CN108263511A - Truck transportation robot - Google Patents
Truck transportation robot Download PDFInfo
- Publication number
- CN108263511A CN108263511A CN201810076399.XA CN201810076399A CN108263511A CN 108263511 A CN108263511 A CN 108263511A CN 201810076399 A CN201810076399 A CN 201810076399A CN 108263511 A CN108263511 A CN 108263511A
- Authority
- CN
- China
- Prior art keywords
- frame body
- truck
- latch hook
- fixed
- blocking portion
- 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.)
- Pending
Links
- 230000000903 blocking effect Effects 0.000 claims abstract description 42
- 230000013011 mating Effects 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 230000032258 transport Effects 0.000 description 7
- 238000005299 abrasion Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/06—Trailers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/06—Trailers
- B62D63/08—Component parts or accessories
Abstract
The invention belongs to robotic technology fields, it is related to a kind of truck transportation robot, including a mating motor dolly and multiple trucks, the motor dolly includes being located at latch hook device, the lower blocking portion positioned at top surface forepart, omnidirectional's wheel assembly positioned at bottom surface and the lower laser radar inductor positioned at forepart in the middle part of top surface；The truck includes hollow frame body, the desktop above the frame body, several movable pulleys below the frame body and is fixed on the desktop bottom and the upper blocking portion coordinated with the lower blocking portion, the bottom of the desktop, which is equipped with, supplies the fixed locked groove of the latch hook device, the motor dolly is contained in the middle vacancy of the frame body, and the frame body keeps away the detection zone of laser radar inductor under position.Robot can carry multiple trucks by a motor dolly, and the two is fixed as one by latch hook device, using degree of freedom height, be applicable to a variety of occasions such as factory, hospital, service area.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of truck transportation robot high using degree of freedom.
Background technology
AGV is the abbreviation of (Automated Guided Vehicle), implies that " automated guided vehicle ", refers to be equipped with
Electricity magnetically or optically waits homing guidances device, it can be travelled along defined guide path, has safeguard protection and various transfers
The transport vehicle of function, AGV belong to the scope of wheeled mobile robot (WMR-- Wheeled Mobile Robot), and industry should
The carrier of driver is not required in, using chargeable accumulator as its power resources.
Under normal circumstances, transport vehicle carries rack, cannot free walker once having filled thing that thing is not unloaded in blanking rack
It is dynamic, in the case where transporting frequent occasion, it is uneconomical to increase the higher transport vehicle of cost.
Therefore, it is necessary to a kind of new robot is provided to solve the above problems.
Invention content
It is a primary object of the present invention to provide a kind of truck transportation robot high using degree of freedom.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of truck transportation robot, including mating one
Motor dolly and multiple trucks, the motor dolly include be located at top surface in the middle part of latch hook device, positioned at top surface forepart
Lower blocking portion, omnidirectional's wheel assembly positioned at bottom surface and the lower laser radar inductor positioned at forepart；The truck includes hollow
Frame body, the desktop above the frame body, several movable pulleys below the frame body and be fixed on the desktop bottom
Portion and the upper blocking portion coordinated with the lower blocking portion, the bottom of the desktop, which is equipped with, supplies the fixed locked groove of the latch hook device,
The motor dolly is contained in the middle vacancy of the frame body, and the frame body keeps away the detection zone of laser radar inductor under position.
Specifically, the lower blocking portion, which includes convex V-type, stops body, the upper blocking portion includes and the convex V-type blocking body
Matched recessed V-type blocking body；When convex V-type stops that body is close to recessed V-type blocking body, locked groove can be caught on and made certainly by latch hook device
Dynamic transport vehicle is fixed with truck.
Specifically, it is respectively fixed on two columns on rear side of the frame body contour with the lower laser radar inductor
Sensing chip.
Specifically, the bottom of the frame body is equipped with brake gear.
Compared with prior art, the advantageous effect of this truck transportation robot is：
Robot can carry multiple trucks by a motor dolly, and the two is fixed as one by latch hook device
Body using degree of freedom height, is applicable to a variety of occasions such as factory, hospital, service area.
Description of the drawings
Fig. 1 is the stereogram of embodiment truck transportation robot.
Fig. 2 is the front view of embodiment motor dolly.
Fig. 3 is the stereogram of embodiment motor dolly.
Fig. 4 is front view of the latch hook device in opening.
Fig. 5 is the front view of latch hook device in off position.
Fig. 6 is the bottom view of truck.
Fig. 7 is the front view of truck.
Digital representation in figure：
1- motor dollies,
11- latch hook devices,
111- electric pushrods,
112- corner blocks,
113- fixed links,
114- latch hooks,
115- blocks,
Blocking portion under 12-,
The convex V-type blocking bodies of 121-,
The upper laser radar inductors of 122-,
13- omnidirectionals wheel assembly,
Laser radar inductor under 14-；
2- trucks,
21- frame bodies,
211- sensing chips,
22- desktops,
221- locked grooves,
23- movable pulleys,
The upper blocking portions of 24-,
The recessed V-type blocking bodies of 241-,
242- linear guidance devices,
243- springs,
25- brake gears,
251- brake cables,
252- brake blocks,
253- connecting rods.
Specific embodiment
The present invention is described in further detail with reference to specific embodiment.
Embodiment：
As shown in Figures 1 to 7, the present invention is a kind of truck transportation robot, including mating 1 He of motor dolly
Multiple trucks 2, motor dolly 1 include being located at the latch hook device 11 in the middle part of top surface, the lower blocking portion 12 positioned at top surface forepart, position
Omnidirectional's wheel assembly 13 in bottom surface and the lower laser radar inductor 14 positioned at forepart；Truck 2 includes hollow frame body 21, position
Desktop 22 above frame body 21, positioned at 21 lower section of frame body several movable pulleys 23 and be fixed on 22 bottom of desktop and with lower blocking
The upper blocking portion 24 that portion 12 coordinates, the bottom of desktop 22 are equipped with for 11 fixed locked groove 221 of latch hook device, and motor dolly 1 is received
The middle vacancy of frame body 21 is dissolved in, frame body 21 keeps away the detection zone of laser radar inductor 14 under position；Lower blocking portion 12 is hindered including convex V-type
Block body 121 and the upper laser radar inductor 122 positioned at 121 inside of convex V-type blocking body, upper blocking portion 24 include hindering with convex V-type
The matched recessed V-type blocking body 241 of block body 121, upper laser radar inductor 122 are used for sensing recessed V-type blocking body 241；When convex V-type
When blocking body 121 is close to recessed V-type blocking body 241, locked groove 211 can be caught on and make motor dolly 1 and material by latch hook device 11
Vehicle 2 is fixed.Motor dolly 1 is separable with truck 2, after motor dolly 1 transports a truck 2 in place
Transport the truck 2 during other are parked.Motor dolly 1 carries out Multidirectional-moving, lower laser thunder by omnidirectional's wheel assembly 13
The barrier of surrounding is perceived to adjust advance posture up to inductor 14.Before motor dolly 1 coordinates with truck 2, latch hook dress
It puts in 11 retraction motor dollies 1, motor dolly 1 enters the lower section of frame body 21 from the rear of truck 2, at this time upper laser radar
Inductor 122 can sense the position of recessed V-type blocking body 241, and allow convex V-type blocking body 121 and recessed V-type blocking body 241 automatically into
Row contraposition, then latch hook device 11 can just catch on locked groove 211, and under coordinating at two, motor dolly 1 can just connect with truck 2
The entirety that can be moved together into one can thus be used for carrying the cargo prevented on truck 2, and robot uses degree of freedom
Height is applicable to a variety of occasions such as factory, hospital, service area.
As shown in Figure 1, it is respectively fixed on two columns of 21 rear side of frame body contour with lower laser radar inductor 14
Sensing chip 211.Two pieces of sensing chips 211 sense the relative position with truck 2 for lower laser radar inductor 14 in advance, make certainly
Dynamic transport vehicle 1 avoids unnecessary collision so that damage appearance with truck 2 during mating.
As shown in Figure 4 and Figure 5, latch hook device 11 includes the electric pushrod 111, the triangle that are articulated in motor dolly 1
The corner block 112 of shape, the fixed link 113 being fixed in motor dolly 1, the latch hook 114 of L-shaped and block 115, corner block
112 have first jiao, second jiao and the third angle, and the main shaft of electric pushrod 111 is articulated on first jiao, and second jiao is articulated in fixation
The middle part of bar 113, the tail portion of latch hook 114 are articulated in the top of fixed link 113, and one end of block 115 is articulated in the third angle, another
End is articulated in the middle part of latch hook 114, and when electric pushrod 111 stretches out, block 115 can resist corner block 112 and latch hook simultaneously
114.New latch hook device 11 is a kind of complicated lever mechanism for allowing hand over 114 state of latch hook, when electric pushrod 111 stretches out
For locked state, latch hook 114 will lock locked groove 24, if truck 2 is collided at this time, block 115 can resist impact force, this
Sample vibration would not influence electric pushrod 111, and the precise part is avoided to damage.
As shown in fig. 6, upper blocking portion 24 further include two be used for making recessed V-type blocking body 241 can elastic straight line draw
It leads device 242 and is sheathed on the spring 243 on linear guidance device 242 and for recessed V-type blocking body 241 is made to playback.Spring
243 make convex V-type blocking body 121 be contacted under elastic reaction with recessed V-type blocking body 241, and motor dolly 1 is flexible with truck 2
Cooperation, when 1 acceleration and deceleration of motor dolly, the two can be held in position closely, avoid hard collision abrasion quick so that sternly
Ghost image rings docking accuracy.
As shown in Figure 6 and Figure 7, the bottom of frame body 21 is equipped with brake gear 25, and brake gear 25 is connected to recessed V including upper end
Brake cable 251 on type blocking body 241 and the brake block 252 of 251 bottom of brake cable is hung on, the middle part of brake cable 251 can
It is actively fixed on frame body 21.When spring 243 is not compressed, withdrawing the membership after recessed V-type blocking body 241 allows brake cable 251
It naturally droops, brake block 252 is made to contact ground, such truck 2 can just come to a complete stop on level road, without moving easily.
As shown in fig. 7, brake gear 24 further includes a connecting rod 243 for being fixed on 21 lower section of frame body, brake block 242 is pivotally connected
In the end of connecting rod 243.Brake block 242 can swing the road surface to adapt to place around the axis on connecting rod 243 in this way, so this
Kind brake gear 24 also can make truck 2 come to a complete stop on rugged road surface.
Above-described is only some embodiments of the present invention.For those of ordinary skill in the art, not
Under the premise of being detached from the invention design, various modifications and improvements can be made, these belong to the protection model of the present invention
It encloses.
Claims (4)
1. a kind of truck transportation robot, it is characterised in that：Including a mating motor dolly and multiple trucks, it is described from
Dynamic transport vehicle includes being located at the latch hook device in the middle part of top surface, the lower blocking portion positioned at top surface forepart, omnidirectional's wheel positioned at bottom surface
Device and the lower laser radar inductor positioned at forepart；The truck includes hollow frame body, the table above the frame body
Face, several movable pulleys below the frame body and be fixed on the desktop bottom and with the upper resistance of the lower blocking portion cooperation
Stopper, the bottom of the desktop, which is equipped with, supplies the fixed locked groove of the latch hook device, and the motor dolly is contained in the frame body
Middle vacancy, the frame body keeps away the detection zone of laser radar inductor under position.
2. truck transportation robot according to claim 1, it is characterised in that：The lower blocking portion stops including convex V-type
Body, the upper blocking portion include and the convex matched recessed V-type blocking body of V-type blocking body；When convex V-type blocking body is hindered with recessed V-type
When block body is close to, locked groove can be caught on and motor dolly is made to be fixed with truck by latch hook device.
3. truck transportation robot according to claim 1, it is characterised in that：Divide on two columns on rear side of the frame body
It is not fixed with the sensing chip contour with the lower laser radar inductor.
4. truck transportation robot according to claim 1, it is characterised in that：The bottom of the frame body is equipped with brake and fills
It puts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810076399.XA CN108263511A (en) | 2018-01-26 | 2018-01-26 | Truck transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810076399.XA CN108263511A (en) | 2018-01-26 | 2018-01-26 | Truck transportation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108263511A true CN108263511A (en) | 2018-07-10 |
Family
ID=62776894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810076399.XA Pending CN108263511A (en) | 2018-01-26 | 2018-01-26 | Truck transportation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108263511A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108328234A (en) * | 2018-01-26 | 2018-07-27 | 苏州博众机器人有限公司 | Locking material mover transportation robot |
| CN109080444A (en) * | 2018-08-08 | 2018-12-25 | 中国科学院深圳先进技术研究院 | A kind of handling device and handling system, method for carrying based on In-wheel motor driving |
| CN110877648A (en) * | 2018-09-05 | 2020-03-13 | 康茂股份公司 | Autonomous vehicles, such as automated guided vehicles or autonomous mobile robots |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140000187U (en) * | 2012-06-22 | 2014-01-10 | 주식회사 프로맥스 | Automated Guided Vehicle |
| CN204727453U (en) * | 2015-07-06 | 2015-10-28 | 河南省中原矿山设备有限公司 | One crosses rail crane cross track device |
| CN206606276U (en) * | 2017-01-18 | 2017-11-03 | 东莞市远见自动化科技有限公司 | A kind of submersible AGV dollies |
| CN107600927A (en) * | 2017-09-06 | 2018-01-19 | 天津朗誉科技发展有限公司 | A kind of limited space type character cut in bas-relief AGV conveying arrangements |
| CN208469986U (en) * | 2018-01-26 | 2019-02-05 | 苏州博众机器人有限公司 | Automatic sensing positions truck transportation robot |
| CN208469987U (en) * | 2018-01-26 | 2019-02-05 | 苏州博众机器人有限公司 | Truck transportation robot |
-
2018
- 2018-01-26 CN CN201810076399.XA patent/CN108263511A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140000187U (en) * | 2012-06-22 | 2014-01-10 | 주식회사 프로맥스 | Automated Guided Vehicle |
| CN204727453U (en) * | 2015-07-06 | 2015-10-28 | 河南省中原矿山设备有限公司 | One crosses rail crane cross track device |
| CN206606276U (en) * | 2017-01-18 | 2017-11-03 | 东莞市远见自动化科技有限公司 | A kind of submersible AGV dollies |
| CN107600927A (en) * | 2017-09-06 | 2018-01-19 | 天津朗誉科技发展有限公司 | A kind of limited space type character cut in bas-relief AGV conveying arrangements |
| CN208469986U (en) * | 2018-01-26 | 2019-02-05 | 苏州博众机器人有限公司 | Automatic sensing positions truck transportation robot |
| CN208469987U (en) * | 2018-01-26 | 2019-02-05 | 苏州博众机器人有限公司 | Truck transportation robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108328234A (en) * | 2018-01-26 | 2018-07-27 | 苏州博众机器人有限公司 | Locking material mover transportation robot |
| CN109080444A (en) * | 2018-08-08 | 2018-12-25 | 中国科学院深圳先进技术研究院 | A kind of handling device and handling system, method for carrying based on In-wheel motor driving |
| CN110877648A (en) * | 2018-09-05 | 2020-03-13 | 康茂股份公司 | Autonomous vehicles, such as automated guided vehicles or autonomous mobile robots |
| CN110877648B (en) * | 2018-09-05 | 2023-05-05 | 康茂股份公司 | Autonomous vehicle, such as an automated guided vehicle or an autonomous mobile robot |
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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 | ||
| CB02 | Change of applicant information |
Address after: 215000 standard plant 7, Dongyun Science Park, No. 558, Huxi Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Applicant after: Suzhou Bozhong intelligent robot Co.,Ltd. Address before: 215000 standard plant 7, Dongyun Science Park, No. 558, Huxi Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Applicant before: SUZHOU BOZHONG ROBOT Co.,Ltd. |
|
| CB02 | Change of applicant information |