CN212711232U - Cargo supporting device for logistics trolley, logistics trolley and unmanned distribution system - Google Patents
Cargo supporting device for logistics trolley, logistics trolley and unmanned distribution system Download PDFInfo
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- CN212711232U CN212711232U CN202021014643.9U CN202021014643U CN212711232U CN 212711232 U CN212711232 U CN 212711232U CN 202021014643 U CN202021014643 U CN 202021014643U CN 212711232 U CN212711232 U CN 212711232U
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Abstract
The utility model relates to a logistics equipment technical field, concretely relates to a goods supporting device, commodity circulation dolly and unmanned delivery system for commodity circulation dolly, wherein goods supporting device including connect the base, with connect base articulated goods base, sensor, layer board, controller, first power supply and first drive mechanism. The supporting plate is arranged on the cargo base and used for supporting cargoes. The sensor passes through controller and first power supply signal connection, and the controller is used for according to the layer board angle that the sensor detected, maintains the stability of layer board angle through the rotation of control goods base for connecting the base. It is obvious that the commodity circulation dolly is when vertical direction diversion, and goods supporting device can let the layer board stable, has improved the delivery safety of goods.
Description
Technical Field
The utility model relates to a logistics equipment technical field, concretely relates to goods supporting device, commodity circulation dolly and unmanned delivery system for commodity circulation dolly.
Background
At present intelligent logistics trolley mainly is applied to the medical industry, and express delivery, takeaway trade begin to make up gradually, deliver to fixed a position with the help of unmanned aerial vehicle, then through logistics trolley operation on the track of predetermineeing, deliver the goods to the user side. According to the needs of distribution lines, the tracks are frequently required to be changed in direction, for example, from a vertical track to a horizontal track from left or to a horizontal track from right, so that when liquid or fragile goods are transported, the goods are easy to topple and spill or damage through the change of direction, and the distribution safety of the goods cannot be guaranteed.
SUMMERY OF THE UTILITY MODEL
The utility model provides a goods supporting device, commodity circulation dolly and unmanned delivery system for commodity circulation dolly aims at improving the security of goods delivery.
A cargo supporting device of a logistics trolley comprises:
the connecting base is used for being fixed with a travelling mechanism of the logistics trolley;
the cargo base is hinged with the connecting base, and a supporting plate for supporting cargos is arranged on the cargo base;
a sensor for detecting a pallet angle;
the first power source and the first transmission mechanism are arranged on the connecting base, and the first transmission mechanism comprises a belt transmission mechanism or a chain transmission mechanism; the first power source is in transmission connection with the cargo base through a first transmission mechanism;
the sensor is in signal connection with the first power source through the controller; the controller is used for maintaining the stability of the angle of the supporting plate by controlling the rotation of the goods base relative to the connecting base according to the angle of the supporting plate detected by the sensor.
In the cargo supporting device of an embodiment, the supporting plate is rotatably connected with the cargo base; the rotational plane of the pallet relative to the cargo bed is perpendicular to the rotational plane of the connection bed relative to the cargo bed.
In the cargo supporting apparatus of an embodiment, the first power source includes a servo motor.
In the cargo supporting apparatus according to the embodiment, the first transmission mechanism includes a timing belt, a driving pulley, and a driven pulley.
In the cargo supporting device of an embodiment, a rotating shaft is fixed on the cargo base, and the cargo base is hinged with the connecting base through the rotating shaft; the driving belt wheel is connected with a motor shaft of the servo motor and is in transmission connection with the driven belt wheel through a synchronous belt; the driven belt wheel is fixed on the rotating shaft to drive the goods base to rotate.
In the cargo supporting device of an embodiment, the sensor is an angle sensor; still be provided with on the goods base: a second power source and at least one linkage having a collapsed state and an expanded state; the upper end of the connecting rod mechanism is hinged with the supporting plate, and the lower end of the connecting rod mechanism is connected with the cargo base in a sliding manner; the second power source is connected with the connecting rod mechanism and used for driving the lower end of the connecting rod mechanism to slide on the cargo base, so that the connecting rod mechanism is switched between a folded state and an unfolded state; when the connecting rod mechanism is in a folded state, the supporting plate is parallel to a rotating plane of the connecting base rotating relative to the goods base; when the link mechanism is in an unfolded state, the supporting plate is vertical to a rotating plane of the connecting base rotating relative to the goods base; the controller is further in signal connection with a second power source and is further used for controlling the second power source according to the supporting plate angle measured by the angle sensor, so that the connecting rod mechanism is switched between the folded state and the unfolded state.
In the cargo supporting device of an embodiment, two link mechanisms are arranged and are respectively arranged at the left side and the right side of the supporting plate; the connecting rod mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod; the upper end of a first connecting rod of one connecting rod mechanism and the upper end of a second connecting rod of the connecting rod mechanism are hinged with the left side of the bottom of the supporting plate, and the upper end of the first connecting rod is in front of the upper end of the second connecting rod; the upper end of a first connecting rod of the other connecting rod mechanism and the upper end of a second connecting rod of the connecting rod mechanism are hinged with the right side of the bottom of the supporting plate, and the upper end of the first connecting rod is in front of the upper end of the second connecting rod; one end of the third connecting rod is hinged with the lower end of the first connecting rod, and the other end of the third connecting rod is hinged with the middle part of the second connecting rod; the lower end of the second connecting rod is connected with the cargo base in a sliding manner, and the sliding direction of the second connecting rod is parallel to a plane formed by the first connecting rod, the second connecting rod and the third connecting rod; the second power source is hinged with the lower end of the second connecting rod and used for driving the lower end of the second connecting rod to slide on the cargo base, so that the connecting rod mechanism is switched between a folded state and an unfolded state.
In the cargo supporting apparatus of an embodiment, the sensor includes at least one of an angle sensor, an azimuth angle sensor, an acceleration sensor, and a gyro sensor; the sensor is arranged at the bottom of the supporting plate or on the connecting base.
A logistics trolley comprises a travelling mechanism and the cargo supporting device, wherein a connecting base of the cargo supporting device is fixed on the travelling mechanism.
An unmanned distribution system comprises the logistics trolley.
According to the cargo supporting device for the logistics trolley, the logistics trolley and the unmanned distribution system, the cargo supporting device comprises a connecting base, a cargo base, a sensor, a supporting plate, a controller, a first power source and a first transmission mechanism, wherein the cargo base is hinged to the connecting base. The supporting plate is arranged on the cargo base and used for supporting cargoes. The sensor passes through controller and first power supply signal connection, and the controller is used for according to the layer board angle that the sensor detected, maintains the stability of layer board angle through the rotation of control goods base for connecting the base. It is obvious that the commodity circulation dolly is when vertical direction diversion, and goods supporting device can let the layer board stable, has improved the delivery safety of goods.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an unmanned delivery system of the present application;
FIG. 2 is a first schematic view of a cargo support apparatus according to an embodiment of the present invention;
FIG. 3 is a block diagram of the structure of the controller for angle control in the cargo supporting apparatus according to the present invention;
FIG. 4 is a second schematic structural view of an embodiment of a cargo support apparatus of the present application; ,
FIG. 5 is a partial enlarged view of B in FIG. 4;
FIG. 6 is a schematic view of the cargo support apparatus of the present application showing the linkage mechanism deployed;
FIG. 7 is a schematic view of the linkage mechanism of the cargo support apparatus of the present application when folded;
FIG. 8 is a front view of the cargo support apparatus of the present application;
figure 9 is a right side view of the cargo support apparatus of the present application.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The utility model provides an unmanned delivery system, including commodity circulation dolly 1 and track 2. The logistics trolley 1 loads goods and moves back and forth on the track 2, so that the goods are delivered. Unmanned delivery system can also combine unmanned aerial vehicle to constitute unmanned aerial vehicle delivery system, and commodity circulation dolly 1 is transported the goods for unmanned aerial vehicle, and commodity circulation dolly 1 is transported the goods of unmanned aerial vehicle for user etc. and the range of application is extensive.
The logistics trolley 1, please refer to fig. 2, includes a cargo supporting device and a traveling mechanism, and the traveling mechanism is used for traveling. In this embodiment, the traveling mechanism may include a driving wheel, a plurality of pairs of guide wheels, and the like, and is configured to travel on the rail 2, and to be capable of embracing and moving along the rail. The connection base 10 of the cargo support device is fixed on the running gear, or the running gear is fixed on the connection base 10.
The commodity circulation dolly can be applied to track commodity circulation transmission field, especially aspects such as medical treatment, takeaway dispatch, express delivery, machine-building. The utility model discloses a set up goods supporting device, guaranteed when the dolly diversion, only connect base 10 and then the commodity circulation dolly diversion, whole diversion in-process layer board 30 remains the horizontally state throughout like this, and the goods of placing on the layer board 30 can not be emptyd, has guaranteed the delivery safety of goods.
Specifically, referring to fig. 2, 3 and 4, the cargo supporting apparatus includes a connecting base 10, a cargo base 20, a pallet 30, a sensor 50, a controller 60, a first power source 70 and a first transmission mechanism 90. Sensor 50 is electrically connected, i.e., signally or communicatively connected, to first power source 70 via controller 60.
The connecting base 10 is used for fixing with a walking mechanism of the logistics trolley.
The cargo base 20 is hinged to the connection base 10, that is, the cargo base 20 and the connection base 10 can rotate (swing) relatively, and the rotation axis is the Y axis. For example, the amplitude of the relative swing is between-95 ° and 95 °, and in the present embodiment, the amplitude of the relative swing is ± 90 ° at most.
The supporting plate 30 is used for supporting the cargo a and is arranged on the cargo base 20. The pallet 30 is rotatably connected to the cargo bed 20, that is, the pallet 30 and the cargo bed 20 can rotate (turn) relatively, and the rotation axis is the X axis. The plane of rotation of the pallet 30 relative to the cargo bed 20 is at an angle to the plane of rotation of the connection bed 10 relative to the cargo bed 20. In this embodiment, the plane of rotation of the pallet 30 relative to the cargo bed 20 is perpendicular to the plane of rotation of the docking station 10 relative to the cargo bed 20. Namely, the utility model provides a goods supporting device can let the goods change the angle at two dimensions to the not equidirectional turning to of adaptation commodity circulation dolly has improved freight's security.
The sensor is used for detecting the angle of the supporting plate. The present embodiment employs angle sensors capable of detecting angles in three directions XYZ in a coordinate system, that is, capable of detecting the orientation of the pallet 30 with respect to a reference object. The angle of the supporting plate is an included angle between the supporting plate 30 and a reference object, a common reference object is a horizontal plane, and in this embodiment, the angle of the supporting plate is an included angle between the supporting plate 30 and the horizontal plane. The angle of the supporting plate can be indirectly detected or directly detected. For example, the sensor is disposed on the connection base 10, the initial position relationship between the connection base 10 and the supporting board 30 is known, and the supporting board angle is indirectly obtained by detecting the angle between the connection base 10 and the horizontal plane. For another example, in the present embodiment, the sensor is disposed on the supporting plate 30, and specifically, may be disposed at the bottom of the supporting plate 30.
The sensor includes at least one of an angle sensor, an azimuth angle sensor, an acceleration sensor, and a gyroscope sensor, and in this embodiment, the sensor employs an angle sensor.
The first power source 70 and the first transmission 90 are disposed on the connection base 10, and the first transmission 90 includes a belt transmission or a chain transmission. The first power source 70 is drivingly connected to the cargo bed 20 through a first drive mechanism 90.
The controller 60 is used to maintain the pallet angle stable by controlling the first power source 70, that is, by controlling the rotation of the cargo base 20 with respect to the coupling base 10 by the first power source 70, according to the pallet angle detected by the sensor 50. The blade angle can be stabilized at 0-5, allowing the blade 30 to have a relatively small angle with respect to the horizontal. In this embodiment, because adopt the sensor to carry out angle acquisition, the precision is higher, and the layer board angle is stabilized at 0, promptly, layer board 30 is stabilized in the state parallel with the horizontal plane.
It can be seen, the utility model provides a cargo supporting device, as shown in fig. 1, when the track delivery, when the commodity circulation dolly becomes along X to the in-process that removes along Z to removing, it has the trend that drives cargo base 20 anticlockwise rotation to connect base 10, layer board 30 also has the trend that follows the dolly and turn to, layer board angle change trigger control ware 60 controls first power supply 70, make cargo base 20 clockwise rotation connect the rotation of base 10 with the compensation, finally connect base 10 and accomplished and turn to, cargo base 20 does not change for the external reference thing, layer board 30 maintains the level promptly, the safety of freight has been improved.
Referring to fig. 5, a rotating shaft 240 is fixed on the cargo bed 20, and the top of the cargo bed 20 is hinged to the top of the connection bed 10 through the rotating shaft 240. To reduce the resistance, one or more balls are disposed between the cargo bed 20 and the connection bed 10, however, in other embodiments, a layer of lubricating oil may be disposed between the cargo bed 20 and the connection bed 10.
The first power source 70 includes a servo motor. The first transmission mechanism 90 includes a timing belt 910, a driving pulley 920, and a driven pulley 930. The driving pulley 920 is connected with a motor shaft of the servo motor and is in transmission connection with the driven pulley 930 through the synchronous belt 910. The driven pulley 930 is fixed to the rotating shaft 240 to rotate the cargo bed 20 relative to the connection bed 10.
As shown in fig. 6 and 7, the cargo bed is further provided with: a second power source 80 and at least one linkage 40 having a collapsed state and an expanded state. The upper end of the link mechanism is hinged with the supporting plate 30, and the lower end is connected with the cargo base 20 in a sliding way. The second power source 80 is connected to the link mechanism for driving the lower end of the link mechanism to slide on the cargo bed 20, so that the link mechanism is switched between the folded state and the unfolded state. When the linkage mechanism is in the folded state, as shown in fig. 7, the support plate 30 is parallel to the rotation plane of the connection base 10 rotating relative to the cargo base 20, in other words, the support plate 30 and the cargo base 20 are folded together; when the linkage is in the deployed state, as shown in fig. 6, the tray 30 is perpendicular to the plane of rotation of the connection base 10 relative to the cargo base 20, in other words, the tray 30 is open to the cargo base 20.
The angle sensor is in signal connection with the second power source 80 through the controller 60, and the controller 60 is further configured to control the second power source 80 according to the pallet angle measured by the angle sensor, so that the link mechanism 40 is switched between the folded state and the unfolded state.
Specifically, two link mechanisms 40 are provided, and are respectively provided on the left and right sides of the support plate 30. The link mechanism 40 includes a first link 411, a second link 412, and a third link 413; the upper end of the first connecting rod of one connecting rod mechanism and the upper end of the second connecting rod of the connecting rod mechanism are hinged with the left side of the bottom of the supporting plate 30, and the upper end of the first connecting rod is in front of the upper end of the second connecting rod. The upper end of the first connecting rod of the other connecting rod mechanism and the upper end of the second connecting rod of the connecting rod mechanism are hinged with the right side of the bottom of the supporting plate 30, and the upper end of the first connecting rod is in front of the upper end of the second connecting rod. One end of the third link 413 is hinged to the lower end of the first link 411, and the other end of the third link 413 is hinged to the middle of the second link 412; the lower end of the second link 412 is slidably connected to the cargo bed 20, and the sliding direction is parallel to the plane formed by the first link 411, the second link 412 and the third link 413. The first power source is hinged to the lower end of the second link 412 for driving the lower end of the second link 412 to slide on the cargo bed 20, so that the link mechanism is switched between the folded state and the unfolded state. Specifically, the second power source includes a transmission rod 414 and a retractable push rod 415, one end of the transmission rod 414 is hinged to the lower end of one of the second links 412, and the other end of the transmission rod 414 is hinged to the lower end of the other of the second links 412. The front end of the push rod 415 is connected to the transmission rod 414 for driving the transmission rod 414 to slide in a sliding slot provided on the cargo bed 20. The retractable push rod 415 may be a linear motor or a pneumatic cylinder, etc.
Push rod 415 is electrically connected to a controller. The controller controls the telescopic displacement of the push rod 415 according to the angle detected by the angle sensor, and further controls the sliding displacement of the lower ends of the transmission rod 414 and the second connecting rod 412, so that the turning angle of the supporting plate 30 can be controlled, that is, the turning angle of the supporting plate 30 can be controlled according to the turning angle in real time, which is equivalent to angle compensation, so that the supporting plate 30 is ensured to be always kept in a horizontal state, articles placed on the supporting plate 30 cannot be toppled over, and the product distribution safety is ensured. For example, in the process that the logistics trolley 1 moves from the Y direction to the Z direction, if the overturning angle of the supporting plate 30 is not adjusted, the goods can be finally dumped by 90 degrees, and the supporting plate 30 is reversely overturned by 90 degrees through the connecting rod mechanism 40, so that the angle compensation is realized, the supporting plate 30 is stabilized in the horizontal direction, and the goods can not be dumped.
The controller can adopt a CPU, an MCU, an FPGA and the like. The controller controls first power supply and second power supply according to the angle that angle sensor detected, can adopt conventional mode, for example PI adjusts, the utility model discloses it is not repeated.
In order to reduce the shock damage to the transported goods during the turning process, a plurality of shock absorbing pads are further arranged at the positions, contacted with the supporting plate 30, of the goods base 20 of the embodiment, so that the contact shock of the supporting plate 30 and the goods base 20 when the goods base is turned to the horizontal position or the vertical position is reduced.
To sum up, the utility model provides a cargo supporting device, the dolly is when X to, Y to and Z to these three direction on the diversion, the homoenergetic carries out angle compensation to layer board 30 to ensure layer board 30 level. Therefore, the trolley climbs a slope, turns and the like, the goods can be kept stable, and the safety is good.
It is right to have used specific individual example above the utility model discloses expound, only be used for helping to understand the utility model discloses, not be used for the restriction the utility model discloses. To the technical field of the utility model technical personnel, the foundation the utility model discloses an idea can also be made a plurality of simple deductions, warp or replacement.
Claims (10)
1. The utility model provides a goods supporting device of commodity circulation dolly which characterized in that includes:
the connecting base is used for being fixed with a travelling mechanism of the logistics trolley;
the cargo base is hinged with the connecting base, and a supporting plate for supporting cargos is arranged on the cargo base;
a sensor for detecting a pallet angle;
the first power source and the first transmission mechanism are arranged on the connecting base, and the first transmission mechanism comprises a belt transmission mechanism or a chain transmission mechanism; the first power source is in transmission connection with the cargo base through a first transmission mechanism;
the sensor is in signal connection with the first power source through the controller; the controller is used for maintaining the stability of the angle of the supporting plate by controlling the rotation of the goods base relative to the connecting base according to the angle of the supporting plate detected by the sensor.
2. The cargo support apparatus of claim 1 wherein the pallet is pivotally connected to the cargo bed; the rotational plane of the pallet relative to the cargo bed is perpendicular to the rotational plane of the connection bed relative to the cargo bed.
3. The cargo support apparatus of claim 1 wherein the first power source includes a servo motor.
4. The load bearing apparatus of claim 3 wherein the first drive mechanism includes a timing belt, a drive pulley and a driven pulley.
5. The cargo support apparatus of claim 4 wherein the cargo base has a pivot affixed thereto, the cargo base being pivotally connected to the connecting base by the pivot; the driving belt wheel is connected with a motor shaft of the servo motor and is in transmission connection with the driven belt wheel through a synchronous belt; the driven belt wheel is fixed on the rotating shaft to drive the goods base to rotate.
6. The cargo support apparatus of claim 2 wherein said sensor is an angle sensor; still be provided with on the goods base: a second power source and at least one linkage having a collapsed state and an expanded state; the upper end of the connecting rod mechanism is hinged with the supporting plate, and the lower end of the connecting rod mechanism is connected with the cargo base in a sliding manner; the second power source is connected with the connecting rod mechanism and used for driving the lower end of the connecting rod mechanism to slide on the cargo base, so that the connecting rod mechanism is switched between a folded state and an unfolded state; when the connecting rod mechanism is in a folded state, the supporting plate is parallel to a rotating plane of the connecting base rotating relative to the goods base; when the link mechanism is in an unfolded state, the supporting plate is vertical to a rotating plane of the connecting base rotating relative to the goods base; the controller is further in signal connection with a second power source and is further used for controlling the second power source according to the supporting plate angle measured by the angle sensor, so that the connecting rod mechanism is switched between the folded state and the unfolded state.
7. The cargo support apparatus of claim 6 wherein there are two of said linkages, one on each of the left and right sides of the pallet; the connecting rod mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod; the upper end of a first connecting rod of one connecting rod mechanism and the upper end of a second connecting rod of the connecting rod mechanism are hinged with the left side of the bottom of the supporting plate, and the upper end of the first connecting rod is in front of the upper end of the second connecting rod; the upper end of a first connecting rod of the other connecting rod mechanism and the upper end of a second connecting rod of the connecting rod mechanism are hinged with the right side of the bottom of the supporting plate, and the upper end of the first connecting rod is in front of the upper end of the second connecting rod; one end of the third connecting rod is hinged with the lower end of the first connecting rod, and the other end of the third connecting rod is hinged with the middle part of the second connecting rod; the lower end of the second connecting rod is connected with the cargo base in a sliding manner, and the sliding direction of the second connecting rod is parallel to a plane formed by the first connecting rod, the second connecting rod and the third connecting rod; the second power source is hinged with the lower end of the second connecting rod and used for driving the lower end of the second connecting rod to slide on the cargo base, so that the connecting rod mechanism is switched between a folded state and an unfolded state.
8. The cargo support apparatus of claim 1 wherein the sensors include at least one of an angle sensor, an azimuth angle sensor, an acceleration sensor, and a gyroscope sensor; the sensor is arranged at the bottom of the supporting plate or on the connecting base.
9. A logistics trolley, characterized by comprising a walking mechanism and a cargo supporting device as claimed in any one of claims 1-8, wherein a connecting base of the cargo supporting device is fixed on the walking mechanism.
10. An unmanned dispensing system comprising the logistics cart of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021014643.9U CN212711232U (en) | 2020-06-04 | 2020-06-04 | Cargo supporting device for logistics trolley, logistics trolley and unmanned distribution system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021014643.9U CN212711232U (en) | 2020-06-04 | 2020-06-04 | Cargo supporting device for logistics trolley, logistics trolley and unmanned distribution system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212711232U true CN212711232U (en) | 2021-03-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021014643.9U Expired - Fee Related CN212711232U (en) | 2020-06-04 | 2020-06-04 | Cargo supporting device for logistics trolley, logistics trolley and unmanned distribution system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212711232U (en) |
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2020
- 2020-06-04 CN CN202021014643.9U patent/CN212711232U/en not_active Expired - Fee Related
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Granted publication date: 20210316 |