CN208022209U - A kind of complete vehicle logistics primary and secondary robot - Google Patents
A kind of complete vehicle logistics primary and secondary robot Download PDFInfo
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- CN208022209U CN208022209U CN201721871865.0U CN201721871865U CN208022209U CN 208022209 U CN208022209 U CN 208022209U CN 201721871865 U CN201721871865 U CN 201721871865U CN 208022209 U CN208022209 U CN 208022209U
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Abstract
The utility model discloses a kind of complete vehicle logistics primary and secondary robot, including machine tool, an at least handset, and machine tool can and correspond to handset and be used cooperatively, cooperates；A carrier loader platform is arranged in the frame structure that machine tool includes machine tool ontology, is set to above machine tool ontology, machine tool ontology；Frame structure is equipped with height adjustment mechanism.Height adjustment mechanism includes that height adjusts driving mechanism, lead screw, nut, fixed mechanism；Machine tool ontology includes the adjustable longeron of revolvable height.The utility model proposes complete vehicle logistics primary and secondary robot, cross setting can 180 ° rotation the adjustable longerons of height, the height of carrier loader platform can be reduced when reprinting handset, enters carrier loader platform convenient for handset；The height of carrier loader platform can be promoted in conveying, the road clearance is larger, promotes climbing capacity.The utility model can adjust the height difference before and after carrier loader platform so that handset more easily enters carrier loader platform, while being avoided that locked by the way that two groups of height adjustment mechanisms are arranged in carrier loader platform.
Description
Technical field
The utility model belongs to complete vehicle logistics equipment technical field, is related to a kind of complete vehicle logistics haulage equipment, more particularly to
A kind of complete vehicle logistics primary and secondary robot.
Background technology
It is typically necessary some special equipments, such as lane stacker in mechanical parking stereo garage, in library, carrier/
Car taking device, elevator etc., these equipment prices are expensive, but can only be confined to use in single stereo garage and tunnel.
The vehicle transfer robot generally used at present, is mostly single type, such as comb-tooth-type transfer robot, lifts sweep
Formula transfer robot, tire hold formula transfer robot etc..Place is shipped in roll-on berth and highway sedan-chair fortune vehicle, at present still only
It can be using artificial handling vehicle.
Dedicated mechanical three-dimensional library facilities, purposes is single, expensive, does not have in the stopping of stereo garage idle equipment, if
Standby utilization rate can not effectively improve, and increase use cost.Using single vehicle transfer robot, due to the movement of robot
Speed is relatively low, in addition obstacle detouring climbing capacity is limited, is not suitable for the vehicle transportation by lighter of relatively long distance (hundreds of meters are arrived kilometer rank).Vehicle
The artificial efficiency of loading and unloading is low, and labour cost (professional skilled worker) is costly.
In view of this, nowadays there is an urgent need to design a kind of new vehicle mode of transport, to overcome existing mode of transport to deposit
Drawbacks described above.
Utility model content
Technical problem to be solved in the utility model is：A kind of complete vehicle logistics primary and secondary robot is provided, it can be achieved that vehicle
The unmanned of Logistics Operation base, standardization, intelligence, motorized, sharedization and integration；It improves efficiency, improve equipment profit
With rate, saves money and invest.
In order to solve the above technical problems, the utility model adopts the following technical solution：
A kind of complete vehicle logistics primary and secondary robot, the primary and secondary robot include：Machine tool, at least a handset, machine tool energy and right
It answers handset to be used cooperatively, cooperates；
The frame structure that the machine tool includes machine tool ontology, is set to above the machine tool ontology, the machine tool ontology are set
A carrier loader platform is set, the handset of energy ribbon supply vehicle is driven into, and the carrier loader platform is located in the frame structure；The frame structure
Equipped with height adjustment mechanism, the height of the carrier loader platform can be adjusted；The machine tool ontology is equipped with walking mechanism；
At least two groups tire fixed mechanism that the handset includes handset ontology, is set on each handset ontology；Every group of wheel
Tire fixed mechanism is furnished with fixed drive mechanism, the fixed drive mechanism energy tire on the drive wheels fixed mechanism action, and switching tire is consolidated
Mechanism state in which is determined, to make each group tire fixed mechanism be in support corresponding tire or not support the shape of corresponding tire
State.
As a kind of preferred embodiment of the utility model, the height adjustment mechanism includes that height adjusts driving mechanism, silk
Bar, nut, fixed mechanism, the height adjust driving mechanism connection wire rod, and nut can be driven to be rotated along lead screw, the lead screw with
Nut coordinates；The nut is connect by fixed mechanism with the carrier loader platform.
As a kind of preferred embodiment of the utility model, the height adjustment mechanism includes two groups, is separately positioned on machine tool
Ontology it is front and back；The carrier loader platform connects the fixed mechanism by the fixed column of both sides respectively, and the fixed column of both sides includes
Two preceding fixed columns, fixed column after two, each preceding fixed column are equipped with circular hole coordinate with fixed mechanism, it is each after fixed column equipped with
The waist-shaped hole of fixed mechanism cooperation ensures that the height before and after carrier loader platform is different, prevents front and back height when being tilted convenient for carrier loader platform
Degree regulating mechanism occurs killing phenomenon when driving carrier loader platform lifting and small angle inclination.
As a kind of preferred embodiment of the utility model, it includes decelerating motor, sprocket wheel, chain that the height, which adjusts driving mechanism,
Item, the rotation of decelerating motor drive sprocket drive chain action, to drive nut to be rotated along leading screw.
As a kind of preferred embodiment of the utility model, the machine tool ontology includes that at least one revolvable height is adjustable vertical
Beam, the frame structure bottom connect the machine tool ontology using the adjustable longeron of height；The carrier loader platform can pass through each height
Adjustable longeron support；
The adjustable longeron of height includes shape of chinese word Ji longeron, turnover driving mechanism, the turnover driving mechanism include rack,
Close to the gear of each longeron one end setting, the gear of the adjustable longeron of each crank type height passes through same rack drives；The rack
It is controlled by a motor.
As a kind of preferred embodiment of the utility model, the height adjustment mechanism includes that height adjusts driving mechanism, silk
Bar, nut, fixed mechanism, the height adjust driving mechanism connection wire rod, and nut can be driven to be rotated along lead screw, the lead screw with
Nut coordinates；The nut is connect by fixed mechanism with the carrier loader platform；
The carrier loader platform connects the fixed mechanism by the fixed column of both sides respectively, and the fixed column of both sides includes two
Preceding fixed column, fixed column after two, each preceding fixed column are equipped with circular hole coordinate with fixed mechanism, it is each after fixed column equipped with and fixation
The waist-shaped hole of mechanism cooperation.
As a kind of preferred embodiment of the utility model, the adjustable longeron of height is can 180 ° of crank type height rotated
Adjustable longeron.
As a kind of preferred embodiment of the utility model, the tire fixed mechanism is arm mechanism；Every group of arm mechanism
Clamp arm driving mechanism including at least two arm mechanisms, the driving arm mechanism rotation, the clamp arm driving mechanism can drive
Dynamic arm mechanism action, switches arm mechanism state in which, to make each group arm mechanism be in support corresponding tire or not
Support the state of corresponding tire.
As a kind of preferred embodiment of the utility model, the machine tool ontology includes the first control module, the first power supply mould
Block, first motor driving mechanism, the first locating module, first laser radar module；First control module is separately connected the first electricity
Machine driving mechanism, the first locating module, first laser radar module, the first power module are the first control module, first motor
Driving mechanism, the first locating module, first laser radar module provide electric energy.
As a kind of preferred embodiment of the utility model, the both ends of the carrier loader platform are equipped with adjustable springboard and safety
Hitch gear, springboard machine tool traveling and carrier loader platform lifting when be in collapsed state, carrier loader platform drop to ground or with
After parking systems and sedan-chair fortune vehicle entrucking layer complete docking, it is in expansion flattened state, while safety hook and parking systems
And the safety device docking of sedan-chair fortune vehicle entrucking layer.
As a kind of preferred embodiment of the utility model, the handset ontology includes a support tablet, on support tablet
Four groups of arm mechanisms are set, and every group of arm mechanism is used for supporting an automobile tire；
In four groups of arm mechanisms, include the arm mechanism of two groups of fixed settings, in addition two groups of arm mechanisms are moveable
Arm mechanism；Moveable arm mechanism is equipped with position adjusting mechanism, while being furnished with tire location sensing device；
The tire location sensing device includes several position sensors for being distributed in support tablet both sides, to incude week
The distance of side target；
The position adjusting mechanism connects tire location sensing device, moveable according to two groups of the information control sensed
Arm mechanism is moved to the position of corresponding vehicle tyre so that handset ontology is applicable in the vehicle of different wheelbases.
The beneficial effects of the utility model are：The utility model proposes complete vehicle logistics primary and secondary robot, same station
Interior, reasonable disposition plans the primary and secondary robot that is referred to using the utility model, can be achieved at the same time stereo garage automatic access, in field in
Remote transportation by lighter and it is automatic load, really realize complete vehicle logistics running the unmanned of base, standardization, intelligence, motorized, total
Enjoying and integration.Achieve the purpose that improve efficiency, improves utilization rate of equipment and installations, saves money and invest.
The utility model by setting can 180 degree rotation the adjustable longeron of height, can be reduced when reprinting handset carrier vehicle put down
The height of platform enters carrier loader platform convenient for handset；The height of carrier loader platform can be promoted in conveying, the road clearance is larger, is promoted
Climbing capacity.
The utility model can adjust the height before and after carrier loader platform by the way that two groups of height adjustment mechanisms are arranged in carrier loader platform
Different (such as low early and high after) so that handset more easily enters carrier loader platform, while being avoided that locked.
The machine tool of primary and secondary robot described in the utility model carries liftable carrier loader platform, passes through handset (rim clamp
Embrace robot) vehicle is sent into the carrier loader platform of machine tool, two, three layers of carrier loader platform and stereo garage frame dock, and handset can general
Vehicle is sent into the designated position of solid parking shelf, realizes the automatic loading of sedan-chair fortune vehicle.At this point, primary and secondary robot plays tunnel
The effect of piler solves the problems, such as that the solid of vehicle is parked, and due to the included navigation of machine tool, can freely be moved in more tunnels
It is dynamic, can more tunnels share, expense of reducing investment outlay.
The machine tool of primary and secondary robot described in the utility model, wheel is larger, and the road clearance is larger (general up to 200 millis
Rice), therefore movement speed is fast, obstacle detouring climbing capacity is strong, and composite aircraft is used cooperatively, and is suitble to vehicle transportation by lighter in the field of medium and long distance.
Vehicle can be sent into entrucking deck by the utility model composite aircraft smoothly by the springboard of steamer, realize rolling dress wheel vehicle from
It is dynamic to load.
Description of the drawings
Fig. 1 a are the structural schematic diagram of the utility model complete vehicle logistics primary and secondary robot machine tool.
Fig. 1 b are the structural schematic diagram of the utility model complete vehicle logistics primary and secondary robot machine tool other side.
Fig. 2 is the vertical view of the utility model complete vehicle logistics primary and secondary robot machine tool.
Fig. 3 is the structural schematic diagram of the utility model complete vehicle logistics primary and secondary robot handset.
Fig. 4 is the structural schematic diagram of the adjustable longeron of primary and secondary robot machine tool height.
Fig. 5 is that the primary and secondary robot adjustable longeron of machine tool height is transferred to minimum structural schematic diagram.
Fig. 6 is the structural schematic diagram of carrier loader platform in primary and secondary robot machine tool.
Fig. 7 is the structural schematic diagram of height adjustment mechanism in primary and secondary robot machine tool.
Specific implementation mode
The preferred embodiment that according to the present invention will be described in detail below with reference to the accompanying drawings.
Embodiment one
A to Fig. 3 is please referred to Fig.1, the utility model discloses a kind of complete vehicle logistics primary and secondary robot, including：Machine tool and son
Machine, machine tool and handset are used cooperatively, and are cooperated.
The machine tool includes machine tool ontology 1 and frame structure 2 (as shown in Fig. 1 a, Fig. 1 b and Fig. 2), can be supplied by accumulator
Electric drive；Band laser radar can autonomous (advance, retreat, is traversing, rotation) by GPS, inertial guidance and laser guidance
In the road (since regulation limits, wouldn't can travel on social road at present) in station and automatic obstacle-avoiding parking.
It holds to carry handset 21 and tire and hold and carries handset 22 referring to Fig. 3, the handset includes tire, tire is held
It includes arm mechanism 24 and handset ontology 23 to carry handset, and storage battery power supply drives, band laser ranging, avoidance and guidance radar,
By magnetic nail, inertial guidance and laser guidance, tire hold carry handset 21 and tire hold carry handset 22 slip into respectively it is whole
Car bottom has held the front and back tire of vehicle, carries vehicle autonomous (advance, retreat, is traversing, rotation) in working region road
Road, stereo garage berth, sedan-chair are transported between vehicle entrucking floor and the carrier loader platform 4 of machine tool (such as Fig. 1 b).
The machine tool carries carrier loader platform 4, and the handset of complete vehicle logistics primary and secondary robot can be driven into vehicle (car and SUV)
Carrier loader platform, carrier loader platform 4 are located in frame structure 2, and the frame structure 2 is equipped with height adjustment mechanism 8, can adjust the load
The height of vehicle platform 4；The machine tool ontology 1 is equipped with walking mechanism 9, can freely walk under the driving of motor.
Please refer to Fig. 5, Fig. 6, in the present embodiment, the height adjustment mechanism 8 includes that height adjusts driving mechanism, lead screw
81, nut 82, fixed mechanism 83, the height adjust driving mechanism connection wire rod 81, and nut 82 can be driven to be rotated along lead screw 81,
The lead screw 81 coordinates with nut 82；The nut 82 is connect by fixed mechanism 83 with the carrier loader platform 4.The carrier vehicle is flat
Platform 4 connects the fixed mechanism 83 by the fixed column of both sides 42 respectively.
As shown in fig. 7, the height adjustment mechanism 8 includes two groups, it is separately positioned on the front and back of machine tool ontology.Both sides are consolidated
Fixed column includes fixed column 44 after two preceding fixed columns 43, two, and each preceding fixed column 43 is equipped with the circular hole coordinated with fixed mechanism
431, each rear fixed column 44 is equipped with the waist-shaped hole 441 coordinated with fixed mechanism, ensures carrier loader platform when being tilted convenient for carrier loader platform
Front and back height is different, occurs killing when preventing anterior and posterior height regulating mechanism from driving carrier loader platform lifting and small angle inclination existing
As.
It includes decelerating motor, sprocket wheel, chain that the height, which adjusts driving mechanism, and the rotation of decelerating motor drive sprocket drives
Chain acts, to drive nut to be rotated (since action principle is that those skilled in the art can be according to foregoing description along leading screw
It realizes, does not repeat here easily).
It b, Fig. 2, carrier loader platform 4 can also be risen refering to fig. 1 with rear by the preceding elevating screw nut group 5a in frame structure 2
It drops feed screw nut and organizes 5b connection frameworks structure 2.The connection of the nut body and carrier loader platform of preceding elevating screw nut group 5a uses
Straight pin, cylindrical bearing and circular hole, the connection of the nut body and carrier loader platform of rear elevating screw nut group 5b using straight pin,
Cylindrical bearing and waist-shaped hole, it is existing to occur killing when preventing front and back lifting nut group band carrier loader platform lifting and small angle inclination
As.
The preceding elevating screw nut group 5a of the machine tool of complete vehicle logistics primary and secondary described in the utility model robot is slowed down by 6a
Motor and the driving of sprocket wheel chain driving mechanism, rear elevating screw nut group 5b are driven by decelerating motor 6b and sprocket wheel chain driving mechanism
It is dynamic.Front and back lifting nut group by speed reducer driving mechanism, drive carrier loader platform lifting (front and back lifting nut group is with height) or
Small angle inclination (front and back lifting nut group different height).
In order to keep preferable passability, the road clearance more general vehicle transfer robot of the machine tool to want high, very
To can reach 200 millimeters or more.It is female meanwhile in order to which the vehicle that handset is carried on the back can smoothly be come in and gone out the carrier loader platform 4 of machine tool
2 bottom structure of frame structure of machine using can 180 degree rotation adjustable longeron 3 (as shown in figures la and 2) connection of crank type height
Machine tool ontology；The carrier loader platform 4 can be supported by the adjustable longeron 3 of each height.
Referring to Fig. 4, the adjustable longeron 3 of height includes shape of chinese word Ji longeron 31, turnover driving mechanism, the overturning driving
Mechanism includes rack 34, close to the gear 33 of each longeron one end setting, and the gear 33 of each height is adjustable longeron 3 passes through same rack
34 drivings (can make shape of chinese word Ji longeron 31 while act)；The rack 34 is controlled by a motor 32.
When handset needs to come in and go out carrier loader platform 4, carrier loader platform 4 first slightly rises, and makes the crank throw of the adjustable longeron of height 3 vertical
Beam rotates to minimum point (ground proximity), and then carrier loader platform 4 declines and tilts (angle=3%, in order to going out for child robot
Enter), this is the handset discrepancy state of frame structure 2.When machine tool when driving, carrier loader platform 4 first slightly rises, and makes height adjustable vertical
The crank throw longeron of beam 3 rotates to peak (ground is highly about twice of machine tool road clearance from the ground), then carrier loader platform
4 decline, adjust to horizontality and be shelved on the adjustable longeron of height 3, this is the machine tool transport condition of frame structure 2.Work as mother
The carrier loader platform 4 of machine will be when frame structure 2 does lifting work, in order to ensure 2 stability of frame structure, height is adjustable longeron 3
Crank throw longeron rotate to minimum point (ground proximity), this be frame structure 2 carrier loader platform working condition.
The both ends of the carrier loader platform 4 of the machine tool are equipped with adjustable springboard and safety hook mechanism, and springboard is in machine tool row
It is to be in collapsed state to sail the when of being lifted with carrier loader platform, drops to ground in carrier loader platform or transports vehicle entrucking with parking systems and sedan-chair
After layer completes docking, the safety in expansion flattened state, while safety hook and parking systems and sedan-chair fortune vehicle entrucking layer fills
Set docking.
When vehicle needs to be stored in stereo garage frame, when depositing in bottom (ground floor), the tire of the handset, which is held, to be removed
Fortune handset 21 and tire, which are held, to be carried handset 22 and slips into vehicle bottom respectively, holds and lift the front and back wheel of vehicle, autonomous,
Vehicle is sent into stereo garage shelf bottom, then handset is exited out of shelf, completes bicycle parking action.Deposit in the two of stereo garage frame
At three layers, the tire of the handset of complete vehicle logistics primary and secondary described in the utility model robot holds carrying handset 21 and tire is held
It carries handset 22 and slips into vehicle bottom respectively, hold and lift the front and back wheel of vehicle, it is at the same time, described in the utility model whole
The carrier loader platform 4 of the machine tool of vehicle logistics primary and secondary robot be in minimum point and tilt a low-angle, handset carry vehicle into
After entering carrier loader platform, carrier loader platform rises, and the frame structure of machine tool be in transport condition and requires that (crank throw of adjustable longeron is in most
High point), the row where machine tool autonomous to corresponding stereo garage shelf stop, and adjust the crank throw of adjustable longeron to minimum point,
Make the in running order requirement of the frame structure of machine tool, rise carrier loader platform, reach the number of plies to be parked (two layers or three layers), carries
The springboard expansion of vehicle platform is laid flat, and release mechanism completes docking, and then handset carries shelf berth of riding into, puts down vehicle
Afterwards, handset returns in machine tool, and carrier loader platform 4 and the release mechanism of shelf disengage, and pack up springboard, and carrier loader platform declines, structure
Conditions dictate is sailed in longeron adjustment reversion, and composite aircraft sails out of stereo garage frame, is completed bicycle parking action, is waited for next work order.
When pick-up, take when depositing in bottom (ground floor) vehicle, complete vehicle logistics primary and secondary described in the utility model robot
The tire of handset hold to carry handset 21 and tire and hold and carry handset 22 and slip into vehicle bottom respectively, hold and lift vehicle
Front and back wheel, autonomous, by vehicle remove stereo garage shelf bottom, be sent to designated position, then handset is exited out of shelf,
Complete bicycle parking action.When taking the vehicle for depositing in two or three layers of stereo garage frame, complete vehicle logistics primary and secondary machine described in the utility model
The shelf row of people driven to where the vehicle to be taken, in place after, frame structure is adjusted to working condition requirement, carrier loader platform liter
It rises, is completed after docking with shelf berth, handset drives into berth, lifts vehicle, sails back carrier loader platform, and springboard and release mechanism are de-
It opens, carrier loader platform declines, and frame structure is adjusted to transport condition requirement, and composite aircraft band vehicle sails out of three-dimensional base area, autonomous row
Specified region is sailed to, carrier loader platform (or executing continual command, such as load) is put down, handset band vehicle sails out of machine tool carrier loader platform,
Complete pick-up action.
When refuting vehicle task, short distance (within 100), directly by complete vehicle logistics primary and secondary described in the utility model robot
Handset can be completed, it is short in the field of relatively long distance to refute, then handset first by vehicle be sent into machine tool carrier loader platform, (handset itself
Then according to the quantity of system configuration, or retinue or exit machine tool and stay in stay where one is, pending further orders), machine tool band vehicle independently travels in Receiving yaxd
Another destination.
The handling of the vehicle of roll-on berth are such as sent to entrucking deck from stockyard by vehicle, or vehicle are sent from entrucking deck
To pier storage yard, it can refer to and refute vehicle task, completed using complete vehicle logistics primary and secondary described in the utility model robot.
Sedan-chair transport vehicle vehicle automatic loading, it is similar with the access of vehicle of two three-layer stereo library framves (machine tool carrier loader platform and
Sedan-chair transports one or two layers of entrucking layer docking of vehicle), you can complete the automatic loading of vehicle.
In addition, in certain occasions, a machine tool matches two sets of handsets (or more covering handset), can improve operation efficiency.
Such as, for an estrade machine during entrucking, another estrade machine can complete the action carried with machine tool.
Embodiment two
The utility model discloses a kind of complete vehicle logistics primary and secondary robot, and the primary and secondary robot includes：An at least machine tool 10,
An at least handset 20, machine tool 10 and corresponding handset 20 are used cooperatively, and are cooperated.
Several parking stalls are equipped in parking space, handset 20 can enter under-vehicle, support each tire of vehicle.Here
Parking space can be single layer (on similar ground), can also be parking systems.
Referring to Fig. 1, the machine tool 10 includes machine tool ontology 1, the frame structure 2 being set to above the machine tool ontology,
An at least carrier loader platform 4 is arranged in the machine tool ontology 1, and the handset of energy ribbon supply vehicle is driven into, and each carrier loader platform 4 is located at the frame
In structure 2.
Rotating mechanism can be set in carrier loader platform 4, vehicle can be made to be rotated on carrier loader platform 4 to the angle needed (such as
It turns around).Rotating mechanism can realize that the intermediate region of carrier loader platform 4 is as turntable, motor driving by motor mate gear group
Gear set, driving disc rotation.
Enter machine tool 10 for the ease of handset 20, the bottom of frame structure 2 is equipped with turnover driving mechanism, and carrier vehicle can be driven flat
Platform 4 is overturn.Frame structure bottom using can 180 degree rotation adjustable longeron 3 (as shown in figures la and 2) connection of crank type height
Machine tool ontology；The carrier loader platform can be supported by the adjustable longeron 3 of each height.
Referring to Fig. 4, the adjustable longeron 3 of height includes shape of chinese word Ji longeron 31, turnover driving mechanism, the overturning driving
Mechanism includes rack 34, close to the gear 33 of each longeron one end setting, and the gear 33 of each height is adjustable longeron 3 passes through same rack
34 drivings (can make shape of chinese word Ji longeron 31 while act)；The rack 34 is controlled by a motor 32.
When handset 20 needs to come in and go out carrier loader platform 4, carrier loader platform 4 first slightly rises, and allows the crank throw of the adjustable longeron of height 3
Longeron rotates to minimum point (ground proximity), and then carrier loader platform 4 declines and tilts (angle=3%, in order to child robot
Come in and go out), this is the handset discrepancy state of frame structure 2.When machine tool when driving, carrier loader platform 4 first slightly rises, and makes height adjustable
The crank throw longeron of longeron 3 rotates to peak (ground is highly about twice of machine tool road clearance from the ground), and then carrier vehicle is flat
Platform 4 declines, adjusts to horizontality and be shelved on the adjustable longeron of height 3, this is the machine tool transport condition of frame structure 2.When
The carrier loader platform 4 of machine tool will be when frame structure 2 does lifting work, in order to ensure 2 stability of frame structure, highly adjustable longeron
3 crank throw longeron rotates to minimum point (ground proximity), this is the carrier loader platform working condition of frame structure 2.
Certainly, enter machine tool 10 for the ease of handset 20, can also can be arranged in the side of the carrier loader platform 4 of machine tool 10
Turnover panel is needed in handset 20 into fashionable, and controlling turnover panel motor by machine tool governor circuit drives turnover panel to turn down, after the completion of use,
Turnover panel motor driving turnover panel is then controlled to pack up.
The frame structure 2 is equipped with height adjustment mechanism 8 (as shown in Figure 5), can adjust the height of the carrier loader platform 4；
The machine tool ontology 1 is equipped with walking mechanism 9 (as shown in Figure 5), can freely walk under the driving of motor.
Please refer to Fig. 5, Fig. 6, in the present embodiment, the height adjustment mechanism 8 includes that height adjusts driving mechanism, lead screw
81, nut 82, fixed mechanism 83, the height adjust driving mechanism connection wire rod 81, and nut 82 can be driven to be rotated along lead screw 81,
The lead screw 81 coordinates with nut 82；The nut 82 is connect by fixed mechanism 83 with the carrier loader platform 4.The carrier vehicle is flat
Platform 4 connects the fixed mechanism 83 by the fixed column of both sides 42 respectively.
As shown in fig. 7, the height adjustment mechanism 8 includes two groups, it is separately positioned on the front and back of machine tool ontology.Both sides are consolidated
Fixed column includes fixed column 44 after two preceding fixed columns 43, two, and each preceding fixed column 43 is equipped with the circular hole coordinated with fixed mechanism
431, each rear fixed column 44 is equipped with the waist-shaped hole 441 coordinated with fixed mechanism, ensures carrier loader platform when being tilted convenient for carrier loader platform
Front and back height is different, occurs killing when preventing anterior and posterior height regulating mechanism from driving carrier loader platform lifting and small angle inclination existing
As.
It includes decelerating motor, sprocket wheel, chain that the height, which adjusts driving mechanism, and the rotation of decelerating motor drive sprocket drives
Chain acts, to drive nut to be rotated (since action principle is that those skilled in the art can be according to foregoing description along leading screw
It realizes, does not repeat here easily).Certainly, height adjustment mechanism can also use other height regulative modes, such as cylinder, liquid
Cylinder pressure, chain etc..
The structure of handset 20 is the prior art, can utilize existing handset structure.In the present embodiment, referring to Fig. 3, institute
It includes handset ontology 23, at least two groups arm mechanism being set on handset ontology 23 to state handset 20；Every group of arm mechanism include
The clamp arm driving mechanism that at least two arm mechanisms 24, the driving arm mechanism 24 rotate, can drive arm mechanism 24 to act
(such as can be rotation, can also be flexible), switches 24 state in which of arm mechanism, to make each group arm mechanism 24 be in
The corresponding automobile tire of support or the state for not supporting corresponding automobile tire.
The machine tool ontology 1 is equipped with machine tool walking mechanism 12, and the handset ontology 23 is equipped with handset walking mechanism 29；It is described
1 upper side of machine tool ontology is equipped with low-lying place 11, and handset 20 can be limited in walking in the low-lying place 11.
Every group of arm mechanism includes two arm mechanisms 24, and arm mechanism 24 can be under the driving of the clamp arm driving mechanism
Corresponding arm mechanism is driven to rotate or stretch out, to have the function that support tire or not support tire.
Embodiment three
The difference between the present embodiment and the second embodiment lies in that in the present embodiment, machine tool 10, handset 20 can be remote by staff
Process control.Correspondingly, machine tool 10 includes first control circuit, the first wireless communication module, and first control circuit is separately connected the
One wireless communication module, machine tool walking mechanism；Handset 20 includes second control circuit, the second wireless communication module, the second control
Circuit is separately connected the second wireless communication module, handset walking mechanism.And primary and secondary robot further includes remote control terminal, it can be
It is long-range to send control command, control the walking of machine tool 10, handset 20.
Example IV
The difference between the present embodiment and the second embodiment lies in that in the present embodiment, machine tool 10, handset 20 can freely walk, female
The included laser ranging of machine 10, handset 20, avoidance and guidance radar, pass through magnetic nail, inertial guidance and laser guidance.
Embodiment five
The difference between the present embodiment and the second embodiment lies in that in the present embodiment, machine tool 10, handset 20 can be remote by staff
Process control.Correspondingly, machine tool 10 includes first control circuit, the first wireless communication module, and first control circuit is separately connected the
One wireless communication module, machine tool walking mechanism；Handset 20 includes second control circuit, the second wireless communication module, the second control
Circuit is separately connected the second wireless communication module, handset walking mechanism.And primary and secondary robot further includes remote control terminal, it can be
It is long-range to send control command, control the walking of machine tool 10, handset 20.
In conclusion the utility model proposes complete vehicle logistics primary and secondary robot, in same station, reasonable disposition planning makes
The primary and secondary robot referred to the utility model, can be achieved at the same time stereo garage automatic access, medium and long distance transportation by lighter and automatic in field
It loads, really realizes complete vehicle logistics running the unmanned of base, standardization, intelligence, motorized, sharedization and integration.It reaches
To the purpose for improving efficiency, improving utilization rate of equipment and installations, saving money and invest.
The utility model by setting can 180 degree rotation the adjustable longeron of height, can be reduced when reprinting handset carrier vehicle put down
The height of platform enters carrier loader platform convenient for handset；The height of carrier loader platform can be promoted in conveying, the road clearance is larger, is promoted
Climbing capacity.
The utility model can adjust the height before and after carrier loader platform by the way that two groups of height adjustment mechanisms are arranged in carrier loader platform
Different (such as low early and high after) so that handset more easily enters carrier loader platform, while being avoided that locked.
The machine tool of primary and secondary robot described in the utility model carries liftable carrier loader platform, passes through handset (rim clamp
Embrace robot) vehicle is sent into the carrier loader platform of machine tool, two, three layers of carrier loader platform and stereo garage frame dock, and handset can general
Vehicle is sent into the designated position of solid parking shelf, realizes the automatic loading of sedan-chair fortune vehicle.At this point, primary and secondary robot plays tunnel
The effect of piler solves the problems, such as that the solid of vehicle is parked, and due to the included navigation of machine tool, can freely be moved in more tunnels
It is dynamic, can more tunnels share, expense of reducing investment outlay.
The machine tool of primary and secondary robot described in the utility model, wheel is larger, and the road clearance is larger (general up to 200 millis
Rice), therefore movement speed is fast, obstacle detouring climbing capacity is strong, and composite aircraft is used cooperatively, and is suitble to vehicle transportation by lighter in the field of medium and long distance.
Vehicle can be sent into entrucking deck by the utility model composite aircraft smoothly by the springboard of steamer, realize rolling dress wheel vehicle from
It is dynamic to load.
Here the description and application of the utility model are illustrative, are not wishing to the scope of the utility model being limited in
It states in embodiment.The deformation and change of embodiments disclosed herein are possible, for the ordinary skill people of those this fields
The replacement of embodiment and equivalent various parts are well known for member.It should be appreciated by the person skilled in the art that not taking off
In the case of spirit or essential characteristics from the utility model, the utility model can in other forms, structure, arrangement, ratio,
And it is realized with other components, material and component.It, can be to this in the case where not departing from the scope of the utility model and spirit
In disclosed embodiment carry out other deformations and change.
Claims (10)
1. a kind of complete vehicle logistics primary and secondary robot, which is characterized in that the primary and secondary robot includes：Machine tool, at least a handset, it is female
Function and corresponding handset are used cooperatively, and are cooperated；
The frame structure that the machine tool includes machine tool ontology, is set to above the machine tool ontology, the machine tool ontology setting one
The handset of carrier loader platform, energy ribbon supply vehicle is driven into, and the carrier loader platform is located in the frame structure；The frame structure is equipped with
Height adjustment mechanism can adjust the height of the carrier loader platform；The machine tool ontology is equipped with walking mechanism；
At least two groups tire fixed mechanism that the handset includes handset ontology, is set on each handset ontology；Every group of tire is solid
Determine mechanism and be furnished with fixed drive mechanism, the fixed drive mechanism energy tire on the drive wheels fixed mechanism action, switching tire fixes machine
Structure state in which, to make each group tire fixed mechanism be in support corresponding tire or not support the state of corresponding tire.
2. complete vehicle logistics primary and secondary according to claim 1 robot, it is characterised in that：
The height adjustment mechanism includes that height adjusts driving mechanism, lead screw, nut, fixed mechanism, and the height adjusts driving
Mechanism connection wire rod can drive nut to be rotated along lead screw, and the lead screw coordinates with nut；The nut passes through fixed mechanism and institute
State carrier loader platform connection.
3. complete vehicle logistics primary and secondary according to claim 2 robot, it is characterised in that：
It includes decelerating motor, sprocket wheel, chain that the height, which adjusts driving mechanism, and the rotation of decelerating motor drive sprocket drives chain
Action, to drive nut to be rotated along leading screw.
4. complete vehicle logistics primary and secondary according to claim 2 robot, it is characterised in that：
The height adjustment mechanism includes two groups, is separately positioned on the front and back of machine tool ontology；
The carrier loader platform connects the fixed mechanism by the fixed column of both sides respectively, and the fixed column of both sides is including solid before two
Fixed column, fixed column after two, each preceding fixed column are equipped with circular hole coordinate with fixed mechanism, and each fixed column afterwards is equipped with and fixed mechanism
The waist-shaped hole of cooperation ensures that the height before and after carrier loader platform is different, prevents anterior and posterior height from adjusting machine when being tilted convenient for carrier loader platform
Structure occurs killing phenomenon when driving carrier loader platform lifting and small angle inclination.
5. complete vehicle logistics primary and secondary according to claim 1 robot, it is characterised in that：
The machine tool ontology includes at least one revolvable adjustable longeron of height, and the frame structure bottom is adjustable vertical using height
Beam connects the machine tool ontology；The carrier loader platform can be supported by the adjustable longeron of each height；
The adjustable longeron of height includes shape of chinese word Ji longeron, turnover driving mechanism, and the turnover driving mechanism includes rack, close
The gear of the gear of each longeron one end setting, the adjustable longeron of each crank type height passes through same rack drives；The rack passes through
One motor controls.
6. complete vehicle logistics primary and secondary according to claim 5 robot, it is characterised in that：
The adjustable longeron of height is can 180 ° of adjustable longerons of crank type height rotated.
7. complete vehicle logistics primary and secondary according to claim 1 robot, it is characterised in that：
The tire fixed mechanism is arm mechanism；Every group of arm mechanism includes at least two arm mechanisms, the driving clamp arm
The clamp arm driving mechanism of mechanism rotation, the clamp arm driving mechanism can drive arm mechanism to act, and switch residing for arm mechanism
State, to make each group arm mechanism be in support corresponding tire or not support the state of corresponding tire.
8. complete vehicle logistics primary and secondary according to claim 1 robot, it is characterised in that：
The machine tool ontology include the first control module, the first power module, first motor driving mechanism, the first locating module,
First laser radar module；First control module is separately connected first motor driving mechanism, the first locating module, first laser thunder
Up to module, the first power module is the first control module, first motor driving mechanism, the first locating module, first laser radar
Module provides electric energy.
9. complete vehicle logistics primary and secondary according to claim 1 robot, it is characterised in that：
The both ends of the carrier loader platform are equipped with adjustable springboard and safety hook mechanism, and springboard is in machine tool traveling and carrier loader platform
It is to be in collapsed state when lifting, drops to ground in carrier loader platform or docked with parking systems and sedan-chair fortune vehicle entrucking layer completion
Afterwards, it is in expansion flattened state, while safety hook is docked with the safety device of parking systems and sedan-chair fortune vehicle entrucking layer.
10. complete vehicle logistics primary and secondary according to claim 1 robot, it is characterised in that：
The handset ontology includes a support tablet, four groups of arm mechanisms is arranged on support tablet, every group of arm mechanism is used for
Support an automobile tire；
In four groups of arm mechanisms, include the arm mechanism of two groups of fixed settings, in addition two groups of arm mechanisms are moveable clamp arm
Mechanism；Moveable arm mechanism is equipped with position adjusting mechanism, while being furnished with vehicle tire location sensing device；
The tire location sensing device includes several position sensors for being distributed in support tablet both sides, to incude periphery mesh
Target distance；
The position adjusting mechanism connects tire location sensing device, and two groups of moveable clamp arm are controlled according to the information sensed
Mechanism is moved to the position of corresponding vehicle tyre so that handset ontology is applicable in the vehicle of different wheelbases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721871865.0U CN208022209U (en) | 2017-12-28 | 2017-12-28 | A kind of complete vehicle logistics primary and secondary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721871865.0U CN208022209U (en) | 2017-12-28 | 2017-12-28 | A kind of complete vehicle logistics primary and secondary robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208022209U true CN208022209U (en) | 2018-10-30 |
Family
ID=63900800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721871865.0U Withdrawn - After Issue CN208022209U (en) | 2017-12-28 | 2017-12-28 | A kind of complete vehicle logistics primary and secondary robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208022209U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108177910A (en) * | 2017-12-28 | 2018-06-19 | 安吉汽车物流股份有限公司 | A kind of complete vehicle logistics primary and secondary robot |
-
2017
- 2017-12-28 CN CN201721871865.0U patent/CN208022209U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108177910A (en) * | 2017-12-28 | 2018-06-19 | 安吉汽车物流股份有限公司 | A kind of complete vehicle logistics primary and secondary robot |
| CN108177910B (en) * | 2017-12-28 | 2023-05-23 | 上汽安吉物流股份有限公司 | Whole-vehicle logistics mother-son robot |
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Address after: 201805 Miquan Road, Anting Town, Jiading District, Jiading District, Shanghai Patentee after: SAIC ANJI LOGISTICS Co.,Ltd. Address before: 201805 Miquan Road, Anting Town, Jiading District, Jiading District, Shanghai Patentee before: ANJI AUTOMOTIVE LOGISTICS CO.,LTD. |
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| AV01 | Patent right actively abandoned | ||
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Granted publication date: 20181030 Effective date of abandoning: 20230523 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20181030 Effective date of abandoning: 20230523 |