CN114312999B - Steering device of logistics robot and replacement method thereof - Google Patents
Steering device of logistics robot and replacement method thereof Download PDFInfo
- Publication number
- CN114312999B CN114312999B CN202111574152.9A CN202111574152A CN114312999B CN 114312999 B CN114312999 B CN 114312999B CN 202111574152 A CN202111574152 A CN 202111574152A CN 114312999 B CN114312999 B CN 114312999B
- Authority
- CN
- China
- Prior art keywords
- motor
- driving
- moving assembly
- module
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 7
- 238000012423 maintenance Methods 0.000 claims abstract description 15
- 230000000712 assembly Effects 0.000 claims abstract description 8
- 238000000429 assembly Methods 0.000 claims abstract description 8
- 238000005096 rolling process Methods 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
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 assemblies respectively movably arranged in the two limiting shells; the moving assembly comprises a driver, two driving wheels and a steering wheel, wherein the driver is positioned in the limiting shell and provided with two symmetrically arranged driving shafts, the two driving wheels are respectively connected with the two driving shafts, and the steering wheel is arranged below the driver and is used for driving the steering wheel to move along the axial direction of the limiting shell; the limit shell is provided with a magnetic strip which is arranged along the axial direction parallel to the limit shell; the driving wheel is provided with an electromagnetic piece which is magnetically fixed with the magnetic strip. Through the drive wheel of driver drive wheel, realize moving the subassembly and can move in spacing casing by oneself to can drive the steering wheel that is located on the driver and install to the base, in order to 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 thereof.
Background
With the increasing development of electronic commerce, the logistics industry matched with the electronic commerce is also continuously developed and innovated, and the logistics efficiency is always a huge pain point of each electronic commerce. In order to improve warehouse operation efficiency and reduce logistics cost, electronic commerce huge people develop logistics distribution robots in a dispute manner, and promote upgrading and optimizing of enterprise warehouse logistics systems.
The steering device of the logistics robot in the warehouse at present 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 steering wheel is damaged, the whole steering device of the logistics robot needs to be detached for completion, and the maintenance of the steering wheel is carried out, so that the steering wheel is more complicated in operation during maintenance or replacement.
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 operation is complicated when a steering wheel is maintained or replaced.
The invention is realized in the following way:
the steering device of the logistics robot comprises a base, two limiting shells symmetrically arranged on the base, and two moving assemblies respectively movably arranged in the two limiting shells; the moving assembly comprises a driver, two driving wheels and a steering wheel, wherein the driver is positioned in the limiting shell and provided with two symmetrically arranged driving shafts, 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 which is arranged along the axial direction parallel to the limiting shell; the driving wheel is provided with an electromagnetic piece which is magnetically fixed with the magnetic strip.
Further, the driver includes a first motor for providing a driving force to the driving wheel, and a second motor having a rotation shaft and capable of driving the steering wheel to steer; the second motor is located between the first motor and the steering wheel, and the steering wheel is connected to the 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 base is provided with a straight rack set meshed with the driving gear in a region opposite to the limiting shell, and the straight rack set is provided with two straight racks; the straight rack group comprises two first racks respectively meshed with the rolling gears and an electric contact strip positioned between the two first racks, wherein the electric contact strip is used for being communicated with an internal circuit of the logistics robot, and the contact wheel is electrically connected with the electric contact strip.
Further, an electric contact piece is sleeved on the driving shaft of the first motor, one end of the electric contact piece is electrically connected with the internal circuit of the first motor, and the other end of the electric contact piece passes through the rolling gear close to the first motor and is electrically connected with the contact wheel.
Further, the steering device further comprises a chain arranged along the axial direction parallel to the limit 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 is opposite to the first motor, is provided with a clamping module which is matched with the connecting module.
Further, the clamping module is provided with a convex clamping block; the connecting module is provided with a concave clamping groove, the clamping groove is matched with the clamping block, a wedge-shaped block capable of elastically resetting is further arranged in the clamping groove, and the clamping block is provided with a limiting groove for the wedge-shaped block to be inserted.
Further, the clamping block and the connecting module are opposite magnets.
Further, 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 according to the position signal of the position sensor, and turns on the circuit of the electromagnetic piece to lock the moving assembly.
Further, the method comprises the steps of:
the detection module is used for detecting the loss states of the first motor, the second motor and the steering wheel and outputting loss values;
the comparison module is provided with a preset loss value; the comparison module compares the loss value output by the detection module with the preset loss value, and if the loss value is lower than the preset loss value, a comparison signal is output;
the alarm module outputs an alarm signal according to the comparison signal and sends the alarm signal out;
and the control module is used for controlling 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 movable assembly to be maintained is magnetically attracted and clamped with the clamping module of the replaced movable assembly, and the circuit of the electromagnetic piece is cut off, so that the movable assembly to be maintained pulls the replaced movable assembly into the limiting shell;
when the replacement moving assembly is meshed with the straight rack set, a contact wheel of the replacement moving assembly is in contact with the electric contact bar and is electrically connected with the electric contact bar, so that the first motor of the replacement moving assembly drives the driving gear to move along the straight rack set;
when the replacement moving assembly moves to a mounting area, the position sensor senses the replacement moving assembly, cuts off a circuit of the first motor of the replacement moving assembly, and turns on a circuit of an electromagnetic member of the replacement moving assembly to lock a position of the replacement moving assembly; at the same time, the mobile assembly to be serviced is disengaged from the base and separated from the replacement mobile assembly.
The invention has the beneficial effects that: the movable assembly can move in the limiting shell by itself through the driving wheel of the driver, and the steering wheel positioned on the driver can be driven to be mounted on the base, so that later maintenance and maintenance are facilitated; through the setting of electromagnetism piece and magnetic stripe to make the mobile position who slides in spacing casing internal movement assembly, also make the stability in use of the movement assembly of installation simultaneously.
Drawings
Fig. 1 is a schematic diagram of a steering device of a logistics robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a steering device of the logistic robot according to the second embodiment of the present invention;
fig. 3 is a schematic diagram of a moving assembly of a steering device of a logistics robot according to an embodiment of the present invention;
FIG. 4 is a partial bottom view of FIG. 1;
fig. 5 is an enlarged view at a in fig. 4;
FIG. 6 is an enlarged view at B in FIG. 5;
fig. 7 is a schematic diagram II of a moving assembly of a steering device of a logistics robot according to an embodiment of the present invention.
Reference numerals:
10. a base; 20. a limit housing; 201. a magnetic stripe; 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 clamping groove; 921. wedge blocks; 931. a telescopic slot; 941. an elastic member; 902. a clamping module; 912. a clamping block; 922. and a limit groove.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" 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, in this embodiment, terms of left, right, up, down, etc. are merely relative concepts or references to normal use states of the product, and should not be construed as limiting.
As shown in fig. 1 to 7, the steering device of the logistics robot provided by the embodiment of the invention comprises a base 10, two limiting shells 20 symmetrically arranged on the base 10, and two moving assemblies respectively movably arranged in the two limiting shells 20; wherein, the extending direction of the limit housing 20 is consistent with the extending direction of the base 10, so as to effectively ensure the moving direction of the moving assembly on the base 10 by limiting the extending direction of the limit housing 20 and the base 10 to be consistent; the moving assembly comprises a driver 30, two driving wheels (not shown) and a steering wheel 40, wherein the driver 30 is positioned in the limit housing 20 and provided with two symmetrically arranged driving shafts 301, the two driving wheels (not shown) are respectively connected with the two driving shafts 301, the steering wheel 40 is arranged below the driver 30, the driving wheels are used for driving the steering wheel 40 connected to one side of the driver 30, which is opposite to the base 10, to move along the axial direction of the limit housing 20, and the driver 30 is used for driving the driving wheels, so that the moving assembly can move in the limit housing 20 by itself and can drive the steering wheel 40 positioned on the driver 30 to be mounted on the base 10, thereby facilitating later maintenance; the limit shell 20 is provided with a magnetic strip 201 which is arranged along the axial direction parallel to the limit shell 20; an electromagnetic piece for magnetic attraction fixation with the magnetic strip 201 is arranged on the driving wheel; the magnetic attraction of the magnetic member and the magnetic strip 201 is fixed so that the moving position of the moving assembly sliding in the limit housing 20 can be restricted, and the mounted moving assembly can be kept fixed in use.
Referring to fig. 2 and 3, the driver 30 includes a first motor 302 for providing 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 a moving assembly can more simply mount the steering wheel 40 to the base 10 during maintenance or repair, and can realize steering control of the steering wheel 40 in actual use. Specifically, a moving groove 202 is formed in the limiting housing 20, in 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 shown) comprising two rolling gears 50 and a contact wheel 501 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 and the contact wheel 501 are coaxially arranged and fixedly connected; a straight rack set (not marked in the figure) meshed with the driving gear is arranged in the area, opposite to the limiting shell 20, of the base 10, and two straight rack sets are arranged; the straight rack bar group includes two first rack bars 60 respectively engaged with the rolling gears 50, and an electrical contact bar 70 between the two first rack bars 60; the electric contact bar 70 is used for being communicated with an internal circuit of the logistics robot, and the contact wheel 501 is electrically connected with the electric contact bar 70. The height of the electric contact bar 70 is smaller than that of the first rack 60, so that the contact wheel 501 can better contact and electrically connect with the electric contact bar 70, and meanwhile, the position of the driving gear is limited, so that the stability of the moving assembly when moving along the limiting shell 20 is improved; the electrical contact strips 70 in the two straight rack groups, wherein one electrical contact strip 70 is an anode circuit, the other electrical contact strip 70 is a cathode circuit, so that the output of the anode circuit and the cathode circuit is facilitated, meanwhile, the artificial installation error can be effectively avoided, and the steering device is electrically connected with the logistics robot through the electrical contact between the contact wheel 501 and the electrical contact strip 70.
Referring to fig. 2 and 3, the driving shaft 301 of the first motor 302 is sleeved with an electrical contact element 80, one end of the electrical contact element 80 is electrically connected with the internal circuit of the first motor 302, and the other end 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 tube, 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 is arranged on the center of the contact wheel 501 in a penetrating manner, the contact wheel 501 can rotate relative to the electric contact 80, the driving shaft 301 drives 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 complete a circuit with the electric contact bar 70
Referring to fig. 4 to 7, the moving assembly further includes a chain 90 disposed in parallel with the axial direction of the limit housing 20, and a connection module 901 connected to the first motor 302, one end of the chain 90 being fixed to the first motor 302 and disposed opposite to the connection module 901; one end of the chain 90, which is opposite to the first motor 302, is provided with a clamping module 902 adapted to the connection module 901. The connection between the clamping module 902 and the connecting module 901 is used for realizing the connection of two moving assemblies; the clamping module 902 is provided with a convex clamping block 912; the connecting module 901 is provided with a concave clamping groove 911, 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, the clamping block 912 is provided with a limit groove 922 for the wedge block 921 to be inserted, wherein the inclined surface of the wedge block 921 is arranged towards the clamping block 912, and one end of the clamping block 912 towards the wedge block 921 is also provided with an inclined surface, so that the wedge block 921 can be quickly inserted into the limit groove 922; the locking groove 911 is provided with a telescopic groove 931 in which the wedge 921 is telescopic, and an elastic member 941 for elastically restoring the support wedge 921 is connected between the wedge 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 moving assemblies can be rapidly clamped 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, and the moving assemblies which need to be maintained can conveniently drive the moving assemblies to be replaced to be meshed with the straight rack groups.
The limiting shell 20 is provided with an installation area of the 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 according to the position signal of the position sensor, and turns on the circuit of the electromagnetic piece to lock the moving assembly.
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; the loss detection of the steered wheel 40 may be by detecting tire loss of the steered wheel 40, 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 if the loss value is lower than the preset loss value, a comparison signal is output; the alarm module outputs an alarm signal according to the comparison signal and sends the alarm signal out; the control module is used for controlling the logistics robot to move to the maintenance position according to the alarm signal, detecting the loss value of the moving assembly through the detection module, automatically judging the moving assembly lower than the preset loss value before the moving assembly is damaged, outputting the judgment to the alarm module, and automatically judging that the moving assembly needs to be replaced and automatically driven to the maintenance position to be replaced according to the alarm signal by the logistics robot.
An alternative method is to apply the steering device of the logistics robot;
when the control module controls the logistics robot to move to a maintenance position, the connection module 901 of the moving assembly to be maintained is magnetically attracted and clamped with the clamping module 902 of the replacing moving assembly, and the circuit of the electromagnetic piece is cut off, so that the moving assembly to be maintained pulls the replacing moving assembly into the limiting shell 20;
when the alternate moving assembly is engaged with the set of straight racks, the contact wheel in the alternate moving assembly is in contact with and electrically connected to the electrical contact bar 70 such that the first motor 302 of the alternate moving assembly drives the drive gear to move along the set of straight racks;
when the replacement mobile component moves to a mounting area, the position sensor senses the replacement mobile component, cuts off a circuit of the first motor 302 of the replacement mobile component, and turns on a circuit of an electromagnetic member of the replacement mobile component to lock a position of the replacement mobile component; meanwhile, the moving assembly to be maintained is separated from the base and separated from the replaced moving assembly, wherein when the connecting module 901 is separated from the clamping module 902, manual operation can be performed by a user, and of course, some automatic devices can be also arranged on the wedge block 921, so that the wedge block can automatically move towards the direction of the elastic member 941, and further the wedge block can be separated from the clamping module 901.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (5)
1. The utility model provides a turning device of logistics robot which characterized in that: the device comprises a base, two limiting shells symmetrically arranged on the base and two moving assemblies respectively movably arranged in the two limiting shells; the moving assembly comprises a driver, two driving wheels and a steering wheel, wherein the driver is positioned in the limiting shell and provided with two symmetrically arranged driving shafts, 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 which is arranged along the axial direction parallel to the limiting shell; an electromagnetic piece which is fixed with the magnetic strip in a magnetic attraction way is arranged on the driving wheel;
the driver includes a first motor for providing a driving force to the driving wheel, and a second motor having a rotation shaft and capable of driving 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 the rotating shaft of the second motor;
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 base is provided with a straight rack set meshed with the driving gear in a region opposite to the limiting shell, and the straight rack set is provided with two straight racks; the straight rack group comprises two first racks which are respectively meshed with the rolling gears, and an electric contact strip which is positioned between the two first racks and is used for being communicated with an internal circuit of the logistics robot, and the contact wheel is electrically connected with the electric contact strip;
an electric contact piece is sleeved on a driving shaft of the first motor, one end of the electric contact piece is electrically connected with an internal circuit of the first motor, and the other end of the electric contact piece passes through the rolling gear close to the first motor and is electrically connected with the contact wheel;
the steering device further comprises a chain arranged along 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 is opposite to the first motor, is provided with a clamping module which is matched with the connecting module;
the clamping module is provided with a convex clamping block; the connecting module is provided with a concave clamping groove, the clamping groove is matched with the clamping block, a wedge-shaped block capable of elastically resetting is further arranged in the clamping groove, and the clamping block is provided with a limiting groove for the wedge-shaped block to be inserted.
2. The steering device of the logistics robot of claim 1, wherein: the clamping block and the connecting module are opposite magnets.
3. The steering device of the logistics robot of claim 2, wherein: the limiting shell is provided with a mounting area for mounting the moving assembly, and the limiting shell 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 according to the position signal of the position sensor, and turns on the circuit of the electromagnetic piece to lock the moving assembly.
4. A steering device of a logistics robot as set forth in claim 3, wherein: comprising the following steps:
the detection module is used for detecting the loss states of the first motor, the second motor and the steering wheel and outputting loss values;
the comparison module is provided with a preset loss value; the comparison module compares the loss value output by the detection module with the preset loss value, and if the loss value is lower than the preset loss value, a comparison signal is output;
the alarm module outputs an alarm signal according to the comparison signal and sends the alarm signal out;
and the control module is used for controlling the logistics robot to move to a maintenance position according to the alarm signal.
5. An alternative method, characterized by: a steering device applied to the logistics robot of any one of claims 3 to 4;
when the control module controls the logistics robot to move to a maintenance position, the connecting module of the movable assembly to be maintained is magnetically attracted and clamped with the clamping module of the replaced movable assembly, and the circuit of the electromagnetic piece is cut off, so that the movable assembly to be maintained pulls the replaced movable assembly into the limiting shell;
when the replacement moving assembly is meshed with the straight rack set, a contact wheel of the replacement moving assembly is in contact with the electric contact bar and is electrically connected with the electric contact bar, so that the first motor of the replacement moving assembly drives the driving gear to move along the straight rack set;
when the replacement moving assembly moves to a mounting area, the position sensor senses the replacement moving assembly, cuts off a circuit of the first motor of the replacement moving assembly, and turns on a circuit of an electromagnetic member of the replacement moving assembly to lock a position of the replacement moving assembly; at the same time, the mobile assembly to be serviced is disengaged from the base and separated from the replacement mobile assembly.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114312999A CN114312999A (en) | 2022-04-12 |
| CN114312999B true CN114312999B (en) | 2024-04-09 |
Family
ID=81054091
Family Applications (1)
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114312999B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3938608A (en) * | 1973-01-23 | 1976-02-17 | Folco Zambelli Gian Matteo | Wheeled vehicle adapted to turn on the spot |
| KR20130088420A (en) * | 2012-01-31 | 2013-08-08 | 현대제철 주식회사 | Apparatus for measuring temperature of material |
| CN107989995A (en) * | 2017-11-29 | 2018-05-04 | 江西昌河汽车有限责任公司 | Transmission control and the transmission assembly using the transmission control |
| CN110065578A (en) * | 2019-04-23 | 2019-07-30 | 潍坊红石星机械加工有限公司 | Electro-tricycle electromagnetic brake mechanism |
| CN214086261U (en) * | 2020-11-21 | 2021-08-31 | 臼井汽车零部件(上海)有限公司 | Automatic tensioning mechanism for mesh belt |
| CN214135224U (en) * | 2020-12-18 | 2021-09-07 | 中国能源建设集团安徽电力建设第一工程有限公司 | Water mill that easily installs and remove bores device |
| EP3892524A1 (en) * | 2020-04-07 | 2021-10-13 | Emm! solutions GmbH | Wheel module and vehicle |
| CN214607787U (en) * | 2021-02-05 | 2021-11-05 | 吴晓波 | Remote control type environment monitoring equipment with walking chassis |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110024219A1 (en) * | 2007-05-10 | 2011-02-03 | Aarhus Universitet | Omni rotational driving and steering wheel |
| CN111247055B (en) * | 2017-12-25 | 2022-08-23 | 株式会社久保田 | Working vehicle |
-
2021
- 2021-12-21 CN CN202111574152.9A patent/CN114312999B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3938608A (en) * | 1973-01-23 | 1976-02-17 | Folco Zambelli Gian Matteo | Wheeled vehicle adapted to turn on the spot |
| KR20130088420A (en) * | 2012-01-31 | 2013-08-08 | 현대제철 주식회사 | Apparatus for measuring temperature of material |
| CN107989995A (en) * | 2017-11-29 | 2018-05-04 | 江西昌河汽车有限责任公司 | Transmission control and the transmission assembly using the transmission control |
| CN110065578A (en) * | 2019-04-23 | 2019-07-30 | 潍坊红石星机械加工有限公司 | Electro-tricycle electromagnetic brake mechanism |
| EP3892524A1 (en) * | 2020-04-07 | 2021-10-13 | Emm! solutions GmbH | Wheel module and vehicle |
| CN214086261U (en) * | 2020-11-21 | 2021-08-31 | 臼井汽车零部件(上海)有限公司 | Automatic tensioning mechanism for mesh belt |
| CN214135224U (en) * | 2020-12-18 | 2021-09-07 | 中国能源建设集团安徽电力建设第一工程有限公司 | Water mill that easily installs and remove bores device |
| CN214607787U (en) * | 2021-02-05 | 2021-11-05 | 吴晓波 | Remote control type environment monitoring equipment with walking chassis |
Non-Patent Citations (1)
| Title |
|---|
| 平粮机器人结构设计及运动仿真;蒋林;金祖飞;刘晓磊;晏晚君;叶维林;蔡军;张新友;;农机化研究;20151201(第12期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114312999A (en) | 2022-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN215043240U (en) | Magnetic wall-climbing robot | |
| CN112297957B (en) | Wiping line detection device and wiping line detection system | |
| CN114312999B (en) | Steering device of logistics robot and replacement method thereof | |
| CN111204253A (en) | Battery replacing device and battery replacing method | |
| CN114348116B (en) | Chassis device of logistics robot | |
| CN208621075U (en) | A kind of magnetic navigation AGV driving unit and AGV vehicle | |
| CN109029428B (en) | Magnetic navigation AGV drive unit and AGV car | |
| CN215244444U (en) | Electric power system cooling device of unmanned automobile | |
| CN207725373U (en) | Locking system and sweeping robot | |
| CN111731138B (en) | Automatic charging device and method for multiple vehicle types | |
| CN113541405B (en) | Encoder assembly and motor with same | |
| CN214451297U (en) | AGV chassis and AGV dolly | |
| CN220053572U (en) | Lifting type ground charging mechanism and automatic guiding transport vehicle | |
| CN217495821U (en) | Small-size AGV steering wheel | |
| CN221138665U (en) | Unmanned aerial vehicle airport returns well subassembly that charges | |
| CN215773803U (en) | Pitch-changing mechanism | |
| CN212556586U (en) | AGV robot driving device | |
| CN219141742U (en) | Semitrailer steering angle detection device | |
| CN220542017U (en) | Displacement detection device, connection structure thereof, steering gear and vehicle | |
| CN113884731B (en) | Antitheft device | |
| CN213592871U (en) | Deformation track robot | |
| CN219312869U (en) | Four-wheel eight-wheel all-directional steering robot chassis | |
| CN216507853U (en) | Double round differential speed reduction carousel device | |
| CN213918269U (en) | Intelligent industrial robot convenient to move | |
| US20170102041A1 (en) | Add-on brake system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |