CN210479958U

CN210479958U - Wheeled robot of commodity circulation

Info

Publication number: CN210479958U
Application number: CN201920558095.7U
Authority: CN
Inventors: 杜泽臣
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-04-23
Filing date: 2019-04-23
Publication date: 2020-05-08
Anticipated expiration: 2029-04-23

Abstract

The utility model discloses a logistics wheel type robot in the technical field of logistics transportation, which comprises an outer frame, a conveying platform device is arranged on the bottom wall of an inner cavity of the outer frame, a carrier is clamped in the inner cavity of the outer frame through balls, carrier cabins are evenly clamped in the circumferences of the inner cavities of the carrier, sleeves are clamped in the inner cavities of support columns of the carrier, support shafts are arranged on the front and the back of the inner cavities of the sleeves through connecting bearings, fixing hubs are sleeved on the outer walls of the support shafts, driving wheels are clamped on the outer walls of the support shafts, driven gears are evenly pin-jointed on the circumferences of the inner cavities of the fixing hubs, fixed rods are fixedly arranged on the outer walls of the driving wheels and the outer walls of a group of driven gears, driving rods are clamped on the outer walls of the fixed rods, side wheels are clamped on the end parts of the driven, the carrying cabin is automatically pushed out and retracted through the conveying platform device, and the carrying rack can rotate.

Description

Wheeled robot of commodity circulation

Technical Field

The utility model discloses a wheeled robot of commodity circulation specifically is commodity circulation transportation technical field.

Background

For the logistics industry, trucks are the main land transportation means, and at present, trucks can be divided into micro trucks, light trucks, medium trucks and heavy trucks according to load. The cargo hold can be divided into a platform type cargo hold, a semi-exposed cargo hold (including a cage type), a full-sealed type cargo hold, a separable type cargo hold and the like according to the design of the cargo hold.

Wheeled mobile robot is emerging transport means, with the utility model discloses similar mainly have four-wheel rectangle plate-type platform formula's wheeled mobile robot, the loading capacity reaches heavily to such closed environment of similar mountain harbor is operated.

In the aspect of loading and unloading, the current trucks or wheeled robots do not have the automatic loading and unloading function and need to rely on manual work or other machines. Dump trucks use inclined cargo compartments to unload articles.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a commodity circulation wheeled robot to current freight train or wheeled robot that provide do not possess automatic loading and unloading function in solving above-mentioned background art, need rely on artifical or other mechanical problem.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a wheeled robot of commodity circulation, includes outer frame, equal fixed mounting has the chassis around the outer wall about the outer frame, conveying platform device is installed to the inner chamber diapire of outer frame, the outer wall about the outer frame from the past to the even spiro union in back has the battery ring, the diapire pin joint on chassis has the torque arm, the inner chamber pin joint of torque arm has the supporting wheel, the inner wall spiro union on chassis has the torque arm motor, the output shaft of torque arm motor and the top of torque arm are connected through the bevel gear meshing, the outer frame inner chamber has the carrier through the ball joint, the even joint of inner chamber circumference of carrier has the thing cabin, the support column inner chamber joint of carrier has the sleeve, all install the back shaft through connecting bearing around the sleeve inner chamber, the outer wall of back shaft has cup jointed fixed wheel hub, fixed wheel hub's inner wall and the outer wall upper portion welding of, the outer wall joint of back shaft has the action wheel, the action wheel is located fixed wheel hub's inner chamber middle part, the even pin joint of fixed wheel hub's inner chamber circumference has driven gear, the equal fixed mounting of action wheel and a set of driven gear's outer wall has the dead lever, the outer wall joint of dead lever has the actuating lever, driven gear's tip joint has the side square wheel, the inner wall circumference of side square wheel is evenly opened has the internal tooth, the internal tooth and the driven gear meshing of side square wheel, the left and right equal joint of telescopic inner chamber has side wheel drive motor, the output shaft of side wheel drive motor and the one end joint of back shaft, the roof spiro union of outer frame has carrier driving motor, carrier driving motor's output shaft runs through the roof of outer frame, carrier driving motor's output shaft outer wall joint has the driving pulley, the welding of the inner chamber roof antetheca carrier driving storehouse, the front part of the bottom wall of the inner cavity of the carrier driving bin is connected with a rotating shaft through a bearing seat in a clamping manner, the upper part and the lower part of the outer wall of the rotating shaft are respectively connected with a driven belt pulley and a carrier driving wheel in a clamping manner, the outer wall of the carrier driving wheel is in contact with the inner wall of the carrier, the driven belt pulley is connected with a driving belt pulley through a belt, and the positive and negative poles of a battery ring are respectively connected with the positive and negative poles of a motor, a torsion arm motor, a side wheel driving motor and a carrier driving

Preferably, the front outer wall and the rear outer wall of the luggage carrier are both screwed with electronic locks.

Preferably, the bottom wall of the side square wheel and the bottom wall of the supporting wheel are located on the same horizontal plane.

Preferably, the outer frame and the chassis are integrally formed by casting.

Preferably, the left outer wall and the right outer wall of the object carrying cabin are provided with sliding chutes, the left outer wall and the right outer wall of the supporting column of the object carrying rack are welded with clamping blocks, and the clamping blocks are located in inner cavities of the sliding chutes.

Compared with the prior art, the beneficial effects of the utility model are that: this device adopts supporting wheel and side wheel double round design, turns to the radius little, and it need not turn around to back a car, and the flexibility of traveling is big, and robot carries the thing system and comprises a plurality of independent year thing cabins, consequently can realize convenient goods classification management and to specific article loading and unloading, releases and withdraws carrying the thing cabin is automatic through conveying platform device, and the carrier can rotate, and full automated goods handling can be realized to collocation conveyer belt and arm etc..

Drawings

Fig. 1 is a front view schematically illustrating a wheeled robot according to the present invention;

fig. 2 is a front sectional view of the torque arm of the present invention;

fig. 3 is a schematic right sectional view of the wheeled robot of the present invention;

FIG. 4 is a front sectional view of the side square wheel of the present invention;

fig. 5 is a front sectional view of the driving compartment of the luggage carrier of the present invention.

In the figure: 100 outer frame, 110 chassis, 120 conveying platform device, 130 battery ring, 200 torque arm, 210 supporting wheel, 220 torque arm motor, 300 carrier, 310 carrier cabin, 320 sleeve, 400 supporting shaft, 410 fixed hub, 420 driving wheel, 430 driven gear, 440 fixed rod, 450 driving rod, 460 side wheel, 470 side wheel driving motor, 500 carrier driving motor, 510 carrier driving cabin, 520 rotating shaft, 530 driven pulley and 540 carrier driving wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model provides a wheeled robot of commodity circulation, realize convenient goods classification management and load and unload to specific article, release and withdraw the automatic thing cabin of carrying through the conveying platform device, please refer to fig. 1, fig. 2 and fig. 3, including outer frame 100, equal fixed mounting has chassis 110 around the outer wall about outer frame 100, conveying platform device 120 is installed to the inner chamber diapire of outer frame 100, the outer wall about outer frame 100 from the past to the back even spiro union has battery ring 130, chassis 110 is used for installing torque arm 200 and torque arm motor 220, conveying platform device 120 is used for the release and the withdrawal of thing cabin 310, battery ring 130 is used for torque arm motor 220, conveying platform device 120 motor and side wheel driving motor 470's power supply, battery ring 130 comprises the module of polylith the same structure, can fix on outer frame 100 or separate;

referring to fig. 1, fig. 2 and fig. 3 again, a torsion arm 200 is pinned to the bottom wall of the chassis 110, a support wheel 210 is pinned to an inner cavity of the torsion arm 200, a torsion arm motor 220 is screwed to the inner wall of the chassis 110, an output shaft of the torsion arm motor 220 is meshed with the top end of the torsion arm 200 through a bevel gear, and the output shaft of the torsion arm motor 220 rotates to drive the torsion arm 200 to rotate through a bevel gear set, so as to realize the rotation of the support wheel 210;

referring to fig. 1 and 3, a carrier 300 is clamped in an inner cavity of an outer frame 100 through balls, a carrying compartment 310 is evenly clamped in the circumference of the inner cavity of the carrier 300, a sleeve 320 is clamped in an inner cavity of a support column of the carrier 200, the carrier 300 is used for carrying the carrying compartment 310, the carrying compartment 310 is used for carrying a carrying object, the carrier 300 is rotated in the inner cavity of the outer frame 100 through the balls, and meanwhile, due to the existence of the sleeve 320, the rotation of the carrier 300 cannot drive the sleeve 320 to rotate;

referring to fig. 1, 3 and 4, a support shaft 400 is installed at the front and rear of an inner cavity of a sleeve 320 through a connecting bearing, a fixing hub 410 is sleeved on an outer wall of the support shaft 400, an inner wall of the fixing hub 410 is welded to an upper portion of an outer wall of an outer frame 100, a driving wheel 420 is fastened to the outer wall of the support shaft 400, the driving wheel 420 is located in the middle of the inner cavity of the fixing hub 410, driven gears 430 are uniformly pinned to the circumference of the inner cavity of the fixing hub 410, fixing rods 440 are fixedly installed on outer walls of the driving wheel 420 and a group of the driven gears 430, a driving rod 450 is fastened to an outer wall of the fixing rod 440, a side wheel 460 is fastened to an end portion of the driven gear 430, inner teeth are uniformly formed on the circumference of the inner wall of the side wheel 460, the inner teeth of the side wheel 460 are engaged with the driven, the positive and negative poles of the battery ring 130 are respectively connected with the positive and negative poles of the motor of the conveying platform device 120, the torque arm motor 220 and the side wheel driving motor 470 through conducting wires, the supporting shaft 400 is used for connecting the sleeve 320 and the fixed hub 410, the fixed hub 410 is used for connecting the side square wheel 460 and installing the driven gear 430, the rotation of the output shaft of the side wheel driving motor 470 drives the supporting shaft 400 to rotate, the rotation of the supporting shaft 400 drives the driving wheel 420 to rotate, the rotation of the driving wheel 420 drives the driven gear 430 to rotate through the fixed rod 440 and the driving rod 450, the inner wall of the side wheel 460 is a groove, inner teeth are uniformly formed on the surface of the groove, the driven gear 430 is clamped in the groove of the side square wheel 460, the inner teeth in the groove are meshed with the driven gear 430, and the rotation of the side;

referring to fig. 1, 3 and 5, a carrier driving motor 500 is screwed to the top wall of the outer frame 100, an output shaft of the carrier driving motor 500 penetrates through the top wall of the outer frame 100, a driving pulley is fastened to an outer wall of the output shaft of the carrier driving motor 500, a carrier driving bin 510 is welded to a front wall of the top wall of the inner cavity of the outer frame 100, a rotating shaft 520 is fastened to a front portion of the bottom wall of the inner cavity of the carrier driving bin 510 through a bearing seat, a driven pulley 530 and a carrier driving wheel 540 are respectively fastened to an upper portion and a lower portion of an outer wall of the rotating shaft 520, an outer wall of the carrier driving wheel 540 contacts with an inner wall of the carrier 300, the driven pulley 530 is connected with the driving pulley through a belt, the output shaft of the carrier driving motor 500 rotates to drive the driving pulley, the driving pulley drives the, the outer wall of the carrier driving wheel 540 contacts the inner wall of the carrier 300, and when the carrier driving wheel 540 rotates, the friction between the carrier driving wheel 540 and the carrier 300 drives the carrier 300 to rotate around the sleeve 320;

in specific use, a person skilled in the art rotates the carrier 300, so that the carrier 300 rotates in the inner cavity of the outer frame 100 until the carrying compartment 310 is located on the upper portion of the conveying platform device 120, the outer wall of the conveying roller in the conveying platform device 120 is wrapped with a rubber layer, when the bottom wall of the carrying compartment 310 contacts with the top wall of the conveying belt in the conveying platform device 120, the conveying roller is deformed under pressure, so as to increase the contact area between the conveying belt and the bottom wall of the carrying compartment 310, the conveying platform device 120 is started, so that the carrying compartment 310 leaves the inner cavity of the carrier 300, the goods to be transported is placed in the inner cavity of the carrying compartment 310, the conveying platform device 120 is started to reverse, so that the carrying compartment 310 returns to the inner cavity of the carrier 300, the carrier driving motor 500 is started, the output shaft of the carrier driving motor 500 rotates to drive the driving pulley to rotate, the driving pulley drives the driven pulley, the outer wall of the carrier driving wheel 540 contacts the inner wall of the carrier 300, when the carrier driving wheel 540 rotates, the friction force between the carrier driving wheel 540 and the carrier 300 drives the carrier 300 to rotate around the sleeve 320 until the next empty carrier compartment 310 rotates to the lowest position, the conveying platform device 120 is started, and so on until the loading is completed, the side wheel driving motor 470 is started, the rotation of the output shaft of the side wheel driving motor drives the supporting shaft 400 to rotate, the rotation of the supporting shaft 400 drives the driving wheel 420 to rotate, the rotation of the driving wheel 420 drives the rotation of the driven gear 430 through the fixed rod 440 and the driving rod 450, the rotation of the driven gear 430 drives the rotation of the side wheel 460, the movement of the device is realized, the torque arm motor 220 is started, the output shaft of the torque arm motor 220 rotates to drive the torque arm 200 through the bevel gear set, the rotation of the supporting wheel 210 is realized, and the rotation speed of the two sets of the side wheel driving motor, realize the turn and the tune of this device, outer frame 100's roof all can be provided with the connecting bridge about in addition, and the connecting bridge front end has the interface of the circuit of circuit and communication, but possesses the mechanism that the omnidirectional is rotatory simultaneously and sway and length scalable length's back shaft, and wheeled robot of the same type can establish ties through the connecting bridge, realizes the function of transmission of electricity and communication between a plurality of robots.

Referring to fig. 1 and 3, the front and rear outer walls of the carrier 300 are respectively screwed with an electronic lock, and the electronic lock prevents the cargo compartment 310 from falling off from the inner cavity of the carrier 300;

the bottom walls of the side square wheels 460 and the bottom walls of the supporting wheels 210 are located on the same horizontal plane, the side square wheels 460 are driving wheels, the supporting wheels 210 are guide wheels, and the side square wheels 460 are matched with the supporting wheels 210, so that the device is prevented from shaking forwards and backwards;

the outer frame 100 and the chassis 110 are integrally molded by casting, so that the connection strength between the outer frame 100 and the chassis 100 is improved;

referring to fig. 1, sliding grooves are formed in the left and right outer walls of the loading compartment 310, clamping blocks are welded to the left and right outer walls of the supporting column of the rack 300, and the clamping blocks are located in the inner cavity of the sliding grooves, so that the moving stability of the loading compartment 310 is improved when the loading compartment 310 leaves or enters the inner cavity of the rack 300;

referring to fig. 3, a first power contact is installed on the right portion of the top wall of the outer frame 100, a second power contact is evenly installed on the circumference of the rear wall of the inner cavity of the carrier 300, when the positive and negative poles of the motor of the conveying platform device 120 are respectively connected with the first power contact and the second power contact, and the first power contact and the second power contact are in contact, at this time, the group of carrier compartments 310 is located at the lowest portion of the carrier 300, the first power contact supplies power to the electronic lock on the carrier 300, and the electrolytic lock is unlocked, so that the conveying platform device 120 can start to drive the carrier compartments 310 to be discharged and retracted.

While the invention has been described above with reference to certain embodiments, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, as long as there is no structural conflict, the various features of the various embodiments disclosed herein can be used in any combination with one another, and the description of such combinations that is not exhaustive in this specification is merely for brevity and resource saving. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A logistics wheel type robot is characterized in that: including outer frame (100), equal fixed mounting has chassis (110) around the outer wall about outer frame (100), conveying platform device (120) is installed to the inner chamber diapire of outer frame (100), the outer wall of outer frame (100) is controlled from the past to the even spiro union in back has battery ring (130), the diapire pin joint of chassis (110) has torque arm (200), the inner chamber pin joint of torque arm (200) has supporting wheel (210), the inner wall spiro union of chassis (110) has torque arm motor (220), the output shaft of torque arm motor (220) and the top of torque arm (200) are connected through the bevel gear meshing, outer frame (100) inner chamber has carrier (300) through the ball joint, the even joint of inner chamber circumference of carrier (300) has carrier cabin (310), the support column inner chamber joint of carrier (300) has sleeve (320), back shaft (400) are all installed through connecting bearing before and after the inner chamber of sleeve (320), the outer wall of back shaft (400) has cup jointed fixed wheel hub (410), the inner wall of fixed wheel hub (410) and the outer wall upper portion welding of outer frame (100), the outer wall joint of back shaft (400) has action wheel (420), action wheel (420) are located the inner chamber middle part of fixed wheel hub (410), the even pin joint of inner chamber circumference of fixed wheel hub (410) has driven gear (430), the equal fixed mounting of outer wall of action wheel (420) and a set of driven gear (430) has dead lever (440), the outer wall joint of dead lever (440) has actuating lever (450), the tip joint of driven gear (430) has side square wheel (460), the inner wall circumference of side square wheel (460) has evenly opened the internal tooth, the internal tooth and the driven gear (430) meshing of side square wheel (460), the equal joint in the left and right sides of the inner chamber of sleeve (320) has side wheel drive motor (470), the output shaft of side wheel driving motor (470) and the one end joint of back shaft (400), the roof spiro union of outer frame (100) has carrier driving motor (500), the roof of outer frame (100) is run through to the output shaft of carrier driving motor (500), the outer wall joint of output shaft of carrier driving motor (500) has driving pulley, the welding of inner chamber roof antetheca of outer frame (100) has carrier driving storehouse (510), the inner chamber diapire front portion of carrier driving storehouse (510) is through bearing frame joint has pivot (520), the outer wall joint from top to bottom of pivot (520) has driven pulley (530) and carrier drive wheel (540) respectively, the outer wall of carrier drive wheel (540) and the inner wall contact of carrier (300), driven pulley (530) are connected with driving pulley through the belt, the positive negative pole of battery ring (130) respectively with the motor of conveying platform device (120), The positive and negative poles of the torque arm motor (220), the side wheel driving motor (470) and the carrier driving motor (500) are connected through leads.

2. The logistics wheeled robot of claim 1, wherein: the front outer wall and the rear outer wall of the carrier (300) are both in threaded connection with electronic locks.

3. The logistics wheeled robot of claim 1, wherein: the bottom walls of the side square wheels (460) and the bottom walls of the supporting wheels (210) are located on the same horizontal plane.

4. The logistics wheeled robot of claim 1, wherein: the outer frame (100) and the chassis (110) are integrally formed by casting.

5. The logistics wheeled robot of claim 1, wherein: the left outer wall and the right outer wall of the loading cabin (310) are provided with sliding grooves, clamping blocks are welded on the left outer wall and the right outer wall of a supporting column of the loading rack (300), and the clamping blocks are located in inner cavities of the sliding grooves.

6. The logistics wheeled robot of claim 1, wherein: the right part of the top wall of the outer frame (100) is provided with a first power supply contact, and the circumference of the rear wall of the inner cavity of the object carrier (300) is uniformly provided with a second power supply contact.