CN218805430U

CN218805430U - Self-walking robot boarding device

Info

Publication number: CN218805430U
Application number: CN202223383969.0U
Authority: CN
Inventors: 曹斌; 于百业; 王衡; 房涛; 郭维
Original assignee: Xuzhou Handler Special Vehicle Co Ltd
Current assignee: Xuzhou Handler Special Vehicle Co Ltd
Priority date: 2022-12-16
Filing date: 2022-12-16
Publication date: 2023-04-07
Anticipated expiration: 2032-12-16

Abstract

The embodiment of the utility model discloses self-propelled robot device of riding on bus relates to self-propelled robot technical field, including haulage vehicle, flexible elevating system and the platform of riding on bus, haulage vehicle includes chassis and special carriage, and special carriage rear portion is fixed with flexible elevating system, and flexible elevating system includes mount, flexible crane, horizontal cylinder and hydro-cylinder seat, and the mount is fixed at special carriage rear portion, horizontal cylinder's one end is passed through the hydro-cylinder seat and is fixed on the bottom plate at special carriage rear portion, and the other end is fixed on flexible crane, and the platform of riding on bus includes chassis, climbing board, deflector, front baffle and limiting mechanism, the bottom plate that possesses anti-skidding function has been laid to the chassis upper surface, climbing board is the wedge, and climbing board fixes the afterbody at the chassis, the left and right sides at the chassis is fixed to the deflector, the front end of chassis is fixed with the front baffle, limiting mechanism fixes in the outside of deflector, possesses the characteristics of operating steadily reliably and convenient and fast.

Description

Self-walking robot boarding device

Technical Field

The utility model relates to a walk robot technical field by oneself, specifically be a walk robot device of riding on bus by oneself.

Background

With the development of science and technology, various professional equipment is widely used in life, and among them, self-walking robots are widely used due to their advantages of small size and remote control operation. Because self-walking robot exists walking speed and is slower, home range shortcoming such as little, consequently when needs long distance transportation, need use special vehicle to transport, current conventional mode of boarding has following several:

1. the fixed or movable platform is adopted to be in butt joint with a transport vehicle, and the self-walking robot is driven in, so that the method has strong limitation and can not finish boarding operation at any time and any place; 2. the hydraulic tail plate is used as a boarding device, only has a boarding function, but is limited in bearing capacity, is mainly used for loading and unloading goods and cannot fix the self-propelled robot; 3. adopt the boarding bridge as the device of stepping on the bus, this kind of mode application is comparatively general, nevertheless because the boarding bridge length dimension is limited, and general climbing angle is great, and is higher to self walking robot self performance requirement, at vehicle and boarding bridge handing-over position simultaneously, owing to there is the turning can lead to the focus of robot to change suddenly, and the easy unstability of robot has the risk of overturning this moment, and the operation is comparatively troublesome.

The ubiquitous problem of current device of boarding car: (1) In the process of boarding, the hands and eyes of an operator are matched, accidents such as overturning and the like can be caused once the operation is in error, and the time consumed in the boarding process is long; (2) It is comparatively troublesome to need personnel to fix or loosely tie up the operation to walking the robot inside the carriage, especially to the great robot of walking by oneself of size, needs the vehicle both sides to set up the access door and carries out the operation of closing earlier.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the utility model is to provide a self-propelled robot device of riding on a vehicle, the in-process that provides a steady operation and step on a vehicle can not cause the risk of overturning because of the focus sudden change, and need not to get on the vehicle and can accomplish the fixed device of riding on a vehicle of self-propelled robot.

In order to achieve the above object, the utility model provides a following technical scheme: a self-walking robot boarding device comprises a transport vehicle, a telescopic lifting mechanism and a boarding platform, wherein the transport vehicle comprises a chassis and a special carriage, the rear part of the special carriage is fixedly provided with the telescopic lifting mechanism, the telescopic lifting mechanism comprises a fixing frame, a telescopic lifting frame, a horizontal oil cylinder and an oil cylinder seat, the fixing frame is fixed on a bottom plate at the rear part of the special carriage through a plurality of groups of bolts, the horizontal oil cylinder is used for driving the telescopic lifting frame to do horizontal motion along the fixing frame, one end of the horizontal oil cylinder is fixed on the bottom plate at the rear part of the special carriage through the oil cylinder seat, and the other end of the horizontal oil cylinder is fixed on the telescopic lifting frame;

the platform of riding on the bus includes chassis, climbing plate, deflector, preceding baffle and stop gear, the bottom plate that possesses anti-skidding function has been laid to the chassis upper surface, climbing plate is the wedge, and climbing plate fixes the afterbody at the chassis, the left and right sides at the chassis is fixed to the deflector, the front end of chassis is fixed with preceding baffle, stop gear fixes in the outside of deflector to at the platform bilateral symmetry of riding on the bus, and every side is no less than two.

As a further aspect of the present invention: the telescopic lifting frame comprises a horizontal frame, a vertical frame and a vertical oil cylinder, one end of the vertical oil cylinder is fixed on the horizontal frame, the other end of the vertical oil cylinder is fixed on the vertical frame, when the horizontal oil cylinder extends outwards, the telescopic lifting frame extends out horizontally along the fixed frame, and when the vertical oil cylinder extends outwards, the vertical frame moves downwards along a vertical track of the horizontal frame.

As a further aspect of the present invention: the platform of stepping on the bus welds in the bottom of vertical frame, the bottom of the platform of stepping on the bus flushes with the bottom of vertical frame, the platform of stepping on the bus becomes the L type with vertical frame is perpendicular.

As a further aspect of the present invention: the limiting mechanism comprises a fixing seat, a fixed pin shaft, a movable pin shaft and a turnover limiting hook, wherein two pin shaft holes are formed in the fixing seat, the upper pin shaft hole is used for installing the fixed pin shaft, and the lower pin shaft hole is used for installing the movable pin shaft.

As a further aspect of the present invention: the overturning limiting hook is provided with a long circular hole, when the movable pin is pulled out, the overturning limiting hook is used for moving up and down, when the overturning limiting hook moves to the uppermost surface, the overturning limiting hook is used for outwards overturning around the fixed pin shaft, when the overturning limiting hook moves to the lowermost surface, the overturning limiting hook is inserted into the movable pin shaft and then locked, and therefore the purpose of fixing the self-walking robot is achieved.

As a further aspect of the present invention: the guide plate inclines to two sides and is in a horn mouth shape in the up-down direction, and the tail of the guide plate inclines to two sides and is in a horn mouth shape in the front-back direction.

As a further aspect of the present invention: the height of the front baffle is higher than the radius of the walking mechanism of the self-walking robot.

Compared with the prior art, the beneficial effects of the utility model are that: whole process of boarding does not need staff's hand-eye cooperation operation, possesses the characteristics that operate steadily reliably, avoids causing the risk of overturning because of personnel's misoperation, accomplishes the fixed of walking the robot by oneself in the carriage outside simultaneously, possesses convenient and fast's characteristics.

Drawings

FIG. 1 is a schematic view of the recycling state of the present invention;

FIG. 2 is a schematic structural view of the present invention in an unfolded state;

FIG. 3 is a schematic structural view of the telescopic lifting mechanism of the present invention in an unfolded state;

FIG. 4 is a schematic three-dimensional structure diagram of the boarding platform of the present invention;

FIG. 5 is a rear projection view of the boarding platform of the present invention;

FIG. 6 is a schematic view of the open state structure of the stopper mechanism of the present invention;

FIG. 7 is a structural schematic diagram of a locking state of the motion limiting mechanism of the present invention;

fig. 8 is a schematic structural view of the turning limit hook of the present invention.

In the figure: 1-a transport vehicle; 11-a chassis; 12-special carriage; 121-special car front; 122-special rear of car; 2-a telescopic lifting mechanism; 21-a fixing frame; 211-bolt; 22-a telescopic lifting frame; 221-horizontal shelf; 222-a vertical shelf; 223-vertical oil cylinder; 23-horizontal oil cylinder; 3-boarding platform; 31-a chassis; 311-a backplane; 32-climbing plates; 33-a guide plate; 34-a front baffle; 35-a stop mechanism; 351-a fixed seat; 352-fixing the pin shaft; 353-a movable pin shaft; 354-flip limit hook; 3541-slotted holes; 4-a self-walking robot; 41-limiting hole.

Detailed Description

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, and are only for convenience of description of the present invention and simplification of the description, but not for indicating or implying that the indicated device or element must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.

Referring to fig. 1 to 5, the present embodiment provides a boarding apparatus for a self-walking robot, including a transportation vehicle 1, a telescopic lifting mechanism 2 and a boarding platform 3, where the transportation vehicle 1 includes a chassis 11 and a special carriage 12, the special carriage 12 includes a special carriage front part 121 and a special carriage rear part 122, the special carriage front part 121 is used to store tools and control systems required by the self-walking robot for operation, the telescopic lifting mechanism 2 is fixed to the special carriage rear part 122, the telescopic lifting mechanism 2 includes a fixing frame 21, a telescopic lifting frame 22, a horizontal oil cylinder 23 and an oil cylinder seat 24, the fixing frame 21 is fixed to a bottom plate of the special carriage rear part 122 through a plurality of sets of bolts 211, the horizontal oil cylinder 23 is used to drive the telescopic lifting frame 22 to move horizontally along the fixing frame 21, that is, the telescopic lifting frame 22 can move horizontally along the fixing frame 21 under the action of the horizontal oil cylinder 23, one end of the horizontal oil cylinder 23 is fixed to the bottom plate of the special carriage rear part 122 through the oil cylinder seat 24, and the other end is fixed to the telescopic lifting frame 22;

platform 3 of riding on a car includes chassis 31, climbing plate 32, deflector 33, preceding baffle 34 and limiting mechanism 35, bottom plate 311 that possesses anti-skidding function has been laid to chassis 31 upper surface, climbing plate 32 is the wedge, and climbing plate 32 fixes the afterbody at chassis 31, the left and right sides at chassis 31 is fixed to deflector 33, baffle 34 before the front end of chassis 31 is fixed, limiting mechanism 35 fixes in the outside of deflector 33 to 3 bilateral symmetry at platform of riding on a car arranges, and every side is no less than two.

Further, the guide plate 33 is inclined to both sides and is flared in the vertical direction, and the tail of the guide plate 33 is inclined to both sides and is flared in the front-rear direction.

Further, the height of the front baffle 34 is higher than the radius of the walking mechanism of the self-walking robot 4, and the two sides of the self-walking robot 4 are provided with limiting holes 41.

In this embodiment, in the initial state, the horizontal cylinder 23 and the vertical cylinder 223 are both in the contracted state, when the horizontal cylinder 23 is started to extend, the telescopic crane 22 horizontally moves outwards along the fixed frame 21, when the horizontal cylinder 23 extends to the head, the telescopic crane 22 just completely extends out of the special carriage 12, at this time, the vertical cylinder 223 starts to extend downwards, the vertical frame 222 moves downwards, when the vertical cylinder 223 extends to the head, the bottom of the vertical frame 222 just contacts the ground, and at this time, the boarding platform 3 also just contacts the ground accordingly.

Referring to fig. 1 to 3, in another embodiment of the present invention, the telescopic crane 22 includes a horizontal frame 221, a vertical frame 222 and a vertical cylinder 223, wherein the horizontal frame 221 can move horizontally along the fixed frame 21, the vertical frame 222 can move up and down along the horizontal frame 221, one end of the vertical cylinder 223 is fixed on the horizontal frame 221, and the other end of the vertical cylinder 223 is fixed on the vertical frame 222, when the horizontal cylinder 23 extends outwards, the telescopic crane 22 extends horizontally along the fixed frame 21, and when the vertical cylinder 223 extends outwards, the vertical frame 222 moves downwards along the vertical rail of the horizontal frame 221.

In this embodiment, the stroke of the horizontal cylinder 23 is such that the vertical frame 222 is completely pushed out of the special car 12, and the stroke of the vertical cylinder 223 is just enough to make the bottom of the vertical frame 222 contact the ground.

Referring to fig. 1 to 3, in another embodiment of the present invention, the boarding platform 3 is welded to the bottom of the vertical frame 222, the bottom of the boarding platform 3 is flush with the bottom of the vertical frame 222, and the boarding platform 3 and the vertical frame 222 are perpendicular to form an L-shape.

In this embodiment, the boarding platform 3 is fixed to the bottom of the vertical frame 222 by welding.

Referring to fig. 1 to 7, in another embodiment of the present invention, the stopper mechanism 35 includes a fixing base 351, a fixing pin 352, a movable pin 353 and a turning stopper hook 354, the fixing base 351 is provided with two pin holes, the upper pin hole is used for installing the fixing pin 352, and the lower pin hole is used for installing the movable pin 353.

In this embodiment, the fixing base 351 is provided with two hinge pin holes, the hinge pin hole at the upper part is used for installing the fixed hinge pin 352, and the hinge pin hole at the lower part is used for installing the movable hinge pin 353.

Referring to fig. 1 to 8, in another embodiment of the present invention, the turning limiting hook 354 is provided with a long circular hole 3541, when the movable pin 353 is pulled out, the turning limiting hook 354 is used for moving up and down, when the turning limiting hook 354 moves to the uppermost side, the turning limiting hook 354 is used for turning around the fixed pin 352 outwards, when the turning limiting hook 354 moves to the lowermost side, the turning limiting hook 354 is locked after the movable pin 353 is inserted, so as to achieve the purpose of fixing the self-propelled robot 44.

In this embodiment, the turning restricting hook 354 may move up and down when the movable pin 353 is withdrawn, and may turn outward around the fixed pin 352 when the turning restricting hook 354 is lifted to the uppermost side. At this time, the turning-over restricting hook 354 is restricted by the insertion of the movable pin 353, and cannot move to prevent the robot from colliding with the turning-over restricting hook 354 when boarding. When the turning-over restriction hook 354 falls to the lowermost side, the turning-over restriction hook 354 is locked after the movable pin 353 is inserted, thereby functioning to fix the self-propelled robot 4.

The utility model discloses during the use, under the initial condition (as shown in fig. 1), horizontal cylinder 23 and vertical cylinder 223 all are in the contraction state. Firstly, starting the horizontal oil cylinder 23 to extend the horizontal oil cylinder, enabling the telescopic lifting frame 22 to horizontally move outwards along the fixed frame 21, enabling the telescopic lifting frame 22 to just completely extend out of the special carriage 12 when the horizontal oil cylinder 23 extends to the head, enabling the vertical oil cylinder 223 to begin to extend downwards at the moment, enabling the vertical frame 222 to move downwards, enabling the bottom of the vertical frame 222 to just contact the ground when the vertical oil cylinder 223 extends to the head, and enabling the boarding platform 3 to just contact the ground at the moment;

then, the self-propelled robot 4 climbs the underframe 31 through the climbing plate 32 and smoothly aligns the direction under the action of the guide plate 33, when the walking mechanism of the self-propelled robot 4 contacts the upper front baffle 34, the limiting holes 41 at both sides of the self-propelled robot 4 are just aligned with the limiting mechanisms 35, at this time (as shown in fig. 6), the limiting hooks 354 are in an open state, at this time, the movable pin 353 is pulled out, then the limiting hooks 354 rotate around the fixed pin 352 first, then slide downwards along the fixed seat 351, at this time, the limiting hooks 354 are just clamped into the limiting holes 41 at both sides of the self-propelled robot 4, and then the movable pin 353 is reinserted into the fixed seat 351, at this time, the limiting hooks 354 cannot move under the action of the fixed seat 351, the fixed pin 352 and the movable pin 353, so that the self-propelled robot 4 is fixed on the boarding platform 3 under the action of the plurality of sets of the limiting hooks 354;

after the self-propelled robot 4 is fixed, the vertical oil cylinder 223 retracts, the self-propelled robot 4 moves upwards together with the vertical frame 222 on the boarding platform 3 under the action of oil cylinder force, the horizontal oil cylinder 23 retracts after the vertical oil cylinder 223 retracts in place, the self-propelled robot 4 retracts into a carriage, and the boarding operation process is completed after the horizontal oil cylinder 23 retracts in place.

The process of getting off is opposite to the process of getting on the bus, and the detailed description is omitted here.

To sum up, the whole process of boarding does not need staff's hand-eye cooperation operation, possesses the characteristics that operate steadily reliably, avoids causing the risk of overturning because of personnel's misoperation, accomplishes the fixed of walking the robot by oneself simultaneously in the carriage outside, possesses convenient and fast's characteristics.

It should be noted that, although the present specification describes embodiments, each embodiment does not include only a single technical solution, and such description of the specification is only for clarity, and those skilled in the art should take the specification as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art, and the above-mentioned embodiments only express the preferred embodiments of the technical solutions, and the description thereof is more specific and detailed, but should not be construed as limiting the scope of the claims of the technical solutions. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several modifications, improvements and substitutions can be made, which all fall within the protection scope of the present technical solution.

Claims

1. The self-walking robot boarding device comprises a transport vehicle (1), a telescopic lifting mechanism (2) and a boarding platform (3), and is characterized in that the transport vehicle (1) comprises a chassis (11) and a special carriage (12), the special carriage (12) is fixed with the telescopic lifting mechanism (2), the telescopic lifting mechanism (2) comprises a fixed frame (21), a telescopic lifting frame (22), a horizontal oil cylinder (23) and an oil cylinder seat (24), the fixed frame (21) is installed in the special carriage (12), one end of the horizontal oil cylinder (23) is fixed in the special carriage (12) through the oil cylinder seat (24), and the other end of the horizontal oil cylinder (23) is fixed on the telescopic lifting frame (22);

the boarding platform (3) comprises an underframe (31), a climbing plate (32), a guide plate (33), a front baffle (34) and a limiting mechanism (35), wherein the climbing plate (32) is fixed at the tail part of the underframe (31), the guide plate (33) is fixed at the left side and the right side of the underframe (31), the front end of the underframe (31) is fixed with the front baffle (34), and the limiting mechanism (35) is installed outside the guide plate (33).

2. The self-propelled robotic boarding device of claim 1, wherein the telescopic crane (22) comprises a horizontal frame (221), a vertical frame (222), and a vertical cylinder (223), one end of the vertical cylinder (223) being fixed to the horizontal frame (221) and the other end being fixed to the vertical frame (222), the telescopic crane (22) extending horizontally along the fixed frame (21) when the horizontal cylinder (23) extends outward, the vertical frame (222) moving downward along the vertical track of the horizontal frame (221) when the vertical cylinder (223) extends outward.

3. The self-propelled robotic boarding device according to claim 2, characterized in that the boarding platform (3) is welded to the bottom of the vertical frame (222), the bottom of the boarding platform (3) being flush with the bottom of the vertical frame (222), the boarding platform (3) being L-shaped perpendicular to the vertical frame (222).

4. The self-propelled robotic boarding device of claim 1, characterized in that the stop mechanism (35) comprises a fixed seat (351), a fixed pin (352), a movable pin (353) and a flip stop hook (354), wherein two pin holes are provided on the fixed seat (351), the upper pin hole is used for mounting the fixed pin (352), and the lower pin hole is used for mounting the movable pin (353).

5. The self-walking robotic boarding device according to claim 4, characterized in that the turn-over restricting hook (354) is provided with a long circular hole (3541), the turn-over restricting hook (354) is used for up-and-down movement when the movable pin (353) is withdrawn, for outward turning movement around the fixed pin (352) when the turn-over restricting hook (354) is moved to the uppermost side, and the turn-over restricting hook (354) is locked after being inserted into the movable pin (353) when the turn-over restricting hook (354) is moved to the lowermost side, thereby achieving the purpose of fixing the self-walking robot (4).

6. The self-propelled robotic boarding device according to claim 1, wherein the guide plate (33) is inclined to both sides and is bell-mouthed in the vertical direction, and the tail of the guide plate (33) is inclined to both sides and is bell-mouthed in the front-rear direction.

7. The self-walking robotic boarding device according to claim 1, characterized in that the height of the front apron (34) is higher than the walking mechanism radius of the self-walking robot (4), the stop mechanisms (35) being symmetrically arranged on both sides of the boarding platform (3) and not less than two on each side.

8. The self-propelled robotic boarding device according to claim 1, characterized in that the dedicated carriage (12) comprises a dedicated rear carriage part (122), the fixed frame (21) is fixed on the floor of the dedicated rear carriage part (122) by means of several sets of bolts (211), and the horizontal cylinder (23) is used to drive the telescopic crane (22) to move horizontally along the fixed frame (21).

9. The self-propelled robotic boarding device according to claim 1, characterized in that a bottom plate (311) is laid on the upper surface of the base frame (31), and the ramp plate (32) is wedge-shaped.