CN207096808U - A kind of floor truck with lifting rotation mechanism - Google Patents
A kind of floor truck with lifting rotation mechanism Download PDFInfo
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- CN207096808U CN207096808U CN201720929427.9U CN201720929427U CN207096808U CN 207096808 U CN207096808 U CN 207096808U CN 201720929427 U CN201720929427 U CN 201720929427U CN 207096808 U CN207096808 U CN 207096808U
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- jacking
- drive device
- frame body
- wheel group
- wheel
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Abstract
A kind of floor truck with lifting rotation mechanism of the utility model, wherein, including：The both ends of the bottom surface longitudinal direction of frame body are respectively equipped with preceding universal wheel group, rear universal wheel group, and drive wheel group is provided between preceding universal wheel group and rear universal wheel group；Jacking drive device is fixed in frame body, and part jacks drive device and from bottom to top leans out frame body top surface；The jacking drive device for leaning out frame body top surface is fixedly connected with jacking disk, and hanging pin bearing assembly is provided with jacking disk, is jacked and is provided with synchronous rotating mechanism between disk and jacking drive device.The function of differential driving, pivot stud and omnidirectional's walking can be realized, so as to avoid the problem of each conditioned space is limited, secondary jacking can be realized, the weight of carrying is detected using bearing sensor, the generation of severe duty is avoided, while also avoids that the problem of underloading driving wheel skids occurs.
Description
Technical field
It the utility model is related to material flows automation technical field, and in particular to a kind of carrying with lifting rotation mechanism is small
Car.
Background technology
It is well known that as the equipment of the developing industry of science and technology is also gradually intended to intellectuality, commercial Application of today
There is the carrier for being not required to driver, using chargeable battery as its power resources.
The unmanned floor truck of in the market, more using conventional differential drive form, i.e., arrangement differential driving in the middle part of car body
Wheel, two universal wheels of arranged in front, behind arrange two directional wheels.This type of drive is simple in construction, utilizes two driving wheels
Speed discrepancy realize the advance of dolly, fall back and turn to, but can not realize that omnidirectional walks.At present, the submarine of industry universal with
Towed unmanned floor truck, mostly using this frame mode.
The unmanned floor truck of conventional differential drive form, it is possible to achieve advance straight line moving, advance turn and after
Move back the action such as straight line moving.Certain radius of turn is needed due in terms of car body the length equidimension in itself, during turning,
Pivot stud can not be realized.With the development of car modern industry, the workshop of industrial enterprise is more and more compacter, between production line
Passage is very narrow.Such case differential drives automatic guided vehicle to tend not to meet spatially due to the limitation of radius of turn
Requirement.
On the other hand, the unmanned floor truck of conventional submarine, the hanging pin set on generally use car body are connected with truck,
To realize the carrying of material.Truck is not applied on floor truck from provided with wheels, the weight of truck.In this case, carry small
The driving force of car is driving wheel and the maximum static friction force on ground, and the size and the coefficient of friction on wheel and ground of driving force are direct
It is related.With the increase of load, or in the case where ground friction coefficient is relatively small（Such as the epoxy of smoother
Face）, the situation that driving force deficiency, driving wheel are skidded often occurs, can only be by being continuously increased the weight of unmanned dolly in itself
To increase driving force.Therefore, for heavy duty or smooth earth, what often unmanned floor truck needed to do especially weighs, Cai Nengzheng
Often use.
Utility model content
The application provides a kind of floor truck with lifting rotation mechanism, to solve floor truck work(in the prior art
Can be single, structure is bad, causes floor truck when needing spinning movement, and space-consuming area is larger and floor truck itself
The problem of gravity skids compared with passenger tyre.
To achieve the above object, the technical solution adopted in the utility model is：
A kind of floor truck with lifting rotation mechanism, wherein, including：Frame body, drive wheel group, preceding universal wheel
Group, rear universal wheel group, jacking drive device, jacking disk, hanging pin bearing assembly；The bottom surface longitudinal direction of the frame body
Both ends are respectively equipped with the preceding universal wheel group, the rear universal wheel group, between the preceding universal wheel group and the rear universal wheel group
Provided with the drive wheel group；
The jacking drive device is fixed in the frame body, and the part jacking drive device is from bottom to top visited
Go out the frame body top surface；
The jacking drive device for leaning out the frame body top surface is fixedly connected with the jacking disk, the jacking
Hanging pin bearing assembly is provided with disk；
Synchronous rotating mechanism is provided between the jacking disk and the jacking drive device；
One controller, the controller controls respectively is connected to the jacking drive device, synchronous rotating mechanism.
The above-mentioned floor truck with lifting rotation mechanism, wherein, the synchronous rotating mechanism includes：Motor is fixed
Plate, synchronous driving motor, little gear, gear wheel and transmission belt, the motor fixing plate are fixed on the jacking drive device
Upper outside, the synchronous driving motor is fixed in the jacking drive device, and the little gear fixed cover is located at described
On the outside of the electronic axle of synchronous driving motor, the gear wheel be fixed at the jacking drive device and the jacking disk it
Between, the gear wheel is provided with the transmission belt with the little gear outer sheath, and the controller connects with the synchronous driving motor
Connect.
The above-mentioned floor truck with lifting rotation mechanism, wherein, the side of the jacking drive device is provided with gravity
Inductor, a force plate, the bottom of the gravity sensor and the upside of the force plate are horizontally disposed with the frame body
Contact, the gravity sensor are fixedly connected with the controller.
The above-mentioned floor truck with lifting rotation mechanism, wherein, the drive wheel group includes：Left driving wheel, right drive
Driving wheel, the left driving wheel is with the right driving wheel respectively positioned at the both sides of the jacking drive device；
The left driving wheel is provided with left driving motor towards the side of the right driving wheel, and the right driving wheel is towards described
The side of left driving wheel is provided with right driving motor；
The left driving motor is connected with the right driving motor with the controller；
The left driving wheel is fixed in the frame body with the right driving wheel.
The above-mentioned floor truck with lifting rotation mechanism, wherein, it is fixed with suspension ring on the upside of the frame body
Group.
The above-mentioned floor truck with lifting rotation mechanism, wherein, the top surface of the jacking drive device is provided with height
Sensor, the height sensor are connected with the controller.
According to a kind of floor truck with lifting rotation mechanism of above-described embodiment, the program has following effect：
1st, can realize differential driving, pivot stud and omnidirectional walking function, so as to avoid each conditioned space by
The problem of limit；
2nd, secondary jacking can be realized, and can weight by bearing sensor to carrying spacing using height sensor
Detected, avoid the generation of severe duty, while also avoid that the problem of underloading driving wheel skids occurs；
3rd, jack disk under the synchronous rotary driving of synchronous rotating mechanism, the bin that is relative to bottom surface remains stationary,
Lift the stability of straight-line travelling and bin in steering procedure；
4th, its is simple in construction, easily fabricated, installation.
Brief description of the drawings
Fig. 1 is a kind of chassis schematic diagram of the floor truck with lifting rotation mechanism；
Fig. 2 is a kind of side view of the floor truck with lifting rotation mechanism；
Fig. 3 is a kind of synchronous rotating mechanism of the floor truck with lifting rotation mechanism；
Fig. 4 is a kind of control connection figure of the floor truck with lifting rotation mechanism.
Reference in corresponding Figure of description is with reference to as follows：
Frame body 1, suspension ring group 101, drive wheel group 2, left driving wheel 201, right driving wheel 202, left driving motor 203,
Right driving motor 204, preceding universal wheel group 3, rear universal wheel group 4, jacking drive device 5, height sensor 501, jacking disk 6,
Hanging pin bearing assembly 7, synchronous rotating mechanism 8, motor fixing plate 801, synchronous driving motor 802, little gear 803, gear wheel
804th, transmission belt 805, controller 9, gravity sensor 10, force plate 11.
Embodiment
In order that technological means, creation feature, reached purpose and effect that utility model is realized are easy to understand, lower knot
Conjunction is specifically illustrating, and the utility model is expanded on further.
As shown in Figure 1, 2, a kind of floor truck with lifting rotation mechanism of the utility model, wherein, including：Vehicle frame sheet
Body 1, drive wheel group 2, preceding universal wheel group 3, rear universal wheel group 4, jacking drive device 5, jacking disk 6, hanging pin bearing assembly 7；
The both ends of the bottom surface longitudinal direction of frame body 1 are respectively equipped with preceding universal wheel group 3, rear universal wheel group 4, and preceding universal wheel group 3 is with after
Drive wheel group 2 is provided between universal wheel group 4, further, frame body 1 advanced on bottom surface by drive wheel group 2, after
Move back or rotate in place, promote jacking disk 6 by truck using jacking drive device 5 in the present embodiment（Not shown in figure）'s
One end jacks up, and main function in this is that jacking drive device 5 is transformed into the gravity of part truck in frame body 1, prevents
Only drive wheel group 2 is skidded at work.Further, preceding universal wheel group 3, rear universal wheel group 4 can coordinate drive wheel group 2 to make
Displacement can smoothly be carried out by obtaining frame body 1.
As shown in figure 3, jacking drive device 5 is fixed in frame body 1, part jacks drive device 5 from bottom to top
The top surface of frame body 1 is leant out, the jacking drive device 5 for leaning out the top surface of frame body 1 is fixedly connected with jacking disk 6, jacking circle
Hanging pin bearing assembly 7 is provided with disk 6, jacks and is provided with synchronous rotating mechanism 8 between disk 6 and jacking drive device 5, further
Coordinate synchronous rotating mechanism 8 to be rotated using disk 6 is jacked, enable to jack disk progress reverse sync rotation, realize
The relative static conditions of the truck drawn in the process of running, so as to ensure its stability.
As shown in figure 4, a controller 9, controller 9 controls respectively is connected to jacking drive device 5, synchronous rotating mechanism 8.
In specific embodiment of the utility model, synchronous rotating mechanism 8 includes：Motor fixing plate 801, synchronous driving electricity
Machine 802, little gear 803, gear wheel 804 and transmission belt 805, motor fixing plate 801 are fixed on the top of jacking drive device 5
Outside, synchronous driving motor 802 are fixed in jacking drive device 5, and the fixed cover of little gear 803 is located at synchronous driving motor 802
Electronic axle（Not shown in figure）Outside, gear wheel 804 are fixed between jacking drive device 5 and jacking disk 6, gear wheel
804 are provided with transmission belt 805 with the outer sheath of little gear 803, and controller 9 is connected with synchronous driving motor 802, further synchronous drive
The angle that the rotation of dynamic motor 802 mainly drives frame body 1 to rotate with drive wheel group 2 synchronizes, the direction that both rotate
Occur simultaneously, the relation of opposite direction.
In specific embodiment of the utility model, the side of jacking drive device 5 is provided with gravity sensor 10, vehicle frame sheet
Be horizontally disposed with a force plate 11 in body 1, the bottom of gravity sensor 10 and the upper contact of force plate 11, gravity sensor 10 with
Controller 9 is fixedly connected.
In specific embodiment of the utility model, drive wheel group 2 includes：Left driving wheel 201, right driving wheel 202, left drive
Driving wheel 201 is with right driving wheel 202 respectively positioned at the both sides of jacking drive device 5；
Left driving wheel 201 is provided with left driving motor 203 towards the side of right driving wheel 202, and right driving wheel 202 is towards left drive
The side of driving wheel 201 is provided with right driving motor 204, and left driving motor 203 is connected with right driving motor 204 with controller 9, left
Driving wheel 201 is fixed in frame body 1 with right driving wheel 202.
In specific embodiment of the utility model, the upside of frame body 1 is fixed with suspension ring group 101.
In specific embodiment of the utility model, the top surface of jacking drive device 5 is provided with height sensor 501, height
Sensor 501 is connected with controller 9.
A kind of control method of the floor truck with lifting rotation mechanism, wherein, comprise the following steps：
S10：By truck（Not shown in figure）One end be fixed on jacking disk 6 upside, and entered using hanging pin bearing assembly 7
Row is fixed；
S20：Starting jacking drive device 5 for the first time causes jacking disk 6 to stop top after touching one end bottom surface of truck
Rise the work of drive device 5；
S30：Second of driving jacking drive device 5, promotes one end of truck to rise a segment distance simultaneously using disk 6 is jacked
Stop；
S40：When frame body 1 moves along a straight line, a left side is controlled respectively using left driving motor 203 and right driving motor 204
Driving wheel 201 rotates with right driving wheel 202 to same direction, realizes the linear motion of frame body 1；
S50：When frame body 1 needs to turn to, then left driving motor 203 controls left drive respectively with right driving motor 204
Driving wheel 201 rotates with right driving wheel 202 to opposite direction, realizes the to the left or first right steering of frame body 1；
When frame body 1 is to right rotation, then synchronous rotating mechanism 8 is synchronous to anticlockwise；
When frame body 1 is to anticlockwise, then synchronous rotating mechanism 8 is synchronous to right rotation.
In specific embodiment of the utility model, in S30, the control jacking drive device 5 of controller 9 is pushed up at second
Stroke when rising is that the gravity numerical value received by gravity sensor 10 determines, further, when gravity sensor 10 senses
When the weight carried to jacking disk 6 is enough to prevent that drive wheel group 2 from skidding, then controller 9 stops control jacking driving dress
Put 5 work.
The purpose of secondary jacking is herein, after once jacking, on disk hanging pin and hanging pin groove centering below floor truck and
Disk is less than floor truck, can so allow dolly hanging pin when entering under floor truck underbody to be docked with groove, ensures car with docking
Finish, in place after carry out secondary jacking again, load weight is changed into frictional force of the car to ground.
Here, that realizes the product of the application needs part：Servo-driver is four, synchronous driving motor four, OK
Four, car, disc rotary one, jack one and reductor, little gear, gear wheel and transmission belt be provided with jacking,
The motor fixing plate is fixed on the upper outside of the jacking drive device, and the synchronous driving motor is fixed on the jacking
In drive device, the little gear fixed cover on the outside of the electronic axle of the synchronous driving motor, fix and set by the gear wheel
Between the jacking drive device and the jacking disk.
In summary, a kind of floor truck with lifting rotation mechanism of the utility model, differential driving, original can be realized
Ground turns to and the function of omnidirectional's walking, so as to avoid the problem of each conditioned space is limited, can realize secondary jacking, use
Height sensor is spacing, and and can is detected by bearing sensor to the weight of carrying, avoids the generation of severe duty, simultaneously
Also avoid that the problem of underloading driving wheel skids occurs, jack disk under the synchronous rotary driving of synchronous rotating mechanism, the material for being
Frame is relative to bottom surface remains stationary, and the stability of lifting straight-line travelling and bin in steering procedure, its is simple in construction, is easy to make
Make, install.
The specific embodiment of utility model is described above.It is to be appreciated that utility model is not limited to
Above-mentioned particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as being given with the common mode in this area
To implement；Those skilled in the art, which can make various deformations or amendments within the scope of the claims and make, some simply to push away
Drill, deform or replace, this has no effect on the substantive content of utility model.
Claims (6)
- A kind of 1. floor truck with lifting rotation mechanism, it is characterised in that including：It is frame body, drive wheel group, preceding universal Wheel group, rear universal wheel group, jacking drive device, jacking disk, hanging pin bearing assembly；The bottom surface longitudinal direction of the frame body Both ends be respectively equipped with the preceding universal wheel group, it is described after universal wheel group, the preceding universal wheel group with it is described after universal wheel group it Between be provided with the drive wheel group；The jacking drive device is fixed in the frame body, and the part jacking drive device from bottom to top leans out institute State frame body top surface；The jacking drive device for leaning out the frame body top surface is fixedly connected with the jacking disk, the jacking disk It is interior to be provided with hanging pin bearing assembly；Synchronous rotating mechanism is provided between the jacking disk and the jacking drive device；One controller, the controller controls respectively is connected to the jacking drive device, synchronous rotating mechanism.
- 2. the floor truck according to claim 1 with lifting rotation mechanism, it is characterised in that the synchronous rotary machine Structure includes：Motor fixing plate, synchronous driving motor, little gear, gear wheel and transmission belt, the motor fixing plate are fixed on institute The upper outside of jacking drive device is stated, the synchronous driving motor is fixed in the jacking drive device, the little gear For fixed cover on the outside of the electronic axle of the synchronous driving motor, the gear wheel is fixed at the jacking drive device and institute Between stating jacking disk, the gear wheel and the little gear outer sheath are provided with the transmission belt, the controller with it is described together Walk motor connection.
- 3. the floor truck according to claim 1 with lifting rotation mechanism, it is characterised in that the jacking driving dress The side put is provided with gravity sensor, is horizontally disposed with a force plate in the frame body, the bottom of the gravity sensor with The upper contact of the force plate, the gravity sensor are fixedly connected with the controller.
- 4. the floor truck according to claim 1 with lifting rotation mechanism, it is characterised in that the drive wheel group bag Include：Left driving wheel, right driving wheel, the left driving wheel is with the right driving wheel respectively positioned at the two of the jacking drive device Side；The left driving wheel is provided with left driving motor towards the side of the right driving wheel, and the right driving wheel is towards the left drive The side of driving wheel is provided with right driving motor；The left driving motor is connected with the right driving motor with the controller；The left driving wheel is fixed in the frame body with the right driving wheel.
- 5. the floor truck according to claim 1 with lifting rotation mechanism, it is characterised in that the frame body Upside is fixed with suspension ring group.
- 6. the floor truck according to claim 1 with lifting rotation mechanism, it is characterised in that the jacking driving dress The top surface put is provided with height sensor, and the height sensor is connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720929427.9U CN207096808U (en) | 2017-07-28 | 2017-07-28 | A kind of floor truck with lifting rotation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720929427.9U CN207096808U (en) | 2017-07-28 | 2017-07-28 | A kind of floor truck with lifting rotation mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207096808U true CN207096808U (en) | 2018-03-13 |
Family
ID=61542874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720929427.9U Expired - Fee Related CN207096808U (en) | 2017-07-28 | 2017-07-28 | A kind of floor truck with lifting rotation mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207096808U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109878406A (en) * | 2019-03-22 | 2019-06-14 | 合肥市春华起重机械有限公司 | A kind of AGV trolley that can adjust plummer size |
-
2017
- 2017-07-28 CN CN201720929427.9U patent/CN207096808U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109878406A (en) * | 2019-03-22 | 2019-06-14 | 合肥市春华起重机械有限公司 | A kind of AGV trolley that can adjust plummer size |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180313 Termination date: 20210728 |