CN108357477A - All-terrain brake truck transportation robot - Google Patents
All-terrain brake truck transportation robot Download PDFInfo
- Publication number
- CN108357477A CN108357477A CN201810076378.8A CN201810076378A CN108357477A CN 108357477 A CN108357477 A CN 108357477A CN 201810076378 A CN201810076378 A CN 201810076378A CN 108357477 A CN108357477 A CN 108357477A
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- China
- Prior art keywords
- type
- brake
- recessed
- frame body
- truck
- 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 51
- 230000013011 mating Effects 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity 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
-
- 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
Abstract
The invention belongs to robotic technology fields, are related to a kind of All-terrain brake truck transportation robot, including mating motor dolly and multiple trucks, the motor dolly include 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 that upper end is connected on recessed V-type blocking body, the connecting rod for hanging on the brake block of brake cable bottom and being fixed below frame body, and the brake block is articulated in the end of the connecting rod.The brake block being pivotally connected in robot allows truck that can come to a complete stop on level road and rugged road.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of All-terrain 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
Enough come to a complete stop, so need to use brake gear, however previous structure can only come to a complete stop on level road, it is former if bottom surface is rugged and rough
There is brake gear not have effect.
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 All-terrain brake truck transportation robots.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of All-terrain brake truck transportation robot, including
A mating 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
The lower blocking portion of top surface front and omnidirectional's wheel assembly positioned at bottom surface；The truck includes hollow frame body, is located at the frame
Desktop above body, several movable pulleys below the frame body and be fixed on the desktop bottom and with the lower blocking portion
The upper blocking portion of cooperation, the bottom of the desktop, which is equipped with, supplies the fixed locked groove of the latch hook device, the motor dolly receiving
In the middle vacancy of the frame body, the lower blocking portion includes convex V-type blocking body, and the upper blocking portion includes being hindered with the convex V-type
The matched recessed V-type of block body stops body；When convex V-type blocking body and recessed V-type stop that body is close to, latch hook device locked groove can be caught on and
Motor dolly is set to be fixed with truck；The upper blocking portion further includes two and is used for making that recessed V-type blocking body can be elastic is straight
Line 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 be equipped with brake gear, the brake gear include upper end be connected on recessed V-type blocking body brake cable, hang on brake
The brake block of line bottom and the connecting rod being fixed below frame body, the middle part of the brake cable are movably fixed on frame body,
The brake block is articulated in the end of the connecting rod.
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 All-terrain brake truck transportation robot is：
The brake block being pivotally connected in robot allows truck that can come to a complete stop on level road and rugged road.
Description of the drawings
Fig. 1 is the stereogram of embodiment All-terrain 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 be a kind of All-terrain brake truck transportation robot, including mating one from
Dynamic transport vehicle 1 and multiple trucks 2, motor dolly 1 include being located at latch hook device 11 in the middle part of top surface, under the front of top surface
Blocking portion 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
The bottom of portion and the upper blocking portion 24 coordinated with lower blocking portion 12, desktop 22 is equipped with for 11 fixed locked groove 221 of latch hook device, certainly
Dynamic 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
Stop that body 121 and the upper laser radar inductor 122 on the inside of convex V-type blocking body 121, upper blocking portion 24 wrap including convex V-type
It includes and stops 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)
- The truck transportation robot 1. a kind of All-terrain is braked, including mating motor dolly and multiple trucks, it is described from Dynamic transport vehicle includes latch hook device, the lower blocking portion positioned at top surface front and the omnidirectional's wheel positioned at bottom surface being located in the middle part of top surface Device；The truck includes hollow frame body, the desktop above the frame body, several movements below the frame body The bottom of the upper blocking portion taken turns and be fixed on the desktop bottom and coordinate with the lower blocking portion, the desktop is equipped with described in confession The fixed locked groove of latch hook device, the motor dolly are contained in the middle vacancy of the frame body, and 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；It is characterized in that：On described Blocking portion further includes two and is used for making linear guidance devices that recessed V-type blocking body can be elastic and is sheathed on the straight line to draw It leads 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 The brake cable that is connected on recessed V-type blocking body including upper end and the brake block for hanging on brake cable bottom, the brake cable Middle part is movably fixed on frame body.
- The truck transportation robot 2. All-terrain according to claim 1 is braked, it is characterised in that：The motor dolly is also Include the lower laser radar inductor positioned at front, the frame body keeps away the detection zone of laser radar inductor under position.
- The truck transportation robot 3. All-terrain according to claim 2 is braked, 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 a column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810076378.8A CN108357477A (en) | 2018-01-26 | 2018-01-26 | All-terrain brake truck transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810076378.8A CN108357477A (en) | 2018-01-26 | 2018-01-26 | All-terrain brake truck transportation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108357477A true CN108357477A (en) | 2018-08-03 |
Family
ID=63007180
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810076378.8A Pending CN108357477A (en) | 2018-01-26 | 2018-01-26 | All-terrain brake truck transportation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108357477A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202608772U (en) * | 2012-06-01 | 2012-12-19 | 中铁建电气化局集团第三工程有限公司 | Rail transport motor vehicle |
| CN106042798A (en) * | 2016-08-08 | 2016-10-26 | 成都四威高科技产业园有限公司 | AGV jacking rod in-place detection mechanism and detection method thereof |
| CN206125108U (en) * | 2016-08-26 | 2017-04-26 | 河北高工工具有限公司 | Special transport vechicle of unmanned type |
| CN207984829U (en) * | 2018-01-26 | 2018-10-19 | 苏州博众机器人有限公司 | All-terrain brake truck transportation robot |
-
2018
- 2018-01-26 CN CN201810076378.8A patent/CN108357477A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202608772U (en) * | 2012-06-01 | 2012-12-19 | 中铁建电气化局集团第三工程有限公司 | Rail transport motor vehicle |
| CN106042798A (en) * | 2016-08-08 | 2016-10-26 | 成都四威高科技产业园有限公司 | AGV jacking rod in-place detection mechanism and detection method thereof |
| CN206125108U (en) * | 2016-08-26 | 2017-04-26 | 河北高工工具有限公司 | Special transport vechicle of unmanned type |
| CN207984829U (en) * | 2018-01-26 | 2018-10-19 | 苏州博众机器人有限公司 | All-terrain brake truck transportation 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 | ||
| 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. |