CN105858034A - Omni-directional automatic transporter - Google Patents
Omni-directional automatic transporter Download PDFInfo
- Publication number
- CN105858034A CN105858034A CN201610351835.0A CN201610351835A CN105858034A CN 105858034 A CN105858034 A CN 105858034A CN 201610351835 A CN201610351835 A CN 201610351835A CN 105858034 A CN105858034 A CN 105858034A
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- Prior art keywords
- dolly
- loading platform
- line slideway
- wheel
- omni
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses an omni-directional automatic transporter. The omni-directional automatic transporter can realize the automatic process of fetching goods from a narrow space and loading goods onto the transporter. The omni-directional automatic transporter comprises an omni-directional movement mechanism, a lifting mechanism, a telescoping mechanism and a control system, wherein the omni-directional movement mechanism consists of four omni-directional Mecanum wheels; the lifting mechanism consists of a bevel gear mechanism, a ball screw pair and a shear fork mechanism; the telescoping mechanism consists of a linear actuator, a roller slideway and a connecting rod support structure; the control system drives the Mecanum wheels to realize the forward and backward movement, leftward and rightward movement, diagonal movement and zero-radius turning of the transporter; the movement of the bevel gear transmission mechanism drives the movement of a shear fork, thereby lifting and lowering a platform; and with the movement of the linear actuator, the platform extends out or draws back.
Description
Technical field
The present invention relates to a kind of transporting equipment, be specifically related to a kind of comprehensive motor dolly, belong to storage fortune
Defeated field, is particularly suited for electricity business's logistics warehouse etc. and has the workplace of narrow space, may be implemented in narrow
Space picking and the automation process of goods entrucking.
Background technology
Under " industry 4.0 " and the overall background of " made in China 2025 ", the intelligent liter of traditional logistics industry
Level has become new development trend, is making full use of ICT and cyberspace virtual system combines
On the basis of, it is achieved the intellectuality of logistic storage transport.
Along with becoming increasingly popular of shopping at network, the demand of shopping at network is the most also come the highest by people.Thus quickly
Efficient logistics system also arises at the historic moment, and the operational paradigm in electricity business warehouse directly influences whole logistics system
Run well.Due to electricity, business's articles from the storeroom kind is many, passageway is narrow and small, is applied to the automatic fortune of logistics at present
Defeated car system uses common differential gear to drive substantially, and it needs bigger operation path space, and also exists and turn
Curved difficulty, the situation that conevying efficiency is low.
Summary of the invention
In order to solve the problem that prior art exists, the present invention provides a kind of comprehensive motor dolly, its fortune
Dynamic scheme uses 4 wheel driven omni-directional wheel, compact conformation, and motion flexibly, can realize pivot turn, improves picking effect
Rate, and use automatic control scheme, utilize scissors mechanism steadily to lift, slideway mechanism is rationally arranged,
Thus realize the function of automatic loading, substantially reduce the amount of labour of courier.
It is an object of the invention to be realized by below scheme, in conjunction with accompanying drawing:
A kind of comprehensive motor dolly, including omnibearing movable mechanism, elevating mechanism, telescoping mechanism；Institute
State omnibearing movable mechanism by dolly chassis 7 and four Mecanum wheels being arranged on dolly chassis 74 groups
Becoming, four Mecanum wheels 4 use two wheel four-wheels left-handed, the dextrorotation of two wheels to be arranged symmetrically with, and wherein locate
Two Mecanum wheel 4 rotation directions on diagonal are identical, and each Mecanum wheel 4 is by individually driving
Dynamic motor drives；Elevating mechanism is arranged on dolly chassis 7, and telescoping mechanism is arranged on elevating mechanism, rises
Descending mechanism is used for lifting telescoping mechanism, and telescoping mechanism is used for handling goods.
Further, described Mecanum wheel 4 is by wheel hub and is arranged on multiple rollers of wheel hub outer and forms,
Each roller can rotate around selve support shaft core, and between support shaft core and hub axis, angle is acute angle；Outside wheel hub
It is the face of cylinder along roller enveloping surface.
Further, described elevating mechanism includes stepper motor 11, bevel gear mechanism 3, ball-screw 8 and
Scissors mechanism；Stepper motor 11 and bevel gear mechanism 3 drive connection, ball-screw 8 is fixed on bevel gear machine
Structure 3 rear end；Scissors mechanism includes scissor arm 2 and line slideway 12, and line slideway 12 is fixed on dolly chassis
On 7, scissor arm 2 lower end connects line slideway, and scissor arm upper end connects telescoping mechanism；The silk of ball-screw 8
Thick stick pair of nut is connected by roller shaft with line slideway 12.
Further, described scissor arm 2 is made up of interior support arm and outer support arm interconnection；Described line slideway
Slidably connecting slide block 13 on 12, interior support arm lower end is connected with line slideway pin, outer support arm lower end and slide block 13
It is hinged；Interior support arm upper end is connected with telescoping mechanism pin, and outer support arm upper end is hinged with telescoping mechanism；Ball
The screw pair of leading screw 8 is connected by roller shaft with the slide block 13 on line slideway 12.
Further, described telescoping mechanism includes underframe, loading platform 10, No. two slideways of 5, slideway
15, electric pushrod 9, loading push pedal 1 and front support stand 6；Loading platform both sides by No. two slideways 15 with
Underframe connects, and electric pushrod 9 two ends are fixing with underframe and loading platform respectively to be connected, and makes the loading platform 5 can
Stretch along underframe under the driving of electric pushrod；Front support stand 6 is arranged on loading platform 5 front end.
Further, described loading platform 5 is the aluminium sash structure being made up of many equally spaced rollers；
Described No. two slideways 15 use three joint slideways；Described underframe both sides are provided with level trough, scissors mechanism upper end and water
Rise as high as the banks and be slidably connected.
Further, described front support stand 6 includes connecting plate 61, connecting rod, extension spring 63 and pulley 64；Before
Bracing frame 6 is arranged on loading platform 5 front end by connecting plate 61, and connecting plate 61 is provided with chute, No. one
Connecting rod 621 upper end is connected with slide by connecting pin, and No. two connecting rod 622 upper end hinges are at connecting plate 61
On, a connecting rod 621 lower end hinge on No. two connecting rods 622, No. two connecting rod 622 lower end hinge pulleys 64.
Further, extension spring 63 it is provided with between described connecting pin and connecting plate 61；Set on described No. two connecting rods 622
There is multiple connecting hole, for adjusting a connecting rod 621 and the link position of No. two connecting rods 622, and then adjust
Pulley 64 and connecting plate 61 spacing.
The method have the advantages that
1. the present invention has 4 frees degree, including along X-axis, Y-axis, the movement of Z axis and turning along Z axis
Dynamic, can position by any continuous path in plane, complex work task can be completed.
2. use Mecanum wheel scheme, narrow working space can be operated in, it is not necessary to transfer can be real
Existing no-radius is turned, it is also possible to transverse shifting and oblique movement.Scissors fork elevating arm uses the structure being arranged symmetrically with
Form makes platform stress equalization, there is not the duty concentrating stress, it is ensured that the course of work steady,
Providing guarantee reliably also to frequently lifting, electric pushrod provides reliable platform to stretch scheme simultaneously, whole
Body running situation is steadily, efficiently.
3. automaticity is high, realizes transport vehicle motion, lifting platform by wireless console and stretches, saving
Power is efficient.
To sum up, the present invention provides comprehensive motor dolly simple in construction, control performance are excellent, due to it
Kinematic dexterity and the accuracy of location, be highly suitable for the application of small space, has filled up electric business's logistics storehouse
The blank of field, storehouse application, can make electricity business's utilization rate of warehouse floor space improve 20%～30%, and product is equipped with intelligence
Can control system, it is possible to achieve be automatically positioned, the function of automatic lifting, automatic telescopic, can realize precisely joining
Goods, rapid wagon loading, alleviate the amount of labour of logistics personnel, substantially increase operating efficiency, therefore have more
For wide application prospect.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing of comprehensive motor dolly；
Fig. 2 is the front view of comprehensive motor dolly；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is the left view of Fig. 1；
Fig. 5 is Mecanum wheel structural representation；
Fig. 6 six front support stand front view；
Fig. 7 is front support stand axonometric drawing；
Fig. 8 is elevating mechanism structural representation；
Fig. 9 is the principle schematic of omnibearing movable mechanism.
In figure:
1, push pedal is loaded, 2, scissor arm, 3, bevel gear mechanism, 4, Mecanum wheel, 5, loading platform,
6, front support stand, 7, dolly chassis, 8, ball-screw, 9, electric pushrod, 10, slideway, 11,
Stepper motor, 12, line slideway, 13, slide block, 15, No. two slideways, 61, connecting plate, 621, No. one
Connecting rod, 622, No. two connecting rods, 63, extension spring, 64, pulley
Detailed description of the invention
Technical scheme it is discussed in detail below in conjunction with accompanying drawing:
As shown in Figures 1 to 4, a kind of comprehensive motor dolly, including omnibearing movable mechanism, lifting
Mechanism, telescoping mechanism；Omnibearing movable mechanism is arranged on dolly chassis 7 by dolly chassis 7 and four
Mecanum wheel 4 forms, and elevating mechanism is arranged on dolly chassis 7, and telescoping mechanism is arranged on elevating mechanism
On, elevating mechanism is used for lifting telescoping mechanism, and telescoping mechanism is used for handling goods.
See Fig. 1 to Fig. 5, four Mecanum wheels 4 of omnibearing movable mechanism use two wheels left-handed, two
The four-wheel of individual wheel dextrorotation is arranged symmetrically with, and two Mecanum wheel 4 rotation directions being wherein on diagonal are identical.
Mecanum wheel 4 is by wheel hub and is arranged on multiple rollers of wheel hub outer and forms, each roller can around self
Support shaft core rotates (rotation), and its support shaft core is in a certain angle with hub axis, and angle is acute angle.Roller
Also can not only revolve round the sun around hub spindle around respective support shaft core rotation under frictional ground force effect, two kinds
The synthesis of motion makes the roller center sum velocity direction contacting ground have certain angle with hub spindle, passes through
Regulation wheel hub speed can change the size and Orientation of roller center sum velocity, it is achieved plane 3DOF is comprehensive
Motion.Each Mecanum wheel 4 drives by individually driving motor.
Wheel hub outer roller enveloping surface is the face of cylinder, when Mecanum wheel 4 moves in the plane, and cylindrical envelope
Face contacts with ground, and the most at least a roller contacts with ground, it is ensured that Mecanum wheel
The stationarity of motion.
The present invention uses the Mecanum wheel of a diameter of 152mm, and each Mecanum wheel is by 15 roller groups
Becoming, each roller and central plane are 45 degree of angles.Roller die sinking, material is POM engineering plastics.Resistance to
Grind functional, be suitable under the environment such as cement rough road using.
The design principle of omnibearing movable mechanism of the present invention is:
For four-wheel kinematic system, available system realizes the necessary condition of omnibearing movable and is: Jacobean matrix
Battle array R sequency spectrum, i.e. rank (R)=3；
For having the four-wheel system of practical use, system only meets kinematics and must have ready conditions not enough, system
Must have good driveability and controlling.
In order to make system manufacture economical rationality, the roller offset angle of all Mecanum wheels takes identical numerical value,
And by wheel construction symmetric design, during installation, use positive and negative Method for Installation, so that it may obtain actual equal in magnitude and
Two kinds of roller offset angles in opposite direction.It addition, for realize each uniform load taken turns, the supporting construction of system
Stable, the most often take the wheel construction cloth that four wheels is arranged symmetrically with about car body geometric center (coordinate system)
Office's form.Gravity and the bearing capacity thereof of vehicle body are delivered on the wheel shaft of Mecanum wheel by the bearing block on car body；
Mecanum wheel is directly driven by a motor, and motor is directly installed on the flange that bearing block stretches out.Such outstanding
Hanging hang structure is simple, and reliability is high.
Realize the principle of omnibearing movable as it is shown in figure 9, omnibearing movable mechanism can realize X, Y-direction
Linear motion, also can realize the fixed point rotary around center O point.In the motion in three directions, omnibearing movable
The all Mecanum wheels of mechanism are all driving wheels, can not only realize omnibearing movable, and driveability is preferable,
It it is optimum structure distribution form.
Seeing Fig. 1 to Fig. 4 and Fig. 8, elevating mechanism includes stepper motor 11, bevel gear mechanism 3, ball wire
Thick stick 8 and scissors mechanism.Stepper motor 11, bevel gear mechanism 3 and ball-screw 8 are each attached to dolly chassis
On 7, stepper motor 11 and bevel gear mechanism 3 drive connection, the bevel gear of stepper motor 11 front end and cone tooth
Wheel mechanism 3 engages, and ball-screw 8 is fixed on bevel gear mechanism 3 rear end.Scissors mechanism includes scissor arm 2
With line slideway 12, line slideway 12 is fixed on dolly chassis 7, line slideway 12 slidably connects
Slide block 13；Scissor arm 2 lower end connects line slideway, and scissor arm 2 is made up of inside and outside support arm interconnection, interior
Support arm lower end is connected with line slideway pin, and outer support arm lower end is hinged with slide block；Scissor arm upper end connects flexible
Mechanism, interior support arm upper end is connected with telescoping mechanism pin, and outer support arm upper end is hinged with telescoping mechanism.Ball wire
The screw pair of thick stick 8 is connected by roller shaft with the slide block 13 on line slideway 12.
Stepper motor 11 exports moment of torsion, drives ball-screw to rotate by bevel gear mechanism 3, makes feed screw nut
Secondary mobile, and then make the slide block 13 on line slideway 12 slide by the drive of roller shaft, make scissor arm 2
The change of inside and outside arm room angle, and then make scissor arm 2 rise or fall, thus realize the upper of telescoping mechanism
Rise or decline.The present invention utilizes leading screw to drive scissors mechanism to lift, it is possible to frequently lift, can be arbitrarily
Position stops, starting and have stabilized structure, failure rate is low, reliable, safe and efficient, safeguard simple
Advantage easily.
Refering to Fig. 1 to Fig. 4, telescoping mechanism includes underframe, loading platform 10, No. two slideways of 5, slideway
15, electric pushrod 9, loading push pedal 1 and front support stand 6.Loading platform 5 is equally spaced a length of by 8
The aluminium sash structure that the roller of 480mm, a diameter of 7mm is constituted, platform size is 510*610mm.
Electric pushrod 9 is arranged between underframe and loading platform 5, electric pushrod 9 two ends respectively with underframe and loading
Platform is fixing to be connected, and loading platform both sides are connected with underframe by No. two slideways 15, makes the loading platform 5 can be
Stretch along underframe under the driving of electric pushrod.No. two slideways 15 use three joint stainless steel slideways, and extending 400
Mm, makes loading platform 5 can stretch into inside closed lorry body, is sent directly into by goods, after goods is sent to,
Entrucking work regained by platform.A number slideway 10 is arranged on loading platform 5, loads push pedal 1 and slides even
Being connected on a slideway 10, the goods on loading platform 5 can be released by it.Underframe both sides are provided with level trough,
The outer support arm upper end of scissor arm 2 is connected with level trough by roller, makes outer support arm can slide along level trough.
Refering to Fig. 6, Fig. 7, front support stand 6 includes connecting plate 61, connecting rod, extension spring 63 and pulley 64, front
Bracing frame 6 is arranged on loading platform 5 front end by connecting plate 61, and connecting plate 61 is provided with chute, No. one
Connecting rod 621 upper end is connected with slide by connecting pin, is provided with extension spring 63 between connecting pin and connecting plate 61,
No. two connecting rod 622 upper end hinges are on connecting plate 61, and a connecting rod 621 lower end hinge is at No. two connecting rods 622
On, No. two connecting rod 622 lower end hinge pulleys 64.No. two connecting rods 622 are provided with multiple connecting hole, are used for adjusting
A whole connecting rod 621 and the link position of No. two connecting rods 622, and then adjust between pulley 64 and connecting plate 61
Away from.
Front support stand 6 can solve the problem of centre-of gravity shift during load-carrying, and pulley can directly contact with car bottom,
And keep pulley to be in close contact with car bottom under extension spring 63 acts on, make loading more stable, effectively extend flat
Platform service life.
Introduce the operation principle of the present invention briefly below:
Automatic loading process:
Manually goods is placed on telescoping mechanism, stepper motor 11 action, makes elevating mechanism decline and realize stretching
Mechanism reduces；Driven by motor Mecanum wheel 4 motion realizes omnibearing movable；Arrive set entrucking region (car
Rear portion, railway carriage or compartment), stepper motor 11 action, elevating mechanism rises to height of wagon, electric pushrod 9 telescoping mechanism
Motion, loading platform stretches out, and supports pulley 64 and contacts with car bottom, loads push pedal 1 and is pushed away by goods simultaneously
To interior, loading completes.Loading platform is retracted, and elevating mechanism makes telescoping mechanism decline, comprehensive fortune
Move and return to shelf.
Claims (8)
1. a comprehensive motor dolly, it is characterised in that include omnibearing movable mechanism, elevating mechanism,
Telescoping mechanism；Described omnibearing movable mechanism is arranged on dolly chassis (7) by dolly chassis (7) and four
On Mecanum wheel (4) composition, four Mecanum wheels (4) use two, and wheels are left-handed, two wheels are right
The four-wheel of rotation is arranged symmetrically with, and two Mecanum wheel (4) rotation directions being wherein on diagonal are identical, each
Individual Mecanum wheel (4) drives by individually driving motor；Elevating mechanism is arranged on dolly chassis (7)
On, telescoping mechanism is arranged on elevating mechanism, and elevating mechanism is used for lifting telescoping mechanism, and telescoping mechanism is used for
Handling goods.
A kind of comprehensive motor dolly the most as claimed in claim 1, it is characterised in that described Mike receives
Nurse wheel (4) is by wheel hub and is arranged on multiple rollers of wheel hub outer and forms, and each roller can be around selve support axle
Core rotates, and between support shaft core and hub axis, angle is acute angle；Wheel hub outer roller enveloping surface is the face of cylinder.
A kind of comprehensive motor dolly the most as claimed in claim 1, it is characterised in that described lift
Structure includes stepper motor (11), bevel gear mechanism (3), ball-screw (8) and scissors mechanism；Stepping electricity
Machine (11) and bevel gear mechanism (3) drive connection, ball-screw (8) is fixed on bevel gear mechanism (3)
Rear end；Scissors mechanism includes scissor arm (2) and line slideway (12), and line slideway (12) is fixed on little
On chassis (7), scissor arm (2) lower end connects line slideway, and scissor arm upper end connects telescoping mechanism；
The screw pair of ball-screw (8) is connected by roller shaft with line slideway (12).
A kind of comprehensive motor dolly the most as claimed in claim 3, it is characterised in that described scissor arm
(2) it is made up of interior support arm and outer support arm interconnection；Described line slideway slidably connects slide block on (12)
(13), interior support arm lower end is connected with line slideway pin, and outer support arm lower end is hinged with slide block (13)；Interior
Arm upper end is connected with telescoping mechanism pin, and outer support arm upper end is hinged with telescoping mechanism；The silk of ball-screw (8)
Thick stick pair of nut is connected by roller shaft with the slide block (13) on line slideway (12).
A kind of comprehensive motor dolly the most as claimed in claim 1, it is characterised in that described telescopic machine
Structure include underframe, loading platform (5), slideway (10), No. two slideways (15), electric pushrod (9),
Load push pedal (1) and front support stand (6)；Loading platform both sides are connected with underframe by No. two slideways (15),
Electric pushrod (9) two ends are fixing with underframe and loading platform respectively to be connected, and makes the loading platform (5) can be at electricity
Stretch along underframe under the driving of dynamic push rod；A number slideway (10) is arranged on loading platform (5), and loading pushes away
Plate (1) is slidably connected on a slideway (10)；It is front that front support stand (6) is arranged on loading platform (5)
End.
A kind of comprehensive motor dolly the most as claimed in claim 5, it is characterised in that described loading is put down
Platform (5) is the aluminium sash structure being made up of many equally spaced rollers；Described No. two slideways (15) use
Three joint slideways；Described underframe both sides are provided with level trough, and scissors mechanism upper end is slidably connected with level trough.
A kind of comprehensive motor dolly the most as claimed in claim 5, it is characterised in that described front support
Frame (6) includes connecting plate (61), connecting rod, extension spring (63) and pulley (64)；Front support stand (6) leads to
Crossing connecting plate (61) and be arranged on loading platform (5) front end, connecting plate (61) is provided with chute, a company
Bar (621) upper end is connected with slide by connecting pin, and No. two connecting rod (622) upper end hinges are connecting
On plate (61), connecting rod (621) lower end hinge on No. two connecting rods (622), No. two connecting rods (622)
Lower end hinge pulley (64).
A kind of comprehensive motor dolly the most as claimed in claim 7, it is characterised in that described connecting pin
And it is provided with extension spring (63) between connecting plate (61)；Described No. two connecting rods (622) are provided with multiple connecting hole,
For adjusting the link position of a connecting rod (621) and No. two connecting rods (622), and then adjust pulley (64)
With connecting plate (61) spacing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610351835.0A CN105858034A (en) | 2016-05-25 | 2016-05-25 | Omni-directional automatic transporter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610351835.0A CN105858034A (en) | 2016-05-25 | 2016-05-25 | Omni-directional automatic transporter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105858034A true CN105858034A (en) | 2016-08-17 |
Family
ID=56635839
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610351835.0A Pending CN105858034A (en) | 2016-05-25 | 2016-05-25 | Omni-directional automatic transporter |
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