CN114348116B - Chassis device of logistics robot - Google Patents
Chassis device of logistics robot Download PDFInfo
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- CN114348116B CN114348116B CN202111677066.0A CN202111677066A CN114348116B CN 114348116 B CN114348116 B CN 114348116B CN 202111677066 A CN202111677066 A CN 202111677066A CN 114348116 B CN114348116 B CN 114348116B
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- fixed cylinder
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- 238000012545 processing Methods 0.000 claims description 18
- 238000003780 insertion Methods 0.000 claims description 10
- 230000037431 insertion Effects 0.000 claims description 10
- 239000011324 bead Substances 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Abstract
The invention provides a chassis device of a logistics robot, which comprises a supporting block, driving blocks and inserting blocks, 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 blocks are arranged on the driving blocks and are inserted into the supporting block, and a limiting assembly used for elastically clamping to limit the inserting blocks to be separated from the supporting piece is arranged in the supporting piece; the limiting component comprises an electromagnetic piece, a fixed cylinder, a spring, a magnetic ring and a ball; the electromagnetic piece is positioned at the end part of the accommodating cavity, which is 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 insert 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 extending direction of the fixed cylinder; the ball is located between the side of the magnetic ring facing away from the electromagnetic member and the inner wall of the accommodating cavity. When the electromagnetic part is powered off, the spring drives the magnetic ring to abut against the balls, so that the two balls clamp the insert block, and the distance between the two driving wheels is adjusted to adapt to a narrower road.
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 developed and innovated, and the logistics efficiency is always a huge pain point of each electronic commerce. In order to improve warehouse operation efficiency and reduce logistics cost, electronic commerce huge people develop logistics distribution robots in a dispute manner, and promote upgrading and optimizing of enterprise warehouse logistics systems.
The current logistics robot consists of a chassis bracket for assembling driving wheels and a warehouse arranged on the chassis bracket; when the logistics robot runs on the transportation route, the road surface is narrowed, and the logistics robot can only re-plan the route when the logistics robot is in the narrowed 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 the narrowing of a road surface in the prior art.
The invention is realized in the following way:
the chassis device of the logistics robot comprises supporting blocks, two driving blocks and inserting blocks, wherein the supporting blocks are used for being connected with a warehouse, the two driving blocks are respectively arranged on two sides of the supporting blocks and are inserted into the supporting blocks, the inserting blocks are arranged on the driving blocks and are inserted into the supporting blocks, each inserting block comprises two inserting blocks, each two driving blocks is connected with one inserting block, and the two inserting blocks are arranged in parallel; two limiting assemblies which are respectively used for elastically clamping to limit the two inserting blocks to be separated from the supporting blocks are arranged in the supporting blocks; the supporting block is provided with two accommodating cavities for accommodating the two limiting assemblies respectively, and the accommodating cavities are arranged in a strip shape; the support block is also provided with two slots for the insertion of the two insertion blocks, and the slots are positioned at one end of the accommodating cavity and are communicated with the accommodating cavity; the notches of the two slots are respectively arranged towards the driving blocks at two sides of the supporting block;
the limiting assembly comprises an electromagnetic piece, a fixed cylinder, a spring, a magnetic ring and a ball; the electromagnetic piece is positioned at the end part of the accommodating cavity, which is 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 insert 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 used for supporting the magnetic ring to elastically slide along the extending direction of the fixed cylinder; the ball is located the magnetism ring is dorsad electromagnetic part one side and be 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.
Further, a plurality of uniformly arranged rolling beads are embedded in the magnetic ring, and the rolling beads protrude out of the outer wall of the magnetic ring to be abutted to the inner wall of the accommodating cavity.
Further, 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 insertion block.
Further, the insert is in a cylindrical shape, and the outer diameter of the insert is the same as the inner diameter of the fixed cylinder.
Further, a plurality of limit ring grooves are formed in the outer wall of the insertion block; the two balls are clamped in the limiting ring groove.
Further, the axial section of the end part of the accommodating cavity communicated with the slot is in an arc necking shape; when the limiting assembly is clamped with the inserting block, the ball is located at the arc necking-shaped end part of the accommodating cavity and is clamped in the limiting ring groove.
Further, the chassis device of the logistics robot further comprises driving wheels with drivers, the two driving wheels are respectively connected with the two driving blocks, and a driving motor for adjusting the steering of the driving wheels is arranged between the driving blocks and the driving wheels.
Further, the chassis device of the logistics robot further comprises two acquisition modules which are oppositely arranged, the two acquisition modules are respectively located at two ends of the extending direction of the supporting block, the two acquisition modules 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.
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 piece 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 generating comparison information and sending the comparison information to the processing module if the width of the road is smaller than the width between the two driving blocks.
Further, the processing module is used for switching on a circuit of the electromagnetic piece according to the contrast 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 the 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, two balls respectively positioned on the insert block are in an active state, and at the moment, the insert block can be inserted towards the direction of the fixed cylinder; when the insert is inserted to a proper position, the electromagnetic piece is powered off, the spring drives the magnetic ring to abut against the balls, so that the two balls clamp the insert to limit the position of the insert, and then the distance between the two driving blocks is locked, so that the distance between driving wheels of a chassis device of the logistics robot is adjusted to adapt to a narrower road.
Drawings
Fig. 1 is a schematic diagram of a chassis device of a logistic robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram two of a chassis device of a logistic robot according to an embodiment of the present invention;
FIG. 3 is an enlarged view at A in FIG. 1;
fig. 4 is an electrical connection diagram of an acquisition module, an analysis module, a processing module, a driving motor and an electromagnetic member of the chassis device of the logistics robot provided by the embodiment of the invention.
Reference numerals:
10. a support block; 101. inserting blocks; 111. a limit ring groove; 102. a housing cavity; 103. a slot; 20. a driving block; 30. an electromagnetic member; 301. a fixed cylinder; 302. a spring; 303. a magnetic ring; 313. rolling the beads; 304. a ball; 40. a driving motor; 50. an acquisition module; 60. an analysis module; 70. a processing module; 80. and (3) driving wheels.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" 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, in this embodiment, terms of left, right, up, down, etc. are merely relative concepts or references to normal use states of the product, and should not be construed as limiting. As shown in fig. 1 to 3, the chassis device of the logistic robot provided in the embodiment of the present invention includes a supporting block 10 for connecting with a warehouse, driving blocks 20 respectively disposed at two sides of the supporting block 10 and inserted into the supporting block 10, and inserting blocks 101 disposed on the driving blocks 20 and inserted into the supporting block 10, wherein the inserting blocks 101 include two, two driving blocks 20 are respectively connected with one inserting block 101, and the two inserting blocks 101 are disposed in parallel; in this embodiment, when two insert blocks 101 are inserted into the support block 10 at the same time, the two insert blocks 101 are disposed in parallel in the thickness direction of the support block 10. A limiting component for elastically clamping to limit the insert 101 from being separated from the supporting block 10 is arranged in the supporting block 10; the positions of the driving blocks 20 and the supporting blocks 10 connected with the inserting block 101 are limited through the limiting component, so that the stability of fixing the two driving blocks 20 on the supporting blocks 10 is ensured; the supporting block 10 is provided with a containing cavity 102 for containing two limiting assemblies, the containing cavity 102 is in a strip shape, the supporting block 10 is further provided with two slots 103 for two inserting blocks 101 to be inserted, the slots 103 are located at one end of the containing cavity 102 and are communicated with the containing cavity 102, and the notches of the two slots 103 are respectively arranged towards the driving blocks 20 at two sides of the supporting block 10.
By arranging the accommodating cavity 102 to provide a movable space for the limiting assembly, the accommodating cavity 102 is arranged in a strip shape so that the inserting block 101 can be conveniently inserted into the supporting block 10 through the inserting slot 103, and the stability of the inserting block 101 inserted into the supporting block 10 can be limited to a certain extent; the limiting assembly comprises an electromagnetic piece 30, a fixed cylinder 301, a spring 302, a magnetic ring 303 and a ball 304; the electromagnetic member 30 is located on the end of the housing cavity 102 remote from the slot 103; one end of the fixed cylinder 301 is arranged at one side of the electromagnetic member 30 facing the slot 103, and the other end faces the slot and is used for the insert 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 member 30, and the other end 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 cylinder 301; the balls 304 are located at one side of the magnetic ring 303 facing away from the electromagnetic member 30 and at the port of the accommodating cavity 102, two balls 304 are provided, and two balls 304 are respectively provided at two sides of the insert 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 member 30 is electrified to absorb the magnetic ring 303 and compress the spring 302, and at the moment, two balls 304 respectively positioned at two sides of the insert 101 are in an active state, so that the insert 101 can be inserted towards the direction of the fixed cylinder 301; when the insert 101 is inserted into the proper position, the electromagnetic member 30 is powered off, and the spring 302 drives the magnetic ring 303 to abut against the balls 304, so that the two balls 304 clamp the insert 101 to limit the position of the insert 101, and further lock the distance between the two driving blocks 20 at this time, thereby realizing adjustment of the distance between the driving wheels 80 of the chassis device of the logistics robot to adapt to a narrower road.
Referring to fig. 1 and 3, the magnetic ring 303 is embedded with a plurality of uniformly arranged rolling beads 313, and the outer wall of the magnetic ring 303 protruding from the rolling beads 313 abuts against the inner wall of the accommodating cavity 102. By arranging the plurality of rolling beads 313 on the outer wall of the magnetic ring 303, friction force between the magnetic ring 303 and the inner wall of the accommodating cavity 102 is reduced, so that when the electromagnetic member 30 is communicated with the electromagnetic attraction ring 303, the magnetic ring 303 can slide to be attracted and fixed with the electromagnetic member 30 more rapidly.
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. By setting the outer diameter of the fixed cylinder 301 smaller than the diameter of the inner ring of the magnetic ring 303, the interference of the fixed cylinder 301 on the elastic sliding of the magnetic ring 303 is reduced, and the smoothness of the sliding of the magnetic ring 303 is improved.
Referring to fig. 3, the insert 101 is cylindrically configured, the outer diameter of the insert 101 is the same as the inner diameter of the fixed cylinder 301, and by configuring the insert 101 to be cylindrically configured, and the outer diameter of the insert 101 is the same as the inner diameter of the fixed cylinder 301, the stability of the insert 101 inserted into the fixed cylinder 301 is higher when the insert 101 is inserted into the fixed cylinder; the end of the insert 101 away from the driving block 20 has a guiding structure, where the guiding structure may be an arc surface provided at the end of the insert 101.
Referring to fig. 3, at least one limiting ring groove 111 is formed on the outer wall of the insert block 101; two balls 304 are clamped in the limiting ring groove 111, and the limiting ring groove 111 is arranged, so that the balls 304 are clamped in the limiting ring groove 111, the limiting degree of the balls 304 clamping the insert 101 is further improved, and the insert 101 is difficult to separate from the slot 103.
Referring to fig. 3, the cross section of the end portion of the accommodating cavity 102 connected to the slot 103 is in a reduced shape, and when the limiting component is clamped to the insert 101, the balls 304 are located at the reduced-shape port and are clamped to the limiting ring groove 111; by arranging the cross section of the end part of the accommodating cavity 102 connected with the slot 103 into a necking shape, the balls 304 positioned at the necking shape slide along the inner wall of the necking shape towards the slot 103 and are clamped on the limit ring groove 111, and the fastening degree of the balls 304 on the insert block 101 is further improved.
A drive motor 40 for adjusting the steering of the drive wheel 80 is provided between the drive block 20 and the drive wheel 80 as described with reference to fig. 2. The rotating shaft of the driving motor 40 is connected with the driving wheel 80 to realize the adjustment of the steering of the driving wheel 80 through the driving motor 40, and the driving force is provided for the driving wheel 80 by combining a driver, so that the purposes of steering and driving of the driving wheel 80 are realized; when the chassis device of the logistics robot adapting to the narrower road needs to be reset, the driving wheel 80 is turned to the direction perpendicular to the extending direction of the supporting block 10 by the driving motor 40, 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 logistic robot further includes two oppositely disposed collection modules 50, the collection modules 50 in this embodiment are industrial cameras, the two collection modules 50 are respectively located at two ends of the support block 10 in the extending direction, the two collection modules 50 are electrically connected with the driving motor 40, and the collection modules 50 are used for collecting road information on the moving route of the logistic robot and sending the road information. The two collection modules 50 are respectively located at the front end and the rear end of the support block 10, the front end is used for collecting road information in the forward direction of the logistics robot, and the rear end is used for collecting road information in the backward direction of the logistics robot.
Referring to fig. 1, 2 and 4, the chassis device of the logistics robot further comprises 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 of the two driving blocks 20 according to the road information, and if the width of the road is smaller than the width between the two driving blocks 20, generate contrast information and send the contrast information to the processing module 70. So as to realize the control of the driving motor 40 to adjust the driving wheel 80 to move towards the supporting block 10 through the processing module, and further realize the adjustment of the distance between the two driving wheels 80 to adapt to the narrower road information collected by the collecting module 50.
Referring to fig. 1, 2 and 4, the processing module 70 turns on the circuit of the electromagnetic member 30 according to the comparison information, so that the electromagnetic member 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 be turned 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 toward the supporting block 10, so as to reduce the distance between the two driving wheels 80 and adapt to the width of the road.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (5)
1. The utility model provides a logistics robot's chassis device which characterized in that: the device comprises a supporting block, two driving blocks and an inserting block, wherein the supporting block is used for being connected with a warehouse, the two 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, the inserting block comprises two driving blocks, one inserting block is respectively connected with the two driving blocks, and the two inserting blocks are arranged in parallel; two limiting assemblies which are respectively used for elastically clamping to limit the two inserting blocks to be separated from the supporting blocks are arranged in the supporting blocks; the supporting block is provided with two accommodating cavities for accommodating the two limiting assemblies respectively, and the accommodating cavities are arranged in a strip shape; the support block is also provided with two slots for the insertion of the two insertion blocks, and the slots are positioned at one end of the accommodating cavity and are communicated with the accommodating cavity; the notches of the two slots are respectively arranged towards the driving blocks at two sides of the supporting block;
the limiting assembly comprises an electromagnetic piece, a fixed cylinder, a spring, a magnetic ring and a ball; the electromagnetic piece is positioned at the end part of the accommodating cavity, which is 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 insert 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 used for supporting the magnetic ring to elastically slide along the extending direction of the fixed cylinder; the balls are positioned on one side of the magnetic ring, which is opposite to the electromagnetic piece, and are positioned at the port of the accommodating cavity, and two balls are arranged and are respectively arranged on two sides of the insert block;
a plurality of uniformly arranged rolling beads are embedded in the magnetic ring, and the outer wall of the rolling beads protruding out of the magnetic ring is abutted against the inner wall of the accommodating cavity;
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 insertion block;
the insertion block is in a cylindrical shape, and the outer diameter of the insertion block is the same as the inner diameter of the fixed cylinder;
a plurality of limit ring grooves are formed in the outer wall of the insertion block; the two balls are clamped in the limiting ring groove;
the axial section of the end part of the accommodating cavity, which is communicated with the slot, is in an arc necking shape; when the limiting assembly is clamped with the inserting block, the ball is located at the arc necking-shaped end part of the accommodating cavity and is clamped in the limiting ring groove.
2. The logistical robot chassis apparatus according to claim 1, wherein: the chassis device of the logistics robot further comprises driving wheels with drivers, the two driving wheels are respectively connected with the two driving blocks, and a driving motor for adjusting the steering of the driving wheels is arranged between the driving blocks and the driving wheels.
3. The logistical robot chassis apparatus according to claim 2, wherein: the chassis device of the logistics robot further comprises two acquisition modules which are arranged oppositely, the two acquisition modules are respectively located at two ends of the extending direction of the supporting block, the two acquisition modules are electrically connected with the driving motor, and the acquisition modules are used for acquiring road information on the moving route of the logistics robot and sending out the road information.
4. A chassis arrangement for a logistics robot as claimed in claim 3, characterized in that: the chassis device of the logistics robot further comprises an analysis module and a processing module; the analysis module, the processing module, the electromagnetic piece 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 generating comparison information and sending the comparison information to the processing module if the width of the road is smaller than the width between the two driving blocks.
5. The logistical robot chassis apparatus according to claim 4, wherein: 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 the 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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| CN114348116A CN114348116A (en) | 2022-04-15 |
| CN114348116B true CN114348116B (en) | 2024-04-09 |
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| CN202111677066.0A Active CN114348116B (en) | 2021-12-31 | 2021-12-31 | Chassis device of logistics robot |
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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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