CN110026965B - Device for controlling automatic movement of equipment - Google Patents
Device for controlling automatic movement of equipment Download PDFInfo
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- CN110026965B CN110026965B CN201910358980.5A CN201910358980A CN110026965B CN 110026965 B CN110026965 B CN 110026965B CN 201910358980 A CN201910358980 A CN 201910358980A CN 110026965 B CN110026965 B CN 110026965B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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Abstract
The invention discloses a device for controlling automatic movement of equipment, and relates to the technical field of automatic movement of control equipment. This controlgear automatic movement's device, when installing equipment, the installing port to the equipment bottom through mounting groove and fixed orifices is installed fixedly through the bolt, and after equipment fixing, the fixed disk downstream is pressed to the gravity of equipment self, thereby press two removal framves through the transfer line and remove to both sides, thereby at the in-process that removes, remove two driving frames to both sides, thereby the wheel base of the device has been increased, can be at the in-process very big reinforcing of using when removing heavier equipment stability, the security that the device removed is provided, prevent the easy problem of turning on one's side of heavier equipment when removing.
Description
Technical Field
The invention relates to the technical field of automatic movement of control equipment, in particular to a device for controlling automatic movement of equipment.
Background
The automatic moving control device has the advantages that the automatic moving control device is installed and controlled to move conveniently, the effect of controlling moving can be achieved without manually pushing the device, the automatic moving device generally walks in a preset working area and is generally used for installing some mechanical arms and other devices, the application range of the mechanical arms can be wider, and operators can move the device to a required position more conveniently and conveniently to use the device.
Equipment is when needs remove, generally realize the push-and-pull removal through the device of gyro wheel or similar slide of equipment bottom self-bring, but when using, its position control needs operating personnel's push-and-pull just can realize removing, be difficult to realize the effect to equipment control automatic movement, thereby the great decline of the removal efficiency that has led to equipment, and when installing the use to the equipment of different weight, and central point puts unstablely, the slide formula mobile device just leads to turning on one's side of equipment easily when using the removal, it is relatively poor to remove the security.
Disclosure of Invention
The invention aims to make up for the defects of the prior art, provides a device for controlling equipment to automatically move, has the advantages of good control moving effect and good safety during moving, and solves the problems of poor control moving effect and poor safety during moving of a control equipment moving device.
In order to solve the technical problems, the invention provides the following technical scheme: the device for controlling the automatic movement of the equipment comprises a chassis, wherein a synchronous adjusting mechanism is arranged inside the chassis, driving frames are arranged at two ends of the synchronous adjusting mechanism, and a fixed disc is arranged above the chassis.
The inside of driving frame includes auxiliary wheel, action wheel, track, servo motor, drive wheel one, drive belt, drive wheel two and mounting panel, and is two sets of the below at two driving frame insides is installed respectively to the auxiliary wheel, two the action wheel is installed respectively in the inside top of two driving frames, and the action wheel passes through the track and is connected with two auxiliary wheel transmissions, two the input at two action wheels is installed respectively to the drive wheel two the mounting panel is installed respectively in the lower part that two driving frames are close to a side each other, two servo motor installs the upper surface at two mounting panels respectively, two one the output at two servo motor is installed respectively to the drive wheel, and drive wheel one is connected with two transmissions of drive wheel through the drive belt.
The fixed disk comprises a transmission rod, a first fixed block, a first rotating groove, a second fixed block, a second rotating groove, a fixed frame, a sliding ring, a sliding rod and a moving frame, wherein the first fixed block is arranged on the left side and the right side of the bottom surface of the fixed disk respectively, the two moving frames are arranged in the middle of one side face of each of the two driving frames respectively, the two fixed blocks are arranged on the upper surfaces of the two moving frames respectively, and the transmission rod is arranged above the two moving frames respectively.
Synchronous adjustment mechanism is including extension spring, through-hole, spliced pole, gear, tooth, pivot and dead slot that resets, and is two sets of the spliced pole cover is established at the left and right sides face on chassis, and a side that two sets of spliced poles kept away from each other respectively with two driving racks a side fixed connection that is close to each other, every group all seted up the dead slot between the spliced pole, the inside on chassis has the gear through the fixed hinge of pivot, and the gear is located the inside of dead slot, every the equal fixed mounting of inside wall of dead slot has the tooth with gear looks adaptation, and tooth meshes with the gear mutually.
Furthermore, grooves are formed in the middle of the left side and the right side of the chassis, the two mounting plates extend into the two grooves respectively, and the width of each mounting plate is smaller than that of each groove.
Through adopting above-mentioned technical scheme, can make the mounting panel can remove in the recess at the in-process of adjusting the carriage to can prevent the problem of card pause when removing.
Furthermore, the fixed frame is fixedly arranged in the middle of the upper surface of the chassis, and the two sliding rods are respectively arranged on the left side surface and the right side surface of the fixed frame.
Through adopting above-mentioned technical scheme, can be through the further restriction of slide bar to the moving direction of removal frame.
Furthermore, two the sliding ring is inlayed respectively and is being close to the middle part of a side each other at two removal framves, every the slide bar all runs through the sliding ring and extends to the inside of removing the frame.
Through adopting above-mentioned technical scheme, better remove the position of removing the frame to increase the bearing capacity who removes the frame.
Further, mounting grooves are formed in four corners of the upper surface of the fixing disc, and each mounting groove is internally provided with a fixing hole.
Through adopting above-mentioned technical scheme, better carry out bolt installation fixed to equipment.
Further, the through-hole is opened between two recesses, extension spring fixed mounting resets between two mounting panels, and the extension spring that resets is located the inside of through-hole.
Through adopting above-mentioned technical scheme, can be after dismantling equipment, through the resilience pulling the device of extension spring that resets and resume to initial position, conveniently install and use next time.
Compared with the prior art, the device for controlling the automatic movement of the equipment has the following beneficial effects:
1. according to the invention, the chassis is arranged, the auxiliary wheel, the driving wheel, the crawler belt, the servo motor, the first driving wheel, the transmission belt, the second driving wheel and the mounting plate are cooperatively used, in the using process, the servo motor is controlled to operate through a control system of the device, the first driving wheel is driven to rotate, the second driving wheel is driven to rotate through the transmission of the transmission belt, the driving wheel is driven to rotate, the crawler belt is driven to rotate between the driving wheel and the auxiliary wheel through the driving wheel, the device is driven to automatically move through the crawler belt, and the device can turn or turn around more flexibly during moving through the two independent servo motors.
2. According to the device, the chassis is arranged and is matched with the transmission rod, the first fixing block, the first rotating groove, the second fixing block, the second rotating groove, the fixing frame, the sliding ring, the sliding rod and the moving frame, when the device is installed, the installation opening at the bottom of the device is installed and fixed through the installation groove and the fixing hole through the bolts, and after the device is installed, the fixing disc is pressed and moved downwards by the gravity of the device, so that the two moving frames are pressed and moved towards two sides through the transmission rod, and therefore the two driving frames are moved towards two sides in the moving process, the wheel distance of the device is increased, the stability of the heavier device in the moving process can be greatly enhanced in the using process, the moving safety of the device is improved, and the problem that the heavier device is easy to turn on one side during moving is solved.
3. The invention uses the chassis, the reset tension spring, the through hole, the connecting column, the gear, the tooth, the rotating shaft and the empty slot, when the equipment presses two driving frames to move towards two sides, the two groups of connecting columns are pulled to move relatively, and in the moving process, the gear at the central position is driven to rotate, and the engaging transmission of the gear and the tooth can ensure that the moving-out lengths of the driving frames at two sides are equal, and can avoid the problem that one end of the equipment is moved out and adjusted at one side with heavier pressure and the other side is not changed after the equipment is installed, thereby improving the capability of the device for adjusting the wheel distance according to the self gravity of the equipment, ensuring the adjustment and the use to be safer and more stable, and after the equipment is disassembled, the two driving frames are pulled to reset by the restoring capability of the reset tension spring, so that the fixed disc is positioned at the highest position by the, the effect that the wheel distance automatically changes when the device is installed on equipment with different weights is improved.
Drawings
FIG. 1 is a perspective view of a front view of the chassis of the present invention;
FIG. 2 is a perspective view of a top view of the chassis of the present invention;
FIG. 3 is a bottom perspective view of the base plate of the present invention;
FIG. 4 is a perspective view of the movable stand according to the present invention;
FIG. 5 is a cross-sectional view of a bottom view of the chassis of the present invention;
FIG. 6 is a perspective view of the connecting column of the present invention.
In the figure: 1-chassis, 2-synchronous adjusting mechanism, 201-reset tension spring, 202-through hole, 203-connecting column, 204-gear, 205-tooth, 206-rotating shaft, 207-empty groove, 3-driving frame, 301-auxiliary wheel, 302-driving wheel, 303-crawler, 304-servo motor, 305-driving wheel I, 306-driving belt, 307-driving wheel II, 308-mounting plate, 4-fixed disc, 401-driving rod, 402-fixed block I, 403-rotating groove I, 404-fixed block II, 405-rotating groove II, 406-fixed frame, 407-slip ring, 408-sliding rod, 409-moving frame, 5-mounting groove, 6-fixed hole and 7-groove.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution: the utility model provides a device of controlgear automatic movement, includes chassis 1, and the internally mounted of chassis 1 has synchronous adjustment mechanism 2, and the drive frame 3 is installed at 2 both ends of synchronous adjustment mechanism, and fixed disk 4 is installed to the top of chassis 1.
The driving frames 3 comprise auxiliary wheels 301, driving wheels 302, caterpillar tracks 303, servo motors 304, first driving wheels 305, transmission belts 306, second driving wheels 307 and mounting plates 308, two groups of auxiliary wheels 301 are respectively mounted below the two driving frames 3, the two driving wheels 302 are respectively mounted above the two driving frames 3, the driving wheels 302 are in transmission connection with the two auxiliary wheels 301 through the caterpillar tracks 303, the second driving wheels 307 are respectively mounted at the input ends of the two driving wheels 302, the two mounting plates 308 are respectively mounted at the lower parts of the two driving frames 3 close to one side surface, the two servo motors 304 are respectively mounted on the upper surfaces of the two mounting plates 308, the servo motors 304 are engines for controlling the mechanical elements to run in a servo system, and are auxiliary motor indirect speed changing devices, which can control speed and position accuracy, can convert voltage signals into torque and rotating speed to drive a control object, the rotating speed of the rotor is controlled by an input signal and can be quickly responded, when a voltage signal is zero, the rotor does not have the autorotation phenomenon, a motor controller is installed at the control end of the servo motor 304, the motor is controlled to work according to the set direction, speed, angle and response time through the active work of an integrated circuit, the servo motor 304 is a device known in the prior art, a control system in the device uses a mature control system in the prior art according to the control requirement of an operator, two first driving wheels 305 are respectively installed at the output ends of the two servo motors 304, and the first driving wheels 305 are in transmission connection with second driving wheels 307 through a transmission belt 306.
The lower part of the fixed disk 4 comprises a transmission rod 401, a first fixed block 402, a first rotating groove 403, a second fixed block 404, a second rotating groove 405, a fixed frame 406, a sliding ring 407, a sliding rod 408 and a moving frame 409, wherein the two first fixed blocks 402 are respectively installed on the left side and the right side of the bottom surface of the fixed disk 4, the two moving frames 409 are respectively installed at the middle parts of two driving frames 3 close to one side surface, the two second fixed blocks 404 are respectively installed on the upper surfaces of the two moving frames 409, the two sets of transmission rods 401 are respectively placed above the two moving frames 409, a first rotating groove 403 is respectively arranged at the bottom end of each transmission rod 401, each first rotating groove 403 is fixedly hinged to the second fixed block 404 through a pin shaft, a second rotating groove 405 is respectively arranged at the top end of each transmission rod 409, and each second rotating.
Further, the middle part of chassis 1 left and right sides all is seted up flutedly 7, and two mounting panels 308 extend to the inside of two flutedly 7 respectively, and the width value of mounting panel 308 is less than the width value of flutedly 7, can be at the in-process of adjusting the carriage 3, makes mounting panel 308 can remove in flutedly 7 to can prevent the problem of card pause when removing.
Further, a fixed frame 406 is fixedly installed in the middle of the upper surface of the chassis 1, and two sliding rods 408 are respectively installed on the left and right side surfaces of the fixed frame 406, so that the moving direction of the moving frame 409 can be further limited by the sliding rods 408.
Further, two slip rings 407 are respectively embedded in the middle of two moving frames 409 near one side, and each sliding rod 408 penetrates through the slip ring 407 and extends to the inside of the moving frame 409, so that the position of the moving frame 409 can be better moved, and the bearing capacity of the moving frame 409 can be increased.
Further, mounting groove 5 has all been seted up to four edges of 4 upper surfaces of fixed disk, and fixed orifices 6 have all been seted up to the inside of every mounting groove 5, and better carries out the bolt installation to equipment fixed.
Further, through-hole 202 is seted up between two recesses 7, and extension spring 201 that resets fixed mounting is between two mounting panels 308, and extension spring 201 that resets is located the inside of through-hole 202, can be after dismantling equipment, and the restoring capacity through extension spring 201 that resets stimulates the device and resumes to initial position, makes things convenient for the installation to use next time.
The working principle is as follows: the installation opening at the bottom of the equipment is fixedly installed through the installation groove 5 and the fixing hole 6 through bolts, after the equipment is installed, the gravity of the equipment presses the fixed disc 4 to move downwards, so that the two moving frames 409 are pressed through the transmission rod 401 to move towards two sides, so that the two driving frames 3 are moved towards two sides in the moving process, the wheel track of the device is increased, the stability of the heavy equipment in the moving process can be greatly enhanced in the using process, the moving safety of the device is provided, when the two driving frames 3 are pressed to move towards two sides, the two groups of connecting columns 203 are pulled to move relatively, in the moving process, the gear 204 at the central position is driven to rotate, in addition, through the meshing transmission of the gear 204 and the teeth 205, the lengths of the moving-out driving frames 3 at two sides can be ensured to be equal, and after the installation can be avoided, one end of the device is more pressed to move one side out for adjustment, and the other side is not changed, thereby improving the capability of the device for adjusting the wheel distance according to the self gravity of the device, ensuring that the adjustment is safer and more stable when in use, and after the device is disassembled, the two driving frames 3 are pulled to reset through the restoring capability of the reset tension spring 201, so that the fixed disc 4 is positioned at the highest position through the transmission mechanism, facilitating the next installation and use, improving the effect of the device for automatically changing the wheel distance when in installation for different weight devices, after the installation, the servo motor 304 is controlled to operate through the control system of the device, the driving wheel I305 is driven to rotate, the driving wheel II 307 is driven to rotate through the transmission of the transmission belt 306, and the driving wheel 302 is driven to rotate, thereby the crawler belt 303 is driven to rotate between the driving wheel 302 and the auxiliary wheel 301, therefore, the device is driven to automatically move through the crawler belt 303, and the device can turn or turn around more flexibly when moving through the two independent servo motors 304, so that the moving control effect of the device is improved.
Claims (6)
1. A device for controlling the automatic movement of a device, comprising a chassis (1), characterized in that: a synchronous adjusting mechanism (2) is arranged in the chassis (1), driving frames (3) are arranged at two ends of the synchronous adjusting mechanism (2), and a fixed disc (4) is arranged above the chassis (1);
the driving frames (3) internally comprise auxiliary wheels (301), driving wheels (302), tracks (303), servo motors (304), driving wheels I (305), transmission belts (306), driving wheels II (307) and mounting plates (308), wherein the two groups of auxiliary wheels (301) are respectively mounted below the interiors of the two driving frames (3), the two driving wheels (302) are respectively mounted above the interiors of the two driving frames (3), the driving wheels (302) are in transmission connection with the two auxiliary wheels (301) through the tracks (303), the two driving wheels II (307) are respectively mounted at the input ends of the two driving wheels (302), the two mounting plates (308) are respectively mounted at the lower parts of one side surfaces, close to each other, of the two driving frames (3), the two servo motors (304) are respectively mounted on the upper surfaces of the two mounting plates (308), the two driving wheels I (305) are respectively mounted at the output ends of the two servo motors (304), the first driving wheel (305) is in transmission connection with the second driving wheel (307) through a transmission belt (306);
the lower part of the fixed disc (4) comprises a transmission rod (401), a first fixed block (402), a first rotating groove (403), a second fixed block (404), a second rotating groove (405), a fixed frame (406), a sliding ring (407), a sliding rod (408) and moving frames (409), two groups of the first fixed blocks (402) are respectively arranged at the left side and the right side of the bottom surface of the fixed disc (4), two moving frames (409) are respectively arranged at the middle parts of two driving frames (3) close to one side surface, two groups of the second fixed blocks (404) are respectively arranged on the upper surfaces of the two moving frames (409), two groups of the transmission rods (401) are respectively arranged above the two moving frames (409), the bottom end of each transmission rod (401) is provided with a first rotating groove (403), each first rotating groove (403) is fixedly hinged with the second fixed block (404) through a pin shaft, the top end of each transmission rod (401) is provided with a second rotating groove (405, each second rotating groove (405) is fixedly hinged with the first fixed block (402) through a pin shaft;
synchronous adjustment mechanism (2) are including extension spring (201), through-hole (202), spliced pole (203), gear (204), tooth (205), pivot (206) and dead slot (207) that reset, two sets of spliced pole (203) cover is established at the left and right sides face on chassis (1), and a side that two sets of spliced poles (203) kept away from each other respectively with two driving frame (3) a side fixed connection that are close to each other, every group dead slot (207) have all been seted up between spliced pole (203), the inside on chassis (1) is fixed articulated through pivot (206) has gear (204), and gear (204) are located the inside of dead slot (207), every the equal fixed mounting of inside wall of dead slot (207) has tooth (205) with gear (204) looks adaptation, and tooth (205) mesh with gear (204).
2. The apparatus for controlling automatic movement of a device according to claim 1, wherein: the middle parts of the left side and the right side of the chassis (1) are respectively provided with a groove (7), the two mounting plates (308) respectively extend to the inner parts of the two grooves (7), and the width value of each mounting plate (308) is smaller than that of each groove (7).
3. The apparatus for controlling automatic movement of a device according to claim 1, wherein: the fixed frame (406) is fixedly arranged in the middle of the upper surface of the chassis (1), and the two sliding rods (408) are respectively arranged on the left side surface and the right side surface of the fixed frame (406).
4. The apparatus for controlling automatic movement of a device according to claim 1, wherein: the two sliding rings (407) are respectively embedded in the middle parts of two moving frames (409) close to one side, and each sliding rod (408) penetrates through the sliding ring (407) and extends into the moving frame (409).
5. The apparatus for controlling automatic movement of a device according to claim 1, wherein: mounting grooves (5) are formed in four corners of the upper surface of the fixed disc (4), and each mounting groove (5) is internally provided with a fixing hole (6).
6. The apparatus for controlling automatic movement of a device according to claim 1, wherein: through-hole (202) are seted up between two recess (7), extension spring (201) that resets fixed mounting is between two mounting panels (308), and extension spring (201) that resets is located the inside of through-hole (202).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910358980.5A CN110026965B (en) | 2019-04-30 | 2019-04-30 | Device for controlling automatic movement of equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910358980.5A CN110026965B (en) | 2019-04-30 | 2019-04-30 | Device for controlling automatic movement of equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110026965A CN110026965A (en) | 2019-07-19 |
| CN110026965B true CN110026965B (en) | 2021-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910358980.5A Active CN110026965B (en) | 2019-04-30 | 2019-04-30 | Device for controlling automatic movement of equipment |
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| CN (1) | CN110026965B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110374307A (en) * | 2019-07-29 | 2019-10-25 | 中铁贵州工程有限公司 | A kind of intelligent robot can be used for construction |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4196918A (en) * | 1978-05-17 | 1980-04-08 | Motor Wheel Corporation | Utility trailer frame assembly |
| CN102514626B (en) * | 2011-12-26 | 2013-05-08 | 中国农业大学 | Wheel track adjustable agricultural vehicle chassis |
| CN102582705B (en) * | 2012-03-09 | 2013-09-04 | 浙江理工大学 | Tread-variable center-height-adjustable disaster relief robot |
| CN103072644A (en) * | 2013-01-22 | 2013-05-01 | 赵明 | Crawler type pesticide spraying wheel track regulating device |
| CN103231625B (en) * | 2013-04-08 | 2017-11-14 | 浙江吉利汽车研究院有限公司杭州分公司 | A kind of retractor device and the vehicle with this retractor device |
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Effective date of registration: 20221130 Address after: 471000 room 410, building 3-2, science and Technology Park, Luoyang National University, No. 2, Penglai Road, Jianxi District, Luoyang area, China (Henan) pilot Free Trade Zone, Luoyang City, Henan Province Patentee after: Henan enthalpy control electronic technology Co.,Ltd. Address before: 471003 No.8, Fenghua Road, high tech Zone, Luoyang City, Henan Province Patentee before: LUOYANG INSTITUTE OF SCIENCE AND TECHNOLOGY |