CN114290343B - Bridging robot - Google Patents
Bridging robot Download PDFInfo
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- CN114290343B CN114290343B CN202111677591.2A CN202111677591A CN114290343B CN 114290343 B CN114290343 B CN 114290343B CN 202111677591 A CN202111677591 A CN 202111677591A CN 114290343 B CN114290343 B CN 114290343B
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- 210000001503 joint Anatomy 0.000 claims abstract description 31
- 238000003032 molecular docking Methods 0.000 claims description 79
- 230000035939 shock Effects 0.000 claims 1
- 238000013016 damping Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
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Abstract
The invention discloses a bridging robot which comprises a robot body, a butt joint bridge, a lifting assembly and a lifting plate, wherein the butt joint bridge is arranged on the robot body; the top of the robot car body is provided with a front hydraulic cylinder and a rear hydraulic cylinder, the butt joint bridge is arranged above the robot car body, and the bottom surface of the butt joint bridge is hinged with the front hydraulic cylinder and the rear hydraulic cylinder; the rear end of robot automobile body is connected with the lifting assembly, the lifter plate is installed at the lifting assembly top, the lifting assembly is used for driving the lifter plate to go up and down, makes lifter plate and butt joint bridge overlap joint link to each other. The invention solves the problem that the existing transfer robot can not directly enter the cargo hold to pick up the cargo, saves labor and improves the cargo transportation efficiency.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a bridging robot.
Background
Large cargo robots, such as wing type robots, are used on the logistics main line. No matter how the cargo hold of unmanned aerial vehicle opens, can have the difference in height with ground, and transfer robot such as disc can't directly get goods in the cargo hold, even put down the tailboard of unmanned aerial vehicle afterbody, also can cause transfer robot to be difficult to stable transport because of inclination is too big, easily takes place goods problem of turning on one's side. Therefore, at present, the cargo is taken from the cargo hold of the unmanned aerial vehicle in a manual mode, and manpower is wasted.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a bridging robot, solves the problem that the existing transfer robot cannot directly enter a cargo hold to pick up the cargo, saves labor and improves the cargo transportation efficiency.
The invention provides the following technical scheme:
a bridging robot comprises a robot body, a butt joint bridge, a lifting assembly and a lifting plate;
The top of the robot car body is provided with a front hydraulic cylinder and a rear hydraulic cylinder, the butt joint bridge is arranged above the robot car body, and the bottom surface of the butt joint bridge is hinged with the front hydraulic cylinder and the rear hydraulic cylinder;
the rear end of robot automobile body is connected with the lifting assembly, the lifter plate is installed at the lifting assembly top, the lifting assembly is used for driving the lifter plate to go up and down, makes lifter plate and butt joint bridge overlap joint link to each other.
Further, the bottom surface of the butt joint bridge is provided with a front lug plate and a rear lug plate, the front lug plate is hinged with one end of a piston rod of the front hydraulic cylinder, and the rear lug plate is hinged with one end of the piston rod of the rear hydraulic cylinder.
Further, the front end of the butt joint bridge is hinged with an auxiliary butt joint bridge, a first supporting plate is arranged on the bottom surface of the butt joint bridge and connected with a first lug plate, a second lug plate is arranged on the bottom surface of the auxiliary butt joint bridge, and a first hydraulic cylinder is connected between the first lug plate and the second lug plate.
Further, the front end sliding connection of the docking bridge has an auxiliary docking bridge, the docking bridge and the auxiliary docking bridge are connected through a telescopic shaft, and the telescopic shaft is used for driving the auxiliary docking bridge to extend out or retract in a sliding manner relative to the docking bridge.
Further, anti-slip pads are paved on the surfaces of the butt joint bridge and the auxiliary butt joint bridge, and guardrails are arranged on the side surfaces of the butt joint bridge.
Further, the front end of the auxiliary butt-joint bridge is connected with a triangular block with a right triangle cross section, and the triangular block and the bottom surface of the front end of the auxiliary butt-joint bridge are provided with a damping cushion.
Further, the number of the auxiliary docking bridges is 2-5, and each auxiliary docking bridge is sequentially and adjacently arranged at the front end of each docking bridge.
Further, the rear end bottom surface of robot automobile body is connected with the riser perpendicularly, and lifting unit includes the support diaphragm that is connected perpendicularly with the riser, locates the scissors formula expansion bracket on the support diaphragm and locates the second pneumatic cylinder on the scissors formula expansion bracket, the second pneumatic cylinder is used for driving scissors formula expansion bracket and goes up and down.
Further, the rear end of lifter plate articulates there is folding lifter plate, the bottom surface of lifter plate is equipped with the second fagging, the second fagging is connected with the third otic placode, folding lifter plate is connected with the fourth otic placode, be connected with the third pneumatic cylinder between third otic placode and the fourth otic placode.
Further, the one end of butt joint bridge and lifter plate overlap joint is equipped with the draw-in groove, the lifter plate is equipped with the fixture block with draw-in groove assorted, when butt joint bridge and lifter plate overlap joint, the fixture block is in the draw-in groove.
Compared with the prior art, the invention has the beneficial effects that:
The invention comprises a robot body, a butt-joint bridge, a lifting assembly and a lifting plate, wherein the robot body has a complete robot trolley function and can be driven to the side of a large freight unmanned aerial vehicle; the docking bridge is lifted and kept horizontal through the front hydraulic cylinder and the rear hydraulic cylinder, so that docking with the cargo compartment of the unmanned aerial vehicle is realized; the full-load or empty-load transfer robot runs onto the lifting plate and lifts through the lifting assembly; the problem that the existing transfer robot cannot directly enter the cargo hold to get cargoes is solved, labor is saved, and cargo transportation efficiency is improved.
Drawings
FIG. 1 is a schematic view of the structure of the present invention in its operating state;
FIG. 2 is a schematic view of the portion A of FIG. 1;
FIG. 3 is a schematic view of the docking bridge and lifter plate of FIG. 2 shown in isolation;
FIG. 4 is a schematic view of the structure of the present invention in a folded state of the secondary docking bridge;
FIG. 5 is a schematic side view of a secondary docking bridge;
FIG. 6 is a schematic top view of the entire secondary docking bridge when lifted;
FIG. 7 is a schematic top view of a portion of the secondary docking bridge when lifted;
Marked in the figure as: 1. a robot body; 2. a rear hydraulic cylinder; 3. a front hydraulic cylinder; 4. a docking bridge; 5. an auxiliary docking bridge; 6. a first stay plate; 7. a first ear plate; 8. a first hydraulic cylinder; 9. a second ear plate; 10. a front ear plate; 11. a rear ear panel; 12. guard bars; 13. a vertical plate; 14. a supporting cross plate; 15. a scissors type expansion bracket; 16. a second hydraulic cylinder; 17. a lifting plate; 18. folding the lifting plate; 19. a second stay plate; 20. a third ear plate; 21. a third hydraulic cylinder; 22. a fourth ear plate; 23. a clamping groove; 24. a clamping block; 25. an anti-slip pad; 26. triangular blocks; 27. and (5) a cushioning pad.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, the directions or positional relationships indicated by the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.
Example 1
As shown in fig. 1, the present embodiment provides a bridging robot including a robot body 1, a docking bridge 4, a lifting assembly, and a lifting plate 17.
As shown in fig. 1, the robot car body 1 has a complete robot car function and can be driven to the side of a large cargo unmanned plane. The front hydraulic cylinder 3 and the rear hydraulic cylinder 2 are installed at the top of the robot car body 1, the butt joint bridge 4 is arranged above the robot car body 1, the front lug plate 10 and the rear lug plate 11 are arranged on the bottom surface of the butt joint bridge 4, the front lug plate 10 is hinged with one end of a piston rod of the front hydraulic cylinder 3, and the rear lug plate 11 is hinged with one end of a piston rod of the rear hydraulic cylinder 2. The butt-joint bridge 4 can be controlled to lift by controlling the front hydraulic cylinder 3 and the rear hydraulic cylinder 2 to stretch; when the ground is uneven, the docking bridge 4 can be kept horizontal by controlling the telescopic length of the front hydraulic cylinder 3.
As shown in fig. 1 and 4, the front end of the docking bridge 4 is hinged with a secondary docking bridge 5, the bottom surface of the docking bridge 4 is provided with a first supporting plate 6, the first supporting plate 6 is connected with a first ear plate 7, the bottom surface of the secondary docking bridge 5 is provided with a second ear plate 9, and a first hydraulic cylinder 8 is connected between the first ear plate 7 and the second ear plate 9. When the auxiliary docking bridge 5 is required to dock with the freight unmanned aerial vehicle, the auxiliary docking bridge 5 is lifted up and positioned on the same plane with the docking bridge 4 by controlling the first hydraulic cylinder 8 to extend, and the auxiliary docking bridge 5 is arranged at the outlet of the cargo hold of the freight unmanned aerial vehicle; when the auxiliary docking bridge 5 is idle, the auxiliary docking bridge 5 rotates relative to the docking bridge 4 by controlling the first hydraulic cylinder 8 to shorten so as to be folded on the side surface or the lower part of the docking bridge 4, and no extra space is occupied.
As shown in fig. 5, the surfaces of the docking bridge 4 and the sub docking bridge 5 are paved with anti-slip pads 25, so that the running stability and safety of the transfer robot are improved. The side of the docking bridge 4 is provided with a guardrail 12, which can prevent the transfer robot or the goods from falling. The front end of the auxiliary docking bridge 5 is connected with a triangular block 26 with a right-angled triangle cross section, and the right-angled side is connected with the side face of the auxiliary docking bridge 5, so that the cargo space ground of the freight unmanned aerial vehicle is stably docked with the auxiliary docking bridge 5, and the operation stability of the transfer robot is enhanced. The triangular block 26 and the front end bottom surface of the auxiliary butt joint bridge 5 are provided with a damping cushion 27, which has damping effect.
The number of the auxiliary docking bridges 5 is 2-5, the widths of the auxiliary docking bridges 5 are different, and the auxiliary docking bridges 5 are sequentially and adjacently arranged at the front ends of the docking bridges 4. And selecting proper auxiliary docking bridges to lift and lap the cabin doors of the freight unmanned aerial vehicles with different widths. In this embodiment, the number of sub-docking bridges is 3, and as shown in fig. 6, the state is when all of the 3 sub-docking bridges 5 are raised, and as shown in fig. 7, the state is when only the intermediate sub-docking bridge 5 is raised.
As shown in fig. 1, the rear end of the robot car body 1 is connected with a lifting assembly, the top of the lifting assembly is provided with a lifting plate 17, and the lifting assembly is used for driving the lifting plate 17 to lift, so that the lifting plate 17 is in lap joint connection with the docking bridge 4. Specifically, the rear end bottom surface of the robot car body 1 is vertically connected with a vertical plate 13, and the lifting assembly comprises a supporting transverse plate 14 vertically connected with the vertical plate 13, a scissor type expansion bracket 15 arranged on the supporting transverse plate 14, and a second hydraulic cylinder 16 arranged on the scissor type expansion bracket 15, wherein the second hydraulic cylinder 16 is used for driving the scissor type expansion bracket 15 to lift.
As shown in fig. 1 and 4, the rear end of the lifting plate 17 is hinged with a folding lifting plate 18, the bottom surface of the lifting plate 17 is provided with a second supporting plate 19, the second supporting plate 19 is connected with a third ear plate 20, the folding lifting plate 18 is connected with a fourth ear plate 22, and a third hydraulic cylinder 21 is connected between the third ear plate 20 and the fourth ear plate 22. When the lifting plate 17 descends to the lowest position, the third hydraulic cylinder 21 is controlled to extend, so that the folding lifting plate 18 is lifted and contacted with the ground, and the lifting plate is convenient for the carrying robot to lift up and down; when the folding lifting plate is idle, the third hydraulic cylinder 21 is controlled to be shortened, so that the folding lifting plate 18 rotates relative to the lifting plate 17 to be folded on the side surface or the lower part of the lifting plate 17, and no extra space is occupied; when the truck is needed to be docked, the third hydraulic cylinder 21 is controlled to extend, so that the folding lifting plate 18 is lifted and positioned on the same plane with the lifting plate 17, and the folding lifting plate 18 is placed at the opening of the truck carriage.
As shown in fig. 2 and 3, a clamping groove 23 is formed in one end, overlapped with the lifting plate 17, of the docking bridge 4, a clamping block 24 matched with the clamping groove 23 is arranged on the lifting plate 17, and when the docking bridge 4 is overlapped with the lifting plate 17, the clamping block 24 is clamped in the clamping groove 23, so that the overlapping stability of the docking bridge 4 and the lifting plate 17 is enhanced, and the transfer robot can pass through safely and stably.
The working principle of the embodiment is as follows: when receiving goods from a large-sized freight unmanned aerial vehicle, the robot car body 1 runs beside the freight unmanned aerial vehicle; the auxiliary docking bridge 5 is lifted up and positioned on the same plane with the docking bridge 4 by controlling the first hydraulic cylinder 8 to extend; the front hydraulic cylinder 3 and the rear hydraulic cylinder 2 are controlled to lift so that the docking bridge 4 is kept horizontal and reaches the height of the cargo hold outlet of the freight unmanned aerial vehicle, and the auxiliary docking bridge 5 is arranged at the cargo hold outlet of the freight unmanned aerial vehicle; the lifting plate 17 is controlled to descend to the lowest position, and the third hydraulic cylinder 21 is controlled to extend, so that the folding lifting plate 18 is lifted and contacted with the ground, and the transfer robot runs to the lifting plate 17; then make lifter plate 17 rise to overlap joint with butt joint bridge 4 through controlling the extension of second pneumatic cylinder 16, transfer robot gets into freight unmanned aerial vehicle cargo hold through butt joint bridge 4 and receives the goods, uses manpower sparingly, has improved cargo transportation efficiency.
Example 2
The present embodiment provides a bridging robot, which has the same main structure as that of embodiment 1, and differs from embodiment 1 in that: the front end sliding connection of docking bridge has vice docking bridge, and docking bridge and vice docking bridge link to each other through the telescopic shaft, and the telescopic shaft is used for driving vice docking bridge relative docking bridge slip to stretch out or retrieve, is convenient for dock with freight unmanned aerial vehicle cargo hold, and wherein the telescopic shaft also can adopt the pneumatic cylinder form, installs the pneumatic cylinder both ends in docking bridge and the bottom of vice docking bridge respectively.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (7)
1. The bridging robot is characterized by comprising a robot body, a butt joint bridge, a lifting assembly and a lifting plate;
The top of the robot car body is provided with a front hydraulic cylinder and a rear hydraulic cylinder, the butt joint bridge is arranged above the robot car body, and the bottom surface of the butt joint bridge is hinged with the front hydraulic cylinder and the rear hydraulic cylinder;
The rear end of the robot car body is connected with a lifting assembly, a lifting plate is arranged at the top of the lifting assembly, and the lifting assembly is used for driving the lifting plate to lift so that the lifting plate is in lap joint connection with the butt bridge;
the bottom surface of the rear end of the robot car body is vertically connected with a vertical plate, and the lifting assembly comprises a supporting transverse plate vertically connected with the vertical plate;
The front end of the butt joint bridge is hinged with an auxiliary butt joint bridge, a first supporting plate is arranged on the bottom surface of the butt joint bridge, the first supporting plate is connected with a first lug plate, a second lug plate is arranged on the bottom surface of the auxiliary butt joint bridge, and a first hydraulic cylinder is connected between the first lug plate and the second lug plate;
Or the front end of the docking bridge is connected with an auxiliary docking bridge in a sliding way, the docking bridge is connected with the auxiliary docking bridge through a telescopic shaft, and the telescopic shaft is used for driving the auxiliary docking bridge to extend out or retract in a sliding way relative to the docking bridge;
The number of the auxiliary docking bridges is 2-5, the widths of the auxiliary docking bridges are different, the auxiliary docking bridges are sequentially and adjacently arranged at the front ends of the docking bridges, cargo unmanned aerial vehicle cabin doors with different widths are handled, and proper auxiliary docking bridges are selected to lift and lap.
2. The bridging robot of claim 1, wherein a front ear plate and a rear ear plate are arranged on the bottom surface of the docking bridge, the front ear plate is hinged to one end of a piston rod of the front hydraulic cylinder, and the rear ear plate is hinged to one end of a piston rod of the rear hydraulic cylinder.
3. The bridging robot of claim 1, wherein the surfaces of the docking bridge and the secondary docking bridge are each provided with an anti-slip pad, and the sides of the docking bridge are provided with guardrails.
4. The bridging robot of claim 1, wherein the front end of the secondary docking bridge is connected with a triangular block with a right triangle cross section, and shock absorbing pads are arranged on the bottom surfaces of the triangular block and the front end of the secondary docking bridge.
5. The bridge robot of claim 1, wherein the lifting assembly further comprises a scissor jack disposed on the support cross plate and a second hydraulic cylinder disposed on the scissor jack, the second hydraulic cylinder for driving the scissor jack to lift.
6. The bridging robot of claim 1, wherein the rear end of the lifting plate is hinged with a folding lifting plate, a second supporting plate is arranged on the bottom surface of the lifting plate, the second supporting plate is connected with a third ear plate, the folding lifting plate is connected with a fourth ear plate, and a third hydraulic cylinder is connected between the third ear plate and the fourth ear plate.
7. The bridging robot of claim 1, wherein a clamping groove is formed in one end of the butt-joint bridge, which is in lap joint with the lifting plate, and a clamping block matched with the clamping groove is arranged on the lifting plate, and the clamping block is clamped in the clamping groove when the butt-joint bridge is in lap joint with the lifting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111677591.2A CN114290343B (en) | 2021-12-31 | 2021-12-31 | Bridging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111677591.2A CN114290343B (en) | 2021-12-31 | 2021-12-31 | Bridging robot |
Publications (2)
| Publication Number | Publication Date |
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| CN114290343A CN114290343A (en) | 2022-04-08 |
| CN114290343B true CN114290343B (en) | 2024-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111677591.2A Active CN114290343B (en) | 2021-12-31 | 2021-12-31 | Bridging robot |
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| Country | Link |
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| CN (1) | CN114290343B (en) |
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| CN214359167U (en) * | 2020-12-29 | 2021-10-08 | 苏州市康鼎升降机械有限公司 | Loading and unloading platform |
| CN113696808A (en) * | 2021-10-29 | 2021-11-26 | 徐州秋爽木业有限公司 | Furniture transportation device with loading and unloading functions |
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| CN2875877Y (en) * | 2006-03-23 | 2007-03-07 | 赵永胜 | Self-discharging car with bottom plate capable of biside turnover |
| CN201083525Y (en) * | 2007-10-05 | 2008-07-09 | 梅特勒-托利多(常州)称重设备系统有限公司 | Modular automobile scale body module |
| CN201770334U (en) * | 2010-06-08 | 2011-03-23 | 东莞市海德机械有限公司 | Automatic butt strap |
| KR20150129434A (en) * | 2014-05-12 | 2015-11-20 | 김정호 | Get on and off of the lift device for heavy trucks |
| CN204279183U (en) * | 2014-12-08 | 2015-04-22 | 济南轨道交通装备有限责任公司 | A kind of Commercial Vehicle handling engineering truck |
| CN206049477U (en) * | 2016-09-13 | 2017-03-29 | 安徽工程大学机电学院 | It is suitable to the easing gear of haulage vehicle |
| CN207121178U (en) * | 2017-08-31 | 2018-03-20 | 安徽鑫泰药业有限公司 | A kind of belt logistics governor motion |
| CN210213846U (en) * | 2019-05-14 | 2020-03-31 | 启东亦大通自动化设备有限公司 | Seamless butt joint goods packaging machine |
| CN212023814U (en) * | 2020-04-07 | 2020-11-27 | 苏州赫世迈精密机械有限公司 | Conveyor box with dustproof function |
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2021
- 2021-12-31 CN CN202111677591.2A patent/CN114290343B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006036481A (en) * | 2004-07-28 | 2006-02-09 | Shinko Electric Co Ltd | Container pallet loader and freight conveyance system by container pallet loader |
| CN111994543A (en) * | 2020-09-28 | 2020-11-27 | 河南森源中锋智能制造有限公司 | AGV conveyor and AGV |
| CN214359167U (en) * | 2020-12-29 | 2021-10-08 | 苏州市康鼎升降机械有限公司 | Loading and unloading platform |
| CN113696808A (en) * | 2021-10-29 | 2021-11-26 | 徐州秋爽木业有限公司 | Furniture transportation device with loading and unloading functions |
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| Publication number | Publication date |
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| CN114290343A (en) | 2022-04-08 |
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