CN207385956U - For the mobile equipment of article transmission - Google Patents
For the mobile equipment of article transmission Download PDFInfo
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- CN207385956U CN207385956U CN201721288408.9U CN201721288408U CN207385956U CN 207385956 U CN207385956 U CN 207385956U CN 201721288408 U CN201721288408 U CN 201721288408U CN 207385956 U CN207385956 U CN 207385956U
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- mobile equipment
- disposing platform
- object disposing
- running gear
- article
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Abstract
The utility model embodiment discloses a kind of mobile equipment for article transmission, is related to Intelligent logistics technical field.A kind of mobile equipment for article transmission, including：Object disposing platform, the object disposing platform are used to store the article that the mobile equipment receives；Running gear, the running gear include at least two driving wheels positioned at bottom, and at least two driving wheel controls the mobile equipment to rotate in the first rotational direction；And rotating supporting device, the rotating supporting device is between the object disposing platform and the running gear, and be connected respectively with the object disposing platform and the running gear, the rotating supporting device is rotated when the running gear rotates in the first rotational direction according to the direction opposite with first direction of rotation.Through the above scheme, the transmission efficiency of the mobile equipment for article transmission is improved.
Description
Technical field
The utility model is related to the mobile equipment of Intelligent logistics technical field, more particularly, to article transmission.
Background technology
The fast development of e-commerce both brought unprecedented opportunity to develop, also to Courier Service to delivery industry
Propose stern challenge.How high efficiency, low cost, flexibly accurately carry out packages be always that this industry faces
Problem.Traditional artificial matrix form sorting, mainly faces that efficiency is low, and error rate is high, artificial intensity is big, recruitment is difficult, management difficulty etc.
Problem.Flourishing for robot technology brings huge technological change for entire logistic industry in recent years, also gives sorting row
Industry brings new technology and new design concept.Package is placed on machine by express delivery robot sorting system, operator in piece supplying table
On people's bogey, robot carry package run to steel drop piece bin position by package delivering to drop piece bin so as to completing
Packages task.Above-mentioned packages machine people's system, more traditional artificial sorting mode substantially increase sorting efficiency, relatively hand over
The conventional automated modes such as fork band sorter have many advantages, such as that at low cost, flexibility is high again, thus have obtained the extensive concern of industry
And Rapid Popularization.
Robot sorting system map is mostly grid at present, to ensure that robot can rotate freely, the rotation of robot
The maximum size no more than map grid of diameter, therefore robot load carrier is seriously limited be subject to grid, if general side
Style is big, and can sacrificial system efficiency.If robot load carrier is designed to round edge, because courier packages are mostly rectangle,
The size of the package of carrying can not be increased, can not be tackled the problem at its root.Therefore how on the premise of keeping map constant
Increase the size of robot carrying package as far as possible or how in the base for possessing comparable size package bearing capacity robot
On plinth, how design robot can allow the basic walking unit smaller of robot map, map more flexible, into robot
Design the main problem to be faced.
It would therefore be highly desirable to a kind of brand-new mobile equipment for article transmission.
Utility model content
In view of this, the utility model embodiment provides a kind of mobile equipment for article transmission, at least part of solution
Certainly problems of the prior art.
The utility model embodiment provides a kind of mobile equipment for article transmission, including：
Object disposing platform, the object disposing platform are used to store the article that the mobile equipment receives；
Running gear, the running gear include at least two driving wheels positioned at bottom, at least two driving wheel
The mobile equipment is controlled to rotate in the first rotational direction；And
Rotating supporting device, the rotating supporting device divide between the object disposing platform and the running gear
It is not connected with the object disposing platform and the running gear, the rotating supporting device is in the running gear in the first rotation side
It is rotated when rotating up according to the direction opposite with first direction of rotation.
According to a kind of specific implementation of the utility model embodiment, when the running gear in the first rotational direction
During rotation, the rotating supporting device is in the direction constant speed rotation opposite with first direction of rotation.
According to a kind of specific implementation of the utility model embodiment, the object disposing platform has the first recessed portion, institute
State the first recessed portion that rotating supporting device is mounted on the object disposing platform.
According to a kind of specific implementation of the utility model embodiment, the running gear has the second recessed portion, institute
State the second recessed portion that rotating supporting device is mounted on the running gear.
According to a kind of specific implementation of the utility model embodiment, article transmission dress is provided on the object disposing platform
It puts, the article transfer machine is used to the article on the object disposing platform being transmitted to specified destination.
According to a kind of specific implementation of the utility model embodiment, the article transfer machine is conveyer belt, roller,
Any one in halved belt or turnover panel.
According to a kind of specific implementation of the utility model embodiment, sensing dress is additionally provided on the object disposing platform
It puts, the sensing device can measure position of the article on the object disposing platform on object disposing platform.
According to a kind of specific implementation of the utility model embodiment, the article measured based on the sensing device is existed
Position data on the object disposing platform, the object disposing platform control the transmission device that article is moved to the object disposing platform
Center.
According to a kind of specific implementation of the utility model embodiment, the number of the driving wheel of the running gear is two
It is a.
According to a kind of specific implementation of the utility model embodiment, the running gear controls described two driving wheels
Synchronized operating in the same direction so that the mobile equipment moves in the straight direction.
According to a kind of specific implementation of the utility model embodiment, the running gear controls described two driving wheels
Synchronized antiport so that the mobile equipment rotates in situ.
According to a kind of specific implementation of the utility model embodiment, the rotating supporting device further includes telescopic
Supporting rod, the supporting rod can control the height of the object disposing platform.
According to a kind of specific implementation of the utility model embodiment, the running gear is located in vertical direction projection
The object disposing platform is within vertical direction projection.
According to a kind of specific implementation of the utility model embodiment, the rotating supporting device is projected in vertical direction
Positioned at the object disposing platform within vertical direction projection.
According to a kind of specific implementation of the utility model embodiment, the rotating supporting device is projected in vertical direction
Positioned at the running gear within vertical direction projection.
The mobile equipment for article transmission that the utility model embodiment provides, mobile equipment running gear and put
Increase rotating supporting device between object platform, mobile equipment is made to pass through shifting on the premise of ensureing that bogey and package are motionless
The rotation of dynamic equipment chassis freely can be turned to and walked, when being rotated in place for the mobile equipment that article transmits, as long as control
Rotating supporting device processed is reversely rotated with identical angular speed, you can ensures that object disposing platform and package remain stationary as, so as to significantly
Improve the transmission efficiency of the mobile equipment for article transmission.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the utility model, right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Its attached drawing.
Fig. 1 is the schematic diagram that package robot is run within a grid in the prior art；
Fig. 2 is a kind of structure diagram for mobile equipment for article transmission that the utility model embodiment provides.
Specific embodiment
The utility model embodiment is described in detail below in conjunction with the accompanying drawings.
It will be appreciated that the described embodiments are only a part of the embodiments of the utility model rather than whole implementation
Example.Based on the embodiment in the utility model, those of ordinary skill in the art are obtained without creative efforts
The all other embodiment obtained, shall fall within the protection scope of the present invention.
Robot sorting system map is mostly grid (referring to Fig. 1) at present, to ensure that robot can rotate freely, machine
The maximum size no more than map grid of the rotating diameter of people, therefore robot load carrier is seriously limited be subject to grid,
If grid is tuned up, and can sacrificial system efficiency.If robot load carrier is designed to round edge, because courier packages are mostly
Rectangle can not also increase the size of the package of carrying, can not tackle the problem at its root.Therefore how to keep map constant
Under the premise of increase as far as possible robot carrying package size or how possessing comparable size package bearing capacity machine
On the basis of people, how design robot can allow the basic walking unit smaller of robot map, map more flexible, Cheng Liao
The Robot Design main problem to be faced, the design of this patent aim to solve the problem that the above problem.
According to described above, packages machine people is primarily due to need to be rotated freely in map, it is necessary to ensure machine
People does not collide in rotary course, because this point just limits the design of robot load carrier, so as to cause carrying
The limitation of package.The basic thought of the utility model is to increase rotation support dress between robot running gear and load carrier
It puts, makes robot that can freely be turned to by the rotation on robot chassis on the premise of ensureing that bogey and package are motionless
And walking.Referring to Fig. 2, the utility model embodiment provides a kind of mobile equipment for article transmission, which can
To be packages machine people or the other kinds of robot for article transmission, which includes：Glove
Platform 1, running gear 2 and rotating supporting device 3.
Object disposing platform 1, the object disposing platform 1 are used to store the article that the mobile equipment receives.Object disposing platform is mainly used
In placing the transmission article such as package, in order to ensure that object disposing platform can effectively transmit article, object disposing platform transmission article
Form is unlimited, and the devices such as conveyer belt, roller, halved belt, turnover panel or pusher may be employed and carry out article transmission.As used
Conveyer belt, roller or halved belt can be obtained the position of package by the metrical information of sensor, and control conveying when devices
Band, roller or halved belt adjust automatically package, make the center of package be placed in the center of object disposing platform.
Running gear 2, the running gear 2 include at least two driving wheels 21 positioned at bottom, and described at least two drive
Driving wheel 21 controls the mobile equipment to rotate in the first rotational direction.Running gear is the power core device of mobile equipment,
Equipment straight line moving is moved when two driving wheels operate in the same direction at the same speed, when mobile equipment can be achieved in two driving wheel differential operatings
It turns to, and when the mobile synchronized antiport of two driving wheel of equipment is, it can be achieved that mobile equipment rotates in place.In order to ensure driving wheel
Driving force, motor equal power device in running gear can be set, rotate driving wheel by the power set.It is optional
, rechargable power supplies are also contained inside running gear, for providing energy supply for entire mobile equipment.In order to ensure entirely to move
Dynamic equipment can receive transport instruction, and communication module (such as wifi communication modules) is also integrated in the inside of walking arrangement, lead to
The communication module is crossed, running gear can receive the instruction of article transport, and article is transported to designated destination.
As a kind of application scenarios, mobile equipment needs to be moved on pattern road surface shown in Fig. 1, walks therefore
Device has the pattern recognition device that can identify pattern roadside, such as is provided on pattern road surface for position navigation
Quick Response Code, the pattern recognition device on running gear can identify the Quick Response Code, read the station location marker represented by the Quick Response Code,
And then realize navigation feature.
Rotating supporting device 3, the rotating supporting device 3 between the object disposing platform 1 and the running gear 2,
And be connected respectively with the object disposing platform 1 and the running gear 2, the rotating supporting device 3 exists in the running gear 2
It is rotated when being rotated on the first direction of rotation according to the direction opposite with first direction of rotation.By setting rotation support
Structure as device 3, when mobile equipment rotates in place, as long as control rotating supporting device is reversely revolved with identical angular speed
Turn, you can ensure that object disposing platform and package remain stationary as, so ensure that mobile equipment during conveying articles, article
It keeps advancing with fixed angles and positions in grid, prevents from occupying the grid space of bigger due to article rotating, cause
The congestion of article transmission and the reduction of article transmission efficiency.
In order to ensure running gear 2 when rotated, the object disposing platform in mobile equipment can keep stable, according to this practicality
A kind of specific implementation of new embodiment, when the running gear 2 rotates in the first rotational direction, the rotation branch
Support arrangement 3 is in the direction constant speed rotation opposite with first direction of rotation.Specifically, speed biography is provided on running gear
Sensor to know the rotary speed of driving wheel 21, by calculating the differential of driving wheel 21, and then calculates thus caused rotation
Angular speed by the way that the magnitude of angular velocity is passed to rotating supporting device 3 in real time, exists so as to complete the rotating supporting device 3
The direction constant speed rotation opposite with first direction of rotation.
The center of gravity of mobile equipment is lower, and the stability of mobile equipment is better, in order to ensure the overall stability of mobile equipment,
According to a kind of specific implementation of the utility model embodiment, the object disposing platform 1 has the first recessed portion, the rotation branch
Support arrangement is mounted on the first recessed portion of the object disposing platform 1.It is alternatively, specific real according to the another kind of the utility model embodiment
Existing mode, the running gear 2 have the second recessed portion, and the rotating supporting device is mounted on the second of the running gear 2
Recessed portion.
In order to provide the article transmission efficiency of mobile equipment, the participation manually during product transport is reduced, according to this
A kind of specific implementation of utility model embodiment, article transfer machine is provided on the object disposing platform 1, and the article passes
Device is sent for the article on the object disposing platform 1 to be transmitted to specified destination.Specifically, it is connect when mobile equipment reaches article
During receiving apparatus (such as cage vehicle), the article transfer machine on object disposing platform can be started, article transfer machine is automatically by its own
The article transported is needed to be transferred to designated destination or container.
It, can be from the power supply in running gear (such as electricity in order to ensure that article transfer machine can perform article transmission tasks
Pond) in obtain power.Article transfer machine can be commonly used in the mechanical structure device for automatically delivering article, for example, institute
Article transfer machine is stated as any one in conveyer belt, roller, halved belt or turnover panel.
In order to which article is made to keep stablizing during transport, an important behave is that article is made to be placed on movement to set
Standby center, in order to ensure that the article transported can be placed in the center of mobile equipment, according to the utility model
A kind of specific implementation of embodiment is additionally provided with sensing device on the object disposing platform 1, and the sensing device can measure
Position of the article on the object disposing platform 1 on object disposing platform 1.The position sensor can be common pressure sensor,
By measuring the pressure data of different position on object disposing platform 1, and then obtain different position of the article on object disposing platform 1.
, it is necessary to the position of article timely be adjusted, according to this reality after position of the article on object disposing platform is measured
With a kind of specific implementation of new embodiment, based on the article that the sensing device measures on the object disposing platform 1
Position data, the object disposing platform 1 controls the transmission device that article is moved to the center of the object disposing platform 1.
In addition, camera can also be increased above mobile equipment, camera is observed the center of article, told by server
The position of mobile equipment adjustment article.
For mobile equipment, multiple driving wheels 21 may be employed to carry out article transport, however driving wheel is more,
Control system will become more complicated, according to a kind of specific implementation of the utility model embodiment, the running gear 2
Driving wheel 21 number for two, the number of the driving wheel 21 of certain running gear 2 can also be more than two.
In the case of two driving wheel 21, as long as controlling rotating speed and the steering on two driving wheels at this time, just it can control
The moving direction of the entire mobile equipment of system and direction of rotation.For example, a kind of specific implementation side according to the utility model embodiment
Formula, the running gear 2 control the synchronized operating in the same direction of described two driving wheels 21 so that the mobile equipment is in the straight direction
It is mobile.According to another specific implementation of the utility model embodiment, the running gear 2 controls described two drivings
Take turns 21 synchronized antiports so that the mobile equipment rotates in situ.
When article is transported to by mobile equipment receives container (such as cage vehicle), the receiving port of container is received under normal conditions
Different height is had, and the height may be not achieved in the object disposing platform for moving equipment, be required to easily adjust at this time
The height of object disposing platform.According to a kind of specific implementation of the utility model embodiment, the rotating supporting device 3 further includes
Telescopic supporting rod 21, the supporting rod 21 can control the height of the object disposing platform 1.Specifically, mobile equipment to
Up to before default reception container, the interface height for receiving container can be obtained ahead of time, before mobile equipment reaches and receives container,
Supporting rod 21 is in contraction state, and the center of gravity of so mobile equipment is relatively low, convenient for the stabilization in motion process.When mobile equipment arrives
Up to when receiving container, supporting rod 21 becomes predetermined altitude, and article by article transfer machine is transported to and is received in container, it
Afterwards, supporting rod 21 becomes contraction state again, keeps the stabilization of mobile equipment.Supporting rod 21 can be common screw thread rotation
Supporting rod is common hydraulic pressure support bar or other common mechanical structures that can carry out retractable support.
In order to adapt to pattern shipping yard shown in FIG. 1, it is necessary to ensure rotating supporting device 3 and running gear 2
Area in the horizontal direction is less than object disposing platform area in the horizontal direction, can so be received by object disposing platform as big as possible
Article area, and rotating supporting device 3 and running gear 2 will not occupy too many area.As a kind of situation, the walking
Device 2 is located at the object disposing platform 1 within vertical direction projection in vertical direction projection.Alternatively situation, it is described
Rotating supporting device 3 is located at the object disposing platform 1 within vertical direction projection in vertical direction projection.Alternatively feelings
Condition, the rotating supporting device 3 are located at the running gear 2 within vertical direction projection in vertical direction projection.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " one " is no
It is understood that as the limitation to quantity.
Although for example the ordinal number of " first ", " second " etc. will be used to describe various assemblies, not limit those herein
Component.The term is only used for distinguishing a component and another component.For example, first assembly can be referred to as the second component, and it is same
Sample, the second component can also be referred to as first assembly, without departing from the introduction of utility model design.Term as used herein
"and/or" includes any of the project listed of one or more associations and all combination.
Term used herein is only used for describing the purpose of various embodiments and is not intended to limit.As used herein,
Singulative is intended to also include plural form, makes an exception unless the context clearly dictates.Will further be understood that term " comprising " and/or
" having " specifies depositing for the feature, number, step, operation, component, element or its combination when use in this specification
, and it is not excluded for the presence or additional of one or more of the other feature, number, step, operation, component, element or its group.
Term used herein including technical and scientific term has and the normally understood art of those skilled in the art
The identical meaning of language, only if it were not for being defined differently than the term.It should be understood that the term tool limited in usually used dictionary
There is the meaning consistent with the meaning of term of the prior art.
The above is only specific embodiment of the present utility model, but the scope of protection of the utility model is not limited to
In this, in the technical scope that any one skilled in the art discloses in the utility model, the change that can readily occur in
Change or replace, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should be with right
It is required that protection domain subject to.
Claims (15)
1. a kind of mobile equipment for article transmission, which is characterized in that including：
Object disposing platform, the object disposing platform are used to store the article that the mobile equipment receives；
Running gear, the running gear include at least two driving wheels positioned at bottom, at least two driving wheels control
The mobile equipment rotates in the first rotational direction；And
Rotating supporting device, the rotating supporting device between the object disposing platform and the running gear, and respectively with
The object disposing platform and the running gear connection, the rotating supporting device in the running gear in the first rotational direction
It is rotated during rotation according to the direction opposite with first direction of rotation.
2. mobile equipment according to claim 1, it is characterised in that：
When the running gear rotates in the first rotational direction, the rotating supporting device with first direction of rotation
Opposite direction constant speed rotation.
3. mobile equipment according to claim 1, it is characterised in that：
The object disposing platform has the first recessed portion, and the rotating supporting device is mounted on the first recess of the object disposing platform
Portion.
4. mobile equipment according to claim 1, it is characterised in that：
The running gear has the second recessed portion, and the rotating supporting device is mounted on the second recess of the running gear
Portion.
5. mobile equipment according to claim 1, it is characterised in that：
Article transfer machine is provided on the object disposing platform, the article transfer machine is used for the object on the object disposing platform
Product are transmitted to specified destination.
6. mobile equipment according to claim 5, it is characterised in that：
The article transfer machine is any one in conveyer belt, roller, halved belt or turnover panel.
7. mobile equipment according to claim 5, it is characterised in that：
It is additionally provided with sensing device on the object disposing platform, the sensing device can measure article on object disposing platform described
Position on object disposing platform.
8. mobile equipment according to claim 7, it is characterised in that：
Position data based on the article that the sensing device measures on the object disposing platform, the object disposing platform control institute
State the center that article is moved to the object disposing platform by transmission device.
9. mobile equipment according to claim 1, it is characterised in that：
The number of the driving wheel of the running gear is two.
10. mobile equipment according to claim 9, it is characterised in that：
The running gear controls described two driving wheels to operate in the same direction at the same speed so that the mobile equipment is moved in the straight direction
It is dynamic.
11. mobile equipment according to claim 9, it is characterised in that：
The running gear controls described two synchronized antiports of driving wheel so that the mobile equipment rotates in situ.
12. mobile equipment according to claim 1, it is characterised in that：
The rotating supporting device further includes telescopic supporting rod, and the supporting rod can control the height of the object disposing platform
Degree.
13. mobile equipment according to claim 1, it is characterised in that：
The running gear is located at the object disposing platform within vertical direction projection in vertical direction projection.
14. mobile equipment according to claim 1, it is characterised in that：
The rotating supporting device is located at the object disposing platform within vertical direction projection in vertical direction projection.
15. mobile equipment according to claim 1, it is characterised in that：
The rotating supporting device is located at the running gear within vertical direction projection in vertical direction projection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721288408.9U CN207385956U (en) | 2017-09-30 | 2017-09-30 | For the mobile equipment of article transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721288408.9U CN207385956U (en) | 2017-09-30 | 2017-09-30 | For the mobile equipment of article transmission |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207385956U true CN207385956U (en) | 2018-05-22 |
Family
ID=62331339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721288408.9U Active CN207385956U (en) | 2017-09-30 | 2017-09-30 | For the mobile equipment of article transmission |
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| Country | Link |
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| CN (1) | CN207385956U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107597601A (en) * | 2017-09-30 | 2018-01-19 | 北京极智嘉科技有限公司 | Mobile device for article transmission |
| US11883850B2 (en) | 2017-09-30 | 2024-01-30 | Beijing Geekplus Technology Co., Ltd. | Article conveying equipment, system and method |
-
2017
- 2017-09-30 CN CN201721288408.9U patent/CN207385956U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107597601A (en) * | 2017-09-30 | 2018-01-19 | 北京极智嘉科技有限公司 | Mobile device for article transmission |
| US11883850B2 (en) | 2017-09-30 | 2024-01-30 | Beijing Geekplus Technology Co., Ltd. | Article conveying equipment, system and method |
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Address after: 100102 Room 101, block a, 9 Xinbei Road, Laiguangying Township, Chaoyang District, Beijing Patentee after: Beijing jizhijia Technology Co.,Ltd. Address before: 100102 Room 101, block a, No.9, Xinbei Road, Laiguangying Township, Chaoyang District, Beijing Patentee before: Beijing Geekplus Technology Co.,Ltd. |
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| CP03 | Change of name, title or address |