CN114348116A - Chassis device of logistics robot - Google Patents
Chassis device of logistics robot Download PDFInfo
- Publication number
- CN114348116A CN114348116A CN202111677066.0A CN202111677066A CN114348116A CN 114348116 A CN114348116 A CN 114348116A CN 202111677066 A CN202111677066 A CN 202111677066A CN 114348116 A CN114348116 A CN 114348116A
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- block
- supporting block
- driving
- blocks
- magnetic ring
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- 238000003780 insertion Methods 0.000 claims abstract description 25
- 230000037431 insertion Effects 0.000 claims abstract description 25
- 230000005389 magnetism Effects 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 18
- 238000005096 rolling process Methods 0.000 claims description 8
- 239000011324 bead Substances 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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Abstract
The invention provides a chassis device of a logistics robot, which comprises a supporting block, driving blocks and an inserting block, wherein the supporting block is used for being connected with a warehouse, the driving blocks are respectively arranged on two sides of the supporting block and are inserted into the supporting block, the inserting block is arranged on the driving block and is inserted into the supporting block, and a limiting component used for elastically clamping to limit the inserting block to be separated from the supporting block is arranged in the supporting piece; the limiting assembly comprises an electromagnetic piece, a fixed cylinder, a spring, a magnetic ring and a ball; the electromagnetic piece is positioned on the end part of the accommodating cavity far away from the slot; one end of the fixed cylinder is arranged on one side of the electromagnetic piece facing the slot, and the other end of the fixed cylinder is used for the insertion block to slide in; the spring is sleeved on the fixed cylinder, one end of the spring is connected to the electromagnetic piece, and the other end of the spring is connected with the magnetic ring; the spring supports the magnetic ring to elastically slide along the extension direction of the fixed cylinder; the ball is located between the side of the magnetic ring back to the electromagnetic piece and the inner wall of the accommodating cavity. When the electromagnetism piece outage, the spring orders about the magnetism ring and contradicts the ball, makes two ball centre gripping inserts the piece, adjusts the distance of two drive wheels with the narrower road of adaptation.
Description
Technical Field
The invention belongs to the field of logistics robots, and particularly relates to a chassis device of a logistics robot.
Background
With the increasing development of electronic commerce, the logistics industry matched with the electronic commerce is also continuously developing and innovated, and the logistics efficiency is always a big pain point of each e-commerce. In order to improve the warehouse operation efficiency and reduce the logistics cost, E-commerce huge people develop logistics distribution robots at a time and boost the enterprise warehouse logistics system for upgrading and optimizing.
The current logistics robot consists of a chassis support for assembling a driving wheel and a warehouse arranged on the chassis support; when the logistics robot runs on a transportation route, the encountered road surface becomes narrow, and the logistics robot can only re-plan the route when meeting the narrow road surface due to the chassis immobilization design of the existing logistics robot, so that the cost of transporting goods is increased easily.
Disclosure of Invention
The invention aims to provide a chassis device of a logistics robot, and aims to solve the technical problem that the logistics robot is difficult to pass when meeting narrow road surfaces in the prior art.
The invention is realized by the following steps:
a chassis device of a logistics robot comprises a supporting block used for being connected with a warehouse, two driving blocks respectively arranged on two sides of the supporting block and inserted into the supporting block, and two insertion blocks arranged on the driving blocks and inserted into the supporting block, wherein the two insertion blocks comprise two insertion blocks, the two driving blocks are respectively connected with one insertion block, and the two insertion blocks are arranged in parallel; two limiting components which are respectively used for elastic clamping to limit the two inserting blocks to be separated from the supporting block are arranged in the supporting block; the supporting block is provided with two accommodating cavities which are used for accommodating the two limiting assemblies respectively, and the accommodating cavities are arranged in a strip shape; the supporting block is also provided with two slots for the two inserting blocks to insert into respectively, and the slots are positioned at one end of the accommodating cavity and communicated with the accommodating cavity; the notches of the two slots are respectively arranged towards the driving blocks on the two sides of the supporting block;
the limiting assembly comprises an electromagnetic part, a fixed barrel, a spring, a magnetic ring and a ball; the electromagnetic piece is positioned at the end part of the accommodating cavity far away from the slot; one end of the fixed cylinder is arranged on one side of the electromagnetic piece facing the slot, and the other end of the fixed cylinder faces the slot and is used for the insertion block to slide in; the spring is sleeved on the fixed cylinder, one end of the spring is connected to the electromagnetic piece, and the other end of the spring is connected to the magnetic ring; the spring is connected with the magnetic ring and is used for supporting the magnetic ring to elastically slide along the extension direction of the fixed cylinder; the ball is located the magnetism ring dorsad one side of electromagnetism piece is located hold the port department of cavity, just the ball is equipped with two, two the ball is located respectively the both sides of inserted block.
Furthermore, a plurality of rolling beads which are uniformly arranged are embedded in the magnetic ring, and the rolling beads protrude out of the outer wall of the magnetic ring and abut against the inner wall of the accommodating cavity.
Furthermore, the diameter of the inner ring of the magnetic ring is larger than the outer diameter of the fixed cylinder, and the magnetic ring is sleeved on the insert block.
Further, the inserted block is cylindricly set up, the external diameter of inserted block with the internal diameter of fixed section of thick bamboo is the same.
Furthermore, a plurality of limiting ring grooves are formed in the outer wall of the inserting block; and the two balls are clamped in the limiting ring grooves.
Furthermore, the axial section of the end part of the accommodating cavity communicated with the slot is arranged in an arc-shaped necking shape; when spacing subassembly joint during the inserted block, the ball is located the arc throat form tip that holds the cavity and joint in spacing annular.
Further, the chassis device of the logistics robot further comprises two driving wheels with drivers, the two driving wheels are respectively connected with the two driving blocks, and a driving motor used for adjusting the steering direction of the driving wheels is arranged between the driving blocks and the driving wheels.
Furthermore, the chassis device of the logistics robot further comprises two oppositely arranged acquisition modules, the two acquisition modules are respectively located at two ends of the supporting block in the extending direction and electrically connected with the driving motor, and the acquisition modules are used for acquiring road information on a moving route of the logistics robot and sending the road information.
Further, the chassis device of the logistics robot further comprises an analysis module and a processing module; the analysis module, the processing module, the electromagnetic part and the driver are all electrically connected with the driving motor; the analysis module is used for receiving the road information sent by the acquisition module, analyzing the difference between the width of the road and the width between the two driving blocks according to the road information, and if the width of the road is smaller than the width between the two driving blocks, generating comparison information and sending the comparison information to the processing module.
Further, the processing module is used for switching on a circuit of the electromagnetic piece according to the comparison information so that the electromagnetic piece adsorbs the magnetic ring; and the processing module also controls the two driving motors to adjust the steering direction of the driving wheels to a direction perpendicular to the extending direction of the supporting block, and drives the two drivers to drive the driving wheels to move towards the supporting block so as to reduce the distance between the two driving wheels and adapt to the width of the road.
The invention has the beneficial effects that: when the insert block is inserted into the fixed cylinder through the slot, the electromagnetic piece is electrified to adsorb the magnetic ring and compress the spring, at the moment, the two balls respectively positioned on the insert block are in a movable state, and at the moment, the insert block can be inserted towards the direction of the fixed cylinder; when the inserted block is inserted to a proper position, the electromagnetic part is powered off, the spring drives the magnetic ring to abut against the balls, so that the two balls clamp the inserted block, the position of the inserted block is limited, the distance between the two driving blocks is further locked at the moment, and the distance between the driving wheels of the chassis device of the logistics robot is adjusted to adapt to a narrow road.
Drawings
Fig. 1 is a first schematic diagram of a chassis device of a logistics robot provided by an embodiment of the invention;
fig. 2 is a second schematic diagram of a chassis device of the logistics robot provided by the embodiment of the invention;
FIG. 3 is an enlarged view at A in FIG. 1;
fig. 4 is an electrical connection diagram of the acquisition module, the analysis module, the processing module, the driving motor and the electromagnetic component of the chassis device of the logistics robot according to the embodiment of the invention.
Reference numerals:
10. a support block; 101. inserting a block; 111. a limiting ring groove; 102. an accommodating cavity; 103. a slot; 20. a drive block; 30. an electromagnetic member; 301. a fixed cylinder; 302. a spring; 303. a magnetic ring; 313. rolling the beads; 304. a ball bearing; 40. a drive motor; 50. an acquisition module; 60. an analysis module; 70. a processing module; 80. and a driving wheel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.
It should be noted that the terms of orientation such as left, right, up, down, etc. in the present embodiment are only relative concepts or reference to the normal use state of the product, and should not be considered as limiting. As shown in fig. 1 to 3, a chassis device of a logistics robot provided for an embodiment of the present invention includes a supporting block 10 for connecting with a cargo compartment, driving blocks 20 respectively disposed on two sides of the supporting block 10 and inserted into the supporting block 10, and two insertion blocks 101 disposed on the driving blocks 20 and inserted into the supporting block 10, where the two insertion blocks 101 include two, each of the two driving blocks 20 is connected with one of the insertion blocks 101, and the two insertion blocks 101 are disposed in parallel; in this embodiment, when two insertion blocks 101 are inserted into the supporting block 10 at the same time, the two insertion blocks 101 are arranged in parallel in the thickness direction of the supporting block 10. A limiting component used for limiting the plug block 101 to be separated from the supporting block 10 through elastic clamping is arranged in the supporting block 10; the positions of the driving blocks 20 connected with the inserting blocks 101 and the supporting blocks 10 are limited through the limiting assemblies, so that the stability of the two driving blocks 20 fixed on the supporting blocks 10 is ensured; the supporting block 10 is provided with accommodating cavities 102 for accommodating the two limiting assemblies respectively, the accommodating cavities 102 are arranged in a strip shape, the supporting block 10 is further provided with two slots 103 for inserting the two inserting blocks 101 respectively, the slots 103 are located at one end of the accommodating cavity 102 and communicated with the accommodating cavity 102, and notches of the two slots 103 are arranged towards the driving blocks 20 on the two sides of the supporting block 10 respectively.
The accommodating cavity 102 is arranged to provide a moving space for the limiting assembly, and the accommodating cavity 102 is arranged to be strip-shaped so that the insert block 101 can be conveniently inserted into the supporting block 10 through the slot 103, and the stability of the insert block 101 inserted into the supporting block 10 can be limited to a certain extent; the limiting assembly comprises an electromagnetic part 30, a fixed barrel 301, a spring 302, a magnetic ring 303 and a ball 304; the electromagnetic piece 30 is positioned on the end of the accommodating cavity 102 far away from the slot 103; one end of the fixed cylinder 301 is arranged on one side of the electromagnetic part 30 facing the slot 103, and the other end faces the slot and is used for the insertion block 101 to slide in; the spring 302 is sleeved on the fixed cylinder 301, one end of the spring 302 is connected to the electromagnetic piece 30, and the other end of the spring 302 is connected to the magnetic ring 303; the spring 302 is connected with the magnetic ring 303 and is used for supporting the magnetic ring 303 to elastically slide along the axial direction of the fixed barrel 301; the two balls 304 are located on one side of the magnetic ring 303 facing away from the electromagnetic element 30 and at a port of the accommodating cavity 102, and the two balls 304 are respectively located on two sides of the insert block 101; the driving block 20 is provided with a driving wheel 80 having a driver. When the insert 101 is inserted into the fixed cylinder 301 through the slot 103, the electromagnetic element 30 is energized to attract the magnetic ring 303 and compress the spring 302, and at this time, the two balls 304 respectively located at the two sides of the insert 101 are in an active state, and at this time, the insert 101 can be inserted toward the direction of the fixed cylinder 301; when the insert block 101 is inserted to a proper position, the electromagnetic element 30 is powered off, the spring 302 drives the magnetic ring 303 to abut against the balls 304, so that the two balls 304 clamp the insert block 101 to limit the position of the insert block 101, and further, the distance between the two driving blocks 20 at the time is locked, and the adjustment of the distance between the driving wheels 80 of the chassis device of the logistics robot to fit a narrow road is realized.
Referring to fig. 1 and 3, a plurality of rolling beads 313 are uniformly embedded in the magnetic ring 303, and the rolling beads 313 protrude from the outer wall of the magnetic ring 303 to abut against the inner wall of the accommodating cavity 102. Through set up a plurality of rolling balls 313 on the outer wall of magnetism ring 303 to reduce the frictional force between magnetism ring 303 and the inner wall of holding cavity 102, with when electromagnetism piece 30 circular telegram magnetism ring 303, magnetism ring 303 can be more quick the slip to with electromagnetism piece 30 adsorption fixed.
Referring to fig. 3, the diameter of the inner ring of the magnetic ring 303 is larger than the outer diameter of the fixed cylinder 301. The outer diameter of the fixed cylinder 301 is smaller than the diameter of the inner ring of the magnetic ring 303, so that the interference of the fixed cylinder 301 on the elastic sliding of the magnetic ring 303 is reduced, and the smooth degree of the sliding of the magnetic ring 303 is further improved.
Referring to fig. 3, the insertion block 101 is disposed in a cylindrical shape, the outer diameter of the insertion block 101 is the same as the inner diameter of the fixed cylinder 301, and by disposing the insertion block 101 in a cylindrical shape and the outer diameter of the insertion block 101 is the same as the inner diameter of the fixed cylinder 301, the stability of inserting the insertion block 101 into the fixed cylinder 301 is higher when the insertion block 101 is inserted and fixed; wherein, the end of the insertion block 101 away from the driving block 20 has a guiding structure, and the guiding structure here may be an arc surface arranged at the end of the insertion block 101.
Referring to fig. 3, the outer wall of the insert block 101 is provided with at least one limiting ring groove 111; two ball 304 joint in spacing ring groove 111, through setting up spacing ring groove 111 to make ball 304 joint in spacing ring groove 111, further promote the spacing degree that ball 304 presss from both sides tight inserted block 101, and then make inserted block 101 be difficult to break away from slot 103.
Referring to fig. 3, the cross section of the end of the accommodating cavity 102 connected to the insertion slot 103 is in a shape of a constricted mouth, and when the limiting assembly is clamped to the insertion block 101, the ball 304 is located at the constricted mouth and clamped in the limiting ring groove 111; the cross section of the end part of the accommodating cavity 102 connected with the slot 103 is set to be in a necking shape, so that the ball 304 at the necking position slides towards the slot 103 along the inner wall of the necking position and is clamped on the limiting ring groove 111, and the ball 304 is further lifted to be clamped on the insert block 101.
A driving motor 40 for adjusting the steering of the driving wheel 80 is provided between the driving block 20 and the driving wheel 80 with reference to fig. 2. The rotating shaft of the driving motor 40 is connected with the driving wheel 80, so that the steering of the driving wheel 80 is adjusted through the driving motor 40, and the driving force is provided for the driving wheel 80 by combining a driver, so that the steering and driving purposes of the driving wheel 80 are realized; and when the chassis device of the logistics robot adapted to the narrow road needs to be reset, the driving motor 40 is used for turning the driving wheel 80 to the direction perpendicular to the extending direction of the supporting block 10, and the driver is started to drive the driving wheel 80 to drive the two driving blocks 20 to move back to the supporting block 10, so that the distance between the two driving wheels 80 is increased.
Referring to fig. 1, 2 and 4, the chassis device of the logistics robot further includes two oppositely disposed acquisition modules 50, in this embodiment, the acquisition modules 50 are industrial cameras, the two acquisition modules 50 are respectively located at two ends of the supporting block 10 in the extending direction, both the two acquisition modules 50 are electrically connected to the driving motor 40, and the acquisition modules 50 are configured to acquire road information on the moving route of the logistics robot and send the road information. The two acquisition modules 50 are respectively located at the front end and the rear end of the supporting block 10, the front end is used for acquiring road information in the forward direction of the logistics robot, and the rear end is used for acquiring road information in the backward direction of the logistics robot.
Referring to fig. 1, 2 and 4, the chassis apparatus of the logistics robot further includes an analysis module 60 and a processing module 70; the analysis module 60, the processing module 70, the electromagnetic member 30, the driver and the driving motor 40 are electrically connected; the analysis module 60 is configured to receive the road information sent by the collection module 50, analyze a difference between the width of the road and the width between the two driving blocks 20 according to the road information, generate comparison information if the width of the road is smaller than the width between the two driving blocks 20, and send the comparison information to the processing module 70. So as to control the driving motor 40 to adjust the driving wheel 80 to move towards the supporting block 10 through the processing module, and further to adjust the distance between the two driving wheels 80 to adapt to the narrow road information acquired by the acquisition module 50.
Referring to fig. 1, 2 and 4, the processing module 70 completes the circuit of the electromagnetic element 30 according to the comparison information, so that the electromagnetic element 30 attracts the magnetic ring 303; and the processing module 70 further controls the two driving motors 40 to adjust the driving wheels 80 to turn to a direction perpendicular to the extending direction of the supporting block 10, and drives the two drivers to drive the driving wheels 80 to move towards the supporting block 10, so as to reduce the distance between the two driving wheels 80 to adapt to the width of the road.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a chassis device of commodity circulation robot which characterized in that: the device comprises a supporting block used for being connected with a cargo compartment, two driving blocks which are respectively arranged on two sides of the supporting block and are in plug-in connection with the supporting block, and two plug-in blocks which are arranged on the driving blocks and are in plug-in connection with the supporting blocks, wherein the two plug-in blocks comprise two, the two driving blocks are respectively connected with one plug-in block, and the two plug-in blocks are arranged in parallel; two limiting components which are respectively used for elastic clamping to limit the two inserting blocks to be separated from the supporting block are arranged in the supporting block; the supporting block is provided with two accommodating cavities which are used for accommodating the two limiting assemblies respectively, and the accommodating cavities are arranged in a strip shape; the supporting block is also provided with two slots for the two inserting blocks to insert into respectively, and the slots are positioned at one end of the accommodating cavity and communicated with the accommodating cavity; the notches of the two slots are respectively arranged towards the driving blocks on the two sides of the supporting block;
the limiting assembly comprises an electromagnetic part, a fixed barrel, a spring, a magnetic ring and a ball; the electromagnetic piece is positioned at the end part of the accommodating cavity far away from the slot; one end of the fixed cylinder is arranged on one side of the electromagnetic piece facing the slot, and the other end of the fixed cylinder faces the slot and is used for the insertion block to slide in; the spring is sleeved on the fixed cylinder, one end of the spring is connected to the electromagnetic piece, and the other end of the spring is connected to the magnetic ring; the spring is connected with the magnetic ring and is used for supporting the magnetic ring to elastically slide along the extension direction of the fixed cylinder; the ball is located the magnetism ring dorsad one side of electromagnetism piece is located hold the port department of cavity, just the ball is equipped with two, two the ball is located respectively the both sides of inserted block.
2. The chassis apparatus of a logistics robot of claim 1, wherein: the magnetic ring is internally embedded with a plurality of uniformly arranged rolling beads, and the rolling beads protrude out of the outer wall of the magnetic ring and abut against the inner wall of the accommodating cavity.
3. The chassis apparatus of a logistics robot of claim 2, wherein: the diameter of the inner ring of the magnetic ring is larger than the outer diameter of the fixed cylinder, and the magnetic ring is sleeved on the insert block.
4. The chassis apparatus of a logistics robot of claim 3, wherein: the inserted block is cylindrically arranged, and the outer diameter of the inserted block is the same as the inner diameter of the fixed cylinder.
5. The chassis apparatus of a logistics robot of claim 4, wherein: a plurality of limiting ring grooves are formed in the outer wall of the inserting block; and the two balls are clamped in the limiting ring grooves.
6. The chassis apparatus of a logistics robot of claim 5, wherein: the axial section of the end part of the accommodating cavity communicated with the slot is arranged in an arc-shaped necking shape; when spacing subassembly joint during the inserted block, the ball is located the arc throat form tip that holds the cavity and joint in spacing annular.
7. The chassis apparatus of a logistics robot of claim 6, wherein: the chassis device of the logistics robot further comprises two driving wheels with drivers, the two driving wheels are respectively connected with the two driving blocks, and a driving motor used for adjusting the steering of the driving wheels is arranged between the driving blocks and the driving wheels.
8. The chassis apparatus of a logistics robot of claim 7, wherein: the chassis device of the logistics robot further comprises two oppositely arranged acquisition modules, the two acquisition modules are respectively located at two ends of the supporting block in the extending direction and are electrically connected with the driving motor, and the acquisition modules are used for acquiring road information on a moving route of the logistics robot and sending the road information.
9. The chassis apparatus of a logistics robot of claim 8, wherein: the chassis device of the logistics robot further comprises an analysis module and a processing module; the analysis module, the processing module, the electromagnetic part and the driver are all electrically connected with the driving motor; the analysis module is used for receiving the road information sent by the acquisition module, analyzing the difference between the width of the road and the width between the two driving blocks according to the road information, and if the width of the road is smaller than the width between the two driving blocks, generating comparison information and sending the comparison information to the processing module.
10. The chassis apparatus of a logistics robot of claim 9, wherein: the processing module is connected with a circuit of the electromagnetic piece according to the comparison information to enable the electromagnetic piece to adsorb the magnetic ring; and the processing module also controls the two driving motors to adjust the steering direction of the driving wheels to a direction perpendicular to the extending direction of the supporting block, and drives the two drivers to drive the driving wheels to move towards the supporting block so as to reduce the distance between the two driving wheels and adapt to the width of the road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111677066.0A CN114348116B (en) | 2021-12-31 | 2021-12-31 | Chassis device of logistics robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111677066.0A CN114348116B (en) | 2021-12-31 | 2021-12-31 | Chassis device of logistics robot |
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| Publication Number | Publication Date |
|---|---|
| CN114348116A true CN114348116A (en) | 2022-04-15 |
| CN114348116B CN114348116B (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111677066.0A Active CN114348116B (en) | 2021-12-31 | 2021-12-31 | Chassis device of logistics robot |
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| CN (1) | CN114348116B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115505318A (en) * | 2022-08-09 | 2022-12-23 | 潍坊东方钢管有限公司 | Processing method of composite epoxy powder coating and material conveying equipment |
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| CN114348116B (en) | 2024-04-09 |
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