CN108583396A - A kind of transportation robot of energy automatic loading and unloading freight wagon - Google Patents
A kind of transportation robot of energy automatic loading and unloading freight wagon Download PDFInfo
- Publication number
- CN108583396A CN108583396A CN201810348790.0A CN201810348790A CN108583396A CN 108583396 A CN108583396 A CN 108583396A CN 201810348790 A CN201810348790 A CN 201810348790A CN 108583396 A CN108583396 A CN 108583396A
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- China
- Prior art keywords
- flat
- trailer
- robot
- pivoted arm
- contact switch
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of transportation robot of energy automatic loading and unloading freight wagon, is related to transportation robot technical field.One end of flat-top robot is provided with triangle protrusion, the bottom of triangle protrusion is provided with parking contact switch, it is provided with driving contact switch on the middle part upper surface of flat-top robot, the triangle protrusion of trailer coordinates with the triangular cut part of flat-top robot, the front and back end of trailer is provided with baffle, two upper lateral parts of baffle are connected with push-rod electric machine, push-rod electric machine lower end is connect with the middle part of upper pivoted arm, and upper pivoted arm is arranged in parallel with lower pivoted arm, upper pivoted arm and lower pivoted arm are connect with supporting leg, and supporting leg bottom is equipped with universal wheel.The trailer bassinet structure of use, can be with automatic loading and unloading.The various storage parts in advance transporting needs are needed, are pre-assembled on trailer, then trailer is put into designated position, flat-top robot, which can automatically be loaded and be transported, arrives designated position.The service efficiency for increasing robot, saves manpower.
Description
Technical field
The present invention relates to a kind of transportation robot of energy automatic loading and unloading freight wagon, specially transportation robot technology is led
Domain.
Background technology
The transportation robot that can be seen currently on the market is divided into two kinds.One is storage parts and robot to be integrated, such as
Shown in Fig. 1, it cannot split；Another kind is can to split, but split and need manually to complete handling as shown in Figure 2.Warehousing department
Point and integrated robot of robot, the function of robot is excessively single, and versatility is too poor.And manually load and unload the machine of storage box
The case where device people inevitably occurs due to the participation of people, Ren Deng robots and robot et al. occurs, inevitably
There is the problem of inefficiency.
The purpose of the present invention exactly realizes that robot is entirely autonomous and finds the storage box for needing to transport, loads automatically, automatically
Unloading, the whole solution that need not manually participate in of transport.
Invention content
The purpose of the present invention is to provide a kind of transportation robots of energy automatic loading and unloading freight wagon, to solve the above-mentioned back of the body
Scape technology there are the problem of.
To achieve the above object, the present invention provides the following technical solutions：A kind of transport of energy automatic loading and unloading freight wagon
Robot include flat-top robot, parking contact switch, driving contact switch, trailer, push-rod electric machine, upper pivoted arm, supporting leg, under
One end of pivoted arm and universal wheel, flat-top robot is provided with triangle protrusion, and the bottom of triangle protrusion is provided with parking
Contact switch, is provided with driving contact switch on the middle part upper surface of flat-top robot, the triangle protrusion of trailer with it is flat
The triangular cut part cooperation of robot is pushed up, the front and back end of trailer is provided with baffle, and two upper lateral parts of baffle are connected with push rod
Motor, the lower end of push-rod electric machine are connect with the middle part of upper pivoted arm, and upper pivoted arm is arranged in parallel with lower pivoted arm, and upper pivoted arm and lower turn
Arm is connect with supporting leg, and the bottom of supporting leg is equipped with universal wheel.
Preferably, there are four alignment pins for setting on the flat-top robot top surface, the bottom surface of trailer is provided with
Four corresponding dowel holes.
Preferably, the flat-top robot top surface is there are four square groove is linked up with, there are one hang for the end setting of lower pivoted arm
Hook.
Compared with prior art, the beneficial effects of the invention are as follows：The trailer bassinet structure of use, can be with automatic loading and unloading.Only need
Various storage parts needs to be transported in advance, are pre-assembled on trailer, then trailer is put into designated position, flat-top
Robot, which can automatically be loaded and be transported, arrives designated position.The service efficiency for considerably increasing robot, saves
Manpower.
Description of the drawings
Fig. 1 is the structural schematic diagram of existing storage part and integrated robot of robot in background technology；
Fig. 2 is the structural schematic diagram of the robot of existing artificial handling storage box in background technology；
Fig. 3 is the structural schematic diagram of the present invention；
Fig. 4 is the status architecture schematic diagram that trailer is born by flat-top robot in the present invention；
Fig. 5 flat-tops robot dead ship condition structural schematic diagram；
Fig. 6 is the present invention looks up structural representation of Fig. 5；
Fig. 7 is the attachment structure schematic diagram of flat-top robot and alignment pin；
Fig. 8 is the attachment structure schematic diagram of trailer and dowel hole；
Fig. 9 is that the alignment pin of flat-top robot is not inserted into the structural schematic diagram of dowel hole；
Figure 10 is that the alignment pin of flat-top robot is inserted into the structural schematic diagram of dowel hole
Figure 11 is driving contact switch by the bottom surface compressive state structural schematic diagram of trailer；
Figure 12 is the connection status structural schematic diagram of flat-top robot and hook square groove；
Figure 13 is the connection status structural schematic diagram of lower pivoted arm end and hook；
Figure 14 is the hook of lower pivoted arm end persistently close to the hook square groove state structural schematic diagram of flat-top robot top surface；
The hook square groove status architecture that Figure 15 is just fully inserted into flat-top robot top surface for the hook of lower pivoted arm end shows
It is intended to.
Reference numeral：Flat-top robot 1, parking contact switch 2-1, driving contact switch 2-2, trailer 3, push-rod electric machine
4, upper pivoted arm 5, supporting leg 6, lower pivoted arm 7, universal wheel 8, alignment pin a, dowel hole b, hook square groove a1, hook b1.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It please refers to shown in Fig. 2, the present invention provides a kind of technical solution：A kind of transporter of energy automatic loading and unloading freight wagon
Device people includes flat-top robot 1, parking contact switch 2-1, driving contact switch 2-2, trailer 3, push-rod electric machine 4, upper pivoted arm
5, one end of supporting leg 6, lower pivoted arm 7 and universal wheel 8, flat-top robot 1 is provided with triangle protrusion, the bottom of triangle protrusion
Portion is provided with parking contact switch 2-1, and driving contact switch 2-2, trailer are provided on the middle part upper surface of flat-top robot 1
3 triangle protrusion coordinates with the triangular cut part of flat-top robot 1, and the front and back end of trailer 3 is provided with baffle, baffle
Two upper lateral parts be connected with push-rod electric machine 4, the lower end of push-rod electric machine 4 is connect with the middle part of upper pivoted arm 5, and upper pivoted arm 5 with lower turn
Arm 7 is arranged in parallel, and upper pivoted arm 5 and lower pivoted arm 7 are connect with supporting leg 6, and the bottom of supporting leg 6 is equipped with universal wheel 8.
Preferably, there are four alignment pin a, the bottom surface of trailer 3 to be arranged for setting on 1 top surface of flat-top robot
There are four corresponding dowel hole b.
Preferably, 1 top surface of flat-top robot is there are four square groove a1 is linked up with, the end of lower pivoted arm 7 is provided with one
A hook b1.
The operation principle of this transportation robot is：Flat-top robot 1 finds the trailer 3 to be born by sensor
Afterwards, it slowly pours into below trailer 3, sees Fig. 4；When the triangle protrusion of trailer 3 and the triangular cut portion of flat-top machine 1
When distribution is closed, parking contact switch 2-1 is protruded by the triangle of trailer 3 and is partially compressed, and triggering flat-top robot 1 stops, and sees Fig. 5
And Fig. 6；For 1 top surface of flat-top robot there are four alignment pin a, there are four dowel hole b for 3 bottom surface of trailer, see Fig. 7 and Fig. 8；When
After flat-top robot 1 stops, the projecting shaft of four push-rod electric machines 4 starts to shrink at, and the bottom surface of trailer 3 is begun to decline, and sees Fig. 9
And Figure 10；Because the dowel hole b of 3 bottom surface alignment pin a and trailer of flat-top robot 1 has larger chamfering, work as position
When setting poor little, by gravity, the alignment pin a of flat-top robot 1 can be automatically inserted into the positioning pin of 3 bottom surface of trailer
In the b of hole, Figure 10 is seen, at this time, the driving contact switch 2-2 in Fig. 6 is compressed by the bottom surface of trailer 3, sees Figure 11, flat-top machine
People 1 carries out driving and prepares；After if the parking contact switch 2-1 of flat-top robot 1 is triggered in a period of time, driving contact is opened
It closes 2-2 to be never triggered, then illustrating the alignment pin a of flat-top robot 1, is not inserted into the positioning of trailer 3
In pin hole b, but withstand on the bottom surface of trailer 3, then, the projecting shaft of four push-rod electric machines 4 extends again, by trailer
3 jack up again, and flat-top robot 1 drives, and sails out of below trailer 3, using sensor, finds suitable position again,
And pour into again below trailer 3, it repeats shutdown switch 2-1 and is triggered parking, four push-rod electric machines 4 of trailer 3 are stretched
Shaft is shunk, and trailer 3 declines, and the alignment pin a of flat-top robot 1 is inserted into the mistake in the dowel hole b of 3 bottom surface of trailer
Journey, until driving contact switch 2-2 is triggered by compression；
After the driving contact switch 2-2 of flat-top robot 1 is triggered, the projecting shaft of four push-rod electric machines 4 continues to shrink,
Four upper pivoted arms 5 are driven to rotate up, because constituting parallel―ordinal shift structure, four universal wheels 8 with supporting leg 6 and lower pivoted arm 7
It is lifted, sees Figure 14；
1 top surface of flat-top robot sees that Figure 12, lower 7 end of pivoted arm are shown in figure there are one b1 is linked up with there are four square groove a1 is linked up with
13, when the projecting shaft contracts last of push-rod electric machine 4, the hook b1 of lower 7 end of pivoted arm is just persistently close to flat-top robot 1
The hook square groove a1 of top surface, is shown in Figure 14, when the projecting shaft of push-rod electric machine 4 is retracted to end, the hook of lower 7 end of pivoted arm
It is just fully inserted into the hook square groove a1 of 1 top surface of flat-top robot, sees Figure 15, in this way, four positioning of 1 top surface of flat-top robot
Four dowel hole b cooperations of 3 bottom surface axis pin a and trailer, limit the degree of freedom of 3 horizontal direction of trailer；7 end of lower pivoted arm
The hook b1 at end coordinates with the hook square groove a1 of 1 top surface of flat-top robot, limits the degree of freedom of 3 vertical direction of trailer, hangs
Trolley 3 is rigidly mounted on the top surface of flat-top robot 1, the 1 driving delivery of flat-top robot.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of transportation robot of energy automatic loading and unloading freight wagon, it is characterised in that：Including flat-top robot (1), parking
Contact switch (2-1), driving contact switch (2-2), trailer (3), push-rod electric machine (4), upper pivoted arm (5), supporting leg (6), lower turn
One end of arm (7) and universal wheel (8), flat-top robot (1) is provided with triangle protrusion, the bottom setting of triangle protrusion
There is parking contact switch (2-1), driving contact switch (2-2), trailer are provided on the middle part upper surface of flat-top robot (1)
(3) the triangular cut part of triangle protrusion and flat-top robot (1) coordinates, and the front and back end of trailer (3) is provided with gear
Two upper lateral parts of plate, baffle are connected with push-rod electric machine (4), and the lower end of push-rod electric machine (4) is connect with the middle part of upper pivoted arm (5), and
Upper pivoted arm (5) is arranged in parallel with lower pivoted arm (7), and upper pivoted arm (5) and lower pivoted arm (7) are connect with supporting leg (6), supporting leg (6)
Bottom is equipped with universal wheel (8).
2. a kind of transportation robot of energy automatic loading and unloading freight wagon according to claim 1, it is characterised in that：It is described
Flat-top robot (1) top surface on setting there are four alignment pin (a), there are four corresponding fixed for the bottom surface setting of trailer (3)
Position pin hole (b).
3. a kind of transportation robot of energy automatic loading and unloading freight wagon according to claim 1, it is characterised in that：It is described
Flat-top robot (1) top surface there are four hook square groove (a1), lower pivoted arm (7) end setting there are one link up with (b1).
4. a kind of transportation robot of energy automatic loading and unloading freight wagon according to claim 1, it is characterised in that：It is described
The operation principle of transportation robot be：After flat-top robot (1) finds the trailer to be born (3) by sensor, delay
It is slow to pour into below trailer (3), when the triangle protrusion of trailer (3) and the triangular cut part of flat-top machine (1) are matched
When conjunction, parking contact switch (2-1) is protruded by the triangle of trailer (3) and is partially compressed, and triggering flat-top robot (1) stops；It is flat
Robot (1) top surface is pushed up there are four alignment pin (a), there are four dowel holes (b) for trailer (3) bottom surface, when flat-top robot
(1) after stopping, the projecting shaft of four push-rod electric machines (4) starts to shrink at, and the bottom surface of trailer (3) is begun to decline, because of flat-top
The alignment pin (a) of robot (1) and the dowel hole (b) of trailer (3) bottom surface have larger chamfering, when alternate position spike is little
When, by gravity, the alignment pin (a) of flat-top robot (1) can be automatically inserted into the dowel hole of trailer (3) bottom surface
(b) in, at this time, driving contact switch (2-2) is compressed by the bottom surface of trailer (3), and it is accurate that flat-top robot (1) carries out driving
It is standby；After if the parking contact switch (2-1) of flat-top robot (1) were triggered in a period of time, driving contact switch (2-2) one
It is not triggered directly, then illustrating the alignment pin (a) of flat-top robot (1), is not inserted into the positioning pin of trailer (3)
In hole (b), but withstand on the bottom surface of trailer (3), then, the projecting shaft of four push-rod electric machines (4) extends again, will hang
Trolley (3) jacks up again to be come, and flat-top robot (1) drives, and sails out of below trailer (3), using sensor, finds close again
Suitable position, and pouring into again below trailer (3) repeats shutdown switch (2-1) and is triggered parking, and the four of trailer (3)
The projecting shaft of a push-rod electric machine (4) is shunk, and trailer (3) declines, and the alignment pin (a) of flat-top robot (1) is inserted into trailer
Process in the dowel hole (b) of vehicle (3) bottom surface, until driving contact switch (2-2) is triggered by compression；
After the driving contact switch (2-2) of flat-top robot (1) is triggered, the projecting shaft of four push-rod electric machines (4) continues to receive
Contracting drives four upper pivoted arms (5) to rotate up, because constituting parallel―ordinal shift structure with supporting leg (6) and lower pivoted arm (7), four
A universal wheel (8) is lifted；
There are four hook square grooves (a1) for flat-top robot (1) top surface, and lower pivoted arm (7) end is there are one (b1) is linked up with, when push rod electricity
When the projecting shaft contracts last of machine (4), the hook (b1) of lower pivoted arm (7) end is just persistently pushed up close to flat-top robot (1)
The hook square groove (a1) in face, when the projecting shaft of push-rod electric machine (4) is retracted to end, the hook of lower pivoted arm (7) end is just
It is fully inserted into the hook square groove (a1) of flat-top robot (1) top surface well, in this way, four positioning pins of flat-top robot (1) top surface
Axis (a) and four dowel holes (b) of trailer (3) bottom surface coordinate, and limit the degree of freedom of trailer (3) horizontal direction, under
The hook (b1) of pivoted arm (7) end coordinates with the hook square groove (a1) of flat-top robot (1) top surface, and it is perpendicular to limit trailer (3)
Histogram to degree of freedom, trailer (3) is rigidly mounted on the top surface of flat-top robot (1), and flat-top robot (1) drives
Delivery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810348790.0A CN108583396A (en) | 2018-04-18 | 2018-04-18 | A kind of transportation robot of energy automatic loading and unloading freight wagon |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810348790.0A CN108583396A (en) | 2018-04-18 | 2018-04-18 | A kind of transportation robot of energy automatic loading and unloading freight wagon |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108583396A true CN108583396A (en) | 2018-09-28 |
Family
ID=63611120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810348790.0A Pending CN108583396A (en) | 2018-04-18 | 2018-04-18 | A kind of transportation robot of energy automatic loading and unloading freight wagon |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108583396A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220105621A1 (en) * | 2020-10-02 | 2022-04-07 | Toyota Jidosha Kabushiki Kaisha | Transportation system, transportation method and program |
| US11453115B2 (en) * | 2019-10-30 | 2022-09-27 | Seiko Epson Corporation | Robot system and control method for robot system |
-
2018
- 2018-04-18 CN CN201810348790.0A patent/CN108583396A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11453115B2 (en) * | 2019-10-30 | 2022-09-27 | Seiko Epson Corporation | Robot system and control method for robot system |
| US20220105621A1 (en) * | 2020-10-02 | 2022-04-07 | Toyota Jidosha Kabushiki Kaisha | Transportation system, transportation method and program |
| JP2022060106A (en) * | 2020-10-02 | 2022-04-14 | トヨタ自動車株式会社 | Conveying system and conveying method |
| JP7359122B2 (en) | 2020-10-02 | 2023-10-11 | トヨタ自動車株式会社 | Conveyance system and method |
| US11969887B2 (en) * | 2020-10-02 | 2024-04-30 | Toyota Jidosha Kabushiki Kaisha | Transportation system, transportation method and program |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180928 |