CN211731637U - Traction type trolley, mobile robot and connection traction system - Google Patents
Traction type trolley, mobile robot and connection traction system Download PDFInfo
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- CN211731637U CN211731637U CN202020188181.6U CN202020188181U CN211731637U CN 211731637 U CN211731637 U CN 211731637U CN 202020188181 U CN202020188181 U CN 202020188181U CN 211731637 U CN211731637 U CN 211731637U
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- 238000003032 molecular docking Methods 0.000 claims description 22
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Abstract
The application provides a towed platform truck, mobile robot and traction system of plugging into. The connection traction system comprises a traction trolley and a mobile robot. The pull-type cart includes: put thing platform, support frame and wheel, be provided with the buckle atress board at the downside of putting the thing platform, after mobile robot moved the below of putting the thing platform, mobile robot's buckle block in buckle atress board, drive towed platform truck through mobile robot's removal and remove, be provided with the triangle bearing at the downside of buckle atress board, be provided with the triangle locating plate in the position that the rear side of support frame is close to the below. The mobile robot includes: a body; a trolley locking traction part arranged on the upper side of the body; the triangular guide traction bracket is arranged on the upper side of the body and is positioned behind the trolley locking traction part; the detection sensor is arranged at the rear side of the triangular guide traction bracket; and a laser sensor arranged in front of the body. Therefore, the mobile robot can be connected with the trolley to finish the goods transportation when needed.
Description
Technical Field
The application relates to the field of mobile robots, in particular to a traction type trolley, a mobile robot and a connection traction system.
Background
At present, in the process of putting electronic products in and out of a warehouse, it is desired to carry out unmanned conveyance by a robot. One of the transportation methods is a carriage towing method in which a carriage is fixed to a robot and towed. However, in this type of conveyance system, the number of carriages is limited to the number of robots, and it cannot be applied to an automatic conveyance scenario in which goods are circulated using carriages. The other type of carrying mode is magnetic stripe positioning, namely, a magnetic stripe is arranged at a connection point, and a trolley is positioned by identifying the magnetic stripe through a robot. However, in this conveyance system, the placement position of the carriage is required to be very accurate, and the implementation and maintenance are difficult. In another transportation method, laser sensor positioning is performed, that is, a laser sensor provided in a robot assists positioning of a carriage. However, this transportation method requires an additional laser sensor to position the carriage, which is costly.
It should be noted that the above background description is only for the convenience of clear and complete description of the technical solutions of the present application and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the present application.
SUMMERY OF THE UTILITY MODEL
To solve one of the problems identified by the background art or to solve other similar problems, embodiments of the present application provide a traction-type cart, a mobile robot, and a docking traction system.
According to an aspect of an embodiment of the present application, there is provided a traction-type cart including: a placing table, a supporting frame which supports the placing table and is positioned below the placing table, and wheels which are connected with the supporting frame below the supporting frame, wherein,
a buckle stress plate is arranged on the lower side of the object placing table, after the mobile robot moves to the position below the object placing table, a buckle of the mobile robot is buckled with the buckle stress plate, and the pull-type trolley is driven to move through the movement of the mobile robot;
a triangular bearing seat which leads the traction type trolley and the mobile robot to be mutually guided is arranged at the lower side of the buckle stress plate;
and a triangular positioning plate for positioning the traction type trolley by the mobile robot is arranged at the position, close to the lower part, of the rear side of the support frame.
According to another aspect of the embodiments of the present application, there is provided a mobile robot for performing a docking traction on a tractor-type trolley, wherein the mobile robot includes:
a body;
a trolley locking traction part arranged on the upper side of the body;
the triangular guide traction bracket is arranged on the upper side of the body and is positioned behind the trolley locking traction part; and
and the laser sensor is arranged in front of the body and used for navigation and triangulation positioning.
In some embodiments, the trolley lock traction portion comprises:
at least one buckle;
the buckle push-pull mechanism is positioned on one side of the at least one buckle and pushes and pulls the at least one buckle, so that the at least one buckle moves forwards and backwards relative to the triangular guide traction bracket; and
and the buckle locking block is positioned on the other side of the at least one buckle and locks the at least one buckle after the at least one buckle is clamped on a buckle stress plate of the traction type trolley.
In some embodiments, the number of the clasps is 2, and two clasps are symmetrically arranged in the left-right direction.
In some embodiments, the mobile robot further comprises:
the detection sensor is arranged on the rear side of the triangular guide traction support and is used for detecting whether the traction type trolley is connected in place or not by the mobile robot.
In some embodiments, the number of the detection sensors is 2, and two detection sensors are symmetrically arranged on two symmetrical sides of the triangular guide traction support.
In some embodiments, the number of the detection sensors is 1, and the detection sensors are disposed at the vertexes corresponding to the bottom edges of the triangular guiding traction support.
According to another aspect of embodiments of the present application, there is provided a docking traction system including a traction trolley and a mobile robot, wherein,
the pull-type cart includes: the mobile robot comprises an object placing table, a support frame and wheels, wherein the support frame supports the object placing table and is positioned below the object placing table, the wheels are connected to the support frame below the support frame, a buckle stress plate is arranged below the object placing table, after the mobile robot moves to the position below the object placing table, a buckle of the mobile robot is buckled on the buckle stress plate, and the traction type trolley is driven to move through the movement of the mobile robot; a triangular bearing seat which leads the traction type trolley and the mobile robot to be mutually guided is arranged at the lower side of the buckle stress plate; a triangular positioning plate which enables the mobile robot to position the traction type trolley is arranged at a position close to the lower part of the rear side of the support frame;
the mobile robot includes: a body; a trolley locking traction part arranged on the upper side of the body; the triangular guide traction bracket is arranged on the upper side of the body and is positioned behind the trolley locking traction part; and the laser sensor is arranged in front of the body and used for navigation and triangulation.
In some embodiments, the trolley lock traction portion comprises:
at least one buckle;
the buckle push-pull mechanism is positioned on one side of the at least one buckle and pushes and pulls the at least one buckle, so that the at least one buckle moves forwards and backwards relative to the triangular guide traction bracket; and
and the buckle locking block is positioned on the other side of the at least one buckle and locks the at least one buckle after the at least one buckle is clamped on a buckle stress plate of the traction type trolley.
In some embodiments, the number of the clasps is 2, and two clasps are symmetrically arranged in the left-right direction.
In some embodiments, the mobile robot further comprises:
the detection sensor is arranged on the rear side of the triangular guide traction support and used for the mobile robot to detect whether the traction type trolley is connected in place or not.
In some embodiments, the number of the detection sensors is 2, and two detection sensors are symmetrically arranged on two symmetrical sides of the triangular guide traction support.
In some embodiments, the number of the detection sensors is 1, and the detection sensors are disposed at the vertexes corresponding to the bottom edges of the triangular guiding traction support.
One of the beneficial effects of the embodiment of the application lies in: according to this application embodiment, can fix a position the platform truck through the laser triangulation locating machine, implement the connection and the unblock between robot and the platform truck through platform truck locking traction part, from this, mobile robot can accomplish the goods and transport with the platform truck connection when needing, and at other moments, the platform truck can be used by independent for robot and platform truck complete decoupling. Therefore, the use scene that the trolley is independently used for loading and unloading goods can be met, the number of the robots is determined only according to the carrying task amount, the number of the robots is reduced compared with the prior art, and the cost is reduced. Compared with the prior art, the technical scheme of the invention provides a low-precision-requirement connection scheme of the robot and the trolley, and the redundancy of the precision of the placement position of the trolley is high by utilizing the triangular positioning function of the robot and the guiding interaction between the triangular guide traction bracket and the triangular bearing seat on the trolley; meanwhile, the laser sensor originally arranged on the robot is utilized to position the trolley, so that the modification cost of the robot is reduced.
Specific embodiments of the present application are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the present application are not so limited in scope. The embodiments of the application include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the application, are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic view of a docking traction system in accordance with an embodiment of the present application;
FIG. 2 is a left side view of a docking traction system of an embodiment of the present application;
FIG. 3 is a front view of a docking traction system of an embodiment of the present application;
FIG. 4 is a top view of a docking traction system of an embodiment of the present application;
FIG. 5 is a left partial view of the circled portion of FIG. 4;
FIG. 6 is a schematic view of a pull-type cart according to an embodiment of the present application;
FIG. 7 is a front view of a pull-type cart according to an embodiment of the present application;
FIG. 8 is a left side view of a pull-type cart of an embodiment of the present application;
FIG. 9 is a top view of a pull-type cart according to an embodiment of the present application;
FIG. 10 is a schematic view of a pull-type cart according to an embodiment of the present application from another angle;
FIG. 11 is a schematic view of a mobile robot of an embodiment of the present application;
fig. 12 is a partially enlarged schematic view of a mobile robot according to an embodiment of the present application;
fig. 13 is a plan view of a mobile robot according to an embodiment of the present application;
fig. 14 is a rear view of the mobile robot of the embodiment of the present application;
FIG. 15 is a schematic view of the buckle in a locked state;
FIG. 16 is a schematic view of the catch in an unlocked state.
Detailed Description
The foregoing and other features of the present application will become apparent from the following description, taken in conjunction with the accompanying drawings. In the description and drawings, particular embodiments of the application are disclosed in detail as being indicative of some of the embodiments in which the principles of the application may be employed, it being understood that the application is not limited to the described embodiments, but, on the contrary, is intended to cover all modifications, variations, and equivalents falling within the scope of the appended claims.
In the embodiments of the present application, the terms "comprises," "comprising," "includes," "including," "has," "having," and the like, refer to the presence of stated features, elements, components, but do not preclude the presence or addition of one or more other features, elements, components, or groups thereof. In the embodiments of the present application, the singular forms "a", "an", and the like include the plural forms and are to be construed broadly as "a" or "an" and not limited to the meaning of "a" or "an"; furthermore, the term "comprising" should be understood to include both the singular and the plural, unless the context clearly dictates otherwise.
In the embodiment of the present invention, unless otherwise specified, for convenience of description, a direction in which the mobile robot faces when in use is referred to as a front direction or a front side, a direction in which the mobile robot faces when in use is referred to as a rear direction or a rear side, a direction in which the mobile robot approaches the ground is referred to as a lower direction or a lower side, and a direction in which the mobile robot moves away from the ground is referred to as an upper direction or an upper side.
Various embodiments of the present application will be described below with reference to the drawings. These embodiments are merely exemplary and are not intended to limit the embodiments of the present application.
Embodiments of the first aspect
Embodiments of a first aspect of the present application provide a docking traction system.
Fig. 1 is a schematic view of a docking traction system according to an embodiment of the present application, fig. 2 is a left side view of the docking traction system, fig. 3 is a front view of the docking traction system, fig. 4 is a top view of the docking traction system, and fig. 5 is a left side partial view of the circled portion of fig. 4.
As shown in fig. 1 to 4, the docking traction system of the embodiment of the present application includes a traction-type carriage 10 and a mobile robot 20.
Fig. 6 is a schematic view of the pull cart 10, fig. 7 is a front view of the pull cart 10, fig. 8 is a left side view of the pull cart, fig. 9 is a plan view of the pull cart (with the placement table 11 hidden), and fig. 10 is a schematic view of the pull cart 10 viewed from another angle.
As shown in fig. 6 to 10, the traction type carriage 10 includes: the article placing table 11, a support frame 12 supporting the article placing table 11 and located below the article placing table 11, and wheels 13 connected to the support frame 12 below the support frame 12.
In the embodiment of the present invention, as shown in fig. 6 to 10, a buckle stress plate 111 is provided at the lower side of the object placing table 11, and after the mobile robot 20 moves below the object placing table 10, a buckle 221 (see fig. 5 in detail) of the mobile robot 20 is engaged with the buckle stress plate 111, and the traction type cart 10 is moved by the movement of the mobile robot 20; a triangular support base 112 for guiding the traction type cart 10 and the mobile robot 20 to each other is provided below the buckle force-receiving plate 111; a triangular positioning plate 113 for positioning the mobile robot 20 with respect to the traction carriage 10 is provided at a position near the lower portion on the rear side of the support frame 12.
In the embodiment of the present application, for convenience of description, in fig. 6 to 10, only one reference numeral is used for illustration of the support frame 12 and the wheel 13, and the present application does not limit the specific structure and form of the support frame 12 and the wheel 13.
In the embodiment of the present application, the structure and the form of the buckle force-bearing plate 111 are not limited, and the buckle force-bearing plate 111 only needs to be designed to satisfy the following conditions: when the mobile robot 20 and the pull-type cart 10 are docked, the buckle 221 can be engaged with the buckle force receiving plate 111, and when the mobile robot 20 and the pull-type cart 10 are decoupled, the buckle 221 can be undocked from the buckle force receiving plate 111.
In the present embodiment, when the mobile robot 20 brakes or turns, the triangular support base 112 is forced to brake the pull-type dolly 10 or turn with the mobile robot 20.
In the embodiment of the present application, the triangulation locating plate 113 is an implementation component of triangulation locating technology, and with regard to a specific implementation manner of the triangulation locating technology, reference may be made to related technologies, and a function of implementing triangulation locating by using triangulation locating technology is also referred to as a laser triangulation locating function. The specific implementation manner of the triangular positioning plate 113 based on the triangular positioning technology is not limited in the present application.
In the present embodiment, the pull cart 10 may be a material cart, a trolley, or the like, but the present invention is not limited thereto.
Fig. 11 is a schematic view of the mobile robot 20, fig. 12 is a partially enlarged schematic view of the mobile robot 20, fig. 13 is a plan view of the mobile robot 20, and fig. 14 is a rear view of the mobile robot 20.
As shown in fig. 11 to 14, the mobile robot 20 includes: a body 21; a trolley locking traction part 22 arranged on the upper side of the body 21; a triangular guide traction bracket 23 which is arranged on the upper side of the body 21 and is positioned behind the trolley locking traction part 22; and a laser sensor 25 for navigation and triangulation disposed in front of the body 21.
In the embodiment of the present application, the body 21 includes conventional components of the mobile robot 20 such as a processor, and reference may be made to the related art, which is not limited in the present application.
In the embodiment of the present application, the trolley locking traction part 22 is used for connecting and decoupling with the traction type trolley 10, and the present application does not limit the specific implementation manner thereof.
In some embodiments, as shown in fig. 11-14, the trolley lock traction portion 22 includes: at least one catch 221; a buckle pushing and pulling mechanism 222 located on one side of the at least one buckle 221 (for example, the left side of the mobile robot 20, the lower side of the at least one buckle 221 shown in fig. 13) for pushing and pulling the at least one buckle 221 so that the at least one buckle 221 moves forward and backward with respect to the triangular guide traction bracket 23; and a buckle locking block 223 which is located on the other side of the at least one buckle 221 (for example, the right side of the mobile robot 20, and the upper side of the at least one buckle 221 shown in fig. 13), and locks the at least one buckle 221 after the at least one buckle 221 is engaged with the buckle force receiving plate 111 of the pull-type cart 10.
Fig. 15 is a schematic view of the catch 221 in a locked state, and fig. 16 is a schematic view of the catch 221 in an unlocked state. As shown in fig. 15 and 16, in the locked state, the catch 221 is located away from the triangular guide pulling bracket 23, and in the unlocked state, the catch 221 is located close to the triangular guide pulling bracket 23. With the buckle 221 in the locked state, the mobile robot 20 is docked with the pull cart 10. When the buckle 221 is in the unlocked state, the mobile robot 20 is decoupled from the pull-type cart 10, the pull-type cart 10 can be used independently, and the mobile robot 20 can perform other handling work of the pull-type cart 10. When the mobile robot 20 is required to transport the goods, the mobile robot 20 may automatically connect to the trailed carriage 10 to transport the goods. Therefore, the number of the pull-type trolleys 10 is not limited by the number of the mobile robots 20, so that the automatic conveying requirement of the warehouse is met, and the cost is saved.
In the embodiment of the present application, the number of the snaps 221 is not limited, for example, the number of the snaps may be 2 as shown in fig. 12, and two snaps 221 may be symmetrically disposed in the left-right direction. This makes it possible to more stably connect the mobile robot 20 to the pull cart 10. Here, the "left-right direction" refers to a left-right direction when the mobile robot 20 is viewed from the front of the mobile robot 20, that is, the left-right direction shown in fig. 3.
In the embodiment of the present application, the guiding triangle bracket 23 is also an implementation component of the triangulation technique, and as to the specific implementation manner of the triangulation technique, reference may be made to the related art, and the present application does not limit the specific implementation manner of the guiding triangle bracket 23 based on the triangulation technique.
In the embodiment of the present application, as shown in fig. 11 to 14, the mobile robot 20 may further include at least one detecting sensor 24, where the at least one detecting sensor 24 is disposed at the rear side of the triangular guiding towing bracket 23, and is used for the mobile robot 20 to detect whether the towing trolley 10 is docked in place.
In the embodiment of the present application, the number of detection sensors 24 is not limited, for example, the number of detection sensors 24 may be 2 as shown in fig. 14, and two detection sensors 24 may be symmetrically disposed on two symmetrical sides (isosceles triangle waist) of the triangular guide traction frame 23. For another example, the number of the sensing sensors 24 may be 1, and the sensing sensors 24 are disposed at the vertexes corresponding to the bottom side of the triangular guide traction frame 23. By providing the detection sensor 24, it is possible to determine whether the mobile robot 20 and the pull-type cart 10 are properly connected.
In the embodiment of the present application, the implementation of the detection sensor 24 and the laser sensor 25 is not limited, and the detection accuracy is not particularly required, thereby reducing the cost.
In the embodiment of the present application, the mobile robot 20 may be used for an Automatic Guided Vehicle (AGV), an automatic guided vehicle (AIV), an autonomous unmanned vehicle (auv), and the application range thereof is not limited.
The docking traction system of the embodiment of the present application will be described below with reference to an automatic docking process and an automatic unlocking process.
In the automatic docking process, first, the mobile robot 20 moves to a designated place, and searches for the triangular positioning plate 113 of the traction-type carriage 10; then, by recognizing the triangular positioning plate 113, the mobile robot 20 moves to a position suitable for docking (facing the traction carriage 10); then, the mobile robot 20 rotates 180 ° and pours into the lower part of the pull-type dolly 10 (back-to-back dolly); then, the mobile robot 20 and the traction type trolley 10 approach to a docked relative position through the guiding of the triangular guide traction bracket 23 on the mobile robot 20 and the triangular bearing seat 112 under the traction type trolley 10; then, the catch 221 of the carriage lock traction unit 22 on the mobile robot 20 catches the catch force receiving plate 111 of the carriage 10, and the mobile robot 20 and the traction carriage 10 are locked. For example, when the push-pull mechanism 222 pushes the catch 221 to move to the locking position, the catch 221 is locked by the catch lock block 223, and the catch 221 locks the catch force-receiving plate 111.
In the automatic unlocking process, first, at the unlocking point, the buckle 221 of the trolley locking traction part 22 on the mobile robot 20 moves to the unlocking state and is unlocked with the traction type trolley 10, for example, the buckle 221 is pulled by the aforementioned push-pull mechanism 222 to move to the unlocking position, and the buckle 221 is unlocked with the traction type trolley 10; then, the mobile robot 20 is pulled out from below the tractor-trailer 10.
In the embodiment of the present application, since the positioning feature (the triangular positioning plate 113) is provided on the pull carriage 10, even if the position where the pull carriage 10 is placed deviates from the position taught by the mobile robot 20, the mobile robot 20 can correctly recognize the pull carriage 10 and perform docking.
According to the embodiment of the application, the traction type trolley can be positioned through the laser triangulation positioning machine, the connection and unlocking between the mobile robot and the traction type trolley are implemented, therefore, the mobile robot can be connected with the traction type trolley to finish goods carrying when needed, and at other moments, the traction type trolley can be used independently, so that the mobile robot and the traction type trolley are completely decoupled.
In addition, according to the embodiment of the application, the mobile robot can conduct autonomous navigation and autonomously interface with the traction type trolley. Compared with the scheme that the traction type trolley is fixed on the robot, the method and the device solve the problem that the mobile robot cannot be automatically connected with and separated from the traction type trolley, and the goods similar to warehouses are conveyed through an unmanned conveying scheme of the mobile trolley; compared with the scheme of realizing automatic connection by a magnetic stripe positioning movable trolley, the method and the device solve the problem that a connection point needs to deploy a magnetic stripe and an auxiliary positioning facility, and save manpower and material resources; for the scheme through using supplementary laser sensor location movable type platform truck, this application need not to use supplementary laser sensor can fix a position the platform truck, has reduced the realization cost.
In addition, according to the embodiment of the application, compared with the prior art, the technical scheme of the invention provides a connection scheme of a robot and a trolley with low precision requirement, and the redundancy of the precision of the placement position of the trolley is high by utilizing the triangulation function of the robot and the guiding interaction between the triangular guiding traction bracket and the triangular bearing seat on the trolley; meanwhile, the laser sensor originally arranged on the robot is utilized to position the trolley, so that the modification cost of the robot is reduced.
Embodiments of the second aspect
Embodiments of the second aspect of the present application provide a traction-type trolley, and since the embodiments of the first aspect have been described in detail, the content of the traction-type trolley is incorporated herein, and will not be described herein again.
It should be noted that, only the structure of the traction-type carriage related to the present application is described above, and other configurations of the traction-type carriage may refer to related technologies, and are not described herein again.
Examples of the third aspect
Embodiments of the third aspect of the present application provide a mobile robot, and since in the embodiments of the first aspect, the mobile robot has been described in detail, the content of the mobile robot is incorporated herein, and details are not described herein.
It should be noted that, the above description is only made on the structure of the mobile robot related to the present application, and regarding other structures of the mobile robot, reference may be made to related technologies, and details are not described here.
The present application has been described in conjunction with specific embodiments, but it should be understood by those skilled in the art that these descriptions are intended to be illustrative, and not limiting. Various modifications and adaptations of the present application may occur to those skilled in the art based on the spirit and principles of the application and are within the scope of the application.
Claims (11)
1. A pull-type cart, comprising: a placing table, a supporting frame which supports the placing table and is positioned below the placing table, and wheels which are connected with the supporting frame below the supporting frame,
a buckle stress plate is arranged on the lower side of the object placing table, after the mobile robot moves to the position below the object placing table, a buckle of the mobile robot is buckled with the buckle stress plate, and the pull-type trolley is driven to move through the movement of the mobile robot;
a triangular bearing seat which leads the traction type trolley and the mobile robot to be mutually guided is arranged at the lower side of the buckle stress plate;
and a triangular positioning plate for positioning the traction type trolley by the mobile robot is arranged at the position, close to the lower part, of the rear side of the support frame.
2. A mobile robot for docking traction on a tractor-trailer, the mobile robot comprising:
a body;
a trolley locking traction part arranged on the upper side of the body;
the triangular guide traction bracket is arranged on the upper side of the body and is positioned behind the trolley locking traction part; and
and the laser sensor is arranged in front of the body and used for navigation and triangulation positioning.
3. The mobile robot of claim 2, wherein the dolly lock traction portion comprises:
at least one buckle;
the buckle push-pull mechanism is positioned on one side of the at least one buckle and pushes and pulls the at least one buckle, so that the at least one buckle moves forwards and backwards relative to the triangular guide traction bracket; and
and the buckle locking block is positioned on the other side of the at least one buckle and locks the at least one buckle after the at least one buckle is clamped on a buckle stress plate of the traction type trolley.
4. The mobile robot according to claim 3, wherein the number of the clasps is 2, and two of the clasps are provided symmetrically in the left-right direction.
5. The mobile robot according to any one of claims 2 to 4, characterized by further comprising:
the detection sensor is arranged on the rear side of the triangular guide traction support and is used for detecting whether the traction type trolley is connected in place or not by the mobile robot.
6. The mobile robot of claim 5,
the number of the detection sensors is 2, and the two detection sensors are symmetrically arranged on two symmetrical edges of the triangular guide traction support; or,
the number of the detection sensors is 1, and the detection sensors are arranged on the vertexes corresponding to the bottom edges of the triangular guide traction support.
7. A connection traction system comprises a traction type trolley and a mobile robot and is characterized in that,
the pull-type cart includes: the mobile robot comprises an object placing table, a support frame and wheels, wherein the support frame supports the object placing table and is positioned below the object placing table, the wheels are connected to the support frame below the support frame, a buckle stress plate is arranged below the object placing table, after the mobile robot moves to the position below the object placing table, a buckle of the mobile robot is buckled on the buckle stress plate, and the traction type trolley is driven to move through the movement of the mobile robot; a triangular bearing seat which leads the traction type trolley and the mobile robot to be mutually guided is arranged at the lower side of the buckle stress plate; a triangular positioning plate which enables the mobile robot to position the traction type trolley is arranged at a position close to the lower part of the rear side of the support frame;
the mobile robot includes: a body; a trolley locking traction part arranged on the upper side of the body; the triangular guide traction bracket is arranged on the upper side of the body and is positioned behind the trolley locking traction part; and the laser sensor is arranged in front of the body and used for navigation and triangulation.
8. The docking traction system of claim 7, wherein the trolley locking traction portion comprises:
at least one buckle;
the buckle push-pull mechanism is positioned on one side of the at least one buckle and pushes and pulls the at least one buckle, so that the at least one buckle moves forwards and backwards relative to the triangular guide traction bracket; and
and the buckle locking block is positioned on the other side of the at least one buckle and locks the at least one buckle after the at least one buckle is clamped on a buckle stress plate of the traction type trolley.
9. The docking traction system of claim 8, wherein the number of said clasps is 2, and two of said clasps are symmetrically arranged in the left-right direction.
10. The docking traction system of any of claims 7 to 9, wherein the mobile robot further comprises:
the detection sensor is arranged on the rear side of the triangular guide traction support and used for the mobile robot to detect whether the traction type trolley is connected in place or not.
11. The docked traction system of claim 10,
the number of the detection sensors is 2, and the two detection sensors are symmetrically arranged on two symmetrical edges of the triangular guide traction support; or,
the number of the detection sensors is 1, and the detection sensors are arranged on the vertexes corresponding to the bottom edges of the triangular guide traction support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202020188181.6U CN211731637U (en) | 2020-02-20 | 2020-02-20 | Traction type trolley, mobile robot and connection traction system |
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| CN202020188181.6U CN211731637U (en) | 2020-02-20 | 2020-02-20 | Traction type trolley, mobile robot and connection traction system |
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| CN (1) | CN211731637U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112319153A (en) * | 2020-11-05 | 2021-02-05 | 广州赛特智能科技有限公司 | Automatic butt joint device |
| CN113104133A (en) * | 2021-03-30 | 2021-07-13 | 长城汽车股份有限公司 | Unmanned delivery vehicle |
| CN113335355A (en) * | 2021-06-09 | 2021-09-03 | 长春赛诺迈德医学技术有限责任公司 | Sample transfer system |
| CN113335354A (en) * | 2021-06-09 | 2021-09-03 | 长春赛诺迈德医学技术有限责任公司 | Sample conveyor |
| CN114179935A (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 |
| CN114955328A (en) * | 2021-02-26 | 2022-08-30 | 上海微电子装备（集团）股份有限公司 | Docking mechanism and AGV system |
| CN116573082A (en) * | 2023-06-06 | 2023-08-11 | 上海钛米机器人股份有限公司 | A transport robot and transfer system |
| CN119283991A (en) * | 2024-12-13 | 2025-01-10 | 合肥中科自动控制系统有限公司 | Intelligent logistics transfer vehicle based on multi-sensor information fusion |
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2020
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319153A (en) * | 2020-11-05 | 2021-02-05 | 广州赛特智能科技有限公司 | Automatic butt joint device |
| CN112319153B (en) * | 2020-11-05 | 2022-07-12 | 广州赛特智能科技有限公司 | Automatic butt joint device |
| CN114955328A (en) * | 2021-02-26 | 2022-08-30 | 上海微电子装备（集团）股份有限公司 | Docking mechanism and AGV system |
| CN114955328B (en) * | 2021-02-26 | 2023-10-31 | 上海微电子装备（集团）股份有限公司 | Butt joint mechanism and AGV system |
| CN113104133A (en) * | 2021-03-30 | 2021-07-13 | 长城汽车股份有限公司 | Unmanned delivery vehicle |
| CN113335355A (en) * | 2021-06-09 | 2021-09-03 | 长春赛诺迈德医学技术有限责任公司 | Sample transfer system |
| CN113335354A (en) * | 2021-06-09 | 2021-09-03 | 长春赛诺迈德医学技术有限责任公司 | Sample conveyor |
| CN114179935A (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 |
| CN114179935B (en) * | 2021-11-04 | 2023-01-17 | 深圳优地科技有限公司 | Mobile robot, mobile vehicle body and transfer support |
| CN116573082A (en) * | 2023-06-06 | 2023-08-11 | 上海钛米机器人股份有限公司 | A transport robot and transfer system |
| CN119283991A (en) * | 2024-12-13 | 2025-01-10 | 合肥中科自动控制系统有限公司 | Intelligent logistics transfer vehicle based on multi-sensor information fusion |
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