CN108100941A - It can voluntarily walk and carry the trolley of workpiece - Google Patents
It can voluntarily walk and carry the trolley of workpiece Download PDFInfo
- Publication number
- CN108100941A CN108100941A CN201810150099.1A CN201810150099A CN108100941A CN 108100941 A CN108100941 A CN 108100941A CN 201810150099 A CN201810150099 A CN 201810150099A CN 108100941 A CN108100941 A CN 108100941A
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- lifting device
- car body
- fixedly connected
- control system
- plc control
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- 230000003139 buffering effect Effects 0.000 claims description 14
- 230000000694 effects Effects 0.000 claims description 10
- 230000007423 decrease Effects 0.000 claims description 8
- 230000000630 rising effect Effects 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of can voluntarily walk to carry the trolley of workpiece, including car body, the car body lower end is set there are four universal wheel, it is characterized in that car body lower end both sides center is respectively equipped with driving running gear, the car body is equipped with PLC control system and power supply, the power supply is powered for PLC control system, and the present invention is due to using the above structure, having many advantages, such as structure novel, stable, replacement is convenient, work efficiency is high, service life is long.
Description
Technical field
The present invention relates to carrying vehicle technical field, a kind of specifically can voluntarily walk carries the trolley of workpiece.
Background technology
It is well known that at present in big machinery part process, in carrying large machine components, worker is usually sharp
It is hung with row by the workbench of big machinery part handling to process equipment, clamping then is carried out to big machinery part again and is added
Work after processing, then the big machinery part processed using row is hung out, then heavy parts to be processed is arrived in handling
On workbench, so repeatedly, the substantive deficiency of this original method for carrying is：Adjacent parts interval time is long, and part is fixed
The position time is long, causes work efficiency extremely low.
In order to solve the above-mentioned technical problem, some processors are configured with trolley, the steering of this trolley in the production line
With driving generally use two ways.One kind is that trolley driving is drawn or pushed and pulled by extrinsic motive, and all traveling wheels are all
Universal wheel or at least two wheel of front are universal wheels.The running orbit of this trolley is determined by guide rail, and trolley is turned to by guiding
Wheel makes trolley adjust orientation, and universal wheel makes trolley realization turn after adaptively turning.This mode steering structure is simple, easily
Manufacture, but this mode requires trolley that external drive chain or driving station must be relied on to provide abundant driving power, and need
The walking track of levelness and all high wheel of finish is laid on ground so that four universal wheels be ensured not become " eight " word and
Cause trolley that cannot walk.Although therefore this assembly method trolley is at low cost, conveying equipment complicated integral structure is assembled, is applied
Work cost and difficulty are all very high.
Another kind assembling trolley is driven by self power, and the trailing wheel of general this trolley or whole wheels are all individually selected
Servomotor, front-wheel is then universal wheel when only trailing wheel is driven with motor.The steering of this trolley is by the servomotor control of driving wheel
System, when trolley needs to turn, the speed discrepancy of driving motor realizes turning inside and outside programme-control.The substance deficiency of this structure
It is：First, since workshop operation space is limited, for this trolley when turning, radius of turn is big, and spatial area great talent is walking
It opens, it is therefore, impracticable in production and processing workshop.
The content of the invention
Present invention aim to address above-mentioned the deficiencies in the prior art, provide that a kind of structure novel, radius of turn be small, operation
Space is small, stability is high, walks flexibly can voluntarily walk and carries the trolley of workpiece.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of can voluntarily walk carries the trolley of workpiece, and including car body, the car body lower end is set there are four universal wheel, and feature exists
Driving running gear is respectively equipped in car body lower end both sides center, the car body is equipped with PLC control system and power supply, institute
It states power supply to power for PLC control system, the driving running gear includes prelocalization frame, rear locating rack, runing rest, band external tooth
The pivoting support of circle, electric rotating machine, driver pinion, driven pinion, driving traveling wheel, drive shaft, drive wheel bracket, walking
Motor and bearing block, the premenstrual locating rack in runing rest front end are fixedly connected with the vehicle body, and rear end locating rack after is consolidated with car body
Fixed connection, the runing rest center be fixedly connected with the pivoting support external toothing upper end with external toothing, described with external toothing
Pivoting support inner ring lower end is fixedly connected with drive wheel bracket, and the drive wheel bracket lower end is fixedly connected with the bearing seat, one side
Drive pinion shaft and driven pinion axis are equipped at intervals with, described drive shaft one end is fixedly connected with the bearing seat through bearing, another
End is fixedly connected with driving traveling wheel, and the drive shaft drives through movable motor, and the movable motor is through PLC control system control
System, the drive pinion shaft and driven pinion axis are fixedly connected respectively through small bearing with drive wheel bracket, and the active is small
Gear shaft lower end is fixedly connected with the electric rotating machine being fixed in drive wheel bracket, and upper end is fixedly connected with driver pinion, institute
Driven pinion axis upper end is stated to be fixedly connected with driven pinion, the driver pinion and driven pinion respectively with band external tooth
The external toothing of the pivoting support of circle is meshed, and the electric rotating machine is controlled through PLC control system, is to reach to control by PLC
It unites automatic control type rotating motor and movable motor action, and then keeps straight on or turn with motor vehicles bodies, reach that radius of turn is small, operation is empty
Between small effect.
The present invention can be equipped with weight buffer unit between the runing rest and car body, including buffer spring, limited block,
Locking nut, buffering shaft, buffering bearing ease up and rush guiding axis, and the runing rest front end is equipped with through hole, rear end both sides point
Not She You connector sleeve, the prelocalization frame both sides are described respectively through being fixedly connected with the vehicle body perpendicular to the link of prelocalization frame
Prelocalization frame upper surface is equipped with buffer-oriented axis along center to both sides mirror image, before the buffer-oriented axis activity passes through runing rest
Buffer spring is then passed through after the through hole at end, upper end is threadedly coupled with limited block and locking nut, so that buffer spring lower end and rotation
It is inconsistent to turn stent, upper end is inconsistent with limited block, and the buffered bearing fixing sleeve of connector sleeve is described slow in buffering shaft
Red switch axis both ends are fixedly connected respectively with rear locating rack, and the rear locating rack is fixedly connected with the vehicle body through fixing bolt and nut,
In favor of when car body carrying large-tonnage part when, by buffer spring ease up red switch axis will bear against driving traveling wheel on weight
It shares on the car body, has not only reached that radius of turn is small, running space is small, moreover, also having ensured the stability of car body operation.
The present invention can be equipped with workbench in the car body upper end, and worktable lifting is equipped between the car body and workbench and is filled
Put, in favor of facilitate carry different height workpiece, including front left lifting device, front right lifting device, rear left lifting device,
Rear right lifting device, conveying retarder, feeder motor, left cross axle steering gear, right cross axle steering gear, connection transverse axis, active
Sprocket wheel, driven sprocket, the left connection longitudinal axis, the right connection longitudinal axis and supporting plate,
Front left lifting device, front right lifting device, rear left lifting device, rear right lifting device, conveying are installed on the car body
Retarder, left cross axle steering gear and right cross axle steering gear, the car body front end left side is equipped with front left lifting device, right side is set
There is front right lifting device, rear left lifting device is equipped on the left of rear end, right side is equipped with rear right lifting device,
The conveying retarder is located at the rear left lifting device and rear right lifting device or front left lifting device and front right is promoted
Between device, conveying one output shaft of retarder is fixedly connected with feeder motor, and another output shaft is equipped with drive sprocket,
Described connection transverse axis one end is connected with left cross axle steering gear, and the other end is connected with right cross axle steering gear, described
Driven sprocket is fixed on connection transverse axis,
The drive sprocket is connected through chain with driven sprocket,
Described left cross axle steering gear one end is connected through the left connection longitudinal axis with front left lifting device, and the other end is through the left connection longitudinal axis
It is connected with rear left lifting device,
Described right cross axle steering gear one end is connected through the right connection longitudinal axis with front right lifting device, and the other end is through the right connection longitudinal axis
It is connected with rear right lifting device,
The feeder motor is controlled through PLC control system, in favor of by PLC control system feeder motor being driven to run, conveying
Drive sprocket, driven sprocket of the motor through conveying on retarder transmit power to connection transverse axis, and connection transverse axis again passes through power
Left cross axle converter is transported to the left connection longitudinal axis, is transported to through right cross axle converter on the right connection longitudinal axis, passes through left connection
The longitudinal axis drives front left lifting device and rear left lifting device to rise or fall, by the right connection longitudinal axis drive front right lifting device and
Rear right lifting device rises or falls, and promotes the front left lifting device, front right lifting device, rear left lifting device, rear right
Device has haved the function that synchronously to rise or fall, and ensure that the levelness of workpiece on the car body；
The front left lifting device, front right lifting device, rear left lifting device, rear right lifting device upper end and supporting plate, which are fixed, to be connected
It connects, the supporting plate upper end is fixedly connected with workbench.
The present invention can be equipped on the car body of the worm screw one side rises high position sensor and decline low sensors, institute
It states and declines low sensors below rising high position sensor, the rising high position sensor and decline low sensors are distinguished
It is controlled through PLC control system, in favor of by rising high position sensor and declining low sensors by front left lifting device, front right
The limiting value that lifting device, rear left lifting device, rear right lifting device rise or fall is uploaded to PLC control system, PLC controls
System instructs feeder motor to stop, and has the function that automatic running.
The present invention can also be respectively equipped with scanning radar in the car body rear and front end, and report is equipped in the PLC control system
Alert device, the scanning radar and alarm are connected respectively with PLC control system, when car body in the process of walking, pass through scanning
Radar takes front someone or object when blocking stroke, and PLC control system instructs alarm to send alarm, notifies people around
It leaves or moves object, after people or object leave, car body then contacts alarm and continues to proceed to numer centre automatically, reaches
The effect of automatic more mold exchange.
Battery pack may be employed in power supply of the present invention, alternating current can also be used, present invention preferably employs battery pack, to reach
The effect run to untethered.
The present invention can also be equipped with automatically controlled warehouse in the car body lower end, and the car body of corresponding automatically controlled warehouse both sides is equipped with automatically controlled
Storehouse guide rail, rear end are equipped with babinet limited block, and the automatically controlled warehouse both sides are slidably connected through sliding shoe and automatically controlled storehouse guide rail, the electricity
PLC control system and power supply are integrated in control warehouse, it is easy to installation and maintenance to have the function that.
The present invention can also be equipped with damping rubber block in the automatically controlled warehouse rear end, in favor of automatically controlled warehouse is avoided to be limited with carriage body
Position block generates collision and influences PLC control system.
The present invention is due to using the above structure, having structure novel, stable, replacement is convenient, work efficiency is high, uses
The advantages that long lifespan.
Description of the drawings
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is another structure diagram of the invention.
Fig. 3 is the top view of Fig. 2（Remove workbench）.
Fig. 4 is the structure diagram that running gear is driven in the present invention.
Fig. 5 is the top view of Fig. 4.
Fig. 6 is the structure diagram of limit guide rail.
Fig. 7 is the top view of Fig. 6.
Fig. 8 is the left view of Fig. 7.
Reference numeral：1 universal wheel of car body, 2 prelocalization frame 4, rear locating rack 5, runing rest 6, the pivoting support with external toothing
7th, electric rotating machine 8, driver pinion 9, driven pinion 10, driving traveling wheel 11, drive shaft 12, drive wheel bracket 13, walking
Motor 14 and bearing block 15 drive 18 buffer spring 19 of 16 PLC control system 17 of running gear and power supply, limited block 20, locking
Nut 21, buffering shaft 22, buffering bearing ease up and rush 23 connector sleeve of guiding axis, 24 front left lifting device 25, front right lifting device
26th, rear left lifting device 27, rear right lifting device 28, conveying retarder 29, feeder motor 30, left cross axle steering gear 31, the right side
Cross axle steering gear 32, connection transverse axis 33, drive sprocket, driven sprocket, the left connection longitudinal axis 34, the right connection longitudinal axis 35 and supporting plate 36
59 automatically controlled warehouse 60 of scanning radar rises high position sensor 65 and declines low sensors 66.
Specific embodiment
The present invention will be described with reference to the accompanying drawings and examples.
As shown in drawings, a kind of can voluntarily walk carries the trolley of workpiece, and including car body 1,1 lower end of car body is equipped with four
A universal wheel 2, it is characterised in that the 1 lower end both sides center of car body is respectively equipped with driving running gear 16, is set on the car body 1
There are PLC control system 17 and power supply 18, the power supply is powered for PLC control system, and the driving running gear includes prelocalization
Frame 4, rear locating rack 5, runing rest 6, the pivoting support 7 with external toothing, electric rotating machine 8, driver pinion 9, driven pinion
10th, traveling wheel 11, drive shaft 12, drive wheel bracket 13, movable motor 14 and bearing block 15,6 front end of runing rest are driven
Premenstrual locating rack 4 is fixedly connected with car body 1, and rear end locating rack 5 after is fixedly connected with car body 1,6 center of runing rest and
7 external toothing upper end of pivoting support with external toothing is fixedly connected, the 7 inner ring lower end of pivoting support with external toothing and driving wheel
Stent 13 is fixedly connected, and 13 lower end of drive wheel bracket is fixedly connected with bearing block 15, and one side is equipped at intervals with driver pinion
Axis and driven pinion axis, described 12 one end of drive shaft are fixedly connected through bearing with bearing block 15, the other end and driving traveling wheel
11 are fixedly connected, and the drive shaft 12 drives through movable motor 14, and the movable motor 14 is controlled through PLC control system 17, institute
It states drive pinion shaft and driven pinion axis to be fixedly connected with drive wheel bracket 13 through small bearing respectively, the driver pinion
Axis lower end is fixedly connected with the electric rotating machine 8 being fixed in drive wheel bracket 13, and upper end is fixedly connected with driver pinion 9, institute
Driven pinion axis upper end is stated to be fixedly connected with driven pinion 10, the driver pinion 9 and driven pinion 10 respectively with
The external toothing of pivoting support 7 with external toothing is meshed, and the electric rotating machine 8 is controlled through PLC control system 17, is passed through with reaching
17 automatic control type rotating motor 8 of PLC control system and movable motor 14 act, and then keep straight on or turn with motor vehicles bodies 1, reach and turn
The effect that curved radius is small, running space is small.
The present invention can be equipped with weight buffer unit between the runing rest 6 and car body 1, including buffer spring 19, limit
Position block 20, locking nut 21, buffering shaft 22, buffering bearing ease up and rush guiding axis 23, and 6 front end of runing rest is equipped with logical
Hole, rear end both sides are respectively equipped with connector sleeve 24,4 both sides of prelocalization frame pass through respectively link perpendicular to prelocalization frame 4 with
Car body 1 is fixedly connected, and 4 upper surface of prelocalization frame is equipped with buffer-oriented axis 23 along center to both sides mirror image, and the buffering is led
To the activity of axis 23 through being then passed through buffer spring 19, upper end and limited block 20 and locking nut after the through hole of 6 front end of runing rest
21 are threadedly coupled, so that 19 lower end of buffer spring and runing rest 6 are inconsistent, upper end and limited block 20 are inconsistent, the connection
24 buffered bearing fixing sleeves are covered in buffering shaft 22,22 both ends of the buffering shaft are fixedly connected respectively with rear locating rack 5,
Locating rack 5 is fixedly connected through fixing bolt and nut with car body 1 after described, in favor of when car body 1 ton or more of part of carrying,
By buffer spring 19 ease up red switch axis 22 will bear against driving traveling wheel 12 on weight share on car body 1, not only reach
Radius of turn is small, running space is small, moreover, also having ensured the stability of car body operation.
The present invention can be equipped with workbench in the car body upper end, and worktable lifting is equipped between the car body and workbench and is filled
It puts, in favor of facilitating the workpiece for carrying different height, is promoted including front left lifting device 25, front right lifting device 26, rear left
Device 27, rear right lifting device 28, conveying retarder 29, feeder motor 30, left cross axle steering gear 31, right cross axle steering gear
32nd, transverse axis 33, drive sprocket, driven sprocket, the left connection longitudinal axis 34, the right connection longitudinal axis 35 and supporting plate 36 are connected,
Front left lifting device 25, front right lifting device 26, rear left lifting device 27, rear right lifting device are installed on the car body
28th, retarder 29, left cross axle steering gear 31 and right cross axle steering gear 32 are conveyed, front left is equipped on the left of 1 front end of car body
Lifting device 25, right side are equipped with front right lifting device 26, and rear left lifting device 27 is equipped on the left of rear end, and right side is promoted equipped with rear right
Device 28,
The conveying retarder 29 is located at 25 He of the rear left lifting device 27 and rear right lifting device 28 or front left lifting device
Between front right lifting device 26, conveying 29 1 output shaft of retarder is fixedly connected with feeder motor 30, is set on another output shaft
There is drive sprocket,
Described connection 33 one end of transverse axis is connected with left cross axle steering gear 31, and the other end is connected with right cross axle steering gear 32
It connects, driven sprocket is fixed on the connection transverse axis 33,
The drive sprocket is connected through chain with driven sprocket,
Described left 31 one end of cross axle steering gear is connected through the left connection longitudinal axis 34 with front left lifting device 25, and the other end is through left company
The longitudinal axis is connect with rear left lifting device 27 to be connected,
Described right 32 one end of cross axle steering gear is connected through the right connection longitudinal axis 35 with front right lifting device 26, and the other end is through right company
The longitudinal axis 35 is connect with rear right lifting device 28 to be connected,
The feeder motor 30 is controlled through PLC control system 17, in favor of by PLC control system 17 feeder motor 30 being driven to transport
Row, drive sprocket, driven sprocket of the feeder motor 30 through conveying on retarder 29 transmit power to connection transverse axis 33, and connection is horizontal
Power is transported to the left connection longitudinal axis 34 by axis 33 through left cross axle converter 31 again, and right company is transported to through right cross axle converter 32
It connects on the longitudinal axis 35, by the left connection longitudinal axis 34 front left lifting device 25 and rear left lifting device 27 is driven to rise or fall, passed through
The right connection longitudinal axis 35 drives front right lifting device 26 and rear right lifting device 28 to rise or fall, and makes the front left lifting device
25th, front right lifting device 26, rear left lifting device 27, rear right lifting device 28 have haved the function that synchronously to rise or fall, and protect
The levelness of workpiece on the car body is demonstrate,proved；
The front left lifting device 25, front right lifting device 26, rear left lifting device 27,28 upper end of rear right lifting device and supporting plate
36 are fixedly connected, and 36 upper end of supporting plate is fixedly connected with pallet changer 3.
The present invention can be equipped on the car body of the worm screw one side rises high position sensor 65 and decline low sensors
66, the decline low sensors 66, which are located at, rises 65 lower section of high position sensor, described to rise high position sensor and decline low level
Sensor controls respectively through PLC control system, in favor of being put forward front left by rising high position sensor and declining low sensors
The limiting value that device 25, front right lifting device 26, rear left lifting device 27, rear right lifting device 28 rise or fall is risen to be uploaded to
PLC control system, PLC control system instruct feeder motor to stop, having the function that automatic running.
The present invention also can be respectively equipped with scanning radar 59 in 1 rear and front end of car body, be set in the PLC control system 17
There is alarm（It is to show in figure）, the scanning radar 59 and alarm are connected respectively with PLC control system 7, when car body 1 exists
In walking process, by scanning radar 59 take front someone or object block stroke when, PLC control system 17 i.e. instruct report
Alert device sends alarm, and people around is notified to leave or move object, and after people or object leave, car body then contacts alarm and continues
Automatically numer centre is proceeded to, has haved the function that automatic more mold exchange.
Battery pack may be employed in power supply of the present invention, alternating current can also be used, present invention preferably employs battery pack, to reach
The effect run to untethered.
The present invention can also be equipped with automatically controlled warehouse 60 in the car body lower end, and the car body of corresponding automatically controlled 60 both sides of warehouse is equipped with
Automatically controlled storehouse guide rail, rear end are equipped with babinet limited block, and the automatically controlled warehouse both sides are slidably connected through sliding shoe and automatically controlled storehouse guide rail, institute
It states in automatically controlled warehouse and is integrated with PLC control system and power supply, it is easy to installation and maintenance to have the function that.
The present invention can also be equipped with damping rubber block in the automatically controlled warehouse rear end, in favor of automatically controlled warehouse is avoided to be limited with carriage body
Position block generates collision and influences PLC control system.
The present invention can also be equipped with wireless controller, the wireless controller and PLC control system radio connection, to reach
The effect of auto-manual operation.
Front left lifting device 25 of the present invention, front right lifting device 26, rear left lifting device 27, rear right lifting device 28
It can be intermeshed by worm and gear, driving cylinder can also be used, present invention preferably employs worm and gears, are held to reach
Load power is big, lifting smoothly effect.
The present invention at work, after large-scale workpiece to be processed is placed on the workbench of car body by operating personnel, passes through
Wireless controller driving PLC control system starts, and PLC control system instructs dos command line DOS to walk motor action, before driving car body
Row is, it is necessary to which when turning, PLC control system instruction electric rotating machine action drives driver pinion to rotate in a circumferential direction along external toothing, band
Drive wheel bracket rotation is moved, drive wheel bracket drives driving wheel to rotate an angle, and car body is made to turn by the center of circle of center
It is curved, radius of turn is greatly reduced, after turning to after moving down straight trip route, electric rotating machine stops, before movable motor continues driving
Row, band motor vehicles bodies be moved to numer centre, when car body 1 in the process of walking, by scanning radar 59 take front someone or
When object blocks stroke, PLC control system 17 instructs alarm to send alarm, and people around is notified to leave or move object,
After people or object leave, car body then releases alarm and continues to proceed to numer centre stopping automatically, waits and carries workpiece；Work as workpiece
After removing workbench, wireless controller is operated again, and driving PLC control system is started to work, and PLC control system instructs walking
Motor inverted running, band motor vehicles bodies return to original position and are carried again.
The present invention is loading the process of workpiece, can operate the workbench rising button in wireless controller as needed,
Make PLC control system 17 that feeder motor 30 be driven to run, feeder motor 30 is through conveying drive sprocket, driven chain on retarder 29
Wheel transmits power to connection transverse axis 33, and power is transported to the left connection longitudinal axis by connection transverse axis 33 through left cross axle converter 31 again
34, it is transported to through right cross axle converter 32 on the right connection longitudinal axis 35, front left lifting device 25 is driven by the left connection longitudinal axis 34
It is risen or fallen with rear left lifting device 27, front right lifting device 26 and rear right lifting device 28 is driven by the right connection longitudinal axis 35
It rises or falls, makes the front left lifting device 25, front right lifting device 26, rear left lifting device 27, rear right lifting device 28
Reach and synchronously risen or fallen, workbench is made to rise to proper height and is loaded.
The present invention due to using the above structure, have structure novel, radius of turn is small, running space is small, stability is high,
It walks the advantages that flexible.
Claims (7)
1. a kind of can voluntarily walk carries the trolley of workpiece, including car body, the car body lower end is set there are four universal wheel, feature
It is that car body lower end both sides center is respectively equipped with driving running gear, the car body is equipped with PLC control system and power supply,
The power supply is powered for PLC control system, and it is outer that the driving running gear includes prelocalization frame, rear locating rack, runing rest, band
Pivoting support, electric rotating machine, driver pinion, driven pinion, driving traveling wheel, drive shaft, drive wheel bracket, the row of gear ring
Motor and bearing block are walked, the premenstrual locating rack in runing rest front end is fixedly connected with the vehicle body, rear end locating rack and car body after
It is fixedly connected, the runing rest center is fixedly connected with the pivoting support external toothing upper end with external toothing, the band external toothing
Pivoting support inner ring lower end be fixedly connected with drive wheel bracket, the drive wheel bracket lower end is fixedly connected with the bearing seat, one
Side is equipped at intervals with drive pinion shaft and driven pinion axis, and described drive shaft one end is fixedly connected with the bearing seat through bearing, separately
One end is fixedly connected with driving traveling wheel, and the drive shaft drives through movable motor, and the movable motor is through PLC control system control
System, the drive pinion shaft and driven pinion axis are fixedly connected respectively through small bearing with drive wheel bracket, and the active is small
Gear shaft lower end is fixedly connected with the electric rotating machine being fixed in drive wheel bracket, and upper end is fixedly connected with driver pinion, institute
Driven pinion axis upper end is stated to be fixedly connected with driven pinion, the driver pinion and driven pinion respectively with band external tooth
The external toothing of the pivoting support of circle is meshed, and the electric rotating machine is controlled through PLC control system.
2. a kind of can voluntarily walk according to claim 1 carries the trolley of workpiece, it is characterised in that the runing rest
Weight buffer unit is equipped between car body, is eased up including buffer spring, limited block, locking nut, buffering shaft, buffering bearing
Guiding axis is rushed, the runing rest front end is equipped with through hole, and rear end both sides are respectively equipped with connector sleeve, the prelocalization frame both sides point
It Jing not be fixedly connected with the vehicle body perpendicular to the link of prelocalization frame, the prelocalization frame upper surface is set along center to both sides mirror image
Have a buffer-oriented axis, the buffer-oriented axis activity through being then passed through buffer spring after the through hole of runing rest front end, upper end with
Limited block and locking nut are threadedly coupled, so that buffer spring lower end is inconsistent with runing rest, upper end is inconsistent with limited block,
In buffering shaft, the buffering shaft both ends are fixed respectively with rear locating rack to be connected the buffered bearing fixing sleeve of connector sleeve
It connects, the rear locating rack is fixedly connected with the vehicle body through fixing bolt and nut.
3. a kind of can voluntarily walk according to claim 1 carries the trolley of workpiece, it is characterised in that the car body upper end
Equipped with workbench, workbench lifting device is equipped between the car body and workbench, dress is promoted including front left lifting device, front right
Put, rear left lifting device, rear right lifting device, conveying retarder, feeder motor, left cross axle steering gear, right cross axle steer
Device, connection transverse axis, drive sprocket, driven sprocket, the left connection longitudinal axis, the right connection longitudinal axis and supporting plate,
Front left lifting device, front right lifting device, rear left lifting device, rear right lifting device, conveying are installed on the car body
Retarder, left cross axle steering gear and right cross axle steering gear, the car body front end left side is equipped with front left lifting device, right side is set
There is front right lifting device, rear left lifting device is equipped on the left of rear end, right side is equipped with rear right lifting device,
The conveying retarder is located at the rear left lifting device and rear right lifting device or front left lifting device and front right is promoted
Between device, conveying one output shaft of retarder is fixedly connected with feeder motor, and another output shaft is equipped with drive sprocket,
Described connection transverse axis one end is connected with left cross axle steering gear, and the other end is connected with right cross axle steering gear, described
Driven sprocket is fixed on connection transverse axis,
The drive sprocket is connected through chain with driven sprocket,
Described left cross axle steering gear one end is connected through the left connection longitudinal axis with front left lifting device, and the other end is through the left connection longitudinal axis
It is connected with rear left lifting device,
Described right cross axle steering gear one end is connected through the right connection longitudinal axis with front right lifting device, and the other end is through the right connection longitudinal axis
It is connected with rear right lifting device,
The feeder motor is controlled through PLC control system；
The front left lifting device, front right lifting device, rear left lifting device, rear right lifting device upper end and supporting plate, which are fixed, to be connected
It connects, the supporting plate upper end is fixedly connected with workbench.
4. a kind of can voluntarily walk according to claim 1 or 2 or 3 carries the trolley of workpiece, it is characterised in that the present invention
It can be equipped on the car body of the worm screw one side and rise high position sensor and decline low sensors, it is described to decline low level sensing
Device, which is located at, to be risen below high position sensor, described to rise high position sensor and decline low sensors respectively through PLC control system
Control, in favor of by rising high position sensor and declining low sensors by front left lifting device, front right lifting device, rear left
The limiting value that lifting device, rear right lifting device rise or fall is uploaded to PLC control system, and PLC control system instructs defeated
Power transmission machine stops, and has the function that automatic running.
5. a kind of can voluntarily walk according to claim 1 or 2 or 3 or 4 carries the trolley of workpiece, it is characterised in that described
Car body rear and front end is respectively equipped with scanning radar, and alarm, the scanning radar and alarm are equipped in the PLC control system
It is connected respectively with PLC control system.
6. a kind of can voluntarily walk according to claim 1 or 2 or 3 or 4 carries the trolley of workpiece, it is characterised in that described
Car body lower end is equipped with automatically controlled warehouse, and the car body of corresponding automatically controlled warehouse both sides is equipped with automatically controlled storehouse guide rail, and rear end is equipped with babinet /V
Block, the automatically controlled warehouse both sides are slidably connected through sliding shoe and automatically controlled storehouse guide rail, and PLC controls system is integrated in the automatically controlled warehouse
System and power supply.
7. a kind of can voluntarily walk according to claim 6 carries the trolley of workpiece, it is characterised in that the automatically controlled warehouse
Rear end is equipped with damping rubber block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810150099.1A CN108100941B (en) | 2018-02-13 | 2018-02-13 | Trolley capable of walking and carrying workpieces by itself |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810150099.1A CN108100941B (en) | 2018-02-13 | 2018-02-13 | Trolley capable of walking and carrying workpieces by itself |
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| CN108100941A true CN108100941A (en) | 2018-06-01 |
| CN108100941B CN108100941B (en) | 2023-12-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810150099.1A Active CN108100941B (en) | 2018-02-13 | 2018-02-13 | Trolley capable of walking and carrying workpieces by itself |
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| CN110329131A (en) * | 2019-08-19 | 2019-10-15 | 陈一 | Electronic middle drive formula universal carrying |
| CN111320112A (en) * | 2020-04-15 | 2020-06-23 | 湖北九州云仓科技发展有限公司 | Heavy-load omnidirectional shuttle |
| CN111504668A (en) * | 2020-05-14 | 2020-08-07 | 中车长春轨道客车股份有限公司 | Rail collision trolley |
| CN112947404A (en) * | 2019-11-25 | 2021-06-11 | 丰田自动车株式会社 | Conveyance system, conveyance method, and storage medium |
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| CN108100941B (en) | 2023-12-05 |
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