CN208469987U - Truck transportation robot - Google Patents
Truck transportation robot Download PDFInfo
- Publication number
- CN208469987U CN208469987U CN201820133527.5U CN201820133527U CN208469987U CN 208469987 U CN208469987 U CN 208469987U CN 201820133527 U CN201820133527 U CN 201820133527U CN 208469987 U CN208469987 U CN 208469987U
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- China
- Prior art keywords
- frame body
- truck
- blocking portion
- latch hook
- motor dolly
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Abstract
The utility model belongs to robotic technology field, it is related to a kind of truck transportation robot, including a matched motor dolly and multiple trucks, the motor dolly includes latch hook device, the lower blocking portion positioned at top surface front, omnidirectional's wheel assembly positioned at bottom surface and the lower laser radar inductor positioned at front in the middle part of top surface；The truck includes hollow frame body, the desktop above the frame body, several movable pulleys below the frame body and is fixed on the desktop bottom and the upper blocking portion with the lower blocking portion cooperation, the bottom of the desktop is equipped with the locked groove fixed for the latch hook device, the motor dolly is contained in the middle vacancy of the frame body, and the frame body keeps away the detection zone of laser radar inductor under position.Robot can carry multiple trucks by a motor dolly, and the two is fixed as one by latch hook device, using freedom degree height, be applicable to a variety of occasions such as factory, hospital, service area.
Description
Technical field
The utility model relates to robotic technology field, in particular to a kind of truck transportation machines high using freedom degree
People.
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, 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 truck transportation robot high using freedom degree.
The utility model is achieved through the following technical solutions above-mentioned purpose: a kind of truck transportation robot, including matched
One motor dolly and multiple trucks, the motor dolly include before being located at the latch hook device in the middle part of top surface, being located at top surface
The lower blocking portion in portion, omnidirectional's wheel assembly positioned at bottom surface and the lower laser radar inductor positioned at front；The truck includes
Hollow frame body, the desktop above the frame body, several movable pulleys below the frame body and it is fixed on the table
Face bottom and the upper blocking portion cooperated with the lower blocking portion, the bottom of the desktop are equipped with the lock fixed for the latch hook device
Slot, the motor dolly are contained in the middle vacancy of the frame body, and the frame body keeps away the detection zone of laser radar inductor under position.
Specifically, the lower blocking portion includes that convex V-type stops body, the upper blocking portion includes stopping body with the convex V-type
Matched recessed V-type stops body；When convex V-type stops body to stop body to be close to recessed V-type, locked groove can be caught on and be made certainly by latch hook device
Dynamic transport vehicle is fixed with truck.
Specifically, being respectively fixed on two columns on rear side of the frame body contour with the lower laser radar inductor
Sensing chip.
Specifically, the bottom of the frame body is equipped with brake gear.
Compared with prior art, the beneficial effect of this truck transportation robot is:
Robot can carry multiple trucks by a motor dolly, and the two is fixed as one by latch hook device
Body is applicable to a variety of occasions such as factory, hospital, service area using freedom degree height.
Detailed description of the invention
Fig. 1 is the perspective view of embodiment 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 truck transportation robot, including a matched automatic transportation
Vehicle 1 and multiple trucks 2, motor dolly 1 include the latch hook device 11 in the middle part of top surface, the lower blocking portion positioned at top surface front
12, omnidirectional's wheel assembly 13 positioned at bottom surface and the lower laser radar inductor 14 positioned at front；Truck 2 includes hollow frame body
21, the desktop 22 above frame body 21, positioned at the lower section of frame body 21 several movable pulleys 23 and be fixed on 22 bottom of desktop and with
The upper blocking portion 24 that lower blocking portion 12 cooperates, the bottom of desktop 22 are equipped with the locked groove 221 fixed for latch hook device 11, automatic transportation
Vehicle 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 includes convex
V-type stops body 121 and stops the upper laser radar inductor 122 of 121 inside of body positioned at convex V-type, and upper blocking portion 24 includes and convex V
Type stops the matched recessed V-type of body 121 to stop body 241, and upper laser radar inductor 122 is used to incude recessed V-type and stops body 241；When
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 make motor dolly 1 by latch hook device 11
It is fixed with truck 2.Motor dolly 1 with truck 2 be it is separable, motor dolly 1 truck 2 is transported in place after just
Can transport other park in truck 2.Motor dolly 1 carries out Multidirectional-moving by omnidirectional's wheel assembly 13, lower to swash
Optical radar inductor 14 perceives the barrier of surrounding to adjust advance posture.Before motor dolly 1 and truck 2 cooperate, lock
In 11 retraction motor dolly 1 of hook device, motor dolly 1 enters the lower section of frame body 21 from the rear of truck 2, at this time upper laser
Radar inductor 122 can incude recessed V-type and stop the position of body 241, and allow convex V-type that body 121 and recessed V-type is stopped to stop body 241 certainly
Dynamic to be aligned, then latch hook device 11 can catch on locked groove 211, and under cooperating at two, motor dolly 1 and truck 2 are just
The entirety that can be moved together can be linked to be, can thus be used to carry the cargo prevented on truck 2, robot uses certainly
It is high by degree, it 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 (4)
1. a kind of truck transportation robot, it is characterised in that: including a matched motor dolly and multiple trucks, it is described from
Dynamic transport vehicle includes latch hook device in the middle part of the top surface, the lower blocking portion positioned at top surface front, omnidirectional's wheel positioned at bottom surface
Device and lower laser radar inductor positioned at front；The truck includes hollow frame body, the table above the frame body
Face, several movable pulleys below the frame body and the upper resistance being fixed on the desktop bottom and cooperating with the lower blocking portion
Stopper, the bottom of the desktop are equipped with the locked groove fixed for the latch hook device, and the motor dolly is contained in the frame body
Middle vacancy, the frame body keeps away the detection zone of laser radar inductor under position.
2. truck transportation robot according to claim 1, it is characterised in that: the lower blocking portion includes that convex V-type stops
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 to hinder
When block body is close to, locked groove can be caught on and fix motor dolly with truck by latch hook device.
3. truck transportation robot according to claim 1, it is characterised in that: divide on two columns on rear side of the frame body
It is not fixed with the sensing chip contour with the lower laser radar inductor.
4. truck transportation robot according to claim 1, it is characterised in that: the bottom of the frame body is equipped with brake dress
It sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820133527.5U CN208469987U (en) | 2018-01-26 | 2018-01-26 | Truck transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820133527.5U CN208469987U (en) | 2018-01-26 | 2018-01-26 | Truck transportation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208469987U true CN208469987U (en) | 2019-02-05 |
Family
ID=65203725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820133527.5U Active CN208469987U (en) | 2018-01-26 | 2018-01-26 | Truck transportation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208469987U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108263511A (en) * | 2018-01-26 | 2018-07-10 | 苏州博众机器人有限公司 | Truck transportation robot |
| CN108357477A (en) * | 2018-01-26 | 2018-08-03 | 苏州博众机器人有限公司 | All-terrain brake truck transportation robot |
| CN108357477B (en) * | 2018-01-26 | 2024-07-19 | 苏州博众智能机器人有限公司 | Full road surface brake skip car transportation robot |
-
2018
- 2018-01-26 CN CN201820133527.5U patent/CN208469987U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108263511A (en) * | 2018-01-26 | 2018-07-10 | 苏州博众机器人有限公司 | Truck transportation robot |
| CN108357477A (en) * | 2018-01-26 | 2018-08-03 | 苏州博众机器人有限公司 | All-terrain brake truck transportation robot |
| CN108357477B (en) * | 2018-01-26 | 2024-07-19 | 苏州博众智能机器人有限公司 | Full road surface brake skip car transportation robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215000 standard plant 7, Dongyun Science Park, No. 558, Huxi Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Patentee after: Suzhou Bozhong intelligent robot Co.,Ltd. Address before: 215000 standard plant 7, Dongyun Science Park, No. 558, Huxi Road, Wujiang Economic and Technological Development Zone, Suzhou, Jiangsu Province Patentee before: SUZHOU BOZHONG ROBOT Co.,Ltd. |