CN208802477U - Three-dimensional rotates delivery trolley - Google Patents

Abstract

The utility model discloses three-dimensionals to rotate delivery trolley, including vehicle frame, railway carriage and track, further includes truck assemblies, walking structure, hoofing part structure, rotation drive structure and rollover driving structure；It is additionally provided with controller and horizontal stable component.The measurement to railway carriage level inclination or vertical corner is realized by the horizontal stable component in railway carriage, when railway carriage is in nonequilibrium condition, controller controls rotation drive structure by the variable quantity for the level inclination surveyed to adjust the rotational angle of vehicle frame, or the rollover angle of railway carriage is adjusted by the variable quantity control rollover driving structure for the vertical corner surveyed, and walking structure and hoofing part structure itself can all be rotated in Orbit revolutionary, it not will drive railway carriage to rotate together, railway carriage is set to be in horizontality always, it can prevent cargo from overturning in railway carriage, it rolls, cargo is avoided to collide and be damaged with railway carriage.

Description

Three-dimensional rotates delivery trolley

Technical field

The utility model relates to logistics distribution field, especially a kind of three-dimensional rotates delivery trolley.

Background technique

With information-based high speed development, e-commerce and the combination of logistic industry are more and more closer, so that logistic industry Fast-developing towards efficient and quick feature, one of main cause is exactly the continuous development of the delivery system in logistic industry And utilization.When carried out in logistic industry with goods, dispensing, greatly saved using the delivery system that track and delivery trolley cooperate Distribution time.

Currently, above-mentioned delivery system starts tentatively to be used in people's daily life, it is main to apply to hospital, figure In book shop, for carrying out the dispatching of medical article or other general cargos, sent by being arranged on external wall of building or indoor wall Goods track recycles delivery trolley that can dispense to article.The railway carriage of delivery trolley is for loading cargo to be dispensed, when sending Goods trolley encounters track turn, creeps in metope, hanging in wall top or by rising and falling, ascending track when, cargo in railway carriage It can be flipped, roll, be easy to cause the damage of cargo.

Utility model content

The technical problem to be solved by the utility model is to provide a kind of three-dimensionals to rotate delivery trolley, and railway carriage can be Remain horizontal when Orbit revolutionary.

To solve above-mentioned technical problem the technical scheme adopted by the utility model is three-dimensional rotates delivery trolley, including Vehicle frame, railway carriage and track further include truck assemblies, walking structure, hoofing part structure, rotation drive structure and rollover driving Structure；

The truck assemblies are flexibly connected with vehicle frame and can horizontally rotate；

The hoofing part structure is flexibly connected with truck assemblies and can rotate vertically；

The walking structure is fixed on truck assemblies and can move under the drive of walking driving structure along track；

The rotation drive structure is arranged on vehicle frame and connect with railway carriage, and railway carriage can be under the drive of rotation drive structure Horizontally rotate；

The railway carriage is flexibly connected with vehicle frame and can turn on one's side under the driving of rollover driving structure；

It is additionally provided with controller on the vehicle frame, is equipped with horizontal stable component in railway carriage；The controller drives with rotation respectively Dynamic structure, rollover driving structure, the electrical connection of horizontal stable component.

Further, the vehicle frame is arranged in the side plate at bottom plate both ends by bottom plate, two pieces and is movably arranged on bottom plate bottom The support plate in face forms；The railway carriage is movably arranged between two blocks of side plates by railway carriage axis.

Further, the rollover driving structure includes the rollover driving motor being arranged on side plate and is driven by rollover The rollover driving member that motor is driven, the rollover driving member and railway carriage axis are sequentially connected.

Further, the truck assemblies are made of the first bogie and the second bogie, the hoofing part knot Structure is fixed on the second bogie, and the second bogie is flexibly connected with the first bogie and can rotate vertically, and the first bogie can Horizontally rotate.

Further, the hoofing part structure includes travel driving motor, walking driving member and transmission gear, it is described Track is equipped with the rack gear extended along track, and travel driving motor is fixed on the second bogie, and walking driving member and walking are driven Dynamic motor drive connection, transmission gear are sequentially connected with walking driving member and are meshed with rack gear.

Further, the walking structure is equipped at least one set of roll wheel assembly matched with track.

Further, the walking structure is equipped with the roll wheel assembly that at least two groups are matched with track, two groups of idler wheels It is arranged in parallel before and after component.

Further, the roll wheel assembly is made of two vertical idler wheels and a horizontal roller, the track is convex The two sides of side track, track are equipped with circular arc chimb；Vertical idler wheel and horizontal roller clamp circular arc chimb.

Further, the rotation drive structure includes rotational drive motor, shaft and rotation driving member, the rotation Driving motor is fixed on the supporting plate, and rotation driving member and rotational drive motor are sequentially connected；Shaft passes through support plate, and one end It is connect with bottom plate, the other end and rotation driving member transmission connection.

Further, the horizontal stable component is gyroscope and acceleration sensor.

The beneficial effects of the utility model are: the utility model is driven by truck assemblies, rotation drive structure and rollover Dynamic structure makes railway carriage remain that steadily, railway carriage will not rotate or rise and fall with the variation of track in Orbit revolutionary；Pass through vehicle Horizontal stable component in case realizes the measurement to the railway carriage level inclination or vertical corner of delivery trolley, when railway carriage is in non-flat When weighing apparatus state, controller controls rotation drive structure by the variable quantity for the level inclination surveyed to adjust the angle of rotation of vehicle frame It spends, or adjusts the rollover angle of railway carriage by the variable quantity control rollover driving structure for the vertical corner surveyed, and knot of walking Structure and hoofing part structure itself can all be rotated in Orbit revolutionary, not will drive railway carriage and rotated together, railway carriage is made to begin It is in horizontality eventually, can prevent cargo from overturning, rolling in railway carriage, cargo is avoided to collide and be damaged with railway carriage.

Detailed description of the invention

Fig. 1 is the axonometric drawing of the utility model；

Fig. 2 is the front view of the first fit system of the utility model track and walking structure；

Fig. 3 is the side view of the utility model；

Fig. 4 is the axonometric drawing in the utility model after railway carriage rotation；

Fig. 5 is the axonometric drawing of track；

Fig. 6 is the schematic diagram that the utility model passes through metope track；

Fig. 7 is the schematic diagram that the utility model passes through wall top track；

Fig. 8 is the schematic diagram that the utility model passes through warp rail；

Fig. 9 is the rotation schematic diagram of truck assemblies when the utility model passes through warp rail；

Figure 10 the utility model passes through the schematic diagram of fluctuating track；

Figure 11 is the rotation schematic diagram of hoofing part structure when the utility model passes through fluctuating track；

Figure 12 is the rotation schematic diagram of hoofing part structure when the utility model passes through fluctuating track；

Figure 13 is the front view of second of fit system of the utility model track and walking structure；

Figure 14 is the front view of the third fit system of the utility model track and walking structure；

Figure 15 is the bottom view that second of chimb track is used in the utility model；

In the figure, it is marked as 1- vehicle frame, 11- bottom plate, 12- side plate, 13- support plate, 2- railway carriage, 21- railway carriage axis, 3- track, 31- rack gear, 32- circular arc chimb, 4- truck assemblies, the first bogie of 41-, the second bogie of 42-, 5- walking structure, 51- are perpendicular Straight idler wheel, 52- horizontal roller, 6- hoofing part structure, 61- travel driving motor, 62- walking driving member, 63- transmission gear, 7- rotation drive structure, 71- rotational drive motor, 72- shaft, 73- rotation driving member, 8- rollover driving structure, 81- rollover are driven Dynamic motor, 82- rollover driving member.

Specific embodiment

The utility model is further detailed with reference to the accompanying drawing for the ease of understanding the utility model,.

Three-dimensional described in the utility model rotates delivery trolley, as shown in Figures 1 to 4, in vehicle frame 1, railway carriage 2 and track 3 Structure basis on, in order to guarantee that holding during running with track 3 of delivery trolley is horizontal, be also provided with truck assemblies 4, walking structure 5, hoofing part structure 6, turn to driving structure 7 and rollover driving structure 8, truck assemblies 4 at least one, one As be arranged two, each one of the front and back of vehicle frame 1.Existing delivery trolley during being run with track, railway carriage due to vehicle Frame structure is fixed, its rotation direction cannot be voluntarily controlled, but as body frame structure for automotive moves together, if track encounters turning or rises Fu Shi, railway carriage will necessarily occur rotation in horizontal direction or on vertical direction it is sagging, raise up, can undoubtedly allow goods in railway carriage Object rolls, and be easy to cause cargo impaired；In addition, working as delivery since track may be arranged on vertical metope or wall top ceiling Trolley climbs up metope or in hanging in wall top, and the cargo in railway carriage can also be affected by gravity and overturn and fall.The utility model It is meant to ensure that delivery trolley is always maintained at level during running along track, can effectively ensure that cargo will not roll in railway carriage It is dynamic impaired.

In three-dimensional rotation delivery trolley described in the utility model, rollover driving structure 8 can drive railway carriage 2 to overturn, and rollover is driven The specific structure of dynamic structure 8 is as shown in Figures 1 to 4, is made of rollover driving motor 81 and rollover driving member 82；Railway carriage 2 will be into Row overturning, then railway carriage 2 cannot be fixedly connected with vehicle frame 1, while the structure of vehicle frame 1 will reserve overturning space, such as Fig. 2 for railway carriage 2 With shown in Fig. 3, vehicle frame 1 is arranged in the side plate 12 at 11 both ends of bottom plate by 11, two pieces of bottom plate and is movably arranged on 11 bottom surface of bottom plate Support plate 13 forms, and the fixed railway carriage axis 21 in the two sides of railway carriage 2, railway carriage axis 21 is inserted into two blocks of side plates 12 of vehicle frame 1 respectively, makes Railway carriage 2 is obtained to be rotatably provided between two blocks of side plates 12, and driving motor 81 of turning on one's side is fixed on side plate 12, driving member 82 of turning on one's side It is connect again with railway carriage axis 21 after being sequentially connected with rollover driving motor 81.By rollover driving structure 8 and it is arranged on vehicle frame 1 Controller and the gyroscope and acceleration transducer being arranged in railway carriage 2, controller and overturning driving structure 8, add gyroscope Velocity sensor electrical connection when delivery trolley climbs from ground rail to metope track, passes through vehicle as shown in Figure 6 and Figure 7 Gyroscope and acceleration transducer in case 2 measure the overturning of railway carriage 2, and controller is then according to the variation of flip angle Amount will execute signal and pass to overturning driving structure 8, control overturning driving structure is turned to railway carriage 2 after inter-process Horizontality, likewise, according to above-mentioned principle, equally making railway carriage 2 when delivery trolley is from metope orbit form such as wall top track It is turned to horizontality, no matter the railway carriage 2 then made can keep horizontal in what situations.It is also set in overturning driving structure 8 There is drive module, the connection due to drive module and motor is with ordinary skill in the art means in the prior art are combined into, herein Just repeat no more.

Truck assemblies 4 are flexibly connected with vehicle frame 1 and can rotate vertically in the utility model, truck assemblies 4 it is specific Structure is as depicted in figs. 1 and 2, is made of the first bogie 41 and the second bogie 42, the first bogie 41 and the second bogie 42 quantity is consistent, and two the first bogies 41 are arranged in parallel on vehicle frame 1, and the first bogie 41 passes through perpendicular with vehicle frame 1 Vertical axes be movably connected on vehicle frame 1, the first bogie 41 can rotate in the horizontal direction around this vertical axes, it can track 3 horizontally rotate for benchmark face.And the second bogie 42 is not directly connected to itself with vehicle frame 1, but be arranged in the first bogie 41 On, second bogie 42 is connected on each first bogie 41, the second bogie 42 passes through the trunnion axis parallel with vehicle frame 1 It is movably connected on the first bogie 41, then the second bogie 42 can rotate in the vertical direction around this trunnion axis, it can rail Road 3 is that benchmark face rotates vertically.The rotation of first bogie 41 and the second bogie 42 is not dependent on power, but extremely such as Fig. 8 Shown in Figure 11, rotated according to the variation of track 3.Consistent two using two or more first bogies 41 and quantity Second bogie 42 is in order to guarantee the trouble-free operation in track 3 of truck assemblies 4, simultaneously to the rear and front end of delivery trolley It is limited, if only with first bogie 41 and second bogie 42, possible fluctuation of service.

The power resources that delivery trolley moves on the track 3 in the utility model in hoofing part structure 6, as shown in Fig. 2, Hoofing part structure 6 includes that travel driving motor 61, walking driving member 62 and transmission gear 63, travel driving motor 61 are fixed on On second bogie 42, walking driving member 62 and travel driving motor 61 are sequentially connected, and transmission gear 63 is driven with walking Part 62 is sequentially connected, then cooperates walking structure 5 and track 3, as shown in figure 5, track 3 is chimb track, track 3 is equipped with along track The two sides of 3 rack gears 31 extended and track 3 are equipped with circular arc chimb 32, and transmission gear 63 is meshed with rack gear；Company among track 3 Whole plate structure can be used in binding structure, can also be used and multiple is arranged in parallel between two circular arc chimbs 32 single connection strap knot Structure；As shown in figure 15, according to single connection strap structure, circular arc chimb 32 can then be set as cylindrical body, i.e. the structure of track 3 is more A connection strap connects two cylindrical bodies disposed in parallel and constitutes, can effectively save production cost.As shown in Figures 1 to 4, walking knot Structure 5 is equipped with the roll wheel assembly matched with track 3, and roll wheel assembly is by two vertical idler wheels 51 and one 52 groups of horizontal roller At vertical idler wheel 51 and horizontal roller 52 clamp circular arc chimb 32, and walking structure 5 and track 3 are worked in coordination and limited, and protect Walking structure 5 and track 3 are demonstrate,proved without departing from not only can guarantee the stability of delivery trolley travelling in this way, moreover it is possible to guarantee that track 3 is set Delivery trolley when on vertical metope or ceiling is set not fall out.Except track 3 described in above content and walking structure 5 Outside fit system, as shown in Figure 13 and Figure 14, channel suspending rail also can be used and the track that turns up；Channel suspending rail as shown in fig. 13 that, The roll wheel assembly of walking structure 5 is clamped in inside groove by track 3, and the vertical idler wheel 51 of roll wheel assembly is born against in track 3 Inside groove top and bottom, horizontal roller 52 are resisted against the inside groove side of track 3, are limited by track 3 to roll wheel assembly, roll wheel assembly It is clamped in using inline mode in the inside groove of track 3, makes roll wheel assembly without departing from track；The track that turns up as shown in figure 14, The track that turns up is provided with circular arc chimb 32, vertical idler wheel 51 and horizontal roller 52 for circular arc chimb 32 at the flange of channel suspending rail It clamps, uses embedded and two kinds of limit methods of outer clip, the vertical idler wheel 51 below roll wheel assembly in this fit structure simultaneously Be embedded in the inside groove of track 3, while roll wheel assembly clamps the circular arc chimb 32 of track 3 so that roll wheel assembly will not with it is outer Turn over track disengaging.Travel driving motor 61 works, and is rotated by walking driving member 62 with nutating gear 63, due to transmission gear 63 are meshed with rack gear 3, allow for transmission gear 63 and roll along rack gear 3, then realize the shifting of delivery trolley on the track 3 It is dynamic.

In the fit system of above-mentioned three kinds of tracks 3 and walking structure 5, when using chimb track, on each walking structure 5 The two groups of roll wheel assemblies in left and right can be only set, i.e., in one group of roll wheel assembly of each side setting of truck assemblies 4, due to this In fit system, roll wheel assembly is located at the outside of track 3, is equivalent to track 3 and limits to the first bogie 41, and first turns to The rotation of frame 41 in the horizontal direction is controlled by track 3 completely, can only be rotated with the bending change of track 3, if track 3 is not Bending then the first bogie 41 by track 3 limit without being able to rotate, when meeting barrier on the way, since the first bogie 41 cannot be It is voluntarily rotated outside the limitation of track 3, then will not derail but can be stuck at barrier and delivery trolley is made to stop；Certainly, it uses When chimb track, in order to improve stability of the delivery trolley in high-speed cruising, can also truck assemblies 4 each side Two groups of roll wheel assemblies are set.Using channel suspending rail and turn up track when, need that four groups of roller groups are at least arranged on each walking structure 5 Part, i.e., it is parallel before and after two groups of roll wheel assemblies of each side setting of truck assemblies 4, two groups of ipsilateral roll wheel assemblies, if One group of roll wheel assembly is only arranged in 4 left and right sides of truck assemblies, and the steering of the first bogie 41 is not exclusively controlled by track 3, If meeting barrier on the way, the first bogie 41 can be influenced by barrier and be deflected in track 3, the deflection of the first bogie 41 Degree it is excessive then can delivery trolley derailing, therefore, using channel suspending rail and turn up track when, the left and right sides of truck assemblies 4 Two groups of roll wheel assemblies of each setting are needed, is equivalent to and the first bogie 41 is limited by ipsilateral two groups of front and back roll wheel assembly, Two groups of front and back roll wheel assembly is arranged on the first bogie 41, and what can be rotated in the horizontal direction is the first bogie 41, and is rolled Wheel assembly itself will not rotate in the horizontal direction, if then track 3 is not bent, even if meeting barrier on the way, and the first bogie 41 It will not deflect in track 3 under the influence of barrier and delivery trolley is made to derail, can only make to send trolley parking back to.

Since hoofing part structure 6 is fixed on the second bogie 42, when delivery trolley encounters fluctuating track, such as Figure 10 To shown in Figure 12, hoofing part structure 6 is understood the guidance by track 3 and is rotated vertically, and the second bogie 42 is driven to rotate simultaneously, by With the second bogie 42 be the overall structure being fixedly connected in hoofing part structure 6, they and the first bogie 41 be activity even It connects, the rotation in the vertical direction of hoofing part structure 6 and the second bogie 42 will not influence railway carriage 2, and railway carriage 2 still maintains Horizontality.

On the basis of truck assemblies 4, it is also provided with rotation drive structure 7 in the utility model, water is carried out to railway carriage 2 The adjusting at flat inclination angle because while railway carriage 2 will not rotate together with truck assemblies 4, but is influenced, railway carriage 2 by fortune function inertia A degree of deflection is inevitably had in the horizontal direction, railway carriage 2 is made to be in nonequilibrium condition, this just needs to rotate drive Dynamic structure 7 is corrected the angle of railway carriage 2, is equipped with and is used in the controller on vehicle frame 1 and being arranged in railway carriage 2 To the horizontal stable component that the balance of delivery trolley is adjusted, horizontal stable component is made of gyroscope and acceleration sensor, Controller is electrically connected with rotation drive structure 7, gyroscope, acceleration transducer respectively.The specific structure of rotation drive structure 7 As shown in figure 3, including that rotational drive motor 71, shaft 72 and rotation driving member 73, rotational drive motor 71 are fixed on vehicle frame 1 On, rotation driving member 73 and rotational drive motor 71 are sequentially connected；One end of shaft 72 is connect with vehicle frame 1, the other end and rotation Driving member 73 is sequentially connected.When being in nonequilibrium condition after the turning of railway carriage 2, pass through the gyroscope and acceleration biography in railway carriage 2 Sensor can measure the inclination angle of railway carriage 2, and tilt signals are passed to controller, acceleration sensing for gyroscope by specific procedure Pitch velocity is passed to controller by device, and controller is then according to the variable quantity at inclination angle, after inter-process, will be executed signal and is passed Rotation drive structure 7 is passed, control rotation drive structure 7 realizes the rotation of vehicle frame 1 in the horizontal direction, makes railway carriage 2 in level Always in balance on direction.It is additionally provided with drive module in rotation drive structure 7, since the connection of drive module and motor is matched Ordinary skill in the art means in the prior art are combined into, details are not described herein again.

Hollow rotating shaft can be selected in shaft 72 in rotation drive structure 7, and the center of hollow rotating shaft is used to cabling, avoids outside Cabling influences delivery trolley travelling, and can play a protective role to route.

In the utility model, gear drive is all can be selected in walking driving member 62, rotation driving member 73 and overturning driving member 82 Structure or drive structure of gear worm.

Claims (10)

1. three-dimensional rotates delivery trolley, including vehicle frame (1), railway carriage (2) and track (3), it is characterised in that: further include bogie group Part (4), walking structure (5), hoofing part structure (6), rotation drive structure (7) and rollover driving structure (8)；

The truck assemblies (4) are flexibly connected and can horizontally rotate with vehicle frame (1)；

The hoofing part structure (6) is flexibly connected with truck assemblies (4) and can rotate vertically；

The walking structure (5) is fixed on truck assemblies (4) and can be under the drive of walking driving structure (6) along track (3) mobile；

The rotation drive structure (7) is arranged on vehicle frame (1) and connect with railway carriage (2), and railway carriage (2) can be in rotation drive structure (7) horizontally rotate under drive；

The railway carriage (2) is flexibly connected with vehicle frame (1) and can turn on one's side under the driving of rollover driving structure (8)；

It is additionally provided with controller on the vehicle frame (1), is equipped with horizontal stable component in railway carriage (2)；The controller respectively with rotation Driving structure (7), rollover driving structure (8), the electrical connection of horizontal stable component.

2. three-dimensional as described in claim 1 rotates delivery trolley, it is characterised in that: the vehicle frame (1) is by bottom plate (11), two pieces Be arranged bottom plate (11) both ends side plate (12) and be movably arranged on bottom plate (11) bottom surface support plate (13) composition；The railway carriage (2) it is movably arranged between two pieces of side plates (12) by railway carriage axis (21).

3. three-dimensional as claimed in claim 2 rotates delivery trolley, it is characterised in that: the rollover driving structure (8) includes setting The rollover driving member (82) setting the rollover driving motor (81) on side plate (12) and being driven by rollover driving motor (81), institute It states rollover driving member (82) and railway carriage axis (21) is sequentially connected.

4. three-dimensional as claimed in claim 2 rotates delivery trolley, it is characterised in that: the truck assemblies (4) are by first turn It being formed to frame (41) and the second bogie (42), the hoofing part structure (6) is fixed on the second bogie (42), and second turn It is flexibly connected and can rotate vertically with the first bogie (41) to frame (42), the first bogie (41) can horizontally rotate.

5. three-dimensional as claimed in claim 4 rotates delivery trolley, it is characterised in that: the hoofing part structure (6) includes row Walk driving motor (61), walking driving member (62) and transmission gear (63), the track (3) along track (3) equipped with extending Rack gear (31), travel driving motor (61) are fixed on the second bogie (42), walk driving member (62) and travel driving motor (61) it is sequentially connected, transmission gear (63) is sequentially connected with walking driving member (62) and is meshed with rack gear (31).

6. three-dimensional as claimed in claim 2 rotates delivery trolley, it is characterised in that: at least one set of on the walking structure (5) Equipped with the roll wheel assembly matched with track (3).

7. three-dimensional as claimed in claim 6 rotates delivery trolley, it is characterised in that: at least two groups on the walking structure (5) Equipped with the roll wheel assembly matched with track (3), it is arranged in parallel before and after two groups of roll wheel assemblies.

8. three-dimensional as claimed in claim 7 rotates delivery trolley, it is characterised in that: the roll wheel assembly is by two vertical idler wheels (51) and horizontal roller (52) composition, the track (3) are chimb track, and the two sides of track (3) are equipped with circular arc chimb (32)；Vertical idler wheel (51) and horizontal roller (52) clamp circular arc chimb (32).

9. three-dimensional as claimed in claim 2 rotates delivery trolley, it is characterised in that: the rotation drive structure (7) includes turning Dynamic driving motor (71), shaft (72) and rotation driving member (73), the rotational drive motor (71) are fixed on support plate (13) On, rotation driving member (73) and rotational drive motor (71) are sequentially connected；Shaft (72) passes through support plate (13), and one end and bottom Plate (11) connection, the other end and rotation driving member (73) transmission connection.

10. three-dimensional as described in claim 1 rotates delivery trolley, it is characterised in that: the horizontal stable component is gyroscope And acceleration sensor.