CN114771690A - Material transfer trolley for elevator cooperative flexible production line - Google Patents
Material transfer trolley for elevator cooperative flexible production line Download PDFInfo
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- CN114771690A CN114771690A CN202210382707.8A CN202210382707A CN114771690A CN 114771690 A CN114771690 A CN 114771690A CN 202210382707 A CN202210382707 A CN 202210382707A CN 114771690 A CN114771690 A CN 114771690A
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- material transfer
- transfer trolley
- wheel
- chassis
- elevator
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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
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a material transfer trolley for an elevator cooperative flexible production line, which comprises a chassis, wherein a controller and a storage battery are arranged on the chassis, a lifting platform is arranged on the top surface of the chassis, a plurality of wheels driven by a motor are arranged at the bottom of the chassis, an automatic navigation device and a data transmission device are arranged on the chassis, a plurality of driving wheels are arranged below the chassis, a driving motor is arranged on the driving wheels, and the plurality of driving wheels are all connected with the chassis through the lifting device; the lifting mechanism comprises a lifting motor, the lifting motor is connected with the chassis through a first support, the lifting motor is connected with the storage battery through a controller, a screw rod is arranged at the output end of the lifting motor, a nut is arranged on the screw rod, a first connecting rod is hinged to the bottom of the nut, a second support connected with the chassis is arranged at the end of the screw rod, a second connecting rod is hinged to the bottom of the second support, the second connecting rod is connected with the first connecting rod in a rotating mode through a lifting shaft, and the driving wheel is connected to the lifting shaft. The invention has the advantage of improving the production efficiency of the flexible production line.
Description
Technical Field
The invention relates to a material transfer trolley for an elevator cooperative flexible production line.
Background
With the development of elevator production technology, the production line of the existing elevator can automatically produce corresponding parts according to the elevator model for ordering customers, the production of the parts is mainly carried out by various robots, the produced parts are transported in a transition way in the production line through a material transporting trolley (provided with an automatic navigation device, the navigation device corrects the advancing direction of the material transporting trolley according to a path guide line laid on the ground and ensures that the material transporting trolley moves from a specific point A to a point B), the transition transportation speed of the material transporting trolley is matched with the production speed of the parts in a coordinated way, and the produced parts are mainly automatically assembled by the robots. The elevator production line with the functions is called an elevator cooperative flexible production line (called a flexible production line for short).
The structure of dolly is transported to current material, including the chassis, be equipped with controller and battery on the chassis, be equipped with the elevating platform on the top surface on chassis, the bottom on chassis is equipped with a plurality of wheels (generally four, two driving wheels for not having power from the driving wheel in front side, two driving wheels for the electric drive in rear side), is equipped with automatic navigation device and data transmission device on the chassis. When the automatic transportation device works, the controller starts wheels according to the data information received by the data transmission device, so that the logistics transportation trolley moves to the position below the produced parts (the parts are arranged on the tray), the lifting platform is lifted to jack the tray, then the specified position is moved according to the automatic navigation device, the lifting platform is lowered to place the tray on the ground, and the transportation of the parts is completed.
In the workshop of flexible production line, in order to reduce static, avoid static to the equipment influence, and in order to clean the purpose easily, the workshop ground is epoxy terrace usually, epoxy terrace's surface is comparatively smooth, especially wet and smooth in the day of getting damp again, lead to the material to transport the dolly wheel and skid easily when opening and stop, the degree of skidding of a plurality of wheels is different, the rotation by a wide margin of material transportation dolly, lead to the deviation route guide wire by a relatively large margin of automatic navigation device, can not respond to the route guide wire, can not correct the route of marcing again automatically and advance along the appointed route, thereby report to the police, need carry out manual handling, lead to the production beat interrupt of flexible production line, the production efficiency of flexible production line has been reduced.
Certainly, the rotating speed of the wheels can be adjusted through the controller, namely when the logistics transfer trolley is started or stopped, the rotating speed of the wheels is changed at a relatively low acceleration, so that the logistics transfer trolley is started or stopped softly, the wheels can be prevented from slipping to a certain extent, even if the wheels slip a little, the correct route can still be corrected automatically when the automatic navigation device does not deviate from the identification range of the route guide line, but the logistics transfer speed is too low, the use of the flexible production line in a full-load working state is difficult to meet, and the production efficiency of the flexible production line can still be reduced.
Still another kind of method, increase material transportation dolly bottom wheel quantity promptly, or directly replace the wheel of commodity circulation dolly bottom with the crawler-type, increase the frictional force of material transportation dolly and ground, reach the purpose of avoiding the material to transport the dolly and skid, nevertheless no matter increase the wheel quantity, or replace the wheel with the crawler-type, all can lead to the material to transport the dolly and increase at the in-process resistance of marcing, and the material transports the dolly and regards as the energy with the battery, under the circumstances that the resistance increases, the duration of the material transportation dolly reduces, frequently need to shut down and charge, also can reduce the production efficiency of flexible production line.
Therefore, a material transfer trolley capable of improving the production efficiency of the flexible production line is needed.
Disclosure of Invention
The invention aims to provide a material transfer trolley for an elevator cooperative flexible production line. The invention has the advantage of improving the production efficiency of the flexible production line.
The technical scheme of the invention is as follows: dolly is transported to material of elevator flexible production line in coordination, including the chassis, be equipped with controller and battery on the chassis, be equipped with the elevating platform on the top surface on chassis, the bottom on chassis is equipped with a plurality of wheels of motor drive, is equipped with automatic navigation device and data transmission device on the chassis, its characterized in that: the below on chassis is equipped with a plurality of drive wheels, is equipped with driving motor on the drive wheel, and a plurality of drive wheels all pass through elevating gear and connect the chassis.
In the dolly is transported to material of aforesaid elevator flexible production line in coordination, elevating system includes the elevator motor who is connected with the controller, and elevator motor passes through first leg joint chassis, and elevator motor passes through the controller and connects the battery, and elevator motor's output is equipped with the screw rod, is equipped with the nut on the screw rod, and the bottom of nut articulates there is first connecting rod, and the tip of screw rod is equipped with the second support of being connected with the chassis, and the bottom of second support articulates there is the second connecting rod, and the second connecting rod passes through the lift axle to be connected with first connecting rod rotation, the drive wheel is connected on the lift axle.
In the material transfer trolley for the elevator cooperative flexible production line, the driving wheel comprises a floating shaft which downwards penetrates through the lifting shaft, a limiting cap is arranged at the upper end of the floating shaft, a wheel carrier is arranged at the lower end of the floating shaft, a spring is arranged between the wheel carrier and the lifting shaft, a wheel shaft in rotary connection is arranged on the wheel carrier, and a roller fixed with the wheel shaft is arranged on the inner side of the wheel carrier.
In the material transfer trolley for the elevator cooperative flexible production line, the adjacent driving wheels are connected through the first flexible shaft to form a wheel set, two ends of the first flexible shaft are respectively fixed with two wheel shafts on the adjacent driving wheels, one side of the wheel set is provided with the driving motor, the driving motor is connected with the lifting shaft through the third support, and the driving motor is connected with the adjacent wheel shafts through the second flexible shaft.
In the material transfer trolley for the elevator cooperative flexible production line, the driving wheel is positioned at the rear side of the chassis.
In the material transfer trolley for the elevator cooperative flexible production line, shaft sleeves penetrated by the lifting shafts are arranged on two sides of the first connecting rod.
In the material transfer trolley for the elevator cooperative flexible production line, the use method of the material transfer trolley comprises the following steps: before the material transfer trolley is started, wheels on the rear side of the material transfer trolley are suspended in the air; when the material transfer trolley is started, the material transfer trolley advances by the power provided by the driving wheel; when the material transfer trolley is started and reaches a certain speed, the linear speed of the rear side wheel of the material transfer trolley is the same as or close to the linear speed of the roller wheel through the controller, so that the rear side wheel of the material transfer trolley lands, the driving wheel is suspended in the air, the material transfer trolley moves forward by the power provided by the rear side wheel of the material transfer trolley, and the driving wheel stops working.
In the material transportation dolly of aforementioned elevator flexible production line in coordination, before the dolly stops is transported to the material, start the drive wheel through the controller earlier to make the linear velocity of gyro wheel equal or close with the linear velocity of material transportation dolly rear side wheel, then make gyro wheel and material transport dolly rear side wheel simultaneously land, then reduce the rotational speed of gyro wheel and rear side wheel in step, transport the dolly and stop moving completely until the material.
In the material transfer trolley for the elevator cooperative flexible production line, before the material transfer trolley is started, the chassis of the material transfer trolley is inclined forward by 1-3 degrees.
Compared with the prior art, the invention arranges a plurality of lifting driving wheels at the bottom of the existing material transfer trolley, before the material movement trolley is started, the distance between the driving wheels and the chassis is increased through the controller, so that the wheels at the rear side of the material transfer trolley are suspended, and the chassis is slightly inclined forwards, thereby preventing parts on the material transfer trolley from sliding backwards under the relatively fast acceleration, and then the driving wheels are used for replacing the wheels at the rear side of the material transfer trolley to provide driving force for the material transfer trolley, and because the number of the driving wheels is large, the friction force between the material transfer trolley and the ground is large; when the material transfer trolley reaches a specified place and is about to stop moving, the driving wheel and the wheels are simultaneously grounded through the controller, so that the friction force between the material transfer trolley and the ground is increased; because the material transportation dolly opens and stops the stage and all keep there is great frictional force with ground, the material transportation dolly all can not skid opening and stopping, ensures that the material transportation dolly can not deviate the route, and the takt of flexible production line can not interrupted, and the production efficiency of flexible production line can improve to opening of material transportation dolly stops speed faster, has increased the transportation efficiency of material transportation dolly, also can further improvement flexible production line's production efficiency. During the normal travelling of the material transfer trolley, the lifting mechanism enables the driving wheel to rise, so that the driving wheel is prevented from contacting the ground, the friction force between the material transfer trolley and the ground is reduced, the energy consumption of the material transfer trolley is low, frequent shutdown and charging are not needed, and the method is also an important means for ensuring the production efficiency of the flexible production line. Therefore, the invention has the advantage of improving the production efficiency of the flexible production line.
Drawings
Fig. 1 is a schematic front view of the present invention at the screw.
Fig. 2 is a schematic bottom view of the present invention.
Fig. 3 is a left side schematic view of the drive wheel.
The symbols in the drawings are: 1-chassis, 2-wheel, 3-driving wheel, 4-driving motor, 5-lifting motor, 6-first support, 7-screw rod, 8-nut, 9-first connecting rod, 10-second support, 11-second connecting rod, 12-lifting shaft, 13-floating shaft, 14-wheel carrier, 15-spring, 16-wheel shaft, 17-roller, 18-first flexible shaft, 19-third support, 20-second flexible shaft and 21-shaft sleeve.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
Examples are given. Dolly is transported to material of elevator flexible production line in coordination, as shown in fig. 1, including chassis 1, be equipped with controller and battery on the chassis 1, be equipped with the elevating platform on the top surface of chassis 1, the bottom of chassis 1 is equipped with a plurality of wheels 2 of motor drive, is equipped with automatic navigation device and data transmission device on the chassis 1, and characteristics are, and the below on chassis 1 is equipped with a plurality of drive wheels 3, are equipped with driving motor 4 on the drive wheel 3, and a plurality of drive wheels 3 all connect chassis 1 through elevating gear.
Elevating system includes the elevator motor 5 of being connected with the controller, elevator motor 5 connects chassis 1 through first support 6, elevator motor 5 passes through the controller and connects the battery, elevator motor 5's output is equipped with screw rod 7, is equipped with nut 8 on the screw rod 7, and the bottom of nut 8 articulates there is first connecting rod 9, and the tip of screw rod 7 is equipped with the second support 10 of being connected with chassis 1, and the bottom of second support 10 articulates there is second connecting rod 11, and second connecting rod 11 rotates with first connecting rod 9 through lift axle 12 to be connected, drive wheel 3 is connected on lift axle 12. The invention ensures that the lifting mechanism can be arranged between the driving wheel 3 and the chassis 1 by optimizing the structure, thereby ensuring that the requirement on the height of the installation space is low.
The driving wheel 3 comprises a floating shaft 13 which downwards penetrates through the lifting shaft 12, a limiting cap is arranged at the upper end of the floating shaft 13, a wheel carrier 14 is arranged at the lower end of the floating shaft 13, a spring 15 is arranged between the wheel carrier 14 and the lifting shaft 12, a wheel shaft 16 which is rotatably connected with the wheel carrier 14 is arranged on the wheel carrier 14, a roller 17 fixed with the wheel shaft 16 is arranged on the inner side of the wheel carrier 14, and an anti-skid layer made of rubber is arranged on the outer side of the roller 17. The idler wheels 17 float through the springs 15 and the floating shafts 13, and after the lifting shafts 12 are ensured to descend, each driving wheel 3 can be in contact with the ground, unevenness of the ground is overcome, so that large friction force exists between the material transfer trolley and the ground, and the material transfer trolley is not easy to slip when being started or stopped.
The adjacent driving wheels 3 are connected through a first flexible shaft 18 to form a wheel set, two ends of the first flexible shaft 18 are respectively fixed with two wheel shafts 16 on the adjacent driving wheels 3, a driving motor 4 is arranged on one side of the wheel set, the driving motor 4 is connected with the lifting shaft 12 through a third support 19, and the driving motor 4 is connected with the adjacent wheel shafts 16 through a second flexible shaft 20. The first flexible shaft 18 and the second flexible shaft 20 have the function that when the driving wheels 3 share the power of the same driving motor 4 and the driving wheels 3 are not at the same height, the power of the driving motor 4 can be smoothly transmitted to all the driving wheels 3.
The drive wheel 3 is located at the rear side of the chassis 1.
And two sides of the first connecting rod 9 are provided with shaft sleeves 21 penetrated by the lifting shaft 12, and the shaft sleeves 21 are used for ensuring the level of the lifting shaft 12.
The lifting motor 5 and the driving motor 4 are both stepping motors.
The use method of the material transfer trolley comprises the following steps: before the material transfer trolley is started, the controller firstly enables the lifting motor 5 to work to drive the screw 7 to rotate, the nut 8 moves backwards (namely in the right direction of the drawing 1), the lower end of the first connecting rod 9 moves downwards to drive the lifting shaft 12 to move downwards, the driving wheel 3 touches the ground, the wheel 2 on the rear side of the material transfer trolley is suspended in the air until the chassis 1 tilts forwards by 1-3 degrees, and the lifting motor 5 stops working. Then the controller starts the driving motor 4, the driving motor 4 drives all the wheel shafts 16 to rotate through the second flexible shaft 20 and the first flexible shaft 18, the wheel shafts 16 drive the rollers 17 to rotate, and the material transfer trolley moves forwards.
After the material transfer trolley is started and reaches a certain speed (the certain speed refers to the speed of the material transfer trolley during normal movement), the linear speed of the rear side wheel 2 of the material transfer trolley is the same as or similar to the linear speed of the roller 17 through the controller. Then the controller enables the deauton nut 7 of the lifting motor 5 to move forwards, the driving wheel 3 moves upwards, the wheel 2 on the rear side of the trolley touches the ground, the driving wheel 3 is suspended, the material transferring trolley moves forwards by the power provided by the wheel 2 on the rear side of the material transferring trolley, the driving motor 4 is stopped after the driving wheel 3 is suspended, and the material transferring trolley moves to a specified place.
When the material transfer trolley is close to a specified place, the driving wheel 3 is started through the controller, and the linear velocity of the roller 17 is equal to or close to the linear velocity of the rear side wheel 2 of the material transfer trolley; then the controller enables the lifting motor 5 to work, the nut 8 moves backwards, the roller 17 and the rear side wheel 2 of the material transfer trolley are enabled to touch the ground simultaneously, then the controller synchronously reduces the rotating speed of the roller 17 and the rear side wheel 2, and the material transfer trolley stops moving when reaching a specified place.
Claims (9)
1. Dolly is transported to material of flexible production line in coordination to elevator, including chassis (1), be equipped with controller and battery on chassis (1), be equipped with the elevating platform on the top surface of chassis (1), the bottom on chassis (1) is equipped with a plurality of wheels of motor drive (2), is equipped with automatic navigation device and data transmission device on chassis (1), its characterized in that: the lower side of chassis (1) is equipped with a plurality of drive wheels (3), is equipped with driving motor (4) on drive wheel (3), and a plurality of drive wheels (3) all connect chassis (1) through elevating gear.
2. The material transfer trolley for the elevator cooperative flexible production line according to claim 1, wherein: elevating system includes elevator motor (5) be connected with the controller, chassis (1) is connected through first support (6) in elevator motor (5), the battery is connected through the controller in elevator motor (5), the output of elevator motor (5) is equipped with screw rod (7), be equipped with nut (8) on screw rod (7), the bottom of nut (8) articulates there is first connecting rod (9), the tip of screw rod (7) is equipped with second support (10) be connected with chassis (1), the bottom of second support (10) articulates there is second connecting rod (11), second connecting rod (11) are rotated with first connecting rod (9) through lift axle (12) and are connected, drive wheel (3) are connected on lift axle (12).
3. The material transfer trolley for the elevator cooperative flexible production line according to claim 2, wherein: the driving wheel (3) comprises a floating shaft (13) which downwards penetrates through the lifting shaft (12), a limiting cap is arranged at the upper end of the floating shaft (13), a wheel carrier (14) is arranged at the lower end of the floating shaft (13), a spring (15) is arranged between the wheel carrier (14) and the lifting shaft (12), a wheel shaft (16) which is rotatably connected is arranged on the wheel carrier (14), and a roller (17) which is fixed with the wheel shaft (16) is arranged on the inner side of the wheel carrier (14).
4. The material transfer trolley for the elevator cooperative flexible production line according to claim 3, wherein: the adjacent driving wheels (3) are connected through a first flexible shaft (18) to form a wheel set, two ends of the first flexible shaft (18) are respectively fixed with two wheel shafts (16) on the adjacent driving wheels (3), a driving motor (4) is arranged on one side of the wheel set, the driving motor (4) is connected with a lifting shaft (12) through a third support (19), and the driving motor (4) is connected with the adjacent wheel shafts (16) through a second flexible shaft (20).
5. The material transfer trolley for the elevator cooperative flexible production line according to claim 4, wherein: the driving wheel (3) is positioned at the rear side of the chassis (1).
6. The material transfer trolley for the elevator cooperative flexible production line according to claim 2, wherein: and shaft sleeves (21) penetrated by the lifting shafts (12) are arranged on two sides of the first connecting rod (9).
7. The material transfer trolley for the elevator cooperative flexible production line according to claim 5, wherein: the use method of the material transfer trolley comprises the following steps: before the material transfer trolley is started, the wheel (2) on the rear side of the material transfer trolley is suspended in the air; when the material transfer trolley is started, the material transfer trolley advances by the power provided by the driving wheel (3); when the material transfer trolley is started and reaches a certain speed, the linear speed of the rear side wheel (2) of the material transfer trolley is the same as or close to the linear speed of the roller (17) through the controller, so that the rear side wheel (2) of the material transfer trolley lands, the driving wheel (3) is suspended in the air, the material transfer trolley advances by the power provided by the rear side wheel (2) of the material transfer trolley, and the driving wheel (3) stops working.
8. The material transfer trolley for the elevator cooperative flexible production line according to claim 6, wherein: before the material transfer trolley stops, the driving wheel (3) is started through the controller, the linear speed of the roller (17) is equal to or close to the linear speed of the rear side wheel (2) of the material transfer trolley, then the roller (17) and the rear side wheel (2) of the material transfer trolley are simultaneously landed, and then the rotating speeds of the roller (17) and the rear side wheel (2) are synchronously reduced until the material transfer trolley completely stops moving.
9. The material transfer trolley for the elevator cooperative flexible production line according to claim 7, wherein: before the material transfer trolley is started, the chassis (1) of the material transfer trolley is inclined forward by 1-3 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210382707.8A CN114771690B (en) | 2022-04-12 | 2022-04-12 | Material transfer trolley of elevator cooperative flexible production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210382707.8A CN114771690B (en) | 2022-04-12 | 2022-04-12 | Material transfer trolley of elevator cooperative flexible production line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114771690A true CN114771690A (en) | 2022-07-22 |
| CN114771690B CN114771690B (en) | 2023-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210382707.8A Active CN114771690B (en) | 2022-04-12 | 2022-04-12 | Material transfer trolley of elevator cooperative flexible production line |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116161142A (en) * | 2023-04-26 | 2023-05-26 | 无锡米洛智能工业科技有限公司 | AGV chassis for workshop cargo loading and transportation |
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| CN204705894U (en) * | 2015-06-15 | 2015-10-14 | 济南大学 | Magnetic navigation AGV material handling dolly |
| WO2017220407A1 (en) * | 2016-06-20 | 2017-12-28 | Kuka Roboter Gmbh | Vehicle with a chassis and a drive unit |
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| CN116161142A (en) * | 2023-04-26 | 2023-05-26 | 无锡米洛智能工业科技有限公司 | AGV chassis for workshop cargo loading and transportation |
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| CN114771690B (en) | 2023-08-01 |
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