CN106891922A - Six-freedom motion dolly - Google Patents
Six-freedom motion dolly Download PDFInfo
- Publication number
- CN106891922A CN106891922A CN201710110105.6A CN201710110105A CN106891922A CN 106891922 A CN106891922 A CN 106891922A CN 201710110105 A CN201710110105 A CN 201710110105A CN 106891922 A CN106891922 A CN 106891922A
- Authority
- CN
- China
- Prior art keywords
- link point
- workbench
- mobile holder
- servo electric
- groups
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 238000007599 discharging Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
- B62B5/0036—Arrangements of motors
- B62B5/0043—One motor drives one wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2203/00—Grasping, holding, supporting the objects
- B62B2203/70—Comprising means for facilitating loading or unloading
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention relates to a kind of six-freedom motion dolly, including mobile holder and workbench, the corner of mobile holder bottom is separately installed with road wheel, and each free motor of two road wheels in front is operated alone；The road wheel of rear two is universal wheel, workbench is installed on the top surface of mobile holder, three groups of telescoping mechanisms are installed between workbench and mobile holder, each group telescoping mechanism includes two servo electric jars, the bottom of each servo electric jar is articulated with mobile holder and forms three groups of lower link point groups by universal joint respectively, lower link point group is in positive angular distribution, and the external part of each servo electric jar is articulated with the bottom of workbench by universal joint respectively；Workbench bottom surface is provided with three upper link point groups, and three upper link point groups are in positive angular distribution, and three upper link point projecting on mobile holder be located at be hinged under three on group three midpoints on side of equilateral triangle for being formed respectively；Two adjacent servo electric jars between any two telescoping mechanism are articulated with the same upper link point group in the middle of two groups.
Description
Technical field
The present invention relates to a kind of trolley, and in particular to a kind of trolley for possessing six-freedom worktable.
Background technology
The generally practical trolley in weights such as workshop transport raw material or parts.The motion in modern production workshop
Dolly is typically small rail car or handcart, and the moving line of small rail car is fixed, and flexibility is not strong.Handcart was being transported
Route in journey is difficult to control to, and easily wanders off, it is necessary to constantly amendment.The work top of both the above trolley is usually fixed
Or can lift, the free degree is not high, is that can not aid in and adjust in discharging.
The content of the invention
To solve deficiency of the prior art, it is an object of the invention to provide a kind of its workbench of motorized motions with many
The trolley of the individual adjustment free degree.
To achieve the above objectives, the technical scheme taken of the present invention is：
Six-freedom motion dolly, including mobile holder and workbench, the corner of the mobile holder bottom are separately installed with row
Wheel is walked, each free motor of two road wheels in the front is operated alone；The road wheel of rear two is universal wheel, and the workbench is installed
In the top surface of mobile holder, it is characterised in that be provided with three groups of telescoping mechanisms between the workbench and mobile holder, each group is stretched
Mechanism includes two servo electric jars, and the bottom of each servo electric jar is articulated with mobile holder and forms three groups by universal joint respectively
Lower link point group, lower link point group is in positive angular distribution, and the external part of each servo electric jar is articulated with work by universal joint respectively
Make the bottom of platform；The workbench bottom surface is provided with three upper link point groups, and three upper link point groups are in positive angular distribution, on three
Projection of the pin joint on mobile holder is located under three and is hinged on group three midpoints on side of equilateral triangle for being formed respectively；Arbitrarily
Two adjacent servo electric jars between two telescoping mechanisms are articulated with the same upper link point group in the middle of two groups.
Further, the servo electric jar is multi-stage expansion cylinder.
Yet further, battery and electric control gear, the motor and servo electric jar point are installed in the sport(s) car body
Lian Jie not battery and electric control gear.
After taking above technical scheme, beneficial effects of the present invention are：
Two front-wheels of dolly take separate electrical motor to drive, and realize the walking of trolley；Two front-wheels can be by motor
Differential is realized turning to so that track is controllable；
Workbench is supported by six servomotor cylinders, by the flexible liter up and down for realizing workbench for controlling six servomotor cylinders
Drop, the Sloped rotating in vertical direction, the rotation in horizontal plane is played a part of to aid in and is adjusted in discharging.
Telescoping cylinder is Multi-stage cylinder, improves the stroke of regulation.
Brief description of the drawings
Fig. 1 is structural front view of the invention；
Fig. 2 is top view of the invention.
Specific embodiment
Specific embodiment of the invention is further described below in conjunction with accompanying drawing：
As illustrated, six-freedom motion dolly, including mobile holder 1 and workbench 2, the corner of the bottom of the mobile holder 1
Road wheel 3 is separately installed with, each free motor 4 of two road wheels in the front is operated alone, and motor 4 can take band to cut off self-lock
Stepper motor, it is locked during power-off, manually disconnect band-type brake after can promote manually；The road wheel of rear two is universal wheel, the work
Platform 2 is installed on the top surface of mobile holder 1, and three groups of telescoping mechanisms, each group telescoping mechanism bag are provided between workbench and mobile holder
Two servo electric jars 5 are included, servo electric jar 5 is multi-stage expansion cylinder, and servomotor cylinder can use trapezoidal screw, and to trapezoidal screw
Lead angle design, when power is off being capable of self-locking.The bottom of each servo electric jar 5 is articulated with walking branch by universal joint respectively
Frame 1 simultaneously forms three groups of lower link point groups 6, and the pin joint of two servo electric jars of same group is adjacent and forms a lower link point group,
Three lower link point groups 6 are in positive angular distribution, and the external part of each servo electric jar is articulated with workbench by universal hinging head respectively
Bottom and formed three upper link point groups 7, each upper link point group 7 include two adjacent universal hinging heads；It is hinged on three
7 groups of point is in positive angular distribution, and the vertical projection of three upper link points 7 on mobile holder 1 is hinged 6 shapes of group under being located at three respectively
Into three midpoints on side of equilateral triangle on；Two adjacent servo electric jars 5 between any two telescoping mechanism are articulated with the middle of two groups
Same upper link point group.
Battery 8 and electric control gear 9 are installed in mobile holder 1, the motor 4 and servo electric jar 5 connect battery 8 respectively
With electric control gear 9.
Electric control gear includes control circuit and switch, with reference to being typically designed for prior art, using the principle of analog-to-digital conversion,
In warning function, operation when can realize the control respectively to motor and servomotor cylinder, and realize each failure by control piece
The function such as jerk.It is divided to two independent control circuits to control in motor and servomotor cylinder, is done using toggle switch and switched,
Platform can not be operated during moving of car, and during platform operations, dolly can not walk, it is to avoid while move producing safety
Accident.
Using six flexible motions to realize workbench of servomotor cylinder, when six servomotor cylinders stretch lock simultaneously
When, worktable lifting；When two servomotor cylinder simultaneous retractables being connected with same upper link point group, workbench inclines
Tiltedly；When clockwise（Counterclockwise）During the inclined three servomotors cylinder simultaneous retractable in direction, workbench rotates.Using automatically controlled
Multivariant adjustment of the device to the control realization workbench of servomotor cylinder.
Further to improve the precision of adjustment, more multigroup servomotor cylinder can be taken to prop up on the basis of the present embodiment
Support.Servomotor cylinder can be replaced using hydraulic cylinder or pneumatic cylinder.
Claims (3)
1. six-freedom motion dolly, including mobile holder and workbench, the corner of the mobile holder bottom are separately installed with
Road wheel, each free motor of two road wheels in the front is operated alone；The road wheel of rear two is universal wheel, the workbench peace
Top surface loaded on mobile holder, it is characterised in that three groups of telescoping mechanisms are provided between the workbench and mobile holder, each group is stretched
Contracting mechanism includes two servo electric jars, and the bottom of each servo electric jar is articulated with mobile holder and forms three by universal joint respectively
Group lower link point group, lower link point group is in positive angular distribution, and the external part of each servo electric jar is articulated with by universal joint respectively
The bottom of workbench；The workbench bottom surface is provided with three upper link point groups, and three upper link point groups are in positive angular distribution, three
Projection of the upper link point on mobile holder is located under three and is hinged on group three midpoints on side of equilateral triangle for being formed respectively；Appoint
The same upper link point group that two adjacent servo electric jars between two telescoping mechanisms of anticipating are articulated with the middle of two groups.
2. six-freedom motion dolly according to claim 1, it is characterised in that the servo electric jar is multi-stage expansion
Cylinder.
3. six-freedom motion dolly according to claim 1, it is characterised in that be provided with battery in the sport(s) car body
And electric control gear, the motor and servo electric jar connect battery and electric control gear respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110105.6A CN106891922A (en) | 2017-02-28 | 2017-02-28 | Six-freedom motion dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110105.6A CN106891922A (en) | 2017-02-28 | 2017-02-28 | Six-freedom motion dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106891922A true CN106891922A (en) | 2017-06-27 |
Family
ID=59184978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710110105.6A Pending CN106891922A (en) | 2017-02-28 | 2017-02-28 | Six-freedom motion dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106891922A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6516681B1 (en) * | 1999-09-17 | 2003-02-11 | Francois Pierrot | Four-degree-of-freedom parallel robot |
| US20040144288A1 (en) * | 2002-07-23 | 2004-07-29 | Johnson Chiang | Hex-axis horizontal movement dynamic simulator |
| CN104044138A (en) * | 2014-06-17 | 2014-09-17 | 凯斯特阀门集团有限公司 | 8-UPS (Uninterruptible Power Supply) walking processing parallel robot |
| TWM491607U (en) * | 2014-06-10 | 2014-12-11 | Zhou Hong Ke | Pusher with function of maintaining balance |
| CN104802151A (en) * | 2015-04-28 | 2015-07-29 | 上海大学 | Robot for carrying, assembling and moving heavy loads |
| CN105417433A (en) * | 2015-12-23 | 2016-03-23 | 大连理工大学 | Six-degree-of-freedom lifting platform car |
| CN105459078A (en) * | 2015-12-16 | 2016-04-06 | 上海大学 | Structural dimension parameter adjustable Mecanum wheel type mobile robot |
| CN105922239A (en) * | 2016-05-17 | 2016-09-07 | 包凤丹 | Building cleaning supporting robot with rigid lifting adjusting function |
| CN106112955A (en) * | 2016-07-14 | 2016-11-16 | 安庆里外里工业产品设计有限公司 | A kind of construction transfer robot based on Stewart parallel institution |
| CN205706349U (en) * | 2016-07-07 | 2016-11-23 | 力姆泰克（北京）传动设备股份有限公司 | A kind of 6 DOF for movie theatre multidirectional viewing car |
| CN206552082U (en) * | 2017-02-28 | 2017-10-13 | 谢荧 | Six-freedom motion dolly |
-
2017
- 2017-02-28 CN CN201710110105.6A patent/CN106891922A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6516681B1 (en) * | 1999-09-17 | 2003-02-11 | Francois Pierrot | Four-degree-of-freedom parallel robot |
| US20040144288A1 (en) * | 2002-07-23 | 2004-07-29 | Johnson Chiang | Hex-axis horizontal movement dynamic simulator |
| TWM491607U (en) * | 2014-06-10 | 2014-12-11 | Zhou Hong Ke | Pusher with function of maintaining balance |
| CN104044138A (en) * | 2014-06-17 | 2014-09-17 | 凯斯特阀门集团有限公司 | 8-UPS (Uninterruptible Power Supply) walking processing parallel robot |
| CN104802151A (en) * | 2015-04-28 | 2015-07-29 | 上海大学 | Robot for carrying, assembling and moving heavy loads |
| CN105459078A (en) * | 2015-12-16 | 2016-04-06 | 上海大学 | Structural dimension parameter adjustable Mecanum wheel type mobile robot |
| CN105417433A (en) * | 2015-12-23 | 2016-03-23 | 大连理工大学 | Six-degree-of-freedom lifting platform car |
| CN105922239A (en) * | 2016-05-17 | 2016-09-07 | 包凤丹 | Building cleaning supporting robot with rigid lifting adjusting function |
| CN205706349U (en) * | 2016-07-07 | 2016-11-23 | 力姆泰克（北京）传动设备股份有限公司 | A kind of 6 DOF for movie theatre multidirectional viewing car |
| CN106112955A (en) * | 2016-07-14 | 2016-11-16 | 安庆里外里工业产品设计有限公司 | A kind of construction transfer robot based on Stewart parallel institution |
| CN206552082U (en) * | 2017-02-28 | 2017-10-13 | 谢荧 | Six-freedom motion dolly |
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