CN216269516U

CN216269516U - Steering structure and trailer comprising same

Info

Publication number: CN216269516U
Application number: CN202122570188.1U
Authority: CN
Inventors: 杨志钦; 刘汉军
Original assignee: Syrius Technology Shenzhen Co Ltd
Current assignee: Syrius Technology Shenzhen Co Ltd
Priority date: 2021-10-25
Filing date: 2021-10-25
Publication date: 2022-04-12
Anticipated expiration: 2031-10-25

Abstract

The utility model discloses a steering structure and a trailer comprising the same, and relates to the technical field of freight. The steering structure comprises a traction wheel frame, the traction wheel frame is used for being rotatably connected and installed on a bearing plate of the trailer, the traction wheel frame can be installed and fixed on the mobile robot, and the bottom of the traction wheel frame is provided with a trundle; the trailer comprises a bearing plate and a steering structure arranged on the bearing plate. When the mobile robot turns, the traction wheel frame is driven to rotate relative to the bearing plate, namely the running direction of the trailer is changed, and then turning is realized; when this trailer and mobile robot cooperation use, owing to turn to the setting of structure for this trailer can follow mobile robot synchronous motion better, especially when turning, can realize littleer turning radius, is favorable to the current of turning in constrictive passageway, thereby improves turning efficiency and holistic handling efficiency.

Description

Steering structure and trailer comprising same

Technical Field

The utility model relates to the technical field of freight transportation, in particular to a steering structure and a trailer comprising the same.

Background

With the continuous progress and development of the technology, modern warehouses are more and more intelligent, more and more automatic equipment is applied, for example, mobile robots are used for automatically carrying goods, manpower can be liberated, and efficiency can be improved. Mobile robot is in order to improve the carrying capacity, generally need with trailer or similar pulling type carrier loader cooperation application, and the goods is placed on the trailer, and mobile robot drives the trailer and removes and realize cargo handling. The conventional trailer is unstable when moving along with the mobile robot, and particularly cannot be well synchronized with the mobile robot or needs a large turning radius when turning, so that the width of the whole running path needs to be increased, and the turning efficiency and the whole carrying efficiency are influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a steering structure and a trailer comprising the same, and solves the technical problems that the existing trailer is unstable when moving along with a mobile robot, has high requirement on the width of a path, and cannot realize narrow-path turning running with small turning radius particularly when turning.

The technical purpose of the utility model is realized by the following technical scheme:

according to one aspect of the utility model, the steering structure comprises a traction wheel frame, wherein the traction wheel frame is used for being rotatably connected and installed on a bearing plate of a trailer, the traction wheel frame can be installed and fixed on the mobile robot, and the bottom of the traction wheel frame is provided with a caster.

As a further optimization, the trailer further comprises a follow-up wheel carrier and a wheel carrier rotating joint, wherein the follow-up wheel carrier is used for being rotatably connected and installed on a bearing plate of the trailer, the bottom of the follow-up wheel carrier is provided with a caster, and the wheel carrier rotating joint is installed between the traction wheel carrier and the follow-up wheel carrier so that the follow-up wheel carrier rotates along with the traction wheel carrier.

As a further optimization, the wheel carrier rotating joint comprises a first linkage rod, a second linkage rod and a mounting rack, one end of the first linkage rod and one end of the second linkage rod are connected with the mounting rack in a rotating mode, the other end of the first linkage rod is movably inserted in a sliding mode into the traction wheel carrier, and the other end of the second linkage rod is movably inserted in a sliding mode into the follow-up wheel carrier.

As a further optimization, the mounting frame further comprises a limiting rod, the mounting frame is connected to the limiting rod in a sliding mode, and the mounting frame can move relative to the limiting rod;

or, on the loading board of trailer on the mounting bracket, one is equipped with the spacing groove, and another is equipped with assorted stopper.

As a further optimization, a first linkage block is arranged in the traction wheel frame, and the other end of the first linkage rod is movably inserted into the first linkage block in a sliding manner; and/or a second linkage block is arranged in the follow-up wheel carrier, and the other end of the second linkage rod is movably inserted into the second linkage block in a sliding manner.

Preferably, the traction wheel carrier and/or the follow-up wheel carrier is provided with a turntable, the turntable comprises a first part and a second part which are connected in a relative rotation manner, the first part is arranged on the traction wheel carrier or the follow-up wheel carrier, and the second part is used for being arranged on a bearing plate of the trailer.

As a further optimization, the turning radius of the inner side of the turning structure is greater than or equal to 250mm when the turning structure turns;

and/or the rotation angle range of the traction wheel frame is [ -30 degrees, 30 degrees ].

As a further optimization, the traction wheel frame is hinged with a hanging frame used for hanging on the mobile robot.

As a further refinement, auxiliary wheels are mounted on the traction wheel carrier and/or the trailing wheel carrier, said auxiliary wheels being intended to be in contact with the carrying floor of the trailer.

According to another aspect of the present invention there is provided a trailer comprising a carrying floor and a steering structure as described in the previous aspect mounted on the carrying floor.

In conclusion, the utility model has the following beneficial effects: when the mobile robot turns, the traction wheel frame is driven to rotate relative to the bearing plate, namely the running direction of the trailer is changed, and then turning is realized; when this trailer and mobile robot cooperation use, owing to turn to the setting of structure for this trailer can follow mobile robot synchronous motion better, especially when turning, can realize littleer turning radius, is favorable to the current of turning in constrictive passageway, thereby improves turning efficiency and holistic handling efficiency.

Drawings

Fig. 1 is a schematic structural view of a trailer in the embodiment;

FIG. 2 is a schematic structural view of the trailer of the embodiment shown in FIG. 1 with the loading plate removed;

FIG. 3 is an exploded view of the trailer of the embodiment based on FIG. 2;

fig. 4 is a schematic structural diagram of a traction wheel carrier, a rotary table and a hanging frame of the trailer in the embodiment.

In the figure: 1. a carrier plate; 2. a traction wheel carrier; 3. a follow-up wheel carrier; 41. a limiting rod; 42. a wheel carrier rotating joint; 421. a first linkage rod; 422. a second linkage rod; 423. a mounting frame; 5. a caster wheel; 61. a first linkage block; 62. a second linkage block; 7. a turntable; 71. a first portion; 72. a second portion; 8. hanging a carrier; 81. hooking; 9. an auxiliary wheel.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. In the claims, the description of the directions such as "left", "right", "upper", "lower", "X-axis" and "Y-axis" in the specification and the drawings of the present invention is only the direction with reference to the drawings, and the directions have relativity, and the reference object is different to cause the difference of the directions.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The embodiment discloses a trailer, as shown in fig. 1, the trailer comprises a loading plate 1, and the loading plate 1 is used for loading cargoes. This trailer is still including installing the structure that turns to on loading board 1, and is concrete, turns to the back that the structure installation was fixed at loading board 1 orientation ground, turns to the structure and is used for making this trailer can change the direction of motion. When this trailer uses in mobile robot cooperation, owing to turn to the setting of structure for this trailer can follow mobile robot synchronous motion better, especially when turning, makes this trailer can follow mobile robot synchronous rotation and turn through this structure that turns to, and then can realize littleer turning radius, is favorable to the current of turning in constrictive passageway, thereby improves turning efficiency and holistic handling efficiency. It should be noted that the steering structure can be applied not only to the trailer in the embodiment, but also to other products that need to change the moving direction or to achieve a turning function during use.

As shown in fig. 2 and 3, in the present embodiment, the steering structure includes a traction wheel frame 2, the traction wheel frame 2 is rotatably connected to the back surface of the bearing plate 1, and the traction wheel frame 2 can rotate relative to the bearing plate 1. Referring to fig. 4, casters 5 are mounted on the bottom of the traction wheel frame 2, and specifically, one caster 5 is mounted on each of the left and right ends of the bottom of the traction wheel frame 2. In this embodiment, the forward and backward direction along the trailer is the front-rear direction, and the two sides perpendicular to the front-rear direction are the left and right sides. When the trailer is matched with a mobile robot for use, the traction wheel frame 2 can be installed and fixed on the mobile robot in various modes, and when the mobile robot turns, the traction wheel frame 2 is driven to rotate relative to the bearing plate 1, so that the positions of the two trundles 5 at the bottom of the traction wheel frame 2 are changed, and the turning is realized. In current trailer, the change of trailer direction of motion is unreliable and uncontrollable, because the trailer can not follow mobile robot in time and turn, so need very wide road so that the trailer has sufficient reaction time and turn time, and in the trailer of this application, because the traction wheel carrier 2 can rotate and turn along mobile robot in time, thereby do not need longer reaction time and turn time, has just also shortened turn radius effectively, makes the trailer can realize that little turn radius's lane turns and goes.

In this embodiment, the steering structure further includes a follower wheel frame 3 and a wheel frame rotating joint 42, the follower wheel frame 3 is rotatably connected to the back surface of the bearing plate 1, and the follower wheel frame 3 can rotate relative to the bearing plate 1. The bottom of the follow-up wheel carrier 3 is provided with a caster 5, and specifically, the left and right side end parts of the bottom of the follow-up wheel carrier 3 are respectively provided with one caster 5. In this embodiment, each caster 5 of the bottom of the traction wheel frame 2 and the bottom of the follower wheel frame 3 is preferably a directional caster 5 to better control the direction of movement of the trailer. The wheel carrier rotational joint 42 is installed between the traction wheel carrier 2 and the follower wheel carrier 3 to make the follower wheel carrier 3 rotate following the traction wheel carrier 2. The follow-up wheel carrier 3 and the traction wheel carrier 2 are matched together to realize turning, so that the angle adjusting range can be enlarged, and the turning movement and the linear movement are more stable.

In the present embodiment, as shown in fig. 2 and 3, the wheel carrier rotating joint 42 includes a first linkage bar 421, a second linkage bar 422, and a mounting bracket 423. One end of the first linkage rod 421 and one end of the second linkage rod 422 are rotatably connected to the mounting frame 423, the other end of the first linkage rod 421 is movably and slidably inserted into the traction wheel frame 2, and the other end of the second linkage rod 422 is movably and slidably inserted into the follow-up wheel frame 3. When the mobile robot turns, the traction wheel frame 2 is driven to rotate relative to the bearing plate 1, the traction wheel frame 2 drives the mounting frame 423 to move through the first linkage rod 421, and the mounting frame 423 drives the other end of the second linkage rod 422 to move relative to the follow-up wheel frame 3 and simultaneously pushes the follow-up wheel frame 3 to rotate relative to the bearing plate 1.

In this embodiment, the steering structure further includes a limiting rod 41, the limiting rod 41 is fixed on the back of the bearing plate 1, the mounting frame 423 is slidably sleeved on the limiting rod 41, and the mounting frame 423 can move relative to the limiting rod 41. When the mobile robot turns, the traction wheel frame 2 is driven to rotate relative to the bearing plate 1, the traction wheel frame 2 pushes the mounting frame 423 to move axially along the limiting rod 41 through the first linkage rod 421, and the mounting frame 423 pushes the follow-up wheel frame 3 to rotate relative to the bearing plate 2 through the second linkage rod 422 when moving. The limiting rod 41 has the limiting and guiding functions on the movement of the mounting rack 423, so that the synchronous rotation between the follow-up wheel carrier 3 and the traction wheel carrier 2 is more controllable and synchronous. In other embodiments, one of the mounting brackets 423 and the bearing plate 1 may be provided with a limiting groove, and the other one may be provided with a matched limiting block, so that limiting and guiding functions are achieved.

As a further optimization, the traction wheel carrier 2 is fixedly provided with a first linkage block 61, the other end of the first linkage rod 421 is movably inserted into the first linkage block 61 in a sliding manner, so that the material is saved, and the interior of the traction wheel carrier 2 can be made into a hollow shape; the follow-up wheel carrier 3 is fixedly provided with a second linkage block 62, the other end of the second linkage rod 422 is movably inserted into the second linkage block 62 in a sliding manner, the follow-up wheel carrier 3 can be made hollow due to the fact that materials are saved. The first linkage 421 can move and extend relative to the traction wheel frame 2, and meanwhile, when the traction wheel frame 2 rotates, the first linkage 421 pushes the mounting frame 423 to move along the limiting rod 41. The second linkage rod 422 can move and stretch relative to the follower wheel frame 3, and at the same time, the second linkage rod 422 can push the follower wheel frame 3 to rotate relative to the bearing plate 1.

In the present embodiment, the turning radius of the inner side when the steering structure turns is greater than or equal to 250mm (millimeters). The term "inside" means a side relatively closer to the turning center during turning, for example, as shown in fig. 4, when turning to the left side, the left side is the inside, and the turning radius at this time is the distance from the turning center to the left caster 5; when turning to the right side, the right side is the inside, and the turning radius at this time is the distance from the turning center to the right caster 5. The trailer in this embodiment can realize minimum inboard turn radius 250mm, and then can realize the narrow road turn of little turn radius and go. In the present embodiment, the rotation angle range of the traction sheave carrier 2 [ -30 °,30 ° ] (including end points-30 ° and 30 °), and the rotation angle range of the follower sheave carrier 3 coincides with the rotation angle range of the traction sheave carrier 2. In this embodiment, the angle of rotation of the traction wheel frame 2 is zero when the traction wheel frame 2 is perpendicular to the linear forward direction (i.e. the axial direction of the traction wheel frame 2 relative to the parallel limiting rod 41), and the angles obtained by the two are the same, which may be referred to as the initial zero angle or the axial direction of the limiting rod 41.

In the present embodiment, as shown in fig. 2 and fig. 3, the rotating discs 7 are disposed on the traction wheel carrier 2 and the follower wheel carrier 3, each rotating disc 7 includes a first portion 71 and a second portion 72 that are connected together in a relatively rotating manner, the first portion 71 is mounted and fixed on the corresponding traction wheel carrier 2 or follower wheel carrier 3, and the second portion 72 is mounted and fixed on the back of the bearing plate 1. As shown in fig. 4, in the present embodiment, a hanging frame 8 for hanging on the mobile robot is hinged on the traction wheel frame 2. For optimization, the hanging frame 8 is provided with a hook 81 matched with a hanging hole on the mobile robot. In this embodiment, two auxiliary wheels 9 are mounted on the traction wheel frame 2 and the follower wheel frame 3, the auxiliary wheels 9 are in contact with the back surface of the bearing plate 1, and the auxiliary wheels 9 are used for keeping the bearing plate 1 balanced.

The trailer in this embodiment, through the setting that turns to the structure, the couple 81 carry on traction wheel carrier 2 through the carry carrier 8 on mobile robot, drive traction wheel carrier 2 and rotate 1 relative loading board when mobile robot turns, traction wheel carrier 2 promotes mounting bracket 423 along the 41 axial displacement of gag lever post through first gangbar 421, rethread second gangbar 422 promotes 1 relative loading board of follow-up wheel carrier 3 and rotates, thereby change the direction of motion of trailer, make this trailer can follow mobile robot better and move, especially when turning, can realize littleer turning radius, be favorable to turning current in constrictive passageway, and can be faster, accomplish the turn high-efficiently, efficiency of turning and holistic handling efficiency are improved.

The present invention is not limited to the above embodiments, but rather, any modifications, equivalents and improvements, which may occur to those skilled in the art, without departing from the scope and spirit of the present invention, are intended to be included within the scope of the present invention.

Claims

1. A steering structure characterized by: the trailer comprises a traction wheel frame, wherein the traction wheel frame is used for being rotatably connected and installed on a loading plate of the trailer, the traction wheel frame can be installed and fixed on the mobile robot, and trundles are installed at the bottom of the traction wheel frame.

2. The steering structure according to claim 1, wherein: the trailer is characterized by further comprising a follow-up wheel frame and a wheel frame rotating joint, wherein the follow-up wheel frame is used for being rotatably connected and installed on a loading plate of the trailer, the bottom of the follow-up wheel frame is provided with a caster, and the wheel frame rotating joint is installed between the traction wheel frame and the follow-up wheel frame so that the follow-up wheel frame can rotate along with the traction wheel frame.

3. The steering structure according to claim 2, wherein: the wheel carrier rotates the festival and includes first gangbar, second gangbar and mounting bracket, the one end of first gangbar with the one end of second gangbar all with the mounting bracket rotates to be connected, the movable sliding insertion of the other end of first gangbar is in pull the wheel carrier, the movable sliding insertion of the other end of second gangbar is in follow-up wheel carrier.

4. The steering structure according to claim 3, wherein: the mounting frame is connected to the limiting rod in a sliding mode and can move relative to the limiting rod;

5. The steering structure according to claim 3, wherein: a first linkage block is arranged in the traction wheel carrier, and the other end of the first linkage rod is movably inserted into the first linkage block in a sliding manner; and/or a second linkage block is arranged in the follow-up wheel carrier, and the other end of the second linkage rod is movably inserted into the second linkage block in a sliding manner.

6. The steering structure according to claim 2, wherein: the trailer comprises a trailer body, a traction wheel frame and/or a follow-up wheel frame, wherein the traction wheel frame and/or the follow-up wheel frame is/are provided with a turntable, the turntable comprises a first part and a second part which are connected in a relative rotation mode, the first part is arranged on the traction wheel frame or the follow-up wheel frame, and the second part is used for being arranged on a bearing plate of the trailer.

7. The steering structure according to claim 1 or 2, wherein: the turning radius of the inner side of the steering structure is greater than or equal to 250mm when the steering structure turns;

8. The steering structure according to claim 1, wherein: the traction wheel frame is hinged with a hanging frame used for hanging on the mobile robot.

9. The steering structure according to claim 2, wherein: and auxiliary wheels are arranged on the traction wheel frame and/or the follow-up wheel frame and are used for contacting with a bearing plate of the trailer.

10. A trailer, characterized in that: comprising a carrier plate and a steering structure according to any one of claims 1-9 mounted on said carrier plate.