CN114312999A - Steering device of logistics robot and replacement method thereof - Google Patents
Steering device of logistics robot and replacement method thereof Download PDFInfo
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- CN114312999A CN114312999A CN202111574152.9A CN202111574152A CN114312999A CN 114312999 A CN114312999 A CN 114312999A CN 202111574152 A CN202111574152 A CN 202111574152A CN 114312999 A CN114312999 A CN 114312999A
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Abstract
The invention provides a steering device of a logistics robot, which comprises a base, two limiting shells symmetrically arranged on the base, and two moving components movably arranged in the two limiting shells respectively; the moving assembly comprises a driver, two driving wheels and a steering wheel, wherein the driver is positioned in the limiting shell and is provided with two driving shafts which are symmetrically arranged, the two driving wheels are respectively connected with the two driving shafts, the steering wheel is arranged below the driver, and the driving wheels are used for driving the steering wheel to move along the axial direction of the limiting shell; the limiting shell is provided with a magnetic stripe arranged in the axial direction parallel to the limiting shell; the driving wheel is provided with an electromagnetic piece which is fixed with the magnetic strip in a magnetic attraction way. Through driver drive wheel, realize removing the subassembly and can remove in spacing casing by oneself to can drive the directive wheel that is located on the driver and install to the base, so that later stage maintenance and maintenance.
Description
Technical Field
The invention belongs to the field of logistics robots, and particularly relates to a steering device of a logistics robot and a replacement method of the steering device.
Background
With the increasing development of electronic commerce, the logistics industry matched with the electronic commerce is also continuously developing and innovated, and the logistics efficiency is always a big pain point of each e-commerce. In order to improve the warehouse operation efficiency and reduce the logistics cost, E-commerce huge people develop logistics distribution robots at a time and boost the enterprise warehouse logistics system for upgrading and optimizing.
The steering device of the current logistics robot in the warehouse comprises a base and a steering wheel arranged below the base, wherein the steering wheel is fixed on the base in a bolt fixing mode; when the directive wheel is damaged, the whole steering device of the logistics robot needs to be dismounted to complete the maintenance of the directive wheel, so that the operation of the directive wheel is complicated when the directive wheel is maintained or replaced.
Disclosure of Invention
The invention aims to provide a steering device of a logistics robot, and aims to solve the technical problem that in the prior art, the steering device is complex to operate when a steering wheel is maintained or replaced.
The invention is realized by the following steps:
a steering device of a logistics robot comprises a base, two limiting shells symmetrically arranged on the base, and two moving components movably arranged in the two limiting shells respectively; the moving assembly comprises a driver, two driving wheels and a steering wheel, wherein the driver is positioned in the limiting shell and is provided with two driving shafts which are symmetrically arranged, the two driving wheels are respectively connected with the two driving shafts, the steering wheel is arranged below the driver, and the driving wheels are used for driving the steering wheel to move along the axial direction of the limiting shell; the limiting shell is provided with a magnetic strip arranged in the axial direction parallel to the limiting shell; and the driving wheel is provided with an electromagnetic piece which is fixed with the magnetic strip in a magnetic attraction way.
Further, the driver comprises a first motor for providing driving force for the driving wheel and a second motor which is provided with a rotating shaft and can drive the steering wheel to steer; the second motor is positioned between the first motor and the steering wheel, and the steering wheel is connected to a rotating shaft of the second motor.
Further, the driving wheel is a driving gear, and the driving gear comprises two rolling gears and a contact wheel positioned between the two rolling gears; the area of the base opposite to the limiting shell is provided with two straight rack groups which are meshed with the driving gear; the straight rack group include two respectively with rolling gear meshing's first rack, and be located two electric contact strip between the first rack, electric contact strip be used for with the internal circuit switch-on of commodity circulation robot, the contact wheel with electric contact strip electric connection.
Furthermore, an electric contact is sleeved on the driving shaft of the first motor, one end of the electric contact is electrically connected with an internal circuit of the first motor, and the other end of the electric contact penetrates through the rolling gear close to the first motor and is electrically connected with the contact wheel.
Furthermore, the steering device further comprises a chain arranged in the axial direction parallel to the limiting shell and a connecting module connected to the first motor, wherein one end of the chain is fixed on the first motor and is arranged opposite to the connecting module; one end of the chain, which faces away from the first motor, is provided with a clamping module matched with the connecting module.
Furthermore, a convex clamping block is arranged on the clamping module; the connecting module is provided with a concave clamping groove, the clamping groove is matched with the clamping block, a wedge block capable of elastically resetting is further arranged in the clamping groove, and the clamping block is provided with a limiting groove for inserting the wedge block.
Furthermore, the clamping block and the connecting module are opposite magnets.
Furthermore, an installation area for installing the moving assembly is arranged on the limiting shell, and a position sensor is arranged on the limiting shell; when the moving assembly moves to the installation area, the logistics robot cuts off the circuit of the first motor and switches on the circuit of the electromagnetic piece to lock the moving assembly according to the position signal of the position sensor.
Further, comprising:
the detection module is used for detecting the loss states of the first motor, the second motor and a steering wheel and outputting a loss value;
a comparison module having a preset loss value; the comparison module compares the loss value output by the detection module with the preset loss value, and outputs a comparison signal if the loss value is lower than the preset loss value;
the alarm module outputs an alarm signal according to the comparison signal and sends out the alarm signal;
and the control module controls the logistics robot to move to a maintenance position according to the alarm signal.
An alternative method is applied to the steering device of the logistics robot;
when the control module controls the logistics robot to move to a maintenance position, the connecting module of the mobile assembly to be maintained and the clamping module of the replaced mobile assembly are magnetically attracted and clamped, and a circuit of the electromagnetic part is cut off, so that the mobile assembly to be maintained pulls the replaced mobile assembly into the limiting shell;
when the replaced moving assembly is meshed with the spur rack set, a contact wheel of the replaced moving assembly is in contact with and electrically connected with an electric contact rack, so that the first motor of the replaced moving assembly drives the driving gear to move along the spur rack set;
when the replacement moving assembly moves to the installation area, the position sensor senses the replacement moving assembly, cuts off the circuit of the first motor of the replacement moving assembly, and switches on the circuit of the electromagnetic piece of the replacement moving assembly to lock the position of the replacement moving assembly; at the same time, the mobile assembly requiring maintenance is detached from the base and separated from the replacement mobile assembly.
The invention has the beneficial effects that: the driving wheel is driven by the driver, so that the moving assembly can move in the limiting shell automatically, and can drive the steering wheel on the driver to be installed on the base, and later maintenance and repair are facilitated; through the arrangement of the electromagnetic piece and the magnetic strip, the movable position of the movable assembly in the limiting shell is enabled to slide, and meanwhile, the stability of the installed movable assembly in use is also enabled to be achieved.
Drawings
Fig. 1 is a first schematic view of a steering device of a logistics robot provided by an embodiment of the invention;
fig. 2 is a schematic view of a steering device of the logistics robot according to the embodiment of the invention;
fig. 3 is a first schematic diagram of a moving component of a steering device of a logistics robot, provided by an embodiment of the invention;
FIG. 4 is a partial bottom view of FIG. 1;
FIG. 5 is an enlarged view taken at A in FIG. 4;
FIG. 6 is an enlarged view at B in FIG. 5;
fig. 7 is a second schematic diagram of a moving component of a steering device of the logistics robot according to the embodiment of the invention.
Reference numerals:
10. a base; 20. a limiting shell; 201. a magnetic strip; 202. a moving groove; 30. a driver; 301. a drive shaft; 302. a first motor; 303. a second motor; 40. a steering wheel; 50. a rolling gear; 501. a contact wheel; 60. a first rack; 70. an electrical contact strip; 80. an electrical contact; 90. a chain; 901. a connection module; 911. a card slot; 921. a wedge block; 931. a telescopic groove; 941. an elastic member; 902. clamping the module; 912. a clamping block; 922. a limiting groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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 invention and are not intended to limit the invention.
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.
It should be noted that the terms of orientation such as left, right, up, down, etc. in the present embodiment are only relative concepts or reference to the normal use state of the product, and should not be considered as limiting.
As shown in fig. 1 to 7, a steering apparatus of a logistics robot provided for an embodiment of the present invention includes a base 10, two limiting shells 20 symmetrically disposed on the base 10, and two moving assemblies movably disposed in the two limiting shells 20 respectively; the extending direction of the limiting shell 20 is consistent with the extending direction of the base 10, so that the extending direction of the moving component on the base 10 is effectively ensured by limiting the limiting shell 20 to be consistent with the extending direction of the base 10; the moving assembly comprises a driver 30 which is positioned in the limiting shell 20 and is provided with two driving shafts 301 which are symmetrically arranged, two driving wheels (not marked in the figure) which are respectively connected with the two driving shafts 301, and a steering wheel 40 which is arranged below the driver 30, wherein the driving wheels are used for driving the steering wheel 40 which is connected to one side of the driver 30 opposite to the base 10 to move along the axial direction of the limiting shell 20, the driving wheels are driven by the driver 30, so that the moving assembly can move in the limiting shell 20 by itself, and the steering wheel 40 positioned on the driver 30 can be driven to be installed on the base 10, so that the later maintenance and repair are facilitated; the limiting shell 20 is provided with a magnetic stripe 201 arranged in parallel to the axial direction of the limiting shell 20; the driving wheel is provided with an electromagnetic piece which is fixed with the magnetic strip 201 in a magnetic attraction way; through the magnetic attraction fixation of the electromagnetic piece and the magnetic strip 201, the moving position of the moving component sliding in the limiting shell 20 can be limited, and meanwhile, the installed moving component can be kept fixed in use.
Referring to fig. 2 and 3, the driver 30 includes a first motor 302 for providing a driving force to the driving wheel, and a second motor 303 for driving the steering wheel 40 to provide steering, the second motor 303 is located between the first motor 302 and the steering wheel 40, and a driving shaft of the second motor 303 is connected to the steering wheel 40, so that the moving assembly can more easily mount the steering wheel 40 on the base 10 during maintenance or repair, and can realize steering control of the steering wheel 40 during actual use. Specifically, the limiting housing 20 is provided with a moving groove 202 through which the driving shaft of the second motor 303 drives the steering wheel 40 to move along the extending direction of the limiting housing 20.
The driving wheel is a driving gear (not marked in the figure), and the driving gear comprises two rolling gears 50 and a contact wheel 501 positioned between the two rolling gears 50; the diameter of the contact wheel 501 is larger than that of the rolling gears 50, and the two rolling gears 50 are coaxially arranged with the contact wheel 501 and fixedly connected with the contact wheel 501; a region of the base 10 opposite to the limiting shell 20 is provided with two spur rack sets (not marked in the figure) meshed with the driving gear; the spur gear set includes two first gear racks 60 respectively engaged with the rolling gears 50, and an electrical contact rack 70 positioned between the two first gear racks 60; the electrical contact bar 70 is used for being connected with an internal circuit of the logistics robot, and the contact wheel 501 is electrically connected with the electrical contact bar 70. The height of the electrical contact strip 70 is smaller than that of the first rack 60, so that the contact wheel 501 can be better contacted and electrically connected with the electrical contact strip 70, the position of the driving gear is limited, and the stability of the moving assembly moving along the limiting shell 20 is improved; two among the spur rack group electricity contact strip 70, one of them electricity contact strip 70 is positive pole circuit, another electricity contact strip 70 is negative pole circuit to the output of positive and negative pole circuit also can effectually avoid artificial installation error simultaneously, turn to the electric connection that the device realized with the logistics robot through the electric contact of contact wheel 501 with electric contact strip 70.
Referring to fig. 2 and 3, an electrical contact 80 is sleeved on the driving shaft 301 of the first motor 302, one end of the electrical contact 80 is electrically connected with the internal circuit of the first motor 302, and the other end of the electrical contact 80 passes through the rolling gear 50 close to the first motor 302 and is electrically connected with the contact wheel 501; specifically, the electric contact 80 is a control part, the electric contact 80 is sleeved on the driving shaft 301, one end of the electric contact 80 is fixed on the first motor 302, the other end of the electric contact 80 penetrates through the central position of the contact wheel 501, the contact wheel 501 can rotate relative to the electric contact 80, the driving shaft 301 can drive the two rolling gears 50 and the contact wheel 501 to rotate simultaneously, and the contact wheel 501 can be electrically connected with the first motor 302 to be connected with a circuit of the electric contact bar 70
Referring to fig. 4 to 7, the moving assembly further includes a chain 90 disposed in a direction parallel to the axial direction of the limiting housing 20, and a connecting module 901 connected to the first motor 302, wherein one end of the chain 90 is fixed to the first motor 302 and disposed opposite to the connecting module 901; one end of the chain 90 facing away from the first motor 302 is provided with a clamping module 902 adapted to the connecting module 901. The connection of the two moving components is realized through the connection of the clamping module 902 and the connection module 901; the clamping module 902 is provided with a convex clamping block 912; a concave clamping groove 911 is formed in the connecting module 901, the clamping groove 911 is matched with the clamping block 912, a wedge block 921 capable of elastically resetting is further arranged in the clamping groove 911, a limiting groove 922 for inserting the wedge block 921 is formed in the clamping block 912, an inclined surface of the wedge block 921 is arranged towards the clamping block 912, and an inclined surface is also formed at one end, facing towards the wedge block 921, of the clamping block 912, so that the wedge block 921 can be quickly inserted into the limiting groove 922; in addition, a telescopic groove 931 for the wedge block 921 to stretch is provided on the locking groove 911, and an elastic member 941 for supporting the wedge block 921 to elastically return is connected between the wedge block 921 and the groove wall of the telescopic groove 931.
The clamping block 912 and the connecting module 901 are opposite magnets, so that the two mobile assemblies can be clamped quickly under the magnetic attraction effect of the clamping block 912 and the connecting module 901, the stability of connection between the chain 90 and the connecting module 901 is further ensured by the clamping block 912 and the connecting module 901 which are attracted mutually, and the mobile assemblies which need to be maintained can drive the replaced mobile assemblies to be meshed with the straight rack set.
The limiting shell 20 is provided with an installation area of a moving assembly, and the limiting shell 20 is provided with a position sensor; when the moving assembly moves to the installation area, the logistics robot cuts off the circuit of the first motor 302 and switches on the circuit of the electromagnetic member to lock the moving assembly according to the position signal of the position sensor.
The steering device of the logistics robot further comprises a detection module, a comparison module and an alarm module; the detection module is used for detecting the loss states of the first motor 302, the second motor 303 and the steering wheel 40 and outputting loss values; here, the wear detection of the steered wheel 40 may be by detecting tire wear of the steered wheel 40, or a change in rotational damping, or the like. The comparison module has a preset loss value; the comparison module compares the loss value output by the comparison module with a preset loss value, and outputs a comparison signal if the loss value is lower than the preset loss value; the alarm module outputs an alarm signal according to the comparison signal and sends out the alarm signal; the control module controls the logistics robot to move to the maintenance position according to the alarm signal, so that the loss value of the moving assembly is detected through the detection module, the moving assembly lower than the preset loss value can be automatically judged before the moving assembly is damaged, the judgment is output to the alarm module, and the logistics robot can automatically judge that the moving assembly needs to be replaced according to the alarm signal and can automatically drive the moving assembly to the maintenance position to replace.
A replacement method, which applies the steering device of the logistics robot;
when the control module controls the logistics robot to move to a maintenance position, the connecting module 901 of the mobile assembly to be maintained and the clamping module 902 of the replaced mobile assembly are magnetically attracted and clamped, and the circuit of the electromagnetic part is cut off, so that the mobile assembly to be maintained pulls the replaced mobile assembly to the limiting shell 20;
when the replacement moving assembly is engaged with the spur rack set, a contact wheel in the replacement moving assembly is in contact with and electrically connected with an electrical contact bar 70, so that the first motor 302 of the replacement moving assembly drives the driving gear to move along the spur rack set;
when the replacement moving assembly moves to the installation area, the position sensor senses the replacement moving assembly, cuts off the circuit of the first motor 302 of the replacement moving assembly, and completes the circuit of the electromagnetic piece of the replacement moving assembly to lock the position of the replacement moving assembly; meanwhile, the movable assembly needing to be maintained is separated from the base and separated from the replaced movable assembly, wherein when the connecting module 901 is separated from the clamping module 902, manual operation can be performed through a user, and certainly, some automatic devices can be arranged on the wedge block 921 to automatically move towards the direction of the elastic piece 941, so that the movable assembly is separated from the clamping module 901.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111574152.9A CN114312999B (en) | 2021-12-21 | 2021-12-21 | Steering device of logistics robot and replacement method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111574152.9A CN114312999B (en) | 2021-12-21 | 2021-12-21 | Steering device of logistics robot and replacement method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN114312999A true CN114312999A (en) | 2022-04-12 |
| CN114312999B CN114312999B (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111574152.9A Active CN114312999B (en) | 2021-12-21 | 2021-12-21 | Steering device of logistics robot and replacement method thereof |
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| CN114312999B (en) | 2024-04-09 |
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Address after: 401329 no.2-1, building 6, No.39 Xinggu Road, Jiulongpo District, Chongqing Patentee after: Tesla Intelligent Technology Co.,Ltd. Country or region after: China Address before: 401329 no.2-1, building 6, No.39 Xinggu Road, Jiulongpo District, Chongqing Patentee before: Chongqing Terminus Wisdom Science and Technology Inc., Co.,Ltd. Country or region before: China |
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