more pieces.
It should be noted that, in the embodiment of the present application, the shaped chassis 110 is a solid disk and is made of a solid plate, so that the projected area of the shaped chassis 110 has no hollow and net shape. In other embodiments of the present application, the profiled base plate 110 may be made into a net or porous shape, for example, for draining water, the profiled base plate 110 is made of a plate material with a net structure.
Accordingly, in this embodiment, the surface of the profiled chassis 110 facing away from the ground is a smooth plane. In other embodiments of the present application, the general shape of the shaped chassis 110 is not limited to plate-like; the surface of the special-shaped chassis 110, which is away from the ground, can be a curved surface and can be an uneven surface; in other words, the projected view shown in fig. 3 only defines the forward projected outer contour of the shaped chassis 110 in the embodiment of the present application.
It should be noted that, in the embodiment of the present application, the width of the second straight-going road 102 and the width of the first straight-going road 101 are both R, and both R are equal to the radius R of the first area 111 and the second area 112. It should be understood that when the special-shaped trolley 100 travels straight, the special-shaped chassis 110 can pass through the second straight road 102 and the first straight road 101 without being held by the second straight road 102 and the first straight road 101. Further, in some embodiments, the radius R of the first region 111 and the second region 112 may be slightly smaller than the width of the first straight track 101 and slightly smaller than the width of the second straight track 102; for example, the radius of the first area 111 and the second area 112 is 0.95 times, 0.9 times, etc. the width of the first straight road 101.
Fig. 4 shows a schematic structural diagram of the profiled chassis 110 provided by the embodiment of the present application at a first position through a right-angle channel. Fig. 5 shows a schematic structural diagram of the profiled chassis 110 provided by the embodiment of the present application at a second position through the right-angle channel.
Referring to fig. 4 and 5, it can be seen that the special-shaped trolley 100 provided in the embodiment of the present application can pass through a right-angle channel with a width greater than or equal to R; the area of the profiled chassis 110 of the profiled trolley 100 is approximately equal to 2.207R2. Compared with the square trolley with the side length of R in the prior art, the area of the special-shaped chassis 110 is increased by 1.207R2. More space and more mounting area are provided for the shaped chassis 110, so that the shaped trolley 100 can be loaded with more goods.
Fig. 6 shows a schematic structural diagram of the special-shaped trolley 100 provided by the embodiment of the present application at a second viewing angle, and fig. 7 shows a schematic structural diagram of the special-shaped trolley 100 provided by the embodiment of the present application at a third viewing angle.
Please refer to fig. 1, fig. 6 and fig. 7; the shaped cart 100 includes casters 120, and the casters 120 are mounted to the shaped chassis 110. In the present application, the number of the casters 120 is greater than or equal to 3, and the 3 casters 120 are disposed on the first surface of the irregular chassis 110 at intervals. At least one of the 3 casters 120 is a drive wheel.
In order to make the special-shaped trolley 100 more stable and balanced during movement, the first area 111 is provided with at least one caster 120, the second area 112 is provided with at least one caster 120, and the third area 113 is provided with at least one caster 120. In other words, the casters 120 are more evenly distributed on the contoured pan 110.
Further, in the present embodiment, the projections of the plurality of casters 120 on the projection plane are symmetrically distributed with respect to the center line of the second area 112; the pivot points of the castors 120 to the shaped chassis 110, which are symmetrically distributed along the centerline of the second region 112, make the objects mounted or stacked on the shaped chassis 110 more stable during the turning of the shaped cart 100.
In the present embodiment, the vehicle 100 includes five casters 120, and four of the five casters 120 are driving wheels, and the remaining one is a universal wheel or an omni-wheel. Wherein. Two driving steering wheels are arranged in the corresponding area of the special-shaped chassis 110 corresponding to the first area 111, two driving steering wheels are arranged in the corresponding area of the special-shaped chassis 110 corresponding to the third area 113, and the universal wheels are arranged in the corresponding area of the special-shaped chassis 110 corresponding to the second area 112. The two driving wheels provided in the first region 111 and the two driving wheels provided in the third region 113 are symmetrical with respect to the center line of the special-shaped chassis 110. The arrangement mode of the caster wheels 120 of the embodiment enables the special-shaped trolley 100 to well drive the special-shaped chassis 110 when moving along two directions; and the symmetrical arrangement can make the special-shaped trolley 100 run more stably. In addition, the symmetrically arranged driving steering wheels can provide a steering power source at a corner.
The universal wheels are arranged at the position of the special-shaped chassis 110 corresponding to the middle point of the central line of the second area 112, and the deflection of the rack after being pressed is reduced.
In other embodiments of the present application, the number of casters 120 may also be 4, 6, or more. The arrangement of the casters 120 may be various, and may be arranged regularly or irregularly. Other steerable drive wheels may alternatively be used for the drive wheels of casters 120.
Further, in the present embodiment, in order to prevent the goods loaded on the special-shaped chassis 110 from sliding off during the turning process, the center of the loaded goods may be located in the area (shown as the dashed area in fig. 6) enclosed by the four mounting points of the steering wheel; further, in some embodiments, a groove may be formed in an area surrounded by the special-shaped chassis 110 and the four mounting points of the driving rudder wheel; in some other embodiments, cargo may be loaded at any location on the second side of the shaped chassis 110 by means of binding or the like.
Referring to fig. 7 again, in the present embodiment, the special-shaped cart 100 further includes a guide wheel 130, the guide wheel 130 is connected to the second surface of the special-shaped chassis 110, an outer edge of the guide wheel 130 is tangent to an edge of the second surface, and a rotation axis of the guide wheel 130 is perpendicular to the second surface.
In other words, the guide wheel 130 is connected to the special-shaped chassis 110, the outer circle of the guide wheel 130 is tangent to the edge line of the special-shaped chassis 110, and the rotating axis of the guide wheel 130 is vertical.
The guide wheel 130 is mainly used for being in contact with the wall body of the right-angle passage, and when the special-shaped trolley 100 is in contact with the wall body of the right-angle passage, the guide wheel 130 rotates relative to the wall body of the right-angle passage, so that the special-shaped trolley 100 can turn better.
In the present embodiment, the shaped trolley 100 comprises six guide wheels 130, and the guide wheels 130 are installed at the inflection positions of the shaped chassis 110. In other words, in terms of the orthographic projection of the shaped chassis 110, the projection points of the installation positions of the guide wheels 130 include: both ends of the arc of the first region 111, both ends of the arc of the third region 113, and both ends of the arc of the second region 112. It is understood that in other embodiments of the present application, a greater number of guide wheels 130 may be provided, or only one, two, or three guide wheels 130 may be provided. It should be noted that in other embodiments of the present application, the guide wheel 130 may not be provided on the special-shaped trolley 100.
In this embodiment, the profiled chassis 110 further includes a bumper strip 140, and the bumper strip 140 is attached to the outer periphery of the profiled chassis 110. The bumper strip 140 is installed on the outer circumference of the shaped chassis 110, and the bumper strip 140 mainly functions to reduce impact when the shaped chassis 110 collides with an obstacle (e.g., a wall).
In some other embodiments of the present application, the bumper strip 140 may also be provided with a distance sensor, and when the shaped chassis 110 contacts an obstacle (e.g., a wall), the distance sensor receives the information and transmits the information to the caster 120, so that the shaped cart 100 stops or reverses the direction of the advance.
In an embodiment of the present application, the orthographic exterior contour of the contoured pan 110 is shown in FIG. 3.
It should be noted that, in other embodiments of the present application, the orthographic projected outer contour of the shaped chassis 110 may also be located in the projected shape area shown in fig. 3, and the area enclosed by the orthographic projected projection area of the shaped chassis 110 is greater than R2. In other words, the orthographic outer contour of the shaped chassis 110 may coincide with the outer contour of the projected area shown in fig. 3, or the orthographic outer edge of the shaped chassis 110 is within the shape shown in fig. 3.
In an embodiment where the outer edge line of the orthographic projection of the shaped chassis 110 does not coincide with the predetermined shape shown in fig. 3, the following condition needs to be satisfied: the area enclosed by the projection area of the orthographic projection of the special-shaped chassis 110 is more than R2(ii) a The special-shaped chassis 110 has projections in the first region 111, the third region and the second region 112; and the shaped trolley 100 can pass through a right-angled passage with a width R.
The profiled chassis 110 comprises a first section, a second section and a third section connected in series along the length direction. The orthographic projection of the first portion can be located in a first region 111 while the orthographic projection of the second portion can be located in a second region 112 and while the orthographic projection of the third portion can be located in a third region 113. It should be noted that the first portion, the second portion, and the third portion may be integrally formed as the profiled chassis 110, and the first portion, the second portion, and the third portion may also be detachably connected or fixedly connected.
In other words, in the embodiment where the outer edge line of the orthographic projection of the shaped chassis 110 does not coincide with the shape shown in fig. 3, there is at least one moment that a part of the orthographic projection of the shaped chassis 110 is located in the first region 111, while a part of the orthographic projection is located in the second region 112 and the remaining part is located in the third region 113.
Further, in some other embodiments of the present application, the width of the projected area of the shaped base 110 along the width direction of the rectangular surface of the second area 112 is in the range of 0.85R to R.
In other words, the width of the profiled chassis 110 may be less than R, e.g., may be 0.85R, 0.88R, 0.89R, 0.90R, 0.95R, 0.99R, etc.; in the embodiment that the width of the special-shaped chassis 110 is in the range of 0.85R-R, the area of the special-shaped chassis 110 capable of loading goods is larger than R2And the profiled base 110 can smoothly pass through a right-angled passage with a width R.
Further, in the embodiment where the outer edge line of the orthographic projection of the shaped chassis 110 does not coincide with the shape shown in fig. 3, the projection of all the casters 120 is also within the predetermined shape shown in fig. 3, so as to avoid the casters 120 from abutting against the right-angled channels.
By way of example, fig. 8 shows an outer contour diagram of a second embodiment of the profiled chassis 110 in the example of the present application, fig. 9 shows an outer contour diagram of a third embodiment of the profiled chassis 110 in the example of the present application, and fig. 10 shows an outer contour diagram of a fourth embodiment of the profiled chassis 110 in the example of the present application. Fig. 11 shows an external contour view of a fifth embodiment of the profiled sole 110 in an embodiment of the present application.
Referring to fig. 8, the dotted line and the outer solid line in fig. 8 have the same size as the shape shown in fig. 3; in the embodiment shown in fig. 8, the outer contour of the irregular chassis 110 can be divided into three regions, namely, a quarter-circle surface at two sides and a rectangular surface at the middle, wherein the radius of the quarter-circle surface at two sides is R, the length of the rectangular surface at the middle is 4R/pi, and the width is (1-4/pi) R; the second face of the profiled chassis 110 shown in figure 8 has an area of approximately 1.2238R2Larger than a square chassis with respect to the side length R.
Referring to fig. 9, the dotted lines and the outer solid lines in fig. 9 are the same as the shapes and sizes shown in fig. 3; in the embodiment shown in FIG. 9, the outer contour of the contoured pan 110 may beThe middle region is overlapped with the second region 112 shown in fig. 3, the two regions are regular triangles with the side length of R, and the area of the second surface of the special-shaped chassis 110 shown in fig. 9 is about 1.1366R2Larger than a square chassis with respect to the side length R.
Referring to fig. 10, the dotted line and the outer solid line in fig. 10 have the same shape and size as those in fig. 3; in the embodiment shown in fig. 10, the outer contour of the profiled chassis 110 can be divided into three regions, the middle region coinciding with the second region 112 shown in fig. 3 and the side region coinciding with the first region 111 shown in fig. 3; the area on the other side is a regular triangle with the side length of R. The second face of the profiled chassis 110 shown in figure 10 has an area of approximately 1.922R2Larger than a square chassis with respect to the side length R.
Referring to FIG. 11, the dashed lines and the outer frame lines in FIG. 11 are the same as those in FIG. 3; in the embodiment shown in fig. 11, the outer contour of the lower edge of the profiled bottom disc 110 (the bottom line in fig. 11) coincides with the outer contour of the lower edge shown in fig. 3; the outer contour of the upper edge of the shaped chassis 110 (top line in fig. 11) is similar in shape to the outer contour of the upper edge shown in fig. 3; the profiled chassis 110 shown in figure 11 is 0.9R wide.
Referring to fig. 4 and 5 again, it can be seen from fig. 4 and 5 that the profiled chassis 110 having the outer contour of the projection plane shown in fig. 3 can pass through the right-angle channel having the width of R or more, and correspondingly, the profiled chassis 110 having the outer contour of the projection plane shown in fig. 3 can pass through the right-angle channel having the width of R or more. And the area of the second surface of the special-shaped chassis 110 shown in fig. 8 to 11 is larger than that of a square chassis with a side length R. The area of the special-shaped chassis 110, which can be loaded with goods, can be increased, and the use efficiency is improved.
In other embodiments of the present application, the shape of the outer contour of the special-shaped chassis 110 is not limited to the shapes shown in fig. 8 to 11 and fig. 3, as long as all the outer contour lines in the orthographic projection are within the projection plane shown in fig. 3. The outer contour of the special-shaped chassis 110 can be a straight line, a curve, a broken line and the like.
The special-shaped trolley 100 provided by the embodiment of the application at least has the following advantages:
through the design of the shape and the size of the special-shaped chassis 110, the special-shaped trolley 100 can pass through a right-angle channel with the width more than or equal to R; meanwhile, the area of the special-shaped chassis 110 capable of loading articles is increased to 2.207R2. The problem that the installation space of the movable trolley is limited by the right-angle channel is solved.
Furthermore, the active steering wheels are symmetrically arranged on the special-shaped chassis 110, and a steering power source is provided at a corner, so that the stability of the special-shaped trolley 100 is improved.
The guide wheels 130 can assist in steering the contoured cart 100. The bumper strip 140 may reduce impact when the profiled chassis 110 collides with an obstacle.
The application also provides a robot, which comprises a main body and the special-shaped trolley 100; the main body is arranged on one surface of the special-shaped trolley 100 far away from the caster 120.
In detail, in the present application, the main body of the robot is the same as that of an agv (automated Guided vehicle) device; the robot is mainly used for guiding, so that the robot can pass through a right-angle channel. The specific application of the robot is not limited, and the specific structure of the body of the robot and the corresponding functional modules can be set according to specific requirements.
The robot has larger installation space and can pass through the right-angle channel more smoothly.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A special-shaped trolley can pass through a right-angle channel with the width of R, and is characterized by comprising a special-shaped chassis and at least three trundles, wherein the special-shaped chassis is connected with the trundles;
at least one caster is a steerable driving wheel;
the outline of the orthographic projection of the special-shaped chassis on the horizontal plane can be completely positioned in the outline range of a preset shape; the orthographic projections of all the caster wheels are positioned in the outline range of the preset shape;
the preset shape includes:
a first region; the first area is a quarter-circle surface with the radius of R;
a second region; the second area is obtained by cutting out a semicircle from a rectangular surface; wherein the length of the rectangular surface is 4R/pi, and the width of the rectangular surface is R; the diameter of the semicircle to be cut off is 4R/pi; the cut semicircle is positioned at the edge of the long side of the rectangular surface; and
a third region; the third area is a quarter round surface with the radius of R;
the third region is symmetrical to the first region with respect to the second region; the circle centers of the first area and the third area are respectively superposed with two end points of the semicircle from which the second area is cut;
the special-shaped chassis comprises a first part, a second part and a third part which are sequentially connected along the length direction; the orthographic projection of the first portion can be located in the first region while the orthographic projection of the second portion can be located in the second region and while the orthographic projection of the third portion can be located in the third region; the area enclosed by the outer contour of the orthographic projection of the special-shaped chassis is larger than R2。
2. The contoured cart of claim 1,
and the width of the special-shaped chassis is in the range of 0.85R-R along the direction vertical to the length direction.
3. The contoured cart of claim 1, wherein an orthographic outer contour of the contoured chassis in a horizontal plane can coincide with a contour of the pre-set shape.
4. The contoured cart of claim 2 or 3, wherein at least three said casters are spaced apart along said length;
at least three casters are arranged at intervals along a direction perpendicular to the length direction;
and at least one of the driving wheels is mounted on the first portion or the third portion.
5. The contoured cart according to claim 2 or 3, wherein said contoured cart comprises five of said casters, two mounted as drive wheels to said first portion; two driving wheels are arranged on the third part; one mounted to the second portion as a driven or driving wheel.
6. The shaped trolley according to any one of claims 1 to 5, further comprising a guide wheel mounted to a side of the shaped chassis remote from the caster; the outer contour of the guide wheel extends out of the edge of the special-shaped chassis, and the orthographic projection of the guide wheel is located in the preset shape.
7. The shaped trolley according to claim 6, comprising a plurality of guide wheels, wherein orthographic projections of the guide wheels respectively cover inflection points of the projection area.
8. The special-shaped trolley according to any one of claims 1 to 5, wherein the special-shaped chassis further comprises an anti-collision strip, and the anti-collision strip is attached to the periphery of the special-shaped chassis.
9. A robot, characterized in that the robot comprises a main body and the special-shaped trolley of any one of claims 1-8; the main body is arranged on one side of the special-shaped trolley, which deviates from the caster.
10. The special-shaped trolley is characterized by comprising a special-shaped chassis and at least three casters, wherein the special-shaped chassis and the casters are connected with each other;
the outer contour of the special-shaped chassis is formed by sequentially enclosing a first straight edge, a semi-circular arc edge, a second straight edge, a third arc edge, a fourth straight edge and a fifth arc edge;
the first straight edge and the second straight edge are collinear, and the lengths of the first straight edge and the second straight edge are R;
the diameter of the semicircular arc edge is 4R/pi, and two ends of the semicircular arc edge are respectively connected with the first straight edge and the second straight edge;
the fourth straight edge is parallel to the first straight edge, and the semicircular arc edge is sunken towards the fourth straight edge;
the third arc-shaped edge and the fifth arc-shaped edge are both in a quarter arc shape with the radius of R; the circle centers of the third arc-shaped edge and the fifth arc-shaped edge are two end points of the semi-arc-shaped edge respectively;
at least one caster is a driving wheel; at least one caster is installed in the area surrounded by the first straight edge and the third arc-shaped edge, and at least one caster is installed in the area surrounded by the second straight edge and the fifth arc-shaped edge.
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| CN201911171761.2A CN110834688B (en) | 2019-11-25 | 2019-11-25 | Dysmorphism dolly and robot |
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| CN201911171761.2A CN110834688B (en) | 2019-11-25 | 2019-11-25 | Dysmorphism dolly and robot |
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| CN110834688B CN110834688B (en) | 2020-12-15 |
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| CN110834688B (en) | 2020-12-15 |
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