CN208469988U - Self-actuating brake truck transportation robot - Google Patents

Abstract

The utility model belongs to robotic technology field, is related to a kind of self-actuating brake truck transportation robot, including a matched motor dolly and multiple trucks, and the motor dolly includes lower blocking portion；The truck includes upper blocking portion, the lower blocking portion includes that convex V-type stops body, the upper blocking portion include stop with the convex V-type the matched recessed V-type of body stop body, two be used to make recessed V-type to stop the linear guidance device that body can be elastic and the spring for being sheathed on the linear guidance device and being used to that recessed V-type is made to stop body playback；The bottom of the frame body is equipped with brake gear, and the brake gear includes the brake cable and the brake block for hanging on brake cable bottom that upper end is connected on recessed V-type blocking body.When motor dolly and truck are sealed in robot, withdraw the membership after recessed V-type blocking body and brake cable is allowed to naturally droop, so that brake block is contacted ground, such truck can come to a complete stop on level road, without moving easily.

Description

Self-actuating brake truck transportation robot

Technical field

The utility model relates to robotic technology field, in particular to a kind of self-actuating brake truck transportation robot.

Background technique

AGV is the abbreviation of (Automated Guided Vehicle), implies that " automated guided vehicle ", refers to and be 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 battery for its power resources.

Under normal circumstances, transport vehicle is from strip frame, once having filled thing that thing does not unload in blanking rack cannot free walker Dynamic, in the case where transporting frequent occasion, the transport vehicle for increasing higher cost is uneconomical.Therefore my company develops a kind of motor dolly The transportation robot separated with material frame, the two are sealed by latch hook device.Material frame needs energy when being detached from motor dolly It enough comes to a complete stop, so need to use brake gear, however when expect that frame and motor dolly are sealed, brake gear cannot hinder to transport It is dynamic.

Therefore, it is necessary to provide the new robot of one kind to solve the above problems.

Utility model content

The main purpose of the utility model is to provide a kind of self-actuating brake truck transportation robots.

The utility model is achieved through the following technical solutions above-mentioned purpose: a kind of self-actuating brake truck transportation robot, packet Include a matched motor dolly and multiple trucks, the motor dolly includes latch hook device in the middle part of top surface, position Lower blocking portion in top surface front and omnidirectional's wheel assembly positioned at bottom surface；The truck includes hollow frame body, positioned at described Desktop above frame body, several movable pulleys below the frame body and be fixed on the desktop bottom and with the lower blocking The upper blocking portion of portion's cooperation, the bottom of the desktop are equipped with the locked groove fixed for the latch hook device, and the motor dolly is received It is dissolved in the middle vacancy of the frame body, the lower blocking portion includes that convex V-type stops body, and the upper blocking portion includes and the convex V-type The matched recessed V-type of body is stopped to stop body；When convex V-type stops body to stop body to be close to recessed V-type, latch hook device can catch on locked groove And fix motor dolly with truck；The upper blocking portion further includes two and is used to that recessed V-type is made to stop body can be elastic Linear guidance device and the spring for being sheathed on the linear guidance device and being used to that recessed V-type is made to stop body playback；The frame The bottom of body is equipped with brake gear, and the brake gear includes the brake cable and suspension that upper end is connected on recessed V-type blocking body The middle part of brake block in brake cable bottom, the brake cable is movably fixed on frame body.

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 beneficial effect of this self-actuating brake truck transportation robot is:

When motor dolly and truck are sealed in robot, withdraw the membership after recessed V-type blocking body and brake cable is allowed to naturally droop, make Brake block contacts ground, and such truck can come to a complete stop on level road, without moving easily.

Detailed description of the invention

Fig. 1 is the perspective view of embodiment self-actuating brake truck transportation robot.

Fig. 2 is the main view of embodiment motor dolly.

Fig. 3 is the perspective view of embodiment motor dolly.

Fig. 4 is main view of the latch hook device in open state.

Fig. 5 is the main view of latch hook device in off position.

Fig. 6 is the bottom view of truck.

Fig. 7 is the main view of truck.

Digital representation in figure:

1- motor dolly,

11- latch hook device,

111- electric pushrod,

112- corner block,

113- fixed link,

114- latch hook,

115- block,

Blocking portion under 12-,

The convex V-type of 121- stops body,

The upper laser radar inductor of 122-,

13- omnidirectional wheel assembly,

Laser radar inductor under 14-；

2- truck,

21- frame body,

211- sensing chip,

22- desktop,

221- locked groove,

23- movable pulley,

The upper blocking portion of 24-,

The recessed V-type of 241- stops body,

242- linear guidance device,

243- spring,

25- brake gear,

251- brake cable,

252- brake block,

253- connecting rod.

Specific embodiment

The utility model is described in further detail combined with specific embodiments below.

Embodiment:

As shown in Figures 1 to 7, the utility model is a kind of self-actuating brake truck transportation robot, including matched one Motor dolly 1 and multiple trucks 2, motor dolly 1 include latch hook device 11 in the middle part of the top surface, positioned 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；During truck 2 includes Empty frame body 21, the desktop 22 positioned at frame body 21 above, several movable pulleys 23 below frame body 21 and it is fixed on desktop 22 Bottom and the upper blocking portion 24 cooperated with lower blocking portion 12, the bottom of desktop 22 are equipped with the locked groove 221 fixed for latch hook device 11, 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 blocking portion 12 include the upper laser radar inductor 122 that convex V-type stops body 121 and stops 121 inside of body positioned at convex V-type, upper blocking portion 24 Including stopping the matched recessed V-type of body 121 to stop body 241 with convex V-type, upper laser radar inductor 122, which is used to incude recessed V-type, to be stopped Body 241；When convex V-type stops body 121 to stop body 241 to be close to recessed V-type, locked groove 211 can be caught on and be made certainly by latch hook device 11 Dynamic transport vehicle 1 and truck 2 are fixed.Motor dolly 1 with truck 2 be it is separable, motor dolly 1 transports a truck 2 In place after can transport other park in truck 2.Motor dolly 1 is carried out multi-faceted by omnidirectional's wheel assembly 13 Mobile, lower laser radar inductor 14 perceives the barrier of surrounding to adjust advance posture.Motor dolly 1 is matched with truck 2 Before conjunction, in 11 retraction motor dolly 1 of latch hook device, motor dolly 1 enters the lower section of frame body 21 from the rear of truck 2, Upper laser radar inductor 122 can incude the position of recessed V-type blocking body 241 at this time, and allow convex V-type that body 121 and recessed V-type is stopped to hinder Block body 241 is aligned automatically, and then latch hook device 11 can catch on locked groove 211, under cooperating at two, motor dolly 1 The entirety that can be moved together can be linked to be with truck 2, can thus be used to carry the cargo prevented on truck 2, the machine Device people is high using freedom degree, 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 for lower laser radar inductor 14 in advance, 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 have first jiao, second jiao and the third angle, and the main shaft of electric pushrod 111 is 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 for 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 to make recessed V-type stop body 241 can elastic straight line draw It leads device 242 and is sheathed on the spring 243 on linear guidance device 242 and being used to make recessed V-type that body 241 be stopped to playback.Spring 243 make convex V-type that body 121 be stopped to stop body 241 to contact under elastic reaction with recessed V-type, and motor dolly 1 and truck 2 are flexible Cooperation, when 1 acceleration and deceleration of motor dolly, it is close that the two is able to maintain positioning, avoids hard collision abrasion quickly so that tight 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 includes that upper end is connected to recessed V Type stops brake cable 251 on body 241 and hangs on the brake block 252 of 251 bottom of brake cable, and the middle part of brake cable 251 can It is actively fixed on frame body 21.When spring 243 is not compressed, recessed V-type, which stops to withdraw the membership after 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 the 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 practical Novel protection scope.

Claims (3)

1. a kind of self-actuating brake truck transportation robot, including a matched motor dolly and multiple trucks, described automatic Transport vehicle includes the latch hook device in the middle part of top surface, the lower blocking portion positioned at top surface front and the dress of omnidirectional's wheel positioned at bottom surface It sets；The truck includes hollow frame body, the desktop above the frame body, several movable pulleys below the frame body Upper blocking portion with the desktop bottom is fixed on and with the lower blocking portion cooperation, the bottom of the desktop, which is equipped with, supplies the lock The fixed locked groove of hook device, the motor dolly are contained in the middle vacancy of the frame body, and the lower blocking portion includes convex V-type resistance Block body, the upper blocking portion include that the matched recessed V-type of body is stopped to stop body with the convex V-type；When convex V-type stops body and recessed V-type When body being stopped to be close to, locked groove can be caught on and fix motor dolly with truck by latch hook device；It is characterized by: the upper resistance Stopper further includes two and is used to make recessed V-type to stop the linear guidance device and be sheathed on the straight line guidance that body can be elastic On device and for making recessed V-type stop the spring of body playback；The bottom of the frame body is equipped with brake gear, the brake gear packet It includes upper end and is connected to recessed V-type and stop brake cable on body and hang on the brake block of brake cable bottom, in the brake cable Portion is movably fixed on frame body.

2. self-actuating brake truck transportation robot according to claim 1, it is characterised in that: the motor dolly also wraps The lower laser radar inductor positioned at front is included, the frame body keeps away the detection zone of laser radar inductor under position.

3. self-actuating brake truck transportation robot according to claim 2, 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 column.