CN113443047B - Wisdom logistics robot - Google Patents

Wisdom logistics robot Download PDF

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Publication number
CN113443047B
CN113443047B CN202110798230.7A CN202110798230A CN113443047B CN 113443047 B CN113443047 B CN 113443047B CN 202110798230 A CN202110798230 A CN 202110798230A CN 113443047 B CN113443047 B CN 113443047B
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China
Prior art keywords
machine body
plate
collision
steering
rack
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CN202110798230.7A
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Chinese (zh)
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CN113443047A (en
Inventor
辛桂鑫
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Shanghai Kumore Robotics Co ltd
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Shanghai Kumao Robot Co ltd
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Publication of CN113443047A publication Critical patent/CN113443047A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
    • B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
    • B60R19/18—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact
    • B60R19/20—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact containing mainly gas or liquid, e.g. inflatable
    • B60R19/205—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact containing mainly gas or liquid, e.g. inflatable inflatable in the direction of an obstacle upon impending impact, e.g. using air bags
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
    • B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
    • B60R19/42—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects extending primarily along the sides of, or completely encircling, a vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an intelligent logistics robot which structurally comprises a carrying plate, an impact anti-dropping device, a moving mechanism, a machine body and an impact steering device, wherein the carrying plate is arranged at the top of the machine body and matched with the machine body; the invention has the following effects: after touchhing the barrier when commodity circulation robot gos forward, make it carry the thing board decline, produce with the help of the organism inner wall and block the goods, make the goods can not drop, lean on the pressure of carrying the thing board to brake the commodity circulation robot simultaneously, rely on the meshing of gear again to let the commodity circulation robot side touch the barrier can the time automatic steering, the adjustment direction of advance avoids the barrier.

Description

Wisdom logistics robot
Technical Field
The invention relates to the field of logistics, in particular to an intelligent logistics robot.
Background
With the gradual development of factory automation, computer integrated manufacturing system technology and the wide application of automatic three-dimensional warehouse, the intelligent logistics robot is used as a necessary means for continuous operation and automatic handling, loading and unloading, the application range and technical level thereof are rapidly developed, the existing intelligent logistics robot can influence the goods on the loading platform of the intelligent logistics robot due to the influence of impact force when collision occurs during the use process, the goods can fall off the loading platform, the work of other logistics robots is influenced, and meanwhile, some fragile goods can be damaged, therefore, the intelligent logistics robot needs to be developed to prevent the goods on the loading platform from falling off when collision occurs and can automatically turn to adjust the advancing direction when the side edge of the intelligent logistics robot touches obstacles, so as to solve the problem that the logistics robot can not fall off during the use process, when colliding, make the goods drop cargo platform, influence other logistics robot's work, also can cause the problem of some fragile article's damage simultaneously.
Disclosure of Invention
The invention provides an intelligent logistics robot which is used for preventing goods on a loading platform from falling off when the intelligent logistics robot collides, and automatically steering and adjusting the advancing direction when the side edge of the intelligent logistics robot collides with an obstacle, so that the problems that the goods fall off the loading platform when the intelligent logistics robot collides in the using process, the work of other logistics robots is influenced, and meanwhile, some fragile articles are damaged are solved.
The invention is realized by the following technical scheme: an intelligent logistics robot structurally comprises a carrying plate, an impact anti-falling device, a moving mechanism, a machine body and an impact steering device, wherein the carrying plate is arranged at the top of the machine body and matched with the machine body, the moving mechanism is arranged at the bottom of the machine body, the impact anti-falling device is fixed at the front end and the rear end of the machine body, the impact steering device penetrates through the side wall of the machine body and is in sliding fit with the side wall of the machine body, the impact steering device is arranged on the left side and the right side of the machine body, the impact steering device is connected with the moving mechanism, and the moving mechanism is connected with the carrying plate;
the collision anti-falling device comprises a telescopic plate, an anti-collision plate, an air bag, a communicating plate, a lifting mechanism, a device body and a telescopic baffle, wherein the anti-collision plate is fixedly connected to one end of the telescopic plate, the other end of the telescopic plate is installed on the device body, the air bag is arranged inside the telescopic plate, the communicating plate is connected with the device body and is communicated with the two device bodies, the lifting mechanism is arranged inside the device body, the lifting mechanism is connected with the telescopic baffle, and the device body is fixed on a machine body.
As the further optimization of this technical scheme, moving mechanism is including removing wheel, emergency brake group, connecting rod, hydraulic stem, emergency brake group lower extreme install remove the wheel the connecting rod both sides are connected with emergency brake group, the hydraulic stem bottom links to each other with the connecting rod, the hydraulic stem top meets with year thing board, emergency brake group turns to the device with the striking and is connected, emergency brake group installs at the bottom of the body.
As a further optimization of the technical scheme, an anti-collision structure in the impact steering device is matched with a steering structure, the anti-collision structure penetrates through the side wall of the machine body and is in sliding fit with the machine body, and the steering structure is connected with the moving mechanism.
As a further optimization of the technical scheme, the lifting mechanism comprises a limiting block, a gravity block, a sliding rope, a pulley and a top plate, the limiting block is installed on the inner wall of the device body, the gravity block is connected with one end of the sliding rope, the other end of the sliding rope is connected with the top plate, the pulley is fixed on the inner wall of the device body, the sliding rope passes through the pulley and is in sliding fit with the pulley, the gravity block is matched with the inner wall of the device body, and the top plate is connected with the telescopic baffle.
As a further optimization of this technical scheme, emergency brake group includes extension spring, brake block, casing, roof links to each other with the extension spring upper end in the casing, the extension spring lower extreme meets with the brake block, the casing is installed in bottom of the body, the casing top is fixed and is turned to the structure, the ann changes in casing bottom has the removal wheel, the casing is connected with the connecting rod.
As a further optimization of the technical scheme, the anti-collision structure arc-shaped baffle is connected with one end of a rack, the other end of the rack is matched with the steering structure, a spring is arranged on the rack, and the rack penetrates through the side wall of the machine body and is in sliding fit with the side wall of the machine body.
As a further optimization of the technical scheme, a gear is installed at the top end of the steering rod of the steering structure, a shell is fixed at the tail end of the steering rod, and the gear is meshed with the rack.
When the intelligent logistics robot moves forward, the air bag shrinks to generate air pressure when the anti-collision plate collides with an obstacle or a wall, the air pressure can jack up the gravity block, meanwhile, as the communicating plate communicates the two devices, when one side generates air pressure to lift the heavy object, the other side of the weight block also rises, the top plate connected with the weight block through the sliding rope loses the action of gravity and descends, meanwhile, the carrying plate can also descend due to the loss of the support of the top plate, goods on the carrying plate can not fall off due to the blocking of the inner wall of the machine body after descending, and the hydraulic rod can press down after the carrying plate descends due to the connection of the carrying plate and the hydraulic rod, produce the effort to the brake block, make the brake block push down and accomplish urgent brake, let wisdom commodity circulation robot hit behind the barrier at the in-process of advancing still can stop when protecting the goods and not dropping, avoid taking place other harm.
When the barrier was touched to the side when commodity circulation robot gos forward, when the effect rack internal pressure of pressurized, the rack took place to mesh with the gear, make the steering column turn to, fix and also rotate the direction at the terminal casing of steering column, thereby it changes to remove the wheel and turn to make commodity circulation robot direction of advance this moment, the barrier of side is avoided to the adjustment direction of advance, prevent that commodity circulation robot from receiving the harm, the rack loses pressure when the side does not have the barrier, because the effect of spring elasticity, the rack rises back and drives the gear rotation once more, the steering column position returns to the straight, make commodity circulation robot continue to advance.
Advantageous effects
The intelligent logistics robot is reasonable in design and strong in functionality, and has the following beneficial effects: according to the intelligent logistics robot, the collision anti-falling device, the collision steering device and the like are additionally arranged, when the logistics robot moves forward and touches a barrier, the carrying plate of the logistics robot descends, the inner wall of the machine body is used for blocking the goods, the goods cannot fall off, meanwhile, the logistics robot is braked by the pressure of the carrying plate, the side edge of the logistics robot can automatically steer when touching the barrier by means of meshing of gears, the advancing direction is adjusted, and therefore the problems that when the intelligent logistics robot uses and collides, the goods fall off the carrying platform, the work of other logistics robots is affected, and meanwhile, some fragile goods are damaged are also caused are solved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of an intelligent logistics robot according to the present invention.
Fig. 2 is a schematic structural view of the inside of the machine body of the present invention.
Fig. 3 is a schematic view of the dynamic structure of the machine body of the present invention.
Fig. 4 is a side view of the body of the present invention.
Fig. 5 is a perspective view of the steering apparatus according to the present invention.
In the figure: an object carrying plate-1, an impact anti-drop device-2, a moving mechanism-3, a machine body-4, an impact steering device-5, a telescopic plate-2 a, an anti-impact plate-2 b, an air bag-2 c, a communicating plate-2 d, a lifting mechanism-2 e, a device body-2 f, a telescopic baffle-2 g, a moving wheel-31, an emergency brake set-32, a connecting rod-33 and a hydraulic rod-34, the anti-collision device comprises an anti-collision structure-51, a steering structure-52, a limiting block-e 1, a gravity block-e 2, a sliding rope-e 3, a pulley-e 4, a top plate-e 5, a tension spring-321, a brake block-322, a shell-323, an arc-shaped baffle-511, a spring-512, a rack-513, a gear-521 and a steering rod-522.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the following description and the accompanying drawings further illustrate the preferred embodiments of the invention.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1-3, the invention provides an intelligent logistics robot, which structurally comprises a carrying plate 1, an impact anti-drop device 2, a moving mechanism 3, a machine body 4 and an impact steering device 5, wherein the carrying plate 1 is arranged at the top of the machine body 4, the carrying plate 1 is matched with the machine body 4, the moving mechanism 3 is arranged at the bottom of the machine body 4, the impact anti-drop device 2 is fixed at the front end and the rear end of the machine body 4, the impact steering device 5 penetrates through the side wall of the machine body 4 and is in sliding fit with the side wall, the impact steering device 5 is arranged at the left side and the right side of the machine body 4, the impact steering device 5 is connected with the moving mechanism 3, and the moving mechanism 3 is connected with the carrying plate 1;
the collision anti-falling device 2 comprises a telescopic plate 2a, an anti-collision plate 2b, an air bag 2c, a communication plate 2d, a lifting mechanism 2e, a device body 2f and a telescopic baffle 2g, wherein one end of the telescopic plate 2a is fixedly connected with the anti-collision plate 2b, the other end of the telescopic plate 2a is installed on the device body 2f, the air bag 2c is arranged inside the telescopic plate 2a, the communication plate 2d is connected with the device body 2f and is communicated with the two device bodies 2f, the lifting mechanism 2e is arranged inside the device body 2f, the lifting mechanism 2e is connected with the telescopic baffle 2g, and the device body 2f is fixed on the machine body 4.
The telescopic baffle plate 2g can generate a blocking effect when the carrying plate-1 descends, external dust is prevented from entering the logistics robot, the air bag 2c has elasticity and can automatically rebound after being compressed, and air pressure generated when the air bag 2c is compressed can jack up the gravity block e 2.
Referring to fig. 2, the moving mechanism 3 includes a moving wheel 31, an emergency brake group 32, a connecting rod 33, and a hydraulic rod 34, the moving wheel 31 is installed at the lower end of the emergency brake group 32, the emergency brake group 32 is connected to both sides of the connecting rod 33, the bottom of the hydraulic rod 34 is connected to the connecting rod 33, the top of the hydraulic rod 34 is connected to the loading plate 1, the emergency brake group 32 is connected to the impact steering device 5, and the emergency brake group 32 is installed at the bottom of the machine body 4.
Referring to fig. 2, the lifting mechanism 2e includes a limiting block e1, a gravity block e2, a sliding rope e3, a pulley e4, and a top plate e5, the limiting block e1 is mounted on the inner wall of the device body 2f, the gravity block e2 is connected to one end of the sliding rope e3, the other end of the sliding rope e3 is connected to the top plate e5, the pulley e4 is fixed on the inner wall of the device body 2f, the sliding rope e3 passes through the pulley e4 and is in sliding fit with the pulley e4, the gravity block e2 is matched with the inner wall of the device body 2f, and the top plate e5 is connected to the telescopic baffle 2 g.
The weight of the weight block e2 is greater than the weight of the loading plate and the top plate e5, and can support the goods on the loading plate and ensure that the goods can be kept in a normal state when not being collided.
Referring to fig. 3, the emergency brake set 32 includes a tension spring 321, a brake block 322, and a housing 323, wherein an inner top wall of the housing 323 is connected to an upper end of the tension spring 321, a lower end of the tension spring 321 is connected to the brake block 322, the housing 323 is installed at the bottom of the machine body 4, a top of the housing 323 is fixed to the steering structure 52, a moving wheel 31 is installed at the bottom of the housing 323, and the housing 323 is connected to the connecting rod 33.
The specific implementation principle is as follows:
when the intelligent logistics robot advances, the air bag 2c contracts to generate air pressure when the anti-collision plate 2b collides with a barrier or a wall, the air pressure can jack up the gravity block e2, meanwhile, the communicating plate 2d communicates the two device bodies 2f, when the air pressure generated at one side causes the weight block e2 to ascend, the weight block at the other side also ascends, the top plate e5 connected with the weight block e3 loses the gravity action and descends, meanwhile, the carrying plate 1 descends due to losing the support of the top plate e5, goods on the carrying plate 1 after descending are blocked by the inner wall of the machine body 4, and can not fall off, because the carrying plate 1 is connected with the hydraulic rod 34, the hydraulic rod 34 can press down after the carrying plate 1 descends, an acting force is generated on the brake block 322, the brake block 322 is pressed down to complete emergency braking, and the intelligent logistics robot can stop while protecting the goods from falling off after colliding with the barrier in the advancing process, avoiding other damages.
Example 2
Referring to fig. 1, the invention provides an intelligent logistics robot, which structurally comprises a carrying plate 1, an impact anti-falling device 2, a moving mechanism 3, a robot body 4 and an impact steering device 5, wherein the carrying plate 1 is arranged at the top of the robot body 4, the carrying plate 1 is matched with the robot body 4, the moving mechanism 3 is arranged at the bottom of the robot body 4, the impact anti-falling device 2 is fixed at the front end and the rear end of the robot body 4, the impact steering device 5 penetrates through the side wall of the robot body 4 and is in sliding fit with the side wall, the impact steering device 5 is arranged at the left side and the right side of the robot body 4, the impact steering device 5 is connected with the moving mechanism 3, and the moving mechanism 3 is connected with the carrying plate 1.
Referring to fig. 2, the moving mechanism 3 includes a moving wheel 31, an emergency brake group 32, a connecting rod 33, and a hydraulic rod 34, the moving wheel 31 is installed at the lower end of the emergency brake group 32, the emergency brake group 32 is connected to both sides of the connecting rod 33, the bottom of the hydraulic rod 34 is connected to the connecting rod 33, the top of the hydraulic rod 34 is connected to the loading plate 1, the emergency brake group 32 is connected to the impact steering device 5, and the emergency brake group 32 is installed at the bottom of the machine body 4.
Referring to fig. 4, the collision-proof structure 51 of the impact steering device 5 is matched with the steering structure 52, the collision-proof structure 51 penetrates through the side wall of the machine body 4 and is in sliding fit with the machine body, and the steering structure 52 is connected with the moving mechanism 3.
Referring to fig. 4-5, the arc-shaped baffle 511 of the anti-collision structure 51 is connected to one end of a rack 513, the other end of the rack 513 is matched with the steering structure 52, a spring 512 is disposed on the rack 513, and the rack 513 penetrates through the side wall of the machine body 4 and is in sliding fit with the side wall.
The surface of the arc-shaped baffle 511 is made of wear-resistant and elastic material.
Referring to fig. 4-5, a gear 521 is mounted at the top end of a steering rod 522 of the steering structure 52, a housing 323 is fixed at the end of the steering rod 522, and the gear 521 is engaged with the rack 513.
The specific realization principle is as follows:
when the side edge of the logistics robot touches an obstacle when moving forward, the rack 513 is pressed inwards under the action of pressure, the rack 513 is meshed with the gear 521, the steering rod 522 is made to steer, the shell 323 fixed at the tail end of the steering rod 522 also turns, at the moment, the moving wheel 31 turns to change the moving direction of the logistics robot, the moving direction is adjusted to avoid the obstacle on the side edge, the logistics robot is prevented from being damaged, when the side edge of the logistics robot is not provided with the obstacle, the rack 513 is lifted back under the action of the elastic force of the spring 512 to drive the gear 521 to rotate again, the position of the steering rod 522 is adjusted to be right, and the logistics robot continues to move forward.
While there have been shown and described what are at present considered the fundamental principles of the invention, the essential features and advantages thereof, it will be understood by those skilled in the art that the present invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but rather, is capable of numerous changes and modifications in various forms without departing from the spirit or essential characteristics thereof, and it is intended that the invention be limited not by the foregoing descriptions, but rather by the appended claims and their equivalents.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (2)

1. The utility model provides an wisdom logistics robot which characterized in that: the anti-collision device comprises a carrying plate (1), a collision anti-collision device (2), a moving mechanism (3), a machine body (4) and a collision steering device (5), wherein the carrying plate (1) is arranged at the top of the machine body (4), the moving mechanism (3) is arranged at the bottom of the machine body (4), the collision anti-collision device (2) is fixed at the front end and the rear end of the machine body (4), the collision steering device (5) penetrates through the side wall of the machine body (4) and is in sliding fit with the side wall of the machine body (4), the collision steering device (5) connected with the moving mechanism (3) is arranged on both sides of the machine body (4), and the moving mechanism (3) is connected with the carrying plate (1);
the collision anti-falling device (2) comprises a telescopic plate (2 a), an anti-collision plate (2 b), an air bag (2 c), a communication plate (2 d), a lifting mechanism (2 e), a device body (2 f) and a telescopic baffle (2 g), one end of the telescopic plate (2 a) is connected with the anti-collision plate (2 b), the other end of the telescopic plate is connected with the device body (2 f), the air bag (2 c) is arranged in the telescopic plate (2 a), the communication plate (2 d) is connected with the device body (2 f), the lifting mechanism (2 e) is arranged in the device body (2 f), the lifting mechanism (2 e) is connected with the telescopic baffle (2 g), and the device body (2 f) is fixed on a machine body (4);
the moving mechanism (3) comprises a moving wheel (31), an emergency brake group (32), a connecting rod (33) and a hydraulic rod (34), the moving wheel (31) is installed at the lower end of the emergency brake group (32), the emergency brake group (32) is connected to two sides of the connecting rod (33), the bottom of the hydraulic rod (34) is connected with the connecting rod (33), the top of the hydraulic rod (34) is connected with the loading plate (1), the emergency brake group (32) is connected with the impact steering device (5), and the emergency brake group (32) is installed at the bottom of the machine body (4);
the collision steering device (5) is provided with a collision-proof structure (51) and a steering structure (52) which are matched with each other, the collision-proof structure (51) penetrates through the side wall of the machine body (4) and is in sliding fit with the machine body, and the steering structure (52) is connected with the moving mechanism (3);
the lifting mechanism (2 e) comprises a limiting block (e 1), a gravity block (e 2), a sliding rope (e 3), a pulley (e 4) and a top plate (e 5), wherein the limiting block (e 1) is installed on the inner wall of the device body (2 f), one end of the sliding rope (e 3) is connected with the gravity block (e 2), the other end of the sliding rope is connected with the top plate (e 5), the pulley (e 4) is fixed on the inner wall of the device body (2 f), the sliding rope (e 3) passes through the pulley (e 4) and is in sliding fit with the pulley, the gravity block (e 2) is matched with the device body (2 f), and the top plate (e 5) is connected with a telescopic baffle plate (2 g);
the emergency brake set (32) comprises a tension spring (321), a brake block (322) and a shell (323), wherein the inner top wall of the shell (323) is connected with the upper end of the tension spring (321), the lower end of the tension spring (321) is connected with the brake block (322), the shell (323) is installed at the bottom of the machine body (4), the top of the shell (323) is fixed on a steering structure (52), a movable wheel (31) is installed at the bottom of the shell (323), and the shell (323) is connected with a connecting rod (33);
anticollision structure (51) link to each other including cowl (511), spring (512), rack (513), cowl (511) and rack (513) one end, the rack (513) other end cooperatees with steering structure (52), be equipped with spring (512) on rack (513), rack (513) run through organism (4) lateral wall and with it sliding fit.
2. The intelligent logistics robot of claim 1, wherein: the steering structure (52) comprises a gear (521) and a steering rod (522), wherein the gear (521) meshed with the rack (513) is installed at the top end of the steering rod (522).
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CN116039313B (en) * 2023-03-29 2023-10-13 哈尔滨学院 Lunar robot chassis

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