CN207984829U - All-terrain brake truck transportation robot - Google Patents
All-terrain brake truck transportation robot Download PDFInfo
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- CN207984829U CN207984829U CN201820133529.4U CN201820133529U CN207984829U CN 207984829 U CN207984829 U CN 207984829U CN 201820133529 U CN201820133529 U CN 201820133529U CN 207984829 U CN207984829 U CN 207984829U
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Abstract
The utility model belongs to robotic technology field, is 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 utility model is related 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.
Utility model content
The main purpose of the utility model is to provide a kind of All-terrain brake truck transportation robots.
The utility model 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,
Lower blocking portion positioned at top surface front and omnidirectional's wheel assembly positioned at bottom surface;The truck includes hollow frame body, is located at institute
State the desktop above frame body, several movable pulleys below the frame body and be fixed on the desktop bottom and with the lower resistance
The upper blocking portion of stopper cooperation, the bottom of the desktop, which is equipped with, supplies the fixed locked groove of the latch hook device, the motor dolly
It is contained in the middle vacancy of the frame body, the lower blocking portion includes convex V-type blocking body, and the upper blocking portion includes and the convex V
Type stops that the matched recessed V-type of body stops body;When convex V-type blocking body is close to recessed V-type blocking body, latch hook device can hook locked groove
Firmly motor dolly is made to be fixed with truck;The upper blocking portion further includes two and is used for making recessed V-type blocking body can be elastic
Linear guidance device and be sheathed on the linear guidance device and for making the spring of recessed V-type blocking body playback;It is described
The bottom of frame body is equipped with brake gear, the brake gear include upper end be connected on recessed V-type blocking body brake cable, hang on
Frame body is movably fixed at the brake block of brake cable bottom and the connecting rod being fixed below frame body, the middle part of the brake cable
On, 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
The utility model is described in further detail with reference to specific embodiment.
Embodiment:
As shown in Figures 1 to 7, the utility model is that a kind of All-terrain is braked truck transportation robot, including mating one
Platform motor dolly 1 and multiple trucks 2, motor dolly 1 include be located at top surface in the middle part of latch hook device 11, be located at top surface front
Lower 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 desktop
The bottom of 22 bottoms and the upper blocking portion 24 coordinated with lower blocking portion 12, desktop 22 is equipped with for 11 fixed locked groove of latch hook device
221, motor dolly 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 resistance
Stopper 12 includes convex V-type blocking body 121 and the upper laser radar inductor 122 positioned at 121 inside of convex V-type blocking body, upper blocking
Portion 24 includes stopping that body 241, upper laser radar inductor 122 are used for incuding recessed V-type with the matched recessed V-type of convex V-type blocking body 121
Stop body 241;When convex V-type blocking body 121 and recessed V-type stop that body 241 is close to, latch hook device 11 locked groove 211 can be caught on and
Motor dolly 1 is set to be fixed with truck 2.Motor dolly 1 is separable with truck 2, and motor dolly 1 is by a truck 2
Other trucks 2 in parking can be transported after transporting in place.Motor dolly 1 is carried out more by omnidirectional's wheel assembly 13
Orientation moves, and lower laser radar inductor 14 perceives the barrier of surrounding to adjust advance posture.Motor dolly 1 and truck
Before 2 cooperations, in 11 retraction motor dolly 1 of latch hook device, motor dolly 1 enters from the rear of truck 2 under frame body 21
Side, upper laser radar inductor 122 can incude the position of recessed V-type blocking body 241 at this time, and convex V-type is allowed to stop body 121 and recessed V
Type blocking body 241 is aligned automatically, and then latch hook device 11 can catch on locked groove 211, under coordinating at two, automatic transportation
Vehicle 1 can be linked to be the entirety that can be moved together with truck 2, can thus be used for carrying the cargo prevented on truck 2, this
Robot 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 utility model.For those of ordinary skill in the art,
Without departing from the concept of the present invention, various modifications and improvements can be made, these belong to this practicality
Novel protection domain.
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 |
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CN201820133529.4U CN207984829U (en) | 2018-01-26 | 2018-01-26 | All-terrain brake truck transportation robot |
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CN201820133529.4U CN207984829U (en) | 2018-01-26 | 2018-01-26 | All-terrain brake truck transportation robot |
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CN207984829U true CN207984829U (en) | 2018-10-19 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108357477A (en) * | 2018-01-26 | 2018-08-03 | 苏州博众机器人有限公司 | All-terrain brake truck transportation robot |
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2018
- 2018-01-26 CN CN201820133529.4U patent/CN207984829U/en active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108357477A (en) * | 2018-01-26 | 2018-08-03 | 苏州博众机器人有限公司 | All-terrain brake 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 Patentee 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 Patentee before: SUZHOU BOZHONG ROBOT Co.,Ltd. |