CN108297968A - Self-actuating brake truck transportation robot - Google Patents
Self-actuating brake truck transportation robot Download PDFInfo
- Publication number
- CN108297968A CN108297968A CN201810076400.9A CN201810076400A CN108297968A CN 108297968 A CN108297968 A CN 108297968A CN 201810076400 A CN201810076400 A CN 201810076400A CN 108297968 A CN108297968 A CN 108297968A
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- China
- Prior art keywords
- brake
- type
- recessed
- truck
- frame body
- 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.)
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Classifications
-
- 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
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/12—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action
- B60T1/14—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action directly on road
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to robotic technology fields, are related to a kind of self-actuating brake truck transportation robot, including mating motor dolly and multiple trucks, and the motor dolly includes lower blocking portion；The truck includes upper blocking portion, the lower blocking portion includes that convex V-type stops that body, the upper blocking portion include stopping body, two linear guidance devices for being used for that recessed V-type is made to stop that body can be elastic and the spring for being sheathed on the linear guidance device and be used for making recessed V-type blocking body to playback with the convex matched recessed V-type of V-type blocking body；The bottom of the frame body is equipped with brake gear, and the brake gear includes the brake cable and the brake block for hanging on brake cable bottom that upper end is connected on recessed V-type blocking body.When motor dolly is sealed with truck in robot, withdraws the membership after recessed V-type blocking body and brake cable is allowed to naturally droop, so that brake block is contacted ground, such truck can come to a complete stop on level road, without moving easily.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of self-actuating brake truck transportation robot.
Background technology
AGV is the abbreviation of (Automated Guided Vehicle), implies that " automated guided vehicle ", refers to being 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 is answered
The carrier of driver is not required in, with chargeable accumulator for its power resources.
Under normal circumstances, transport vehicle carries rack, once having filled thing that thing does not unload in blanking rack cannot free walker
It is dynamic, in the case where transporting frequent occasion, it is uneconomical to increase the higher transport vehicle of cost.Therefore my company develops a kind of motor dolly
The transportation robot separated with rack, the two are sealed by latch hook device.Rack needs energy when being detached from motor dolly
It enough comes to a complete stop, so need to use brake gear, however when rack is sealed with motor dolly, brake gear cannot hinder to transport
It is dynamic.
Therefore, it is necessary to provide a kind of new robot to solve the above problems.
Invention content
The main purpose of the present invention is to provide a kind of self-actuating brake truck transportation robots.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of self-actuating brake truck transportation robot, including match
Set a motor dolly and multiple trucks, the motor dolly include be located at top surface in the middle part of latch hook device, be located at top
The lower blocking portion in portion and omnidirectional's wheel assembly positioned at bottom surface in front；The truck includes hollow frame body, is located at the frame body
It the desktop of top, several movable pulleys below the frame body and is fixed on the desktop bottom and matches with the lower blocking portion
The upper blocking portion closed, the bottom of the desktop, which is equipped with, supplies the fixed locked groove of the latch hook device, the motor dolly to be contained in
The middle vacancy of the frame body, the lower blocking portion include convex V-type blocking body, and the upper blocking portion includes stopping with the convex V-type
The matched recessed V-type of body stops body；When convex V-type blocking body is close to recessed V-type blocking body, locked groove can be caught on and be made by latch hook device
Motor dolly is fixed with truck；The upper blocking portion further includes two straight lines for being used for that recessed V-type is made to stop that body can be elastic
Guide device and the spring for being sheathed on the linear guidance device and be used for making recessed V-type blocking body playback；The frame body
Bottom is equipped with brake gear, and the brake gear includes the brake cable and hang on brake that upper end is connected on recessed V-type blocking body
The middle part of the brake block of fare bottom, the brake cable is movably fixed on frame body.
Specifically, the motor dolly further includes the lower laser radar inductor positioned at front, the frame body is kept away under position
The detection zone of laser radar inductor.
Further, it is respectively fixed on two columns on rear side of the frame body contour with the lower laser radar inductor
Sensing chip.
Compared with prior art, the advantageous effect of this self-actuating brake truck transportation robot is：
When motor dolly is sealed with truck in robot, withdraws the membership after recessed V-type blocking body and brake cable is allowed to naturally droop, make
Brake block contacts ground, and such truck can come to a complete stop on level road, without moving easily.
Description of the drawings
Fig. 1 is the stereogram of embodiment self-actuating brake 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 open state.
Fig. 5 is the front view of latch hook device in off position.
Fig. 6 is the upward 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-types of 121- stop body,
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-types of 241- stop body,
242- linear guidance devices,
243- springs,
25- brake gears,
251- brake cables,
252- brake blocks,
253- connecting rods.
Specific implementation mode
With reference to specific embodiment, invention is further described in detail.
Embodiment：
As shown in Figures 1 to 7, the present invention is a kind of self-actuating brake truck transportation robot, including mating one automatic
Transport vehicle 1 and multiple trucks 2, motor dolly 1 include being located at the latch hook device 11 in the middle part of top surface, the lower resistance positioned at top surface front
Stopper 12, omnidirectional's wheel assembly 13 positioned at bottom surface and the lower laser radar inductor 14 positioned at front；Truck 2 includes hollow
Frame body 21, the desktop 22 above frame body 21, positioned at the lower section of frame body 21 several movable pulleys 23 and be fixed on 22 bottom of desktop
And the upper blocking portion 24 coordinated with lower blocking portion 12, the bottom of desktop 22 are equipped with for 11 fixed locked groove 221 of latch hook device, automatically
Transport vehicle 1 is contained in the middle vacancy of frame body 21, and frame body 21 keeps away the detection zone of laser radar inductor 14 under position；Lower blocking portion 12 wraps
Convex V-type blocking body 121 and the upper laser radar inductor 122 positioned at 121 inside of convex V-type blocking body are included, upper blocking portion 24 includes
Stop that body 241, upper laser radar inductor 122 are used for incuding recessed V-type blocking body with the matched recessed V-type of convex V-type blocking body 121
241；When convex V-type blocking body 121 is close to recessed V-type blocking body 241, locked groove 211 can be caught on and be made automatic by latch hook device 11
Transport vehicle 1 is fixed with truck 2.Motor dolly 1 is separable with truck 2, and a truck 2 is transported to by motor dolly 1
Other trucks 2 in parking can be transported after position.Motor dolly 1 carries out multi-party displacement by omnidirectional's wheel assembly 13
Dynamic, lower laser radar inductor 14 perceives the barrier of surrounding to adjust advance posture.Motor dolly 1 coordinates with truck 2
Before, in 11 retraction motor dolly 1 of latch hook device, motor dolly 1 enters the lower section of frame body 21 from the rear of truck 2, this
When on laser radar inductor 122 can incude the position of recessed V-type blocking body 241, and convex V-type blocking body 121 is allowed to stop with recessed V-type
Body 241 is aligned automatically, and then latch hook device 11 can catch on locked groove 211, under coordinating at two, motor dolly 1 with
Truck 2 can be linked to be the entirety that can be moved together, and can thus be used for carrying the cargo prevented on truck 2, machine
People is high using degree of freedom, is applicable to a variety of occasions such as factory, hospital, service area.
As shown in Figure 1, being 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 in advance for lower laser radar inductor 14, 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 electric pushrod 111, the triangle being articulated in motor dolly 1
The corner block 112 of shape, the fixed link 113 being fixed in motor dolly 1, L-shaped latch hook 114 and block 115, corner block
112 there is first jiao, second jiao and the third angle, the main shaft of electric pushrod 111 to be 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 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 making recessed V-type blocking body 241 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 quickly 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, so that brake block 252 is contacted ground, such truck 2 can 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 be swung around the axis on connecting rod 243 to adapt to the road surface at place 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 (3)
1. a kind of self-actuating brake truck transportation robot, including mating motor dolly and multiple trucks, described automatic
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 front and omnidirectional's wheel dress positioned at bottom surface
It sets；The truck includes hollow frame body, the desktop above the frame body, several movable pulleys below the frame body
With the upper blocking portion for being fixed on the desktop bottom and coordinating with the lower blocking portion, the bottom of the desktop, which is equipped with, supplies the lock
The fixed locked groove of hook device, the motor dolly are contained in the middle vacancy of the frame body, and the lower blocking portion includes convex V-type resistance
Block body, the upper blocking portion include stopping body with the convex matched recessed V-type of V-type blocking body；When convex V-type blocking body and recessed V-type
When blocking body is close to, locked groove can be caught on and motor dolly is made to be fixed with truck by latch hook device；It is characterized in that：The upper resistance
Stopper, which further includes two, is used for making the linear guidance devices and be sheathed on the straight line guiding that recessed V-type blocking body can be elastic
On device and for making the spring of recessed V-type blocking body playback；The bottom of the frame body is equipped with brake gear, the brake gear packet
The brake cable and the brake block for hanging on brake cable bottom that upper end is connected on recessed V-type blocking body are included, in the brake cable
Portion is movably fixed on frame body.
2. self-actuating brake truck transportation robot according to claim 1, it is characterised in that：The motor dolly also wraps
The lower laser radar inductor positioned at front is included, the frame body keeps away the detection zone of laser radar inductor under position.
3. self-actuating brake truck transportation robot according to claim 2, it is characterised in that：Two on rear side of the frame body
The sensing chip contour with the lower laser radar inductor is respectively fixed on column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810076400.9A CN108297968A (en) | 2018-01-26 | 2018-01-26 | Self-actuating brake truck transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810076400.9A CN108297968A (en) | 2018-01-26 | 2018-01-26 | Self-actuating brake truck transportation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108297968A true CN108297968A (en) | 2018-07-20 |
Family
ID=62866541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810076400.9A Pending CN108297968A (en) | 2018-01-26 | 2018-01-26 | Self-actuating brake truck transportation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108297968A (en) |
Cited By (2)
| 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 |
| EP4328101A1 (en) * | 2022-08-22 | 2024-02-28 | Iveco S.p.A. | Trolley for handling a semi-finished product and system comprising the trolley, in particular in the automotive field |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010254070A (en) * | 2009-04-23 | 2010-11-11 | Yazaki Ind Chem Co Ltd | Trailing truck |
| US20120189415A1 (en) * | 2011-01-26 | 2012-07-26 | Brad Robinson | UTILITY LIFT HAULER CONFIGURED TO TRANSPORT MOTORCYCLES, ATVs AND THE LIKE |
| CN205524567U (en) * | 2016-01-26 | 2016-08-31 | 东莞市招科智控科技有限公司 | Split type automated guided transporting vehicle |
| CN205601815U (en) * | 2016-05-13 | 2016-09-28 | 李文斌 | But automatic brake's jiayouche |
| CN208469988U (en) * | 2018-01-26 | 2019-02-05 | 苏州博众机器人有限公司 | Self-actuating brake truck transportation robot |
-
2018
- 2018-01-26 CN CN201810076400.9A patent/CN108297968A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010254070A (en) * | 2009-04-23 | 2010-11-11 | Yazaki Ind Chem Co Ltd | Trailing truck |
| US20120189415A1 (en) * | 2011-01-26 | 2012-07-26 | Brad Robinson | UTILITY LIFT HAULER CONFIGURED TO TRANSPORT MOTORCYCLES, ATVs AND THE LIKE |
| CN205524567U (en) * | 2016-01-26 | 2016-08-31 | 东莞市招科智控科技有限公司 | Split type automated guided transporting vehicle |
| CN205601815U (en) * | 2016-05-13 | 2016-09-28 | 李文斌 | But automatic brake's jiayouche |
| CN208469988U (en) * | 2018-01-26 | 2019-02-05 | 苏州博众机器人有限公司 | Self-actuating brake truck transportation robot |
Cited By (2)
| 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 |
| EP4328101A1 (en) * | 2022-08-22 | 2024-02-28 | Iveco S.p.A. | Trolley for handling a semi-finished product and system comprising the trolley, in particular in the automotive field |
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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 |