CN114290343A - Bridging robot - Google Patents
Bridging robot Download PDFInfo
- Publication number
- CN114290343A CN114290343A CN202111677591.2A CN202111677591A CN114290343A CN 114290343 A CN114290343 A CN 114290343A CN 202111677591 A CN202111677591 A CN 202111677591A CN 114290343 A CN114290343 A CN 114290343A
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- bridge
- plate
- robot
- hydraulic cylinder
- butt
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- 210000001503 joint Anatomy 0.000 claims abstract description 43
- 238000003032 molecular docking Methods 0.000 claims description 34
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 230000035939 shock Effects 0.000 claims description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Abstract
The invention discloses a bridging robot, which comprises a robot body, a butt joint bridge, a lifting assembly and a lifting plate, wherein the butt joint bridge is arranged on the robot body; the top of the robot car body is provided with a front hydraulic cylinder and a rear hydraulic cylinder, the butt-joint bridge is arranged above the robot car body, and the bottom surface of the butt-joint bridge is hinged with the front hydraulic cylinder and the rear hydraulic cylinder; the rear end of the robot car body is connected with a lifting assembly, a lifting plate is installed at the top of the lifting assembly, and the lifting assembly is used for driving the lifting plate to lift, so that the lifting plate is connected with the butt joint bridge in an overlapping mode. The invention solves the problem that the existing transfer robot can not directly enter the cargo hold to take the goods, saves the labor and improves the goods transportation efficiency.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a bridging robot.
Background
Large-scale freight unmanned planes, such as wing-type unmanned planes, are used on the logistics trunk line. No matter how kind of opening of unmanned aerial vehicle's cargo hold, all can have the difference in height with ground, and transfer robots such as discs can't directly get goods in the cargo hold, even put down the tailboard of unmanned aerial vehicle afterbody, also can cause transfer robot to be difficult to the stable transport because of inclination is too big, easily takes place the thing side and turns over the problem. Consequently, get goods from the unmanned aerial vehicle cargo hold with artifical mode at present more, extravagant manpower.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a bridging robot, solves the problem that the existing transfer robot cannot directly enter a cargo hold to take goods, saves manpower and improves the goods transportation efficiency.
The invention provides the following technical scheme:
a bridging robot comprises a robot body, a butt joint bridge, a lifting assembly and a lifting plate;
the top of the robot car body is provided with a front hydraulic cylinder and a rear hydraulic cylinder, the butt-joint bridge is arranged above the robot car body, and the bottom surface of the butt-joint bridge is hinged with the front hydraulic cylinder and the rear hydraulic cylinder;
the rear end of the robot car body is connected with a lifting assembly, a lifting plate is installed at the top of the lifting assembly, and the lifting assembly is used for driving the lifting plate to lift, so that the lifting plate is connected with the butt joint bridge in an overlapping mode.
Furthermore, the bottom surface of butt joint bridge is equipped with preceding otic placode and back otic placode, preceding otic placode is articulated with the piston rod one end of preceding pneumatic cylinder, the back otic placode is articulated with the piston rod one end of back pneumatic cylinder.
Further, the front end of butt joint bridge articulates there is vice butt joint bridge, the butt joint bridge bottom surface is equipped with first fagging, first fagging is connected with first otic placode, vice butt joint bridge bottom surface is equipped with the second otic placode, be connected with first pneumatic cylinder between first otic placode and the second otic placode.
Furthermore, the front end of the butt joint bridge is connected with an auxiliary butt joint bridge in a sliding mode, the butt joint bridge is connected with the auxiliary butt joint bridge through a telescopic shaft, and the telescopic shaft is used for driving the auxiliary butt joint bridge to stretch out or recover in a sliding mode relative to the butt joint bridge.
Furthermore, anti-skid pads are paved on the surfaces of the butt joint bridge and the auxiliary butt joint bridge, and guardrails are arranged on the side surfaces of the butt joint bridges.
Furthermore, the front end of the auxiliary butt-joint bridge is connected with a triangular block with a right-angled triangle cross section, and the bottom surfaces of the triangular block and the front end of the auxiliary butt-joint bridge are provided with shock absorption pads.
Furthermore, the number of the auxiliary butt-joint bridges is 2-5, and the auxiliary butt-joint bridges are sequentially and adjacently arranged at the front ends of the butt-joint bridges.
Furthermore, the bottom surface of the rear end of the robot car body is vertically connected with a vertical plate, the lifting assembly comprises a supporting transverse plate vertically connected with the vertical plate, a scissor type expansion bracket arranged on the supporting transverse plate and a second hydraulic cylinder arranged on the scissor type expansion bracket, and the second hydraulic cylinder is used for driving the scissor type expansion bracket to lift.
Furthermore, the rear end of lifter plate articulates there is folding lifter plate, the bottom surface of lifter plate is equipped with the second fagging, the second fagging is connected with the third otic placode, folding lifter plate is connected with the fourth otic placode, be connected with the third pneumatic cylinder between third otic placode and fourth otic placode.
Furthermore, a clamping groove is formed in one end, connected with the lifting plate in an overlapped mode, of the butt joint bridge, a clamping block matched with the clamping groove is arranged on the lifting plate, and when the butt joint bridge is connected with the lifting plate in an overlapped mode, the clamping block is clamped in the clamping groove.
Compared with the prior art, the invention has the beneficial effects that:
the invention comprises a robot body, a butt-joint bridge, a lifting component and a lifting plate, wherein the robot body has a complete robot trolley function and can be driven to the side of a large-scale freight unmanned aerial vehicle; the docking bridge is lifted and kept horizontal through the front hydraulic cylinder and the rear hydraulic cylinder, so that docking with the cargo hold of the unmanned aerial vehicle is realized; the full-load or no-load carrying robot runs onto the lifting plate and is lifted through the lifting assembly; the problem of present transfer robot can't directly get into the cargo hold and get the goods is solved, use manpower sparingly, improved cargo transport efficiency.
Drawings
FIG. 1 is a schematic structural view of the working state of the present invention;
FIG. 2 is a schematic view of a portion A of FIG. 1;
FIG. 3 is a schematic view of the structure of FIG. 2 with the bridge and lifter plate separated;
FIG. 4 is a schematic structural view of the present invention in a folded state of the secondary docking bridge;
FIG. 5 is a side view schematic of the secondary docking bridge;
FIG. 6 is a schematic top view of the entire secondary docking bridge when it is raised;
FIG. 7 is a schematic top view of the secondary docking bridge with portions raised;
labeled as: 1. a robot car body; 2. a rear hydraulic cylinder; 3. a front hydraulic cylinder; 4. a butt-joint bridge; 5. a secondary butt-joint bridge; 6. a first supporting plate; 7. a first ear plate; 8. a first hydraulic cylinder; 9. a second ear panel; 10. a front ear plate; 11. a rear ear plate; 12. a guardrail; 13. a vertical plate; 14. supporting the transverse plate; 15. a scissor type telescopic frame; 16. a second hydraulic cylinder; 17. a lifting plate; 18. folding the lifting plate; 19. a second supporting plate; 20. a third ear panel; 21. a third hydraulic cylinder; 22. a fourth ear panel; 23. a card slot; 24. a clamping block; 25. a non-slip mat; 26. a triangular block; 27. a cushioning pad.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
It should be noted that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Example 1
As shown in fig. 1, the present embodiment provides a bridging robot including a robot car body 1, a docking bridge 4, a lifting assembly, and a lifting plate 17.
As shown in fig. 1, the robot car body 1 has a complete robot car function and can be driven to the side of a large-sized cargo unmanned aerial vehicle. Pneumatic cylinder 3 and back pneumatic cylinder 2 before robot automobile body 1 top is installed, and 1 top of robot automobile body is located to butt joint bridge 4, and the bottom surface of butt joint bridge 4 is equipped with preceding otic placode 10 and back otic placode 11, and preceding otic placode 10 is articulated with the piston rod one end of preceding pneumatic cylinder 3, and back otic placode 11 is articulated with the piston rod one end of back pneumatic cylinder 2. The butt-joint bridge 4 can be controlled to lift by controlling the front hydraulic cylinder 3 and the rear hydraulic cylinder 2 to stretch; when the ground is uneven, the docking bridge 4 can be kept horizontal by controlling the telescopic length of the front hydraulic cylinder 3.
As shown in fig. 1 and 4, the front end of the butt-joint bridge 4 is hinged with an auxiliary butt-joint bridge 5, the bottom surface of the butt-joint bridge 4 is provided with a first supporting plate 6, the first supporting plate 6 is connected with a first lug plate 7, the bottom surface of the auxiliary butt-joint bridge 5 is provided with a second lug plate 9, and a first hydraulic cylinder 8 is connected between the first lug plate 7 and the second lug plate 9. When the freight unmanned aerial vehicle needs to be docked, the auxiliary docking bridge 5 is lifted to be positioned on the same plane with the docking bridge 4 by controlling the extension of the first hydraulic cylinder 8, and the auxiliary docking bridge 5 is placed at the outlet of the cargo hold of the freight unmanned aerial vehicle; when the folding type butt joint bridge is idle, the first hydraulic cylinder 8 is controlled to be shortened, so that the auxiliary butt joint bridge 5 rotates relative to the butt joint bridge 4 to be folded on the side face or the lower part of the butt joint bridge 4, and extra space is not occupied.
As shown in fig. 5, anti-slip pads 25 are laid on the surfaces of the docking bridge 4 and the sub-docking bridge 5, so that the operation stability and safety of the transfer robot are improved. The side of the butt joint bridge 4 is provided with a guardrail 12 which can prevent a transfer robot or goods from falling. The front end of the auxiliary butt-joint bridge 5 is connected with a triangular block 26 with a right-angled triangle cross section, and the right-angled edge is connected with the side face of the auxiliary butt-joint bridge 5, so that the cargo space ground of the freight transport unmanned aerial vehicle is stably butted with the auxiliary butt-joint bridge 5, and the operation stability of the transfer robot is enhanced. The bottom surfaces of the triangular blocks 26 and the front ends of the auxiliary butt bridges 5 are provided with shock absorption pads 27 which have shock absorption effects.
The number of the auxiliary butt-joint bridges 5 is 2-5, the widths of the auxiliary butt-joint bridges 5 are different, and the auxiliary butt-joint bridges are sequentially and adjacently arranged at the front ends of the butt-joint bridges 4. And selecting a proper auxiliary butt-joint bridge to lift and lap the cargo unmanned plane doors with different widths. The number of the secondary docking bridges in this embodiment is 3, and as shown in fig. 6, the state when all of the 3 secondary docking bridges 5 are lifted, and as shown in fig. 7, the state when only the middle secondary docking bridge 5 is lifted.
As shown in fig. 1, the rear end of the robot car body 1 is connected with a lifting assembly, a lifting plate 17 is mounted on the top of the lifting assembly, and the lifting assembly is used for driving the lifting plate 17 to lift, so that the lifting plate 17 is connected with the butt-joint bridge 4 in an overlapping manner. Specifically, the bottom surface of the rear end of the robot car body 1 is vertically connected with a vertical plate 13, the lifting assembly comprises a supporting transverse plate 14 vertically connected with the vertical plate 13, a scissor type telescopic frame 15 arranged on the supporting transverse plate 14 and a second hydraulic cylinder 16 arranged on the scissor type telescopic frame 15, and the second hydraulic cylinder 16 is used for driving the scissor type telescopic frame 15 to lift.
As shown in fig. 1 and 4, a folding lifting plate 18 is hinged at the rear end of the lifting plate 17, a second supporting plate 19 is arranged on the bottom surface of the lifting plate 17, the second supporting plate 19 is connected with a third lug plate 20, the folding lifting plate 18 is connected with a fourth lug plate 22, and a third hydraulic cylinder 21 is connected between the third lug plate 20 and the fourth lug plate 22. When the lifting plate 17 descends to the lowest position, the third hydraulic cylinder 21 is controlled to extend, so that the folding lifting plate 18 is lifted and is in contact with the ground, and the robot can conveniently carry the lifting plate up and down; when the folding lifting plate 17 is idle, the third hydraulic cylinder 21 is controlled to be shortened, so that the folding lifting plate 18 rotates relative to the lifting plate 17 to be folded on the side surface or the lower part of the lifting plate 17, and no extra space is occupied; when the freight car needs to be docked, the third hydraulic cylinder 21 is controlled to extend, so that the folding lifting plate 18 is lifted to be positioned on the same plane with the lifting plate 17, and the folding lifting plate 18 is placed at the opening of the freight car.
As shown in fig. 2 and 3, a clamping groove 23 is formed in one end, where the butt joint bridge 4 is in lap joint with the lifting plate 17, of the lifting plate 17, a clamping block 24 matched with the clamping groove 23 is arranged on the lifting plate 17, and when the butt joint bridge 4 is in lap joint with the lifting plate 17, the clamping block 24 is clamped in the clamping groove 23, so that the lap joint stability of the butt joint bridge 4 and the lifting plate 17 is enhanced, and the transfer robot can pass through safely and stably.
The working principle of the embodiment is as follows: when the large-scale freight unmanned aerial vehicle needs to receive goods, the robot vehicle body 1 runs beside the freight unmanned aerial vehicle; the auxiliary butt-joint bridge 5 is lifted to be positioned on the same plane with the butt-joint bridge 4 by controlling the extension of the first hydraulic cylinder 8; the front hydraulic cylinder 3 and the rear hydraulic cylinder 2 are controlled to lift to enable the docking bridge 4 to be kept horizontal and reach the height of a cargo hold outlet of the freight unmanned aerial vehicle, and the auxiliary docking bridge 5 is arranged at the cargo hold outlet of the freight unmanned aerial vehicle; controlling the lifting plate 17 to descend to the lowest position, and simultaneously controlling the third hydraulic cylinder 21 to extend, so that the folding lifting plate 18 is lifted and is in contact with the ground, and the carrying robot runs to the lifting plate 17; then through control second pneumatic cylinder 16 extension make lifter plate 17 rise to with butt joint bridge 4 overlap joint, the transfer robot gets into freight transportation unmanned aerial vehicle cargo hold through butt joint bridge 4 and connects goods, uses manpower sparingly, has improved freight transportation efficiency.
Example 2
This embodiment provides a bridging robot, the main structure of which is the same as that of embodiment 1, and the difference from embodiment 1 is that: the front end sliding connection of butt joint bridge has vice butt joint bridge, and butt joint bridge and vice butt joint bridge link to each other through the telescopic shaft, and the telescopic shaft is used for driving vice butt joint bridge to slide relative butt joint bridge and stretches out or retrieve, is convenient for dock with freight transportation unmanned aerial vehicle cargo hold, and wherein the telescopic shaft also can adopt the pneumatic cylinder form, installs the pneumatic cylinder both ends respectively in the bottom of butt joint bridge and vice butt joint bridge.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A bridging robot is characterized by comprising a robot body, a butt joint bridge, a lifting assembly and a lifting plate;
the top of the robot car body is provided with a front hydraulic cylinder and a rear hydraulic cylinder, the butt-joint bridge is arranged above the robot car body, and the bottom surface of the butt-joint bridge is hinged with the front hydraulic cylinder and the rear hydraulic cylinder;
the rear end of the robot car body is connected with a lifting assembly, a lifting plate is installed at the top of the lifting assembly, and the lifting assembly is used for driving the lifting plate to lift, so that the lifting plate is connected with the butt joint bridge in an overlapping mode.
2. The bridging robot of claim 1, wherein the bottom surface of the docking bridge is provided with a front ear plate and a rear ear plate, the front ear plate is hinged to one end of the piston rod of the front hydraulic cylinder, and the rear ear plate is hinged to one end of the piston rod of the rear hydraulic cylinder.
3. The bridging robot of claim 1, wherein the front end of the docking bridge is hinged to an auxiliary docking bridge, the bottom surface of the docking bridge is provided with a first supporting plate, the first supporting plate is connected with a first ear plate, the bottom surface of the auxiliary docking bridge is provided with a second ear plate, and a first hydraulic cylinder is connected between the first ear plate and the second ear plate.
4. The bridging robot of claim 1, wherein the front end of the docking bridge is slidably connected with an auxiliary docking bridge, the docking bridge and the auxiliary docking bridge are connected through a telescopic shaft, and the telescopic shaft is used for driving the auxiliary docking bridge to slidably extend or retract relative to the docking bridge.
5. The bridging robot of claim 3 or 4, wherein the surfaces of the butt-joint bridge and the secondary butt-joint bridge are paved with non-slip mats, and the side surfaces of the butt-joint bridge are provided with guardrails.
6. The bridging robot of claim 3 or 4, wherein the front end of the secondary docking bridge is connected with a triangular block with a right triangle cross section, and the bottom surfaces of the triangular block and the front end of the secondary docking bridge are provided with shock absorption pads.
7. The bridging robot of claim 3 or 4, wherein the number of the secondary docking bridges is 2-5, and each secondary docking bridge is adjacently arranged at the front end of the docking bridge in sequence.
8. The bridging robot of claim 1, wherein a vertical plate is vertically connected to a bottom surface of the rear end of the robot body, and the lifting assembly comprises a supporting horizontal plate vertically connected to the vertical plate, a scissor type telescopic frame arranged on the supporting horizontal plate, and a second hydraulic cylinder arranged on the scissor type telescopic frame, wherein the second hydraulic cylinder is used for driving the scissor type telescopic frame to lift and lower.
9. The bridging robot of claim 1, wherein the rear end of the lifting plate is hinged with a foldable lifting plate, the bottom surface of the lifting plate is provided with a second supporting plate, the second supporting plate is connected with a third ear plate, the foldable lifting plate is connected with a fourth ear plate, and a third hydraulic cylinder is connected between the third ear plate and the fourth ear plate.
10. The bridging robot of claim 1, wherein a slot is provided at one end of the butt-joint bridge overlapping the lifting plate, the lifting plate is provided with a clamping block matching with the slot, and the clamping block is clamped in the slot when the butt-joint bridge overlaps the lifting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111677591.2A CN114290343A (en) | 2021-12-31 | 2021-12-31 | Bridging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111677591.2A CN114290343A (en) | 2021-12-31 | 2021-12-31 | Bridging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114290343A true CN114290343A (en) | 2022-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111677591.2A Pending CN114290343A (en) | 2021-12-31 | 2021-12-31 | Bridging robot |
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| CN (1) | CN114290343A (en) |
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| CN212023814U (en) * | 2020-04-07 | 2020-11-27 | 苏州赫世迈精密机械有限公司 | Conveyor box with dustproof function |
| CN111994543A (en) * | 2020-09-28 | 2020-11-27 | 河南森源中锋智能制造有限公司 | AGV conveyor and AGV |
| CN214359167U (en) * | 2020-12-29 | 2021-10-08 | 苏州市康鼎升降机械有限公司 | Loading and unloading platform |
| CN113696808A (en) * | 2021-10-29 | 2021-11-26 | 徐州秋爽木业有限公司 | Furniture transportation device with loading and unloading functions |
-
2021
- 2021-12-31 CN CN202111677591.2A patent/CN114290343A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006036481A (en) * | 2004-07-28 | 2006-02-09 | Shinko Electric Co Ltd | Container pallet loader and freight conveyance system by container pallet loader |
| CN2875877Y (en) * | 2006-03-23 | 2007-03-07 | 赵永胜 | Self-discharging car with bottom plate capable of biside turnover |
| CN201083525Y (en) * | 2007-10-05 | 2008-07-09 | 梅特勒-托利多(常州)称重设备系统有限公司 | Modular automobile scale body module |
| CN201770334U (en) * | 2010-06-08 | 2011-03-23 | 东莞市海德机械有限公司 | Automatic butt strap |
| KR20150129434A (en) * | 2014-05-12 | 2015-11-20 | 김정호 | Get on and off of the lift device for heavy trucks |
| CN204279183U (en) * | 2014-12-08 | 2015-04-22 | 济南轨道交通装备有限责任公司 | A kind of Commercial Vehicle handling engineering truck |
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| CN207121178U (en) * | 2017-08-31 | 2018-03-20 | 安徽鑫泰药业有限公司 | A kind of belt logistics governor motion |
| CN210213846U (en) * | 2019-05-14 | 2020-03-31 | 启东亦大通自动化设备有限公司 | Seamless butt joint goods packaging machine |
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