CN108312792A - Self-locking truck transportation robot - Google Patents
Self-locking truck transportation robot Download PDFInfo
- Publication number
- CN108312792A CN108312792A CN201810076361.2A CN201810076361A CN108312792A CN 108312792 A CN108312792 A CN 108312792A CN 201810076361 A CN201810076361 A CN 201810076361A CN 108312792 A CN108312792 A CN 108312792A
- Authority
- CN
- China
- Prior art keywords
- latch hook
- articulated
- block
- self
- 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.)
- Pending
Links
- 230000013011 mating Effects 0.000 claims abstract description 5
- 230000000903 blocking effect Effects 0.000 claims description 36
- 238000001514 detection method Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000000694 effects 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
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/243—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for protection in case of crash, collision, impact, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/28—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for preventing unwanted disengagement, e.g. safety appliances
-
- 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
Abstract
The invention belongs to robotic technology fields, are related to a kind of self-locking truck transportation robot, including mating motor dolly and multiple trucks, the motor dolly include latch hook device；The truck includes desktop, the bottom of the desktop, which is equipped with, supplies the fixed locked groove of the latch hook device, the latch hook device includes being articulated in the electric pushrod of automatic transportation car, the corner block of triangle, it is fixed on the fixed link of automatic transportation car, L-shaped latch hook and block, the corner block has first jiao, second jiao and the third angle, the main shaft of the electric pushrod is articulated on first jiao, second jiao of middle part for being articulated in fixed link, the tail portion of latch hook is articulated in the top of fixed link, one end of block is articulated in the third angle, the other end is articulated in the middle part of latch hook, when electric pushrod stretches out, block can resist corner block and latch hook simultaneously.Latch hook device resists impact force with block in robot, realizes self-locking, electric pushrod is avoided to damage.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of self-locking 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, motor dolly are fixed with rack by latch hook device, and latch hook device is originally using letter
The latch hook action of single electric pushrod driving, however this device in use latch hook receive collision will have a direct impact on it is electronic
Push rod main shaft makes electric pushrod extremely be easily damaged loosening.
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-locking truck transportation robots.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of self-locking truck transportation robot, including it is mating
One motor dolly and multiple trucks, the motor dolly include being located at the latch hook device in the middle part of top surface, before top surface
The lower blocking portion in portion and omnidirectional's wheel assembly positioned at bottom surface；The truck includes hollow frame body, is located above the frame body
Desktop, several movable pulleys below the frame body and be fixed on the desktop bottom and with the lower blocking portion cooperation
Upper blocking portion, 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 described
The middle vacancy of frame body；The latch hook device includes the electric pushrod for being articulated in automatic transportation car, the corner block of triangle, fixation
In the fixed link of automatic transportation car, L-shaped latch hook and block, the corner block has first jiao, second jiao and the third angle, institute
The main shaft for stating electric pushrod is articulated on first jiao, and second jiao of middle part for being articulated in fixed link, the tail portion of latch hook is articulated in fixation
The one end on the top of bar, block is articulated in the third angle, and the other end is articulated in the middle part of latch hook, when electric pushrod stretches out, block
Corner block and latch hook can be resisted simultaneously.
Specifically, the lower blocking portion includes convex V-type blocking body, the upper blocking portion includes stopping body with the convex V-type
Matched recessed V-type 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 certainly by latch hook device
Dynamic transport vehicle is fixed with truck.
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.
Specifically, the bottom of the frame body is equipped with brake gear.
Compared with prior art, the advantageous effect of this self-locking truck transportation robot is：
Latch hook device resists impact force with block in robot, realizes that self-locking, in this way vibration would not influence electricity
Dynamic push rod, avoids the precise part from damaging.
Description of the drawings
Fig. 1 is the stereogram of embodiment self-locking 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-locking truck transportation robot, including mating automatic transportation
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 blocking portion positioned at top surface front
12, the lower laser radar inductor 14 positioned at omnidirectional's wheel assembly 13 of bottom surface and 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 with
The bottom of the upper blocking portion 24 that lower blocking portion 12 coordinates, desktop 22 is equipped with for 11 fixed locked groove 221 of latch hook device, automatic transportation
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 includes convex
V-type stops that body 121 and the upper laser radar inductor 122 positioned at 121 inside of convex V-type blocking body, upper blocking portion 24 include and convex V
Type stops that the matched recessed V-type of body 121 stops that body 241, upper laser radar inductor 122 are used for incuding recessed V-type blocking body 241；When
When convex V-type blocking body 121 is close to recessed V-type blocking body 241, locked groove 211 can be caught on and make motor dolly 1 by latch hook device 11
It is fixed with truck 2.Motor dolly 1 with truck 2 be it is separable, motor dolly 1 truck 2 is transported in place after just
Other trucks 2 in parking can be transported.Motor dolly 1 carries out Multidirectional-moving by omnidirectional's wheel assembly 13, lower to swash
Optical radar inductor 14 perceives the barrier of surrounding to adjust advance posture.Before motor dolly 1 coordinates with truck 2, lock
In 11 retraction motor dolly 1 of hook device, 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 incude the position of recessed V-type blocking body 241, and convex V-type blocking body 121 is allowed to stop body 241 certainly with recessed V-type
Dynamic to be aligned, then latch hook device 11 can catch on locked groove 211, and under coordinating at two, motor dolly 1 and truck 2 are just
The entirety that can be moved together can be linked to be, can thus be used for carrying the cargo prevented on truck 2, robot uses certainly
It is high by degree, it 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 (5)
1. a kind of self-locking truck transportation robot, including mating motor dolly and multiple trucks, the automatic transportation
Vehicle includes latch hook device, the lower blocking portion positioned at top surface front and the omnidirectional's wheel assembly positioned at bottom surface being located in the middle part of top surface；
The truck include hollow frame body, the desktop above the frame body, several movable pulleys below the frame body and
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 latch hook
The fixed locked groove of device, the motor dolly are contained in the middle vacancy of the frame body, it is characterised in that：The latch hook device packet
Include the corner block of electric pushrod, triangle for being articulated in automatic transportation car, the fixed link for being fixed on automatic transportation car, L-shaped
Latch hook and block, the corner block has first jiao, second jiao and the third angle, and the main shaft of the electric pushrod is articulated in first
On angle, the tail portion at second jiao of middle part for being articulated in fixed link, latch hook is articulated in the top of fixed link, and one end of block is articulated in
Triangle, the other end are articulated in the middle part of latch hook, and when electric pushrod stretches out, block can resist corner block and latch hook simultaneously.
2. self-locking truck transportation robot according to claim 1, it is characterised in that：The lower blocking portion includes convex V-type
Stop that 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
When type 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.
3. self-locking truck transportation robot according to claim 1, it is characterised in that：The motor dolly further includes position
Lower laser radar inductor in front, the frame body keep away the detection zone of laser radar inductor under position.
4. self-locking truck transportation robot according to claim 3, it is characterised in that：Two columns on rear side of the frame body
On be respectively fixed with the sensing chip contour with the lower laser radar inductor.
5. self-locking truck transportation robot according to claim 1, it is characterised in that：The bottom of the frame body is equipped with brake
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810076361.2A CN108312792A (en) | 2018-01-26 | 2018-01-26 | Self-locking truck transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810076361.2A CN108312792A (en) | 2018-01-26 | 2018-01-26 | Self-locking truck transportation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108312792A true CN108312792A (en) | 2018-07-24 |
Family
ID=62887830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810076361.2A Pending CN108312792A (en) | 2018-01-26 | 2018-01-26 | Self-locking truck transportation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108312792A (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 |
| CN114955328A (en) * | 2021-02-26 | 2022-08-30 | 上海微电子装备（集团）股份有限公司 | Docking mechanism and AGV system |
Citations (6)
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|---|---|---|---|---|
| US6390314B1 (en) * | 2000-12-04 | 2002-05-21 | Advanced Micro Devices, Inc. | Automatic trolley clamp lock |
| JP2004082820A (en) * | 2002-08-26 | 2004-03-18 | Meidensha Corp | Automatic connecting and disconnecting device for forklift type unmanned transport vehicle |
| EP1826033A1 (en) * | 2006-02-27 | 2007-08-29 | WESTFALIA - Automotive GmbH | Trailer hitch for motor vehicles |
| CN203957752U (en) * | 2014-05-23 | 2014-11-26 | Tcl王牌电器(惠州)有限公司 | Hauling hook and automatical pilot transportation vehicle |
| CN205365108U (en) * | 2016-01-27 | 2016-07-06 | 深圳市佳顺智能机器人股份有限公司 | Skip with elastic traction hook |
| CN207997734U (en) * | 2018-01-26 | 2018-10-23 | 苏州博众机器人有限公司 | Self-locking truck transportation robot |
-
2018
- 2018-01-26 CN CN201810076361.2A patent/CN108312792A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6390314B1 (en) * | 2000-12-04 | 2002-05-21 | Advanced Micro Devices, Inc. | Automatic trolley clamp lock |
| JP2004082820A (en) * | 2002-08-26 | 2004-03-18 | Meidensha Corp | Automatic connecting and disconnecting device for forklift type unmanned transport vehicle |
| EP1826033A1 (en) * | 2006-02-27 | 2007-08-29 | WESTFALIA - Automotive GmbH | Trailer hitch for motor vehicles |
| CN203957752U (en) * | 2014-05-23 | 2014-11-26 | Tcl王牌电器(惠州)有限公司 | Hauling hook and automatical pilot transportation vehicle |
| CN205365108U (en) * | 2016-01-27 | 2016-07-06 | 深圳市佳顺智能机器人股份有限公司 | Skip with elastic traction hook |
| CN207997734U (en) * | 2018-01-26 | 2018-10-23 | 苏州博众机器人有限公司 | Self-locking truck transportation robot |
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 |
| CN114955328A (en) * | 2021-02-26 | 2022-08-30 | 上海微电子装备（集团）股份有限公司 | Docking mechanism and AGV system |
| CN114955328B (en) * | 2021-02-26 | 2023-10-31 | 上海微电子装备（集团）股份有限公司 | Butt joint mechanism and AGV system |
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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 | ||
| 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. |