CN203318867U - Automobile transportation pallet based on mobile robot trolley - Google Patents
Automobile transportation pallet based on mobile robot trolley Download PDFInfo
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- CN203318867U CN203318867U CN2013203173075U CN201320317307U CN203318867U CN 203318867 U CN203318867 U CN 203318867U CN 2013203173075 U CN2013203173075 U CN 2013203173075U CN 201320317307 U CN201320317307 U CN 201320317307U CN 203318867 U CN203318867 U CN 203318867U
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- pallet
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Abstract
The utility model relates to an automobile transportation pallet based on a mobile robot trolley. The automobile transportation pallet is mainly characterized by comprising a pallet main body and pallet legs fixedly installed on four corners of the pallet main body, two concave wheel guiding grooves are parallelly and longitudinally formed in two sides of the upper surface of the pallet, two or more concave wheel positioning grooves are formed in each wheel guiding groove, and ejecting counter holes corresponding to a lifting device of the mobile robot trolley are formed in the lower surface of the pallet main body. The automobile transportation pallet is reasonable in design, utilizes wheel guiding grooves in the upper surface of the pallet main body, the wheel positioning grooves in the wheel guiding grooves and the ejecting counter holes in the lower surface of the pallet main body to solve the problems of double-displacement deviation and accumulated deviation of the mobile robot trolley during transportation, and accordingly, and stability of transportation of the mobile robot trolley is improved.
Description
Technical field
The utility model belongs to the AGV technical field, especially a kind of motor transportation trays of movement-based robot car.
Background technology
AGV is a kind of unpiloted automatic guide vehicle, utilizes AGV can realize the function of carrier.In Chinese patent literature " a kind of automatic parking system of movement-based robot car ", (number of patent application is 201210023657.0,) a kind of mobile robot's of utilization dolly jack-up pallet is disclosed to realize the technical scheme of transporting automobile, this mobile robot's dolly (AGV) consists of car body, the jacking system that is arranged on the universal movement mechanism of car body lower surface and is arranged on the car body upper surface, and four pallet legs of this pallet support ground and four the pallet legs height a little more than mobile robot's dolly.Its mode of operation is: first automobile is placed on automobile tray, then AGV pierces below automobile tray and opens jacking apparatus by pallet and automobile built on stilts, and last, AGV holds up automobile traveling.This mode of operation requires to solve two problems, one, how does vehicle to be transported guarantee that when opening top tray its initial position is correct? they are two years old, how does automobile guarantee not occur between pallet and automobile in transportation, the Accumulated deviation between pallet and AGV and because Accumulated deviation affects the stability of AGV transportation? traditional motor transportation trays generally is placed in freight container, just play mutual isolation and anticollision, anti-extrusion effect, therefore, traditional accumulative displacement offset issue that can not solve AGV carrier process for the pallet in freight container.
The utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, and a kind of motor transportation trays of movement-based robot car is provided, and solves stability and the offset deviation problem of vehicle in the AGV transportation.
The utility model solves its technical matters and takes following technical scheme to realize:
A kind of motor transportation trays of movement-based robot car, comprise tray main body and be packed in four jiaos of pallet legs of locating of tray main body, be shaped with the wheel guide groove of two depressions at the upper surface both sides of pallet parallel longitudinal, be shaped with the wheel alignment groove that is no less than two depressions in every wheel guide groove, the lower surface of tray main body is provided with the jacking registration holes corresponding with mobile robot's dolly jacking system.
And described pallet leg is up big and down small taper shape or rectangular pyramid shape structure, is shaped with pallet leg mounting hole in the upper end of pallet leg.
And the width of described wheel guide groove is greater than the width of wheel and the length that length equals pallet, this wheel guide groove is that trapezium structure and four limits are higher than bottom.
And the length of described wheel alignment groove is greater than the length of wheel and the width that width is greater than wheel, the wheel alignment groove be shaped as inverted trapezoidal structure wide at the top and narrow at the bottom.
And described jacking registration holes is up-narrow and down-wide trapezoidal square hole or up-narrow and down-wide taper circular hole.
Advantage of the present utility model and good effect are:
1, the utility model utilizes the jacking registration holes of wheel alignment groove in the wheel guide groove of tray main body upper surface and wheel guide groove, tray main body lower surface to efficiently solve the dibit of mobile robot's dolly in transportation and moves deviation and Accumulated deviation problem, thereby has improved the stability of mobile robot's dolly transportation.
2, the utility model is trapezium structure by wheel guide groove, wheel alignment groove, jacking registration holes, has solved to a certain extent the guiding problem to automotive wheel and lifting body, has further strengthened the stability in mobile robot's dolly transportation.
The accompanying drawing explanation
Fig. 1 is birds-eye view of the present utility model;
The upward view that Fig. 2 is Fig. 1;
The A-A that Fig. 3 is Fig. 1 is to cutaway view;
The B-B that Fig. 4 is Fig. 1 is to cutaway view;
The enlarged view that Fig. 5 is the jacking registration holes;
Fig. 6 is application view of the present utility model;
Wherein: the 1-tray main body; 2-wheel guide groove; 3-wheel alignment groove; 4-pallet leg mounting hole; 5-jacking registration holes; 6-pallet leg; The 7-jacking system; 8-mobile robot dolly.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is further described.
A kind of motor transportation trays of movement-based robot car, as shown in Figures 1 to 5, comprise tray main body 1 and be packed in four jiaos of pallet legs 6 of locating of tray main body, the described pallet leg that is packed in four jiaos of places of tray main body, the shape of pallet leg is up big and down small (taper shape or rectangular pyramid shape), the upper end of leg is hollow formation pallet leg mounting hole 4, utilizes pallet leg mounting hole a plurality of motor transportation trays that leave unused can be stacked together, and to reduce the occupation of land space, is convenient to the stacked of pallet.In the present embodiment, the length of tray main body is 4.8 meters, and width is 2.1 meters.Be shaped with the wheel guide groove 2 of two depressions at the upper surface both sides of pallet parallel longitudinal, the width of wheel guide groove is about 62.5 centimetres, the width of wheel guide groove is greater than the width of wheel and the length that length equals pallet, the wheel guide groove is trapezium structure, four limits, higher than bottom, can be played and hinder the effect that wheel crosses the border, when wheel alignment slightly has error, can naturally proofread and correct by the slope of wheel guide groove, enter trapezoidal bottom.Be shaped with the wheel alignment groove 3 that is no less than two depressions in every wheel guide groove, its length is 100 centimetres, width is 55 centimetres, the length of each wheel alignment groove is greater than the length of wheel and the width that width is greater than wheel, the wheel alignment groove be shaped as inverted trapezoidal structure wide at the top and narrow at the bottom, the wheel alignment groove betransported process for automobile increases friction force, prevent the displacement between automobile and pallet, when wheel alignment slightly has error, can naturally proofread and correct by the slope of positioning groove, enter trapezoidal bottom.The lower surface of tray main body is provided with the jacking registration holes 5 corresponding with mobile robot's dolly jacking system, this jacking knock hole is up-narrow and down-wide trapezoidal square hole and up-narrow and down-wide taper borehole structure, end opening is wide 9 centimetres, suitable for reading wide 6 centimetres, interior dark 1.5 centimetres, this knock hole is for controlling the relativity shift that the Automobile Transportation process is moved between robot and pallet, the mobile robot can fall in the allowed band of registration holes in the time of can guaranteeing lifting body work by self permissible error, when error slightly, can be proofreaied and correct by the directional tagging on trapezoidal slope, thereby realize the accurate contraposition in mechanism and pallet hole.
When automobile sails motor transportation trays into, as shown in Figure 6, mobile robot's dolly 8 sails the motor transportation trays bottom into, the jacking registration holes that the jacking system 7 of mobile robot's dolly is aimed at the motor transportation trays bottom, mobile robot's dolly is controlled the rear jack-up motor transportation trays of jacking system rising, make four pallet leg built on stilts of motor transportation trays, now mobile robot's dolly start movement can be by car carrying to the position of appointment.
It is emphasized that; embodiment described in the utility model is illustrative; rather than determinate; therefore the utility model comprises and is not limited to the embodiment described in the specific embodiment; every other embodiments that drawn according to the technical solution of the utility model by those skilled in the art, belong to the scope that the utility model is protected equally.
Claims (5)
1. the motor transportation trays of a movement-based robot car, it is characterized in that: comprise tray main body and be packed in four jiaos of pallet legs of locating of tray main body, be shaped with the wheel guide groove of two depressions at the upper surface both sides of pallet parallel longitudinal, be shaped with the wheel alignment groove that is no less than two depressions in every wheel guide groove, the lower surface of tray main body is provided with the jacking registration holes corresponding with mobile robot's dolly jacking system.
2. the motor transportation trays of a kind of movement-based robot car according to claim 1, it is characterized in that: described pallet leg is up big and down small taper shape or rectangular pyramid shape structure, is shaped with pallet leg mounting hole in the upper end of pallet leg.
3. the motor transportation trays of movement-based robot car according to claim 1, it is characterized in that: the width of described wheel guide groove is greater than the width of wheel and the length that length equals pallet, and this wheel guide groove is that trapezium structure and four limits are higher than bottom.
4. the motor transportation trays of movement-based robot car according to claim 1, it is characterized in that: the length of described wheel alignment groove is greater than the length of wheel and the width that width is greater than wheel, the wheel alignment groove be shaped as inverted trapezoidal structure wide at the top and narrow at the bottom.
5. the motor transportation trays of movement-based robot car according to claim 1, it is characterized in that: described jacking registration holes is up-narrow and down-wide trapezoidal square hole or up-narrow and down-wide taper circular hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203173075U CN203318867U (en) | 2013-06-04 | 2013-06-04 | Automobile transportation pallet based on mobile robot trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203173075U CN203318867U (en) | 2013-06-04 | 2013-06-04 | Automobile transportation pallet based on mobile robot trolley |
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| Publication Number | Publication Date |
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| CN203318867U true CN203318867U (en) | 2013-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013203173075U Expired - Fee Related CN203318867U (en) | 2013-06-04 | 2013-06-04 | Automobile transportation pallet based on mobile robot trolley |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104276321A (en) * | 2014-06-18 | 2015-01-14 | 深圳市宏钺智能科技有限公司 | Bin and automated guided vehicle system |
| CN107472786A (en) * | 2017-08-08 | 2017-12-15 | 深圳普智联科机器人技术有限公司 | A kind of double-deck AGV cars and its driving method and robot transportation system |
| CN110847669A (en) * | 2019-11-22 | 2020-02-28 | 深圳市擎天达科技有限公司 | Stereo garage automobile carrier |
| CN111252163A (en) * | 2020-01-22 | 2020-06-09 | 同济大学 | AGV carrying device and method |
| CN112810947A (en) * | 2020-12-24 | 2021-05-18 | 苏州中车轨道交通车辆有限公司 | Rubber tyer low floor automobile body supports transports integrated device |
| CN114179882A (en) * | 2021-11-04 | 2022-03-15 | 深圳优地科技有限公司 | Mobile robot, mobile vehicle body and transfer support |
-
2013
- 2013-06-04 CN CN2013203173075U patent/CN203318867U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104276321A (en) * | 2014-06-18 | 2015-01-14 | 深圳市宏钺智能科技有限公司 | Bin and automated guided vehicle system |
| CN107472786A (en) * | 2017-08-08 | 2017-12-15 | 深圳普智联科机器人技术有限公司 | A kind of double-deck AGV cars and its driving method and robot transportation system |
| CN107472786B (en) * | 2017-08-08 | 2019-01-18 | 深圳普智联科机器人技术有限公司 | A kind of bilayer AGV vehicle and its driving method and robot transportation system |
| CN110847669A (en) * | 2019-11-22 | 2020-02-28 | 深圳市擎天达科技有限公司 | Stereo garage automobile carrier |
| CN111252163A (en) * | 2020-01-22 | 2020-06-09 | 同济大学 | AGV carrying device and method |
| CN112810947A (en) * | 2020-12-24 | 2021-05-18 | 苏州中车轨道交通车辆有限公司 | Rubber tyer low floor automobile body supports transports integrated device |
| CN114179882A (en) * | 2021-11-04 | 2022-03-15 | 深圳优地科技有限公司 | Mobile robot, mobile vehicle body and transfer support |
| CN114179882B (en) * | 2021-11-04 | 2024-03-26 | 深圳优地科技有限公司 | Mobile robot, mobile car body and transfer support |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180831 Address after: 518000 room 503, block A, sang Tai Building, Xili University, Xili street, Shenzhen, Guangdong, Nanshan District Patentee after: SHENZHEN PUZHI LIANKE ROBOT TECHNOLOGY CO., LTD. Address before: 214135 4 building, block A, whale block, Wuxi (country) software park, No. 18, Zhen Ze Road, Wuxi New District, Wuxi, Jiangsu. Patentee before: Wuxi Puzhilianke High-tech Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131204 Termination date: 20190604 |