CN106945749A - A kind of intelligent transport vehicle - Google Patents
A kind of intelligent transport vehicle Download PDFInfo
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- CN106945749A CN106945749A CN201710310627.0A CN201710310627A CN106945749A CN 106945749 A CN106945749 A CN 106945749A CN 201710310627 A CN201710310627 A CN 201710310627A CN 106945749 A CN106945749 A CN 106945749A
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- car body
- platform
- transport vehicle
- ensured
- drive device
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- 238000013016 damping Methods 0.000 claims abstract description 9
- 239000000725 suspension Substances 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 claims description 18
- 238000010168 coupling process Methods 0.000 claims description 18
- 238000005859 coupling reaction Methods 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000008901 benefit Effects 0.000 claims description 5
- 230000003137 locomotive effect Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 claims description 4
- 229910000639 Spring steel Inorganic materials 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000010960 cold rolled steel Substances 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 238000010791 quenching Methods 0.000 claims description 3
- 230000000171 quenching effect Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 2
- 210000001138 tear Anatomy 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000003139 buffering effect Effects 0.000 claims 1
- 238000003786 synthesis reaction Methods 0.000 claims 1
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/18—Resilient suspensions characterised by arrangement, location or kind of springs having torsion-bar springs only
- B60G11/183—Resilient suspensions characterised by arrangement, location or kind of springs having torsion-bar springs only arranged in a plane transverse to the longitudinal axis of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
- B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/13—Torsion spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/02—Trucks; Load vehicles
- B60G2300/026—Heavy duty trucks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Handcart (AREA)
Abstract
The present invention discloses a kind of intelligent transport vehicle, overall using double car patterns, is made up of two bicycle connections, bicycle includes：Platform car body, lowering or hoisting gear, drive device, Quick Connect Kit；The lowering or hoisting gear is fixedly mounted on the bearing frame in the middle of the platform car body, the platform car body is provided with four sets of drive devices, often set drive device is separate torsion suspension, comprehensive Mecanum wheel uses hydraulic damping shock-damping structure, ensure all in the state of landing in the case of facility floor out-of-flatness, and transport vehicle is in the security and stationarity of traveling；During double car patterns, two platform car bodies can realize that wireless parallel is moved by a controller, can connect concurrent movement by the Quick Connect Kit again；A kind of intelligent transport vehicle of the present invention provides double car patterns and bicycle pattern, omnibearing ambulation, lifting combination, and screw type hoistable platform compact conformation is stable, and double car patterns realize the transport of big weight equipment.
Description
Technical field
The present invention relates to comprehensive transport vehicle field, a kind of intelligent transport vehicle is concretely related to.
Background technology
Common transport vehicle is under big load load-bearing conditions, it is difficult to ensure the stability of car body, and car body flexibility, more
Transport large-tonnage equipment and synchronization lifting function can not be realized, therefore in order to overcome these problems, the present invention provides a kind of intelligence
Change transport vehicle, using leading screw hoistable platform there is compact conformation to stablize, adapt to high-frequency and continuously run, it is excellent that adjustable height is stablized
Point, double car patterns can more heavy weight transporting equipment, meet the transport of larger equipment, the torsion bar of comprehensive Mecanum wheel is only
Vertical suspension can meet large-tonnage cargo transport steadily, ensure safety, the mode of controlled in wireless overcomes the limitation of scope, very well
Adapted to power house environment.
The content of the invention
In order to realize foregoing invention purpose, the present invention discloses a kind of intelligent transport vehicle, and there is provided double car patterns and bicycle mould
Formula, omnibearing ambulation, lifting combination, screw type hoistable platform compact conformation are stable, and double car patterns realize big weight equipment
Transport.
To reach above-mentioned purpose, the technical solution adopted in the present invention is as follows：
A kind of intelligent transport vehicle, including double car patterns and bicycle pattern, double car patterns are made up of two bicycles, bicycle bag
Include：Platform car body, lowering or hoisting gear, drive device, Quick Connect Kit；The lowering or hoisting gear is arranged in the platform car body
Between, the drive device has four sets, and installed in the side of the platform car body, the Quick Connect Kit is arranged on the platform
The end of car body；The platform car body includes：Anti-collision rubber bar, vehicle frame, accumulator box, control system；The lowering or hoisting gear bag
Include：Hoistable platform, direct current generator, shaft coupling, commutator I, commutator II, lift, draw wire encoder；The drive device bag
Include：Motor, fixed plate, torsion bar, hydraulic damper, linking arm, comprehensive Mecanum wheel；The Quick Connect Kit bag
Include：Upper connector, rubber ring, lower connector；
Further, the platform car body is rectangle symmetrical structure, and centre is the bearing frame of the lowering or hoisting gear, two
The accumulator box of lead accumulator is is installed in side, and accumulator box described in bicycle has two sets, is symmetric, and the vehicle frame is by work
Word steel and square steel Combination Welding composition, the surface riveting cold-rolled steel sheet of the vehicle frame, surrounding are provided with anticollision rubber described in high resiliency
Adhesive tape, the control system is located at the middle side of the platform car body, and the control system control ensures each driving
Motor breaks down and reported an error in time, stops；
Further, the lowering or hoisting gear is four synchronous screw-threaded shaft elevator structures, and the lift lifts for T-shaped leading screw
Machine, there is four sets of middle bearing frame surroundings that the vehicle frame is distributed in H types, the middle bearing frame Surface Machining of the vehicle frame
There is detent, it is ensured that the axiality of the lift connecting shaft, the direct current generator is arranged in the vehicle frame through bolt
Between position, output power is divided into two after being delivered to the commutator I through the shaft coupling and is delivered to commutator II described in both sides,
Four lifts are connected by the shaft coupling and connecting shaft again, four lift synchronous interactions, the liter are realized
Drop platform is connected by connection bearing pin with the flange of the lift leading screw upper end, radial positioning is realized, axially by the lifting
Platform self gravitation is compressed, and bicycle is mounted on the draw wire encoder, ensures the synchronism of lifting under double car patterns；
Further, the drive device includes：Motor, fixed plate, torsion bar, hydraulic damper, linking arm, Quan Fang
Position Mecanum wheel；The fixed plate is connected by dormant bolt with the vehicle frame of the platform car body, and the bearing of the vehicle frame opens
There is locating slot, it is ensured that the axis for often covering the drive device is in the same plane, often cover the drive device and be independent torsion
Bar is hung, and the comprehensive Mecanum wheel uses hydraulic damping shock-damping structure, it is ensured that attitude is constant when car body is run, and subtracts simultaneously
The few operating inclination of car body and vibrations, it is ensured that the situation of out-of-flatness of all comprehensive Mecanum wheels in facility floor
Under all in the state of landing, it is ensured that security and stationarity of the transport vehicle in traveling；The comprehensive Mecanum wheel is by institute
State motor to connect by shaft coupling and decelerator, the tailpiece of the piston rod of the hydraulic damper connects the comprehensive Mike and received
The shaft end of nurse wheel, the other end is hinged with the fixed plate, it is ensured that the free degree, and the torsion bar passes through the fixed plate, and is provided with
Deep groove ball bearing, carries out axially position, described torsion bar one end passes through spline by the positioning shaft shoulder of the torsion bar and small round nut
It is connected and is fixed by round nut and stop washer with the linking arm, the other end passes through spline and the vehicle body of the platform car body
Framework is fixedly connected, and realizes torsion bar hanging function, and the torsion bar uses spring steel material, and section is circle, Quenching Treatment, it is ensured that
Unit length produces bigger moment of torsion, and the linking arm is middle engraved structure, it is ensured that weight is alleviated on the premise of intensity, is had
Have the advantages that attractive in appearance economical；Often cover the drive device and include the driving electricity of three sets of comprehensive Mecanum wheels and three sets
Machine, is controlled respectively by Vector modulation, realizes 360 ° of zero radius of turn, and any direction walking is operated by wireless controller, passed through
The control system of the platform car body realizes the locomotive function of any direction in two dimensional surface, including straight trip, row, diagonal, appoints
Meaning curve movement, is adapted to the transhipment environment that space is limited, operation path is narrow；
Further, the Quick Connect Kit is automatic groove type jointing, and the upper connector has internal thread, institute
Stating lower connector has external screw thread, convenient and fast connection with the vehicle frame, and the lower connector is built-in with the rubber ring, it is to avoid institute
State the rigid collision of Quick Connect Kit.
Further, the anti-collision rubber strip adoption rubber strip with high elasticity of the platform car body, the anti-collision rubber bar is fixed
In the side of the platform car body surrounding, the impact to vehicle when running into barrier in operation is buffered.
Further, the comprehensive Mecanum wheel of often set of the drive device is torsion bar independent suspension, it is ensured that all
The comprehensive Mecanum wheel is in the case of the out-of-flatness of facility floor all in the state of landing, it is ensured that transport vehicle is being advanced
With the security and stationarity of turnover；Often cover the drive device and include three sets of comprehensive Mecanum wheels and three institutes
Motor is stated, is controlled respectively by Vector modulation, 360 ° of zero radius of turn is realized, any direction walking passes through controlled in wireless
Device is operated, and realizes the locomotive function of any direction in two dimensional surface through the control system, including straight trip, row, diagonal, arbitrarily
Curve movement, is adapted to the transhipment environment that space is limited, operation path is narrow.
Further, described in double car patterns during two platform car body docking, two platform car bodies are by described fast
Fast attachment means connection, realizes the parallel comprehensive lifting transportation function of double cars, the material of the Quick Connect Kit is 45 steel, single
Platform car body described in platform is symmetrically installed the upper connector and each one of the lower connector, and the Quick Connect Kit is through hole
Structure, the control system of separate unit transport vehicle has jointing on the platform car body, two transport vehicles during double car patterns
The control system docking, realize single controller radio operation.
Further, the lowering or hoisting gear is arranged on the middle position of the platform car body, and the direct current generator is by described
The vehicle-mounted lead accumulator of accumulator box is powered, and the lift is T-shaped screw-threaded shaft elevator, with auto-lock function, it is ensured that equipment
The precision of lifting, the lift bottom is equipped with safe screw, stops in time when screw weares and teares inside the lift
Only work and alarm, the shaft coupling be crown gear coupling, possess radially, axially with angular misalignment of axe compensation ability, tool
There are small compact conformation, the radius of gyration, transmission efficiency, noise is low and maintenance cycle is long.
Further, the adjustable height of the lowering or hoisting gear is controlled by the control system, in a program above and below input
Spacing height, is controlled by the draw wire encoder, and the lowering or hoisting gear under double car patterns is ensured while adjustable height is ensured
Synchronism.
Further, the control system has CAN communication EBI, enters with the drive control device of the motor
Row data exchange, realizes the action control of the motor, and the traveling controller of the drive device is passed by wireless data
It is defeated to receive the control instruction that sends of hand held controller, by the computing of controller, it is sent to 24 motors
Drive control device, drives 24 motors respectively, completes the rotating speed to the motor and the control in direction,
So as to accurately realize the travelling control of double car lower pair of cars of pattern, the wireless communication module of controller is real by the status information of platform
When be sent on hand held controller, realize controlled in wireless.
The beneficial effects of the invention are as follows：A kind of intelligent transport vehicle of the present invention provides omnibearing ambulation, two linkages, liters
Drop, the combination of controlled in wireless, screw type hoistable platform compact conformation are stable, are suitable for high-frequency and continuously run, and lifting is high
Stable advantage is spent, the comprehensive Mecanum wheel of often set of the drive device is torsion bar independent suspension, it is ensured that all described
Comprehensive Mecanum wheel is in the case of the out-of-flatness of facility floor all in the state of landing, it is ensured that transport vehicle is in traveling and week
The security and stationarity turned；Double car patterns can more heavy weight transporting equipment, meet the transport of larger equipment, it is comprehensive
The independent suspension of Mecanum wheel can meet large-tonnage cargo transport steadily, ensure safety, the mode of controlled in wireless overcomes model
The limitation enclosed, design safety, reliability, experimental performance are strong, transport efficient quick, and economy is superior, rational in infrastructure, modular
Structure design, maintenance maintenance is convenient.
Brief description of the drawings
Fig. 1：A kind of intelligent transport vehicle front view of the present invention；
Fig. 2：A kind of intelligent transport vehicle top view of the present invention；
Fig. 3：A kind of intelligent transport vehicle drive device front view of the present invention；
Fig. 4：A kind of intelligent transport vehicle drive device top view of the present invention；
Fig. 5：A kind of intelligent transport vehicle Quick Connect Kit front view of the present invention；
In figure：1- platform car bodies, 2- lowering or hoisting gears, 3- drive devices, 4- Quick Connect Kits, 11- anti-collision rubber bars,
12- vehicle frames, 13- accumulator boxs, 14- control systems, 21- hoistable platforms, 22- direct current generators, 23- shaft couplings, 24- commutator I,
25- commutators II, 26- lift, 27- draw wire encoders, 31- motors, 32- fixed plates, 33- torsion bars, 34- hydraulic dampings
Device, 35- linking arms, the comprehensive Mecanum wheels of 36-, the upper connectors of 41-, 42- rubber rings, 43- lower connectors.
Specific embodiment
The specific implementation to the present invention is further described below in conjunction with the accompanying drawings.
As shown in Fig. 1,2,3,4,5, a kind of intelligent transport vehicle, including double car patterns and bicycle pattern, double car patterns by
Two bicycle compositions, bicycle includes：Platform car body 1, lowering or hoisting gear 2, drive device 3, Quick Connect Kit 4；The lifting dress
2 centres for being arranged on the platform car body 1 are put, the drive device 3 there are four sets, installed in the side of the platform car body 1, institute
State the end that Quick Connect Kit 4 is arranged on the platform car body 1；The platform car body 1 includes：Anti-collision rubber bar 11, vehicle frame
12nd, accumulator box 13, control system 14；The lowering or hoisting gear 2 includes：Hoistable platform 21, direct current generator 22, shaft coupling 23, change
To device I24, commutator II25, lift 26, draw wire encoder 27；The drive device 3 includes：Motor 31, fixed plate
32nd, torsion bar 33, hydraulic damper 34, linking arm 35, comprehensive Mecanum wheel 36；The Quick Connect Kit 4 includes：Upper company
Connect device 41, rubber ring 42, lower connector 43；
The platform car body 1 is rectangle symmetrical structure, and centre is the bearing frame of the lowering or hoisting gear 2, and both sides are peace
The accumulator box 13 of lead accumulator is filled, accumulator box 13 there are two sets described in bicycle, is symmetric, and the vehicle frame 12 is by work
Word steel and square steel Combination Welding composition, the surface riveting cold-rolled steel sheet of the vehicle frame 12, surrounding are provided with anticollision described in high resiliency
Rubber strip 11, the control system 14 is located at the middle side of the platform car body 1, and the control of control system 14 ensures each
The motor 31 broken down and report an error in time, parking；
The lowering or hoisting gear 2 is four synchronous screw-threaded shaft elevator structures, and the lift 25 is T-shaped screw-threaded shaft elevator, there is four
Set is distributed in the middle bearing frame surrounding of the vehicle frame 12 in H types, and the middle bearing frame Surface Machining of the vehicle frame 12 has
Detent, it is ensured that the axiality of the connecting shaft of lift 25, the direct current generator 22 is arranged on the vehicle frame 12 through bolt
Centre position, output power is divided into two and is delivered to described in both sides after being delivered to the commutator I24 through the shaft coupling 23
Commutator II25, then four lifts 26 are connected by the shaft coupling 23 and connecting shaft, realize four lifts
26 synchronous interactions, the hoistable platform 21 is connected by connection bearing pin with the flange of the leading screw upper end of lift 26, realizes footpath
To positioning, axially compressed by the self gravitation of hoistable platform 21, bicycle is mounted on the draw wire encoder 27, in double car moulds
Ensure the synchronism of lifting under formula；
The drive device 3 includes：It is motor 31, fixed plate 32, torsion bar 33, hydraulic damper 34, linking arm 35, complete
Orientation Mecanum wheel 36；The fixed plate 32 is connected by dormant bolt with the body shell 12 of the platform car body 1, the car
The bearing of body framework 12 is provided with locating slot, it is ensured that the axis for often covering the drive device 3 is in the same plane, often covers described
Drive device 3 is separate torsion suspension, and the comprehensive Mecanum wheel 36 uses hydraulic damping shock-damping structure, it is ensured that car body
Attitude is constant during operation, while reducing the operating inclination of car body and vibrations, it is ensured that all comprehensive Mecanum wheels 36
All in the state of landing in the case of the out-of-flatness of facility floor, it is ensured that security and stationarity of the transport vehicle in traveling；
The comprehensive Mecanum wheel 36 is connected by the motor 31 by shaft coupling and decelerator, the hydraulic damper 34
Tailpiece of the piston rod connect the shaft end of the comprehensive Mecanum wheel 36, the other end is hinged with the fixed plate 32, it is ensured that freedom
Degree, the torsion bar 33 passes through the fixed plate 32, and is provided with deep groove ball bearing, by the positioning shaft shoulder of the torsion bar 33 and small
Round nut carries out axially position, and described one end of torsion bar 33 is connected and by round nut and stop by spline with the linking arm 35
Packing ring is fixed, and the other end is fixedly connected by spline with the body shell 12 of the platform car body 1, realizes torsion bar hanging function,
The torsion bar 33 uses spring steel material, and section is circle, Quenching Treatment, it is ensured that unit length produces bigger moment of torsion, described
Linking arm 35 is middle engraved structure, it is ensured that weight is alleviated on the premise of intensity, is had the advantages that attractive in appearance economical；Often cover described
Drive device 3 includes three sets of comprehensive Mecanum wheels 36 and three sets of motors 31, is distinguished by Vector modulation
Control, realizes 360 ° of zero radius of turn, and any direction walking is operated, the control through the platform car body 1 by wireless controller
System 14 realizes the locomotive function of any direction in two dimensional surface, including straight trip, row, diagonal, arbitrary curve movement, is adapted to turn
The fortune environment that space is limited, operation path is narrow；
The Quick Connect Kit 4 is automatic groove type jointing, and the upper connector 41 has internal thread, the lower company
Connecing device 43 has external screw thread, convenient and fast connection with the vehicle frame 12, and the lower connector 43 is built-in with the rubber ring 42, it is to avoid
The rigid collision of the Quick Connect Kit 4.
As shown in Fig. 1,2,3,4,5, a kind of working method of intelligent transport vehicle is：During double car patterns, two transport vehicles
The control system 14 dock, the drive control device of the control system 14 and the motor 31 carries out data exchange,
The action control of the motor 31 is realized, the traveling controller of the drive device 3 receives hand by wireless data transmission
The control instruction that held controller is sent, by the computing of controller, is sent to the driving control of 24 motors 31
Device processed, drives 24 motors 31 respectively, completes the rotating speed to the motor 31 and the control in direction, from
And the omnibearing ambulation control of double car lower pair of cars of pattern is accurately realized, the wireless communication module of controller believes the state of platform
Breath is sent on hand held controller in real time, realizes controlled in wireless；Bound is inputted in a program by the control system 14
Position height, is controlled by the draw wire encoder 27, and the lowering or hoisting gear 2 under double car patterns is ensured while adjustable height is ensured
Synchronism, the lowering or hoisting gear 2 powers, described under certain action request through the lead accumulator in the accumulator box 13
Under direct current generator 22 drives, the shaft end of the lift 26 is delivered to through the shaft coupling 23, connecting shaft and the commutator 24,
Complete the lifting of the hoistable platform 21.
Protection scope of the present invention is not limited thereto, any one skilled in the art the invention discloses
Technical scope in, the change or replacement that can be readily occurred in should be all included within the scope of the present invention.Therefore, this hair
The protection domain that bright protection domain should be defined by claim is defined.
Claims (6)
1. a kind of intelligent transport vehicle, it is characterised in that including double car patterns and bicycle pattern, double car patterns are by two bicycle groups
Into bicycle includes：Platform car body (1), lowering or hoisting gear (2), drive device (3), Quick Connect Kit (4)；The lowering or hoisting gear
(2) centre of the platform car body (1) is arranged on, the drive device (3) there are four sets, installed in the platform car body (1)
Side, the Quick Connect Kit (4) is arranged on the end of the platform car body (1)；The platform car body (1) includes：Anticollision
Rubber strip (11), vehicle frame (12), accumulator box (13), control system (14)；The lowering or hoisting gear (2) includes：Hoistable platform
(21), direct current generator (22), shaft coupling (23), commutator I (24), commutator II (25), lift (26), draw wire encoder
(27)；The drive device (3) includes：Motor (31), fixed plate (32), torsion bar (33), hydraulic damper (34), connection
Arm (35), comprehensive Mecanum wheel (36)；The Quick Connect Kit (4) includes：Upper connector (41), rubber ring (42),
Lower connector (43)；
The platform car body (1) is rectangle symmetrical structure, and centre is the bearing frame of the lowering or hoisting gear (2), and both sides are peace
The accumulator box (13) of lead accumulator is filled, accumulator box (13) there are two sets described in bicycle, is symmetric, the vehicle frame
(12) it is made up of I-steel and square steel Combination Welding, the surface riveting cold-rolled steel sheet of the vehicle frame (12), surrounding is provided with high-elastic
Property described in anti-collision rubber bar (11), the control system (14) be located at the platform car body (1) middle side, the control system
System (14) control ensures that each motor (31) is broken down and reported an error in time, stops；
The lowering or hoisting gear (2) is four synchronous screw-threaded shaft elevator structures, and the lift (25) is T-shaped screw-threaded shaft elevator, there is four
Set is distributed in the middle bearing frame surrounding of the vehicle frame (12) in H types, and the middle bearing frame surface of the vehicle frame (12) adds
Work has detent, it is ensured that the axiality of lift (25) connecting shaft, and the direct current generator (22) is arranged on institute through bolt
The centre position of vehicle frame (12) is stated, output power is divided into two after being delivered to the commutator I (24) through the shaft coupling (23)
Commutator II (25) described in both sides are delivered to, then four lifts are connected by the shaft coupling (23) and connecting shaft
(26) four lift (26) synchronous interactions, are realized, the hoistable platform (21) is by connection bearing pin and the lift
(26) the flange connection of leading screw upper end, realizes radial positioning, is axially compressed by the hoistable platform (21) self gravitation, bicycle is equal
The draw wire encoder (27) is installed, ensures the synchronism of lifting under double car patterns；
The drive device (3) includes：Motor (31), fixed plate (32), torsion bar (33), hydraulic damper (34), connection
Arm (35), comprehensive Mecanum wheel (36)；The fixed plate (32) is by dormant bolt and the vehicle body frame of the platform car body (1)
Frame (12) is connected, and the bearing of the body shell (12) is provided with locating slot, it is ensured that at the axis for often covering the drive device (3)
Separate torsion suspension is on same plane, often covering the drive device (3), the comprehensive Mecanum wheel (36) uses
Hydraulic damping shock-damping structure, it is ensured that attitude is constant when car body is run, while reducing the operating inclination of car body and vibrations, it is ensured that institute
There is the comprehensive Mecanum wheel (36) in the case of the out-of-flatness of facility floor all in the state of landing, it is ensured that transport vehicle
In the security and stationarity of traveling；The comprehensive Mecanum wheel (36) passes through shaft coupling by the motor (31)
With decelerator connection, the tailpiece of the piston rod of the hydraulic damper (34) connects the shaft end of the comprehensive Mecanum wheel (36),
The other end is hinged with the fixed plate (32), it is ensured that the free degree, and the torsion bar (33) passes through the fixed plate (32), and is provided with
Deep groove ball bearing, axially position, described torsion bar (33) one end are carried out by the positioning shaft shoulder of the torsion bar (33) and small round nut
It is connected and is fixed by round nut and stop washer with the linking arm (35) by spline, the other end is put down by spline with described
The body shell (12) of trolley body (1) is fixedly connected, and realizes torsion bar hanging function, and the torsion bar (33) uses spring steel material,
Section is circle, Quenching Treatment, it is ensured that unit length produces bigger moment of torsion, and the linking arm (35) is middle engraved structure,
Weight is alleviated on the premise of proof strength, is had the advantages that attractive in appearance economical；The drive device (3) is often covered comprising three sets described
Comprehensive Mecanum wheel (36) and three sets of motors (31), are controlled, realize 360 ° of zero-turns respectively by Vector modulation
Curved radius, any direction walking, is operated, the control system (14) through the platform car body (1) realizes two by wireless controller
The locomotive function of any direction in dimensional plane, including straight trip, row, diagonal, arbitrary curve movement, be adapted to transhipment space it is limited,
The narrow environment of operation path；
The Quick Connect Kit (4) is automatic groove type jointing, and the upper connector (41) has internal thread, the lower company
Connecing device (43) has external screw thread, convenient and fast connection with the vehicle frame (12), and the lower connector (43) is built-in with the rubber ring
(42), it is to avoid the rigid collision of the Quick Connect Kit (4).
2. a kind of intelligent transport vehicle as claimed in claim 1, it is characterised in that：The anti-collision rubber of the platform car body (1)
Bar (11) uses rubber strip with high elasticity, and the anti-collision rubber bar (11) is fixed on the side of platform car body (1) surrounding, buffering
Impact when running into barrier in operation to vehicle.
3. a kind of intelligent transport vehicle as claimed in claim 1, it is characterised in that：The often set of the drive device (3) is entirely square
Position Mecanum wheel (36) is torsion bar independent suspension, it is ensured that all comprehensive Mecanum wheels (36) are in facility floor
All in the state of landing in the case of out-of-flatness, it is ensured that transport vehicle is in the security and stationarity advanced and had enough to meet the need；Often cover institute
State drive device (3) and include three sets of comprehensive Mecanum wheels (36) and three motors (31), pass through vector
Synthesis is controlled respectively, realizes 360 ° of zero radius of turn, and any direction walking is operated by wireless controller, is through the control
System (14) realizes the locomotive function of any direction in two dimensional surface, including straight trip, row, diagonal, arbitrary curve movement, is adapted to turn
The fortune environment that space is limited, operation path is narrow.
4. a kind of intelligent transport vehicle as claimed in claim 1, it is characterised in that：Two platform trucks described in double car patterns
When body (1) is docked, two platform car bodies (1) are connected by the Quick Connect Kit (4), realize the parallel comprehensive liter of double cars
Transportation function drops, and the material of the Quick Connect Kit (4) is 45 steel, and platform car body (1) is symmetrically installed on described described in separate unit
Connector (41) and each one of the lower connector (43), the Quick Connect Kit (4) are through-hole structure, separate unit transport vehicle
The control system (14) has jointing on the platform car body (1), the control of two transport vehicles during double car patterns
System (14) is docked, and realizes single hand held controller radio operation.
5. a kind of intelligent transport vehicle as claimed in claim 1, it is characterised in that：The lowering or hoisting gear (2) is arranged on described
The middle position of platform car body (1), the direct current generator (22) is powered by the vehicle-mounted lead accumulator of the accumulator box (13), institute
Lift (26) is stated for T-shaped screw-threaded shaft elevator, with auto-lock function, it is ensured that the precision of equipment lifting, the lift
(26) bottom is equipped with safe screw, is stopped and alarms in time when the lift (26) internal screw weares and teares, institute
Shaft coupling (23) is stated for crown gear coupling, possess radially, axially with angular misalignment of axe compensation ability, with compact conformation,
The radius of gyration is small, transmission efficiency, noise are low and maintenance cycle length advantage.
6. a kind of intelligent transport vehicle as claimed in claim 1, it is characterised in that：The adjustable height of the lowering or hoisting gear (2)
Control, in a program spacing height above and below input, controlled by the draw wire encoder (27) by the control system (14),
Ensure to ensure the synchronism of the lowering or hoisting gear (2) under double car patterns while adjustable height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710310627.0A CN106945749A (en) | 2017-05-05 | 2017-05-05 | A kind of intelligent transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710310627.0A CN106945749A (en) | 2017-05-05 | 2017-05-05 | A kind of intelligent transport vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106945749A true CN106945749A (en) | 2017-07-14 |
Family
ID=59478214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710310627.0A Withdrawn CN106945749A (en) | 2017-05-05 | 2017-05-05 | A kind of intelligent transport vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106945749A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109473192A (en) * | 2018-12-26 | 2019-03-15 | 山西医科大学第医院 | Mobile radiation protection equipment |
| CN109823983A (en) * | 2019-03-18 | 2019-05-31 | 苏州大方特种车股份有限公司 | Big stroke hydraulic goes up and down rack device |
| CN110466299A (en) * | 2019-08-29 | 2019-11-19 | 华南理工大学 | A kind of torsion bar suspension mechanism based on Mecanum wheel |
| CN110606143A (en) * | 2019-10-10 | 2019-12-24 | 北京特种机械研究所 | Rigid connection system for three omnidirectional mobile platforms |
| CN113581318A (en) * | 2021-08-10 | 2021-11-02 | 歌尔科技有限公司 | Running gear and robot |
-
2017
- 2017-05-05 CN CN201710310627.0A patent/CN106945749A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109473192A (en) * | 2018-12-26 | 2019-03-15 | 山西医科大学第医院 | Mobile radiation protection equipment |
| CN109823983A (en) * | 2019-03-18 | 2019-05-31 | 苏州大方特种车股份有限公司 | Big stroke hydraulic goes up and down rack device |
| CN110466299A (en) * | 2019-08-29 | 2019-11-19 | 华南理工大学 | A kind of torsion bar suspension mechanism based on Mecanum wheel |
| CN110606143A (en) * | 2019-10-10 | 2019-12-24 | 北京特种机械研究所 | Rigid connection system for three omnidirectional mobile platforms |
| CN110606143B (en) * | 2019-10-10 | 2020-08-25 | 北京特种机械研究所 | Rigid connection system for three omnidirectional mobile platforms |
| CN113581318A (en) * | 2021-08-10 | 2021-11-02 | 歌尔科技有限公司 | Running gear and robot |
| CN113581318B (en) * | 2021-08-10 | 2022-11-01 | 歌尔科技有限公司 | Running gear and robot |
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