CN108312792B - Self-locking skip car transportation robot - Google Patents
Self-locking skip car transportation robot Download PDFInfo
- Publication number
- CN108312792B CN108312792B CN201810076361.2A CN201810076361A CN108312792B CN 108312792 B CN108312792 B CN 108312792B CN 201810076361 A CN201810076361 A CN 201810076361A CN 108312792 B CN108312792 B CN 108312792B
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- locking
- angle
- skip
- self
- latch hook
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- 230000000903 blocking effect Effects 0.000 claims description 46
- 238000001514 detection method Methods 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001503 joint Anatomy 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
- 230000003287 optical effect Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
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- 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
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- 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
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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
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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)
Abstract
The invention belongs to the technical field of robots, and relates to a self-locking skip car transportation robot which comprises an automatic transportation car and a plurality of skip cars, wherein the automatic transportation car comprises a lock hook device; the skip comprises a desktop, the bottom of desktop is equipped with the confession the fixed locked groove of latch hook device, latch hook device is including pin joint in electric putter in the automatic transport vechicle, triangle-shaped triangular block, be fixed in the dead lever in the automatic transport vechicle, L shape latch hook and dog, the triangular block has first angle, second angle and third angle, electric putter's main shaft pin joint is on first angle, and the second angle pin joint is in the middle part of dead lever, and the afterbody pin joint of latch hook is in the top of dead lever, and the one end pin joint of dog is in third angle, and the other end pin joint is in the middle part of latch hook, and when electric putter stretched out, the dog can support triangular block and latch hook simultaneously. The latch hook device in the robot resists impact force by the stop block, realizes self-locking, and avoids damage of the electric push rod.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a self-locking skip car transportation robot.
Background
AGVs are abbreviations of (Automated Guided Vehicle), i.e. "automated guided vehicles", which are equipped with electromagnetic or optical automatic guides that can travel along a defined guide path, have safety protection and various transfer functions, belong to the category of wheeled mobile robots (WMR-Wheeled Mobile Robot), which do not require the driver's vehicle for industrial use, and use rechargeable batteries as their power source.
In general, the carrier vehicle is provided with a material rack, once the material is loaded, the material on the material rack cannot move freely, and in the occasion of frequent transportation, the carrier vehicle with higher cost is not cost-effective. Therefore, the automatic transport vehicle and the material rack are separated, and are fixed through the lock hook device, the lock hook device originally adopts a simple lock hook action driven by the electric push rod, however, the lock hook is impacted in the use process of the device to directly influence the main shaft of the electric push rod, so that the electric push rod is very easy to damage and loosen.
Therefore, it is necessary to provide a new robot to solve the above-mentioned problems.
Disclosure of Invention
The invention mainly aims to provide a self-locking skip car transportation robot.
The invention realizes the aim through the following technical scheme: the self-locking skip car transportation robot comprises an automatic transportation car and a plurality of skip cars which are matched, wherein the automatic transportation car comprises a lock hook device positioned in the middle of the top surface, a lower blocking part positioned in the front of the top surface and an omnidirectional wheel device positioned on the bottom surface; the skip comprises a hollow frame body, a tabletop positioned above the frame body, a plurality of moving wheels positioned below the frame body and an upper blocking part fixed at the bottom of the tabletop and matched with the lower blocking part, wherein a locking groove for fixing the locking hook device is formed in the bottom of the tabletop, and the automatic transport vehicle is accommodated in the hollow part of the frame body; the locking hook device comprises an electric push rod pivoted in the automatic transport vehicle, a triangular block, a fixed rod fixed in the automatic transport vehicle, an L-shaped locking hook and a stop block, wherein the triangular block is provided with a first angle, a second angle and a third angle, a main shaft of the electric push rod is pivoted on the first angle, the second angle is pivoted in the middle of the fixed rod, the tail of the locking hook is pivoted at the top end of the fixed rod, one end of the stop block is pivoted at the third angle, the other end of the stop block is pivoted at the middle of the locking hook, and when the electric push rod stretches out, the stop block can simultaneously prop against the triangular block and the locking hook.
Specifically, the lower blocking part comprises a convex V-shaped blocking body, and the upper blocking part comprises a concave V-shaped blocking body matched with the convex V-shaped blocking body; when the convex V-shaped blocking body is tightly attached to the concave V-shaped blocking body, the locking hook device can hook the locking groove so as to fix the automatic transport vehicle and the skip car.
Specifically, the automatic transport vehicle further comprises a lower laser radar sensor positioned at the front part, and the frame body keeps away a detection area of the lower laser radar sensor.
Further, the two upright posts at the rear side of the frame body are respectively fixed with induction pieces which are equal to the lower laser radar inductor in height.
Specifically, a brake device is arranged at the bottom of the frame body.
Compared with the prior art, the self-locking skip transportation robot has the beneficial effects that:
the latch hook device in the robot resists impact force by the stop block to realize self-locking, so that the electric push rod cannot be affected by vibration, and the precision component is prevented from being damaged.
Drawings
Fig. 1 is a perspective view of an embodiment self-locking skip transportation robot.
Fig. 2 is a front view of an embodiment of an automated transporter.
Fig. 3 is a perspective view of an embodiment automated guided vehicle.
Fig. 4 is a front view of the shackle device in an open state.
Fig. 5 is a front view of the shackle device in a closed state.
Fig. 6 is a bottom view of the skip car.
Fig. 7 is a front view of the skip car.
The figures represent the numbers:
1-an automatic transport vehicle, wherein the automatic transport vehicle,
An 11-locking hook device, which comprises a locking hook device,
111-An electric push rod, wherein the electric push rod is provided with a plurality of electric push rods,
112-A triangular block of the shape of a triangle,
113-A fixing rod, which is arranged on the upper surface of the fixing rod,
114-A latch hook,
115-A stop-block, which is provided on the bottom of the container,
A 12-a lower blocking portion,
121-A convex V-shaped blocking body,
122-A laser radar sensor,
A 13-omni-wheel device, which comprises a wheel body,
14-A lower lidar sensor;
2-a skip car, wherein the skip car is provided with a plurality of skip cars,
A 21-a frame body, wherein the frame body is provided with a plurality of grooves,
211-A sensor chip, which is arranged on the surface of the substrate,
A 22-tabletop, a display screen, a display,
The 221-locking groove is provided with a groove,
A 23-a moving wheel, which is provided with a plurality of moving wheels,
A 24-upper blocking portion, which is provided on the upper surface of the upper plate,
241-A concave V-shaped blocking body,
242-A linear guide means, which is provided with a guide,
243-The spring is used to move the spring,
A 25-degree of freedom of the brake device,
251-A brake cable, wherein the brake cable is arranged on the outer side of the brake cable,
252-The brake pad is arranged on the upper surface of the brake pad,
253-Connecting rod.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
Examples:
As shown in fig. 1 to 7, the invention is a self-locking skip car transport robot, comprising a matched automatic transport car 1 and a plurality of skip cars 2, wherein the automatic transport car 1 comprises a latch hook device 11 positioned in the middle of the top surface, a lower blocking part 12 positioned in the front of the top surface, an omnidirectional wheel device 13 positioned on the bottom surface and a lower laser radar sensor 14 positioned in the front; the skip car 2 comprises a hollow frame body 21, a tabletop 22 positioned above the frame body 21, a plurality of moving wheels 23 positioned below the frame body 21 and an upper blocking part 24 fixed at the bottom of the tabletop 22 and matched with the lower blocking part 12, wherein a locking groove 221 for fixing the locking hook device 11 is formed in the bottom of the tabletop 22, the automatic transport vehicle 1 is accommodated in the hollow part of the frame body 21, and the frame body 21 keeps away from a detection area of the lower laser radar sensor 14; the lower blocking part 12 comprises a convex V-shaped blocking body 121 and an upper laser radar sensor 122 positioned at the inner side of the convex V-shaped blocking body 121, the upper blocking part 24 comprises a concave V-shaped blocking body 241 matched with the convex V-shaped blocking body 121, and the upper laser radar sensor 122 is used for sensing the concave V-shaped blocking body 241; when the convex V-shaped blocking body 121 is tightly attached to the concave V-shaped blocking body 241, the locking hook device 11 can hook the locking groove 211 to fix the automatic transport vehicle 1 and the skip car 2. The automatic transport vehicle 1 is separable from the trucks 2, and the automatic transport vehicle 1 can transport the other parked trucks 2 after transporting one truck 2 into place. The automatic transport vehicle 1 moves in multiple directions through the omni-directional wheel device 13, and the lower lidar sensor 14 senses surrounding obstacles to adjust the forward posture. Before the automatic transport vehicle 1 is matched with the skip 2, the lock hook device 11 is retracted into the automatic transport vehicle 1, the automatic transport vehicle 1 enters the lower part of the frame body 21 from the rear of the skip 2, the upper laser radar sensor 122 senses the position of the concave V-shaped blocking body 241 at the moment, the convex V-shaped blocking body 121 and the concave V-shaped blocking body 241 are automatically aligned, then the lock hook device 11 can hook the lock groove 211, under the matching of the two parts, the automatic transport vehicle 1 and the skip 2 can be connected into a whole capable of moving together, and therefore, the automatic transport vehicle can be used for carrying and preventing goods on the skip 2.
As shown in fig. 1, two posts on the rear side of the frame 21 are respectively fixed with sensing pieces 211 having the same height as the lower lidar sensor 14. The two sensing pieces 211 can be used for the lower laser radar sensor 14 to sense the relative position with the skip car 2 in advance, so that the automatic transport vehicle 1 and the skip car 2 can avoid unnecessary collision in the process of matching, and the appearance surface is damaged.
As shown in fig. 4 and 5, the latch hook device 11 includes an electric push rod 111 pivoted in the automatic transport vehicle 1, a triangle block 112, a fixed rod 113 fixed in the automatic transport vehicle 1, an L-shaped latch hook 114 and a stop block 115, wherein the triangle block 112 has a first angle, a second angle and a third angle, a main shaft of the electric push rod 111 is pivoted on the first angle, the second angle is pivoted at a middle part of the fixed rod 113, a tail part of the latch hook 114 is pivoted at a top end of the fixed rod 113, one end of the stop block 115 is pivoted at the third angle, and the other end is pivoted at a middle part of the latch hook 114, and when the electric push rod 111 extends, the stop block 115 simultaneously abuts against the triangle block 112 and the latch hook 114. The new latch hook device 11 is a complex lever mechanism capable of switching the state of the latch hook 114, when the electric push rod 111 is extended to be in a locked state, the latch hook 114 will lock the latch slot 24, at this time, if the skip car 2 is impacted, the stop block 115 resists the impact force, so that the vibration will not affect the electric push rod 111, and the precision component is prevented from being damaged.
As shown in fig. 6, the upper blocking portion 24 further includes two linear guides 242 for enabling the concave V-shaped blocking body 241 to be retractable back and forth, and a spring 243 sleeved on the linear guides 242 for returning the concave V-shaped blocking body 241. The spring 243 enables the convex V-shaped blocking body 121 to be contacted with the concave V-shaped blocking body 241 under the elastic action, the automatic transport vehicle 1 and the skip car 2 are in flexible fit, and when the automatic transport vehicle 1 accelerates and decelerates, the two can be kept positioned tightly, so that the rapid hard collision and abrasion is avoided, and the accuracy of the butt joint is seriously affected.
As shown in fig. 6 and 7, the bottom of the frame 21 is provided with a brake device 25, and the brake device 25 includes a brake cable 251 with an upper end connected to the concave V-shaped blocking body 241 and a brake pad 252 suspended from the bottom of the brake cable 251, and a middle part of the brake cable 251 is movably fixed to the frame 21. When the spring 243 is not compressed, the concave V-shaped blocking body 241 retreats to allow the brake cable 251 to naturally droop, so that the brake pad 252 contacts the ground, and the truck 2 can be stopped on a flat road without easy movement.
As shown in fig. 7, the brake device 24 further includes a link 243 fixed to the lower portion of the frame 21, and the brake pad 242 is pivotally connected to the end of the link 243. The brake pads 242 are thus able to swing around the axle on the linkage 243 to accommodate the road surface on which they are located, so that the brake device 24 can also bring the truck 2 to a standstill on a rough road surface.
What has been described above is merely some embodiments of the present invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.
Claims (5)
1. The self-locking skip car transportation robot comprises an automatic transportation car and a plurality of skip cars which are matched, wherein the automatic transportation car comprises a lock hook device positioned in the middle of the top surface, a lower blocking part positioned in the front of the top surface and an omnidirectional wheel device positioned on the bottom surface; the skip includes hollow support body, is located the desktop of support body top, be located a plurality of removal wheels of support body below with be fixed in the desktop bottom and with lower blocking portion complex upper blocking portion, the bottom of desktop is equipped with the confession the fixed locked groove of latch hook device, automatic transport vechicle accept in the hollow of support body, its characterized in that: the locking hook device comprises an electric push rod pivoted in the automatic transport vehicle, a triangular block, a fixed rod fixed in the automatic transport vehicle, a stop block and an L-shaped locking hook, wherein the triangular block is provided with a first angle, a second angle and a third angle, a main shaft of the electric push rod is pivoted on the first angle, the second angle is pivoted in the middle of the fixed rod, the tail of the locking hook is pivoted at the top end of the fixed rod, one end of the stop block is pivoted at the third angle, the other end of the stop block is pivoted at the middle of the locking hook, and when the electric push rod stretches out, the stop block can simultaneously prop against the triangular block and the locking hook.
2. The self-locking skip transportation robot of claim 1, wherein: the lower blocking part comprises a convex V-shaped blocking body, and the upper blocking part comprises a concave V-shaped blocking body matched with the convex V-shaped blocking body; when the convex V-shaped blocking body is tightly attached to the concave V-shaped blocking body, the locking hook device can hook the locking groove so as to fix the automatic transport vehicle and the skip car.
3. The self-locking skip transportation robot of claim 1, wherein: the automatic transport vehicle further comprises a lower laser radar sensor positioned at the front part, and the frame body avoids the detection area range of the lower laser radar sensor.
4. The self-locking skip transportation robot of claim 3, wherein: and the two upright posts at the rear side of the frame body are respectively fixed with induction pieces which are equal to the lower laser radar inductor in height.
5. The self-locking skip transportation robot of claim 1, wherein: the bottom of the frame body is provided with a brake device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810076361.2A CN108312792B (en) | 2018-01-26 | 2018-01-26 | Self-locking skip car transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810076361.2A CN108312792B (en) | 2018-01-26 | 2018-01-26 | Self-locking skip car transportation robot |
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| Publication Number | Publication Date |
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| CN108312792A CN108312792A (en) | 2018-07-24 |
| CN108312792B true CN108312792B (en) | 2024-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810076361.2A Active CN108312792B (en) | 2018-01-26 | 2018-01-26 | Self-locking skip car transportation robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357477B (en) * | 2018-01-26 | 2024-07-19 | 苏州博众智能机器人有限公司 | Full road surface brake skip car transportation robot |
| CN108328234B (en) * | 2018-01-26 | 2024-09-17 | 苏州博众智能机器人有限公司 | Anti-loosening skip car transportation robot |
| 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 |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN207997734U (en) * | 2018-01-26 | 2018-10-23 | 苏州博众机器人有限公司 | Self-locking truck transportation robot |
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| 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 |
| DE102006008837A1 (en) * | 2006-02-27 | 2007-09-06 | Westfalia-Automotive Gmbh | Towbar 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207997734U (en) * | 2018-01-26 | 2018-10-23 | 苏州博众机器人有限公司 | Self-locking truck transportation robot |
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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. |
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