CN207207615U - Merchandising machine people and its suspension type universal wheel component - Google Patents

Abstract

The utility model relates to a logistics robot and a suspension type universal wheel assembly thereof. The suspension type universal wheel assembly includes a rotating shaft, a bearing plate, two support plates, two connecting rods, a suspension rotating shaft, a wheel shaft, a rotating wheel, two The first and second spring limiting posts and the two springs, under normal conditions, the load-bearing plate is loaded, the springs are in a compressed state, and one end of the first and second spring limiting posts are in contact. When the bearing weight increases or encounters a convex ground, the first end of the second spring limit column is always against one end, and the height of the entire suspension universal wheel assembly will not drop. When encountering a concave ground, the first spring limiting column moves downward under the pressure of the spring, driving the first connecting rod part, the second connecting rod part and the wheel shaft to rotate downward relative to the suspension rotating shaft, and the first and the other One end is separated from one end of the second spring limit post, and the first and second connecting rods rotate downward relative to the suspension shaft until they are limited by the limiter, so that the rotating wheel is always in contact with the ground to achieve suspension and shock absorption.

Description

Logistics robot and its suspension universal wheel assembly

technical field

The utility model relates to the technical field of logistics equipment, in particular to a logistics robot and a suspension universal wheel assembly thereof.

Background technique

The universal wheel is the so-called movable caster, and its structure allows horizontal 360-degree rotation. When the universal wheel is applied to a transportation tool or a handling tool, such as a logistics robot, a forklift, etc., it can freely change the direction of movement of the transportation tool. When the universal wheel is applied to a transportation tool or a handling tool, not only the universal wheel is required to have good rotation performance, but also the universal wheel is required to have good force bearing performance.

However, the traditional universal wheels do not have the functions of suspension and shock absorption, and the height of the universal wheels will continue to decrease with the increase of the load-carrying weight in the working state of the transport tool or the handling tool.

Utility model content

Based on this, it is necessary to address the above-mentioned technical problems and provide a logistics robot and its suspension universal wheel assembly which have the functions of suspension and shock absorption, and which do not decrease in height with the increase of the carrying weight.

A suspension type universal wheel assembly, comprising:

axis of rotation;

The bearing plate is fixedly arranged on the rotating shaft and rotates with the rotation of the rotating shaft;

Two support plates are arranged opposite to each other on the bottom surface of the bearing plate, and a limiting member is arranged on the support plate;

Two connecting rods are arranged opposite to each other at intervals and are located inside the two support plates. The connecting rods include a first connecting rod part and a second connecting rod part. The first connecting rod part and the second connecting rod part The rod part is arranged at a non-flat angle, and the first connecting rod part is limited by the limiting member;

The rotating shaft is suspended, and the two ends pass through the connecting rod and are arranged on the two support plates;

a wheel shaft, the two ends of which are arranged on the two second connecting rod parts;

The rotating wheel is rotatably mounted on the wheel shaft;

Two first spring limit posts, two second spring limit posts and two springs, one end of the first spring limit posts are fixed on the second link part of the connecting rod, the first The other end of the spring limiting post is detachably against one end of the second spring limiting post, the other end of the second spring limiting post is fixed on the bearing plate, and the spring is sleeved on the On the first spring limit post and the second spring limit post.

In one of the embodiments, it further includes a bearing seat, a first bearing, a second bearing and a third bearing, the first bearing, the second bearing and the third bearing are sequentially passed through the rotating shaft, and are all located at inside the bearing seat.

In one of the embodiments, the first bearing and the third bearing are used to bear radial force, and the second bearing is used to bear axial force.

In one of the embodiments, the first bearing and the third bearing are deep groove ball bearings or angular contact ball bearings, and the second bearing is a plane thrust bearing.

In one of the embodiments, a fastener is further included, and a fastening hole is opened on the bearing seat, and the fastener is passed through the fastening hole to be fixed on the chassis.

In one embodiment, one end of the fastener penetrates downwardly through the fastening hole from the top surface of the bearing seat.

In one embodiment, the rotating shaft is connected to the bearing plate by welding, and the two supporting plates are connected to the bearing plate by welding.

In one of the embodiments, the rotating wheel is rotatably arranged on the wheel shaft through a fourth bearing.

In one of the embodiments, the rotating wheel is a polyurethane rubber-coated wheel.

A logistics robot, comprising:

The suspension type universal wheel assembly as described in any one of the above.

The above-mentioned logistics robot and its suspended universal wheel assembly have at least the following advantages:

When it is in a normal state, the load-bearing plate is loaded, the spring is in a compressed state, and one end of the first spring limiting post is in contact with one end of the second spring limiting post. When the bearing weight increases, or encounters a convex ground, the other end of the first spring limiting post always abuts against one end of the second spring limiting post, so the height of the entire suspension universal wheel assembly will not drop. When encountering a concave ground, the first spring limit post moves downward under the pressure of the spring, and then drives the first connecting rod part, the second connecting rod part and the wheel shaft to rotate downward relative to the suspension rotating shaft, and the first The other end of the spring limiting column is separated from one end of the second spring limiting column, and the first connecting rod part and the second connecting rod part rotate downward relative to the suspension rotating shaft until it is limited by the limiting part, so that the rotating wheel is always in contact with the ground. contact for suspension and shock absorption.

Description of drawings

Fig. 1 is a schematic structural view of a suspension type universal wheel assembly in an embodiment;

Fig. 2 is a structural schematic view of another perspective of the suspension universal wheel assembly shown in Fig. 1;

Fig. 3 is a side view of the suspension universal wheel assembly shown in Fig. 1;

Fig. 4 is a sectional view along line A-A in Fig. 3;

Fig. 5 is the rear view of the suspended universal wheel assembly shown in Fig. 1;

Fig. 6 is a sectional view along line B-B in Fig. 5 .

Detailed ways

In order to make the above purpose, features and advantages of the present utility model more obvious and understandable, the specific implementation of the present utility model will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a full understanding of the present invention. However, the utility model can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific implementation disclosed below .

It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. 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 similar expressions are used herein for purposes of illustration only and are not intended to represent the only embodiments.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of this invention. The terminology used in the description of the utility model herein is only for the purpose of describing specific embodiments, and is not intended to limit the utility model. The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

Please refer to FIG. 1 and FIG. 2 , which illustrate a suspension type caster assembly 10 in an embodiment, which has functions of suspension and shock absorption, and does not decrease in height as the load increases. The suspended universal wheel assembly 10 can be applied to the AGV logistics robot, and can also be applied to other handling tools or transportation tools, such as trolleys, forklifts or trailers, etc., to realize the function of universal rotation. Specifically, in this embodiment, the application to a logistics robot is taken as an example for specific description.

Please refer to Fig. 3 and Fig. 4 together, the suspended universal wheel assembly 10 comprises a rotating shaft 110, a bearing plate 210, two support plates 220, two connecting rods 300, a suspension rotating shaft 400, a wheel shaft 500, a rotating wheel 600, two There is one first spring limiting column 710, two second spring limiting columns 720 and two springs 730.

Please refer to FIG. 5 and FIG. 6 together, the rotating shaft 110 is used to realize the 360° rotation of the suspension universal wheel assembly 10 . Specifically, the suspension universal wheel assembly 10 also includes a bearing housing 120, a first bearing 130, a second bearing 140, and a third bearing 150, and the first bearing 130, the second bearing 140, and the third bearing 150 are sequentially passed through the rotating on the shaft 110 and are all located in the bearing seat 120. For example, a plurality of receiving grooves may be provided on the bearing seat 120 , and a stepped structure is formed between each receiving groove, so that the first bearing 130 , the second bearing 140 and the third bearing 150 are sequentially and spaced on the rotating shaft 110 .

Specifically in this embodiment, the first bearing 130 and the third bearing 150 are used to bear radial force, and the second bearing 140 is used to bear axial force, so the bearing force of the suspension universal wheel assembly 10 can be effectively improved, and Improve the overall strength of the suspension universal wheel assembly 10. For example, the first bearing 130 and the third bearing 150 may be deep groove ball bearings, and the second bearing 140 is a plane thrust bearing. Certainly, in other embodiments, the first bearing 130 and the third bearing 150 may also be angular contact ball bearings.

Specifically in this embodiment, the suspension universal wheel assembly 10 also includes a fastener 160, and a fastening hole (not shown in the figure) is opened on the bearing housing 120, and the fastener 160 is passed through the fastening hole to fix the on the chassis. For example, the fastener 160 may be a fastening screw. Specifically, one end of the fastener 160 is passed downwardly through the fastening hole from the top surface of the bearing seat 120 , so that the fastener 160 can be conveniently adjusted by an adjustment tool. Moreover, the fastener 160 is directly installed in the fastening hole on the bearing seat 120, and then the entire suspension type universal wheel assembly 10 is installed on the chassis of the logistics robot, and the size of the parts becomes smaller, which is beneficial to save the processing cost.

The bearing plate 210 is fixed on the rotating shaft 110 and rotates with the rotating shaft 110 . Specifically in this embodiment, the bearing plate 210 is connected to the rotating shaft 110 by welding. Certainly, in other implementation manners, the rotating shaft 110 may also be fixedly connected to the bearing plate 210 in other ways.

The two support plates 220 are spaced and oppositely disposed on the bottom surface of the bearing plate 210 , and the support plates 220 are provided with a limiting member 221 . The limiting member 221 can be a limiting screw, and the limiting screw is passed through the support plate 220 , and one end of the limit screw protrudes from the opposite surface of the two support plates 220 . Specifically, the two support plates 220 are connected to the carrying plate 210 by welding. Certainly, in other implementation manners, the two support plates 220 may also be fixedly connected to the bearing plate 210 in other ways.

The two connecting rods 300 are arranged opposite to each other and located inside the two support plates 220 . The connecting rod 300 includes a first connecting rod part 310 and a second connecting rod part 320 , the first connecting rod part 310 and the second connecting rod part 320 are arranged at non-square angles, and the first connecting rod part 310 is limited by the limiting member 221 . That is, the first link part 310 and the second link part 320 are not on the same straight line.

Specifically in this embodiment, the first link part 310 and the second link part 320 are vertically arranged to form an L-shaped link 300 . It should be noted that the first link part 310 and the second link part 320 are vertically arranged, but not necessarily completely vertically arranged, and a certain error range should be allowed. Of course, in other embodiments, the first link part 310 and the second link part 320 may also be arranged at other angles, for example, they may be acute angles or obtuse angles.

Both ends of the suspension shaft 400 pass through the connecting rod 300 and are disposed on the two support plates 220 . Specifically, both ends of the suspension shaft 400 pass through the intersection of the first link part 310 and the second link part 320 , so that the link 300 can rotate around the suspension shaft 400 . Specifically, both ends of the suspension shaft 400 can be fixed on the two support plates 220 by screws, and the connecting rod 300 is rotatably disposed on the suspension shaft 400 through a sleeve.

Two ends of the axle 500 are disposed on the two second link parts 320 . Specifically, both ends of the wheel shaft 500 are disposed at the ends of the second link part 320 away from the first link part 310 . For example, both ends of the wheel shaft 500 can be limited on the two second connecting rod parts 320 by means of top screws.

The rotating wheel 600 is rotatably mounted on the wheel shaft 500 . Specifically, the rotating wheel 600 may be rotatably mounted on the wheel shaft 500 through the fourth bearing 510 . The fourth bearing 510 may be a deep groove ball bearing. The rotating wheel 600 can be a polyurethane coated wheel.

One ends of the two first spring limiting posts 710 are fixed on the second connecting rod portion 320 of the connecting rod 300, and the other ends of the two first spring limiting posts 710 are detachable from the two second spring limiting posts 720 respectively. The other end of the second spring limiting post 720 is fixed on the bearing plate 210 , and the spring 730 is sheathed on the first spring limiting post 710 and the second spring limiting post 720 .

Specifically, the other end of the first spring limiting post 710 can protrude to form a protruding portion 711, and correspondingly, one end of the second spring limiting post 720 is recessed to form a groove (not shown) corresponding to the protruding portion 711, When the first spring limiting post 710 is in contact with the second spring limiting post 720, the protruding part 711 extends into the groove, so as to increase the positioning accuracy between the first spring limiting post 710 and the second spring limiting post 720 , can also prevent the first spring limiting post 710 from shaking left and right when the second spring limiting post 720 is in contact.

The above-mentioned logistics robot and its suspended universal wheel assembly 10 have at least the following advantages:

In a normal state, the bearing plate 210 bears load, the spring 730 is in a compressed state, and one end of the first spring limiting post 710 is in contact with one end of the second spring limiting post 720 . When the bearing weight increases, or encounters a convex ground, the other end of the first spring limiting post 710 always abuts against one end of the second spring limiting post 720, so the height of the entire suspension universal wheel assembly 10 will not drop. When encountering a concave surface, the first spring limit post 710 moves downward under the pressure of the spring 730, thereby driving the first link part 310, the second link part 320 and the wheel shaft 500 to rotate relative to the suspension shaft 400. Rotate down, the other end of the first spring limit post 710 is separated from one end of the second spring limit post 720, the first link part 310 and the second link part 320 rotate downward relative to the suspension shaft 400 until the limited part 221 limit, make rotating wheel 600 contact with ground all the time, to realize suspension and shock absorption.

The above-mentioned embodiments only express several implementation modes of the utility model, and the description thereof is relatively specific and detailed, but it should not be understood as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the scope of protection of the utility model patent should be based on the appended claims.

Claims (10)

1. A suspension type universal wheel assembly, characterized in that, comprising: axis of rotation; The bearing plate is fixedly arranged on the rotating shaft and rotates with the rotation of the rotating shaft; Two support plates are arranged opposite to each other on the bottom surface of the bearing plate, and a limiting member is arranged on the support plate; Two connecting rods are arranged opposite to each other at intervals and are located inside the two support plates. The connecting rods include a first connecting rod part and a second connecting rod part. The first connecting rod part and the second connecting rod part The rod part is arranged at a non-flat angle, and the first connecting rod part is limited by the limiting member; The rotating shaft is suspended, and the two ends pass through the connecting rod and are arranged on the two support plates; a wheel shaft, the two ends of which are arranged on the two second connecting rod parts; The rotating wheel is rotatably mounted on the wheel shaft; Two first spring limit posts, two second spring limit posts and two springs, one end of the first spring limit posts are fixed on the second link part of the connecting rod, the first The other end of the spring limiting post is detachably against one end of the second spring limiting post, the other end of the second spring limiting post is fixed on the bearing plate, and the spring is sleeved on the On the first spring limit post and the second spring limit post. 2. The suspension type universal wheel assembly according to claim 1, further comprising a bearing seat, a first bearing, a second bearing and a third bearing, the first bearing, the second bearing and the third bearing They are arranged sequentially on the rotating shaft and are all located in the bearing seat. 3. The suspension type universal wheel assembly according to claim 2, wherein the first bearing and the third bearing are used to bear radial force, and the second bearing is used to bear axial force. 4. The suspension type universal wheel assembly according to claim 3, wherein the first bearing and the third bearing are deep groove ball bearings or angular contact ball bearings, and the second bearing is a plane thrust bearing bearings. 5. The suspension type universal wheel assembly according to claim 2, further comprising a fastener, the bearing housing is provided with a fastening hole through which the fastener passes through the fastening hole to fix on the chassis. 6 . The suspension type caster assembly according to claim 5 , wherein one end of the fastener is inserted downwardly through the fastening hole from the top surface of the bearing seat. 7 . 7. The suspension type universal wheel assembly according to claim 1, wherein the rotating shaft is connected to the bearing plate by welding, and the two supporting plates are connected to the bearing plate by welding. connect. 8 . The suspension type universal wheel assembly according to claim 1 , wherein the rotating wheel is rotatably arranged on the wheel shaft through a fourth bearing. 9. The suspension type universal wheel assembly according to claim 1, wherein the rotating wheel is a polyurethane rubber-covered wheel. 10. A logistics robot, characterized in that, comprising: The suspension type universal wheel assembly as claimed in any one of claims 1-9.