CN211392786U

CN211392786U - S-shaped rail suspensible moving device

Info

Publication number: CN211392786U
Application number: CN201920915763.7U
Authority: CN
Inventors: 黄晨; 高正中; 李文嫄; 陈军君
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2019-06-18
Filing date: 2019-06-18
Publication date: 2020-09-01
Anticipated expiration: 2029-06-18

Abstract

The utility model provides a orbital mobile device that can hang of S type relates to mobile device technical field. The chassis structure is connected with the material and the suspension arm; the suspension arm structure enables the chassis to be suspended on the smooth track; the sliding structure drives the chassis to move along the smooth track; and the positioning device determines the position of the suspensible mobile device on the S-shaped track and feeds back the position to the main controller. The utility model has the advantages that the chassis structure is stable, and the auxiliary steering frame and the auxiliary steering wheel are arranged, so that the stability in the turning process is ensured; the direct-current brushless speed reducing motor is adopted to drive the driving wheel to move on the track, the turning is realized through the differential rotation of the direct-current brushless speed reducing motor, and whether the direct-current brushless speed reducing motor is in a turning position or not is judged through the encoder. Structural design is reasonable, realizes the steady movement of mobile device on S type track.

Description

S-shaped rail suspensible moving device

Technical Field

The utility model relates to a mobile device technical field especially relates to a orbital mobile device that can hang of S type.

Background

With the improvement of the automatic level of industrial production, the suspensible moving device is widely used in production of the production line. The existing suspensible moving device can realize the movement between stations, but has the problems of complex structure and incapability of turning on a track. The structure of the suspensible mobile device is simplified, the cost of the device is reduced and the maintenance is convenient under the condition of achieving the stability; the moving device can better meet the requirement of large-scale flow line production by turning on the track.

SUMMERY OF THE UTILITY MODEL

The utility model provides a orbital mobile device that can hang of S type, the device pass through chassis device with the material with hang the arm structure and link to each other, slider take the material to move steadily on S type track under the drive of drive structure.

In order to achieve the above purpose, the present invention adopts the following technical solution.

A S-track suspendable mobile device comprising:

the chassis structure comprises a chassis and an auxiliary steering frame, wherein the chassis is connected with a suspension arm and a material, and the material is driven to slide along with a pulley in the sliding process. And a driven wheel is arranged on the auxiliary bogie to assist in turning and sliding.

The sliding structure comprises a driving wheel, a driven wheel and an auxiliary steering wheel, wherein the driving wheel rotates under the driving of the DC brushless motor, the driving wheel operates in a differential mode under the driving of the DC brushless speed reducing motor at a turning position, the steering on the S-shaped track is realized, and the auxiliary steering wheel assists in steering.

The suspension arm structure comprises a self-locking quick-release device and a fixed suspension arm. The lower arm is fixed on the chassis device, and the upper arm is hung on the track and is connected with the track.

The positioning device comprises an encoder and an encoder rotating wheel, wherein the encoder and the encoder rotating wheel are connected, the suspensible mobile device is positioned, the position of the suspensible mobile device is fed back to the main controller, and the suspensible mobile device is turned at an S-shaped bend and automatically operates at a fixed station.

The technical scheme of the utility model also includes that the number of the suspension arms in the suspension arm structure is 5, 3 of them are fixed suspension arms, 1 of them is used for installing the encoder and the encoder rotating wheel, and 2 are self-locking quick-release devices; the direct current motor in the driving structure is a direct current brushless speed reducing motor.

The technical scheme of the utility model still include that the master control chip model is STM32F405 VG.

The beneficial effects of the utility model are that, stable in structure slides smoothly. Two auxiliary bogies are arranged on the chassis device, and auxiliary steering wheels are arranged on the bogies to ensure the stability of the system during turning; the sliding structure drives two driving wheels by two direct current brushless speed reducing motors, and the rest are driven wheels, so that the consumption of the motors is reduced, the sliding smoothness is increased, and the direct current brushless speed reducing motors rotate at the S-shaped bend in a differential mode to realize steering; the suspension structure adopts a self-locking quick-release device, has a stable structure, is convenient to assemble and disassemble, and saves time.

Drawings

Fig. 1 is an overall structure diagram of the present invention.

Fig. 2 is an oblique view of the present invention.

Wherein, 1-chassis; 2-auxiliary steering wheels; 3-fixing the suspension arm; 4-driven wheel; 5-an encoder rotating wheel; 6-left driving wheel; 7-left direct current brushless gear motor; 8-a right driving wheel; 9-right direct current brushless gear motor; 10-self-locking quick-release lower arm; 11-copper pillars; 12-an auxiliary bogie; 13-a rotating shaft; 14-an encoder; 15-self-locking quick-release upper arm.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1-2, a movable suspension device of an S-shaped rail includes: the chassis device consists of a chassis 1 and an auxiliary bogie 12; the sliding structure consists of an auxiliary steering wheel 2, a left driven wheel 4, a left driving wheel 6, a left direct current brushless speed reducing motor 7, a right driving wheel 8 and a right direct current brushless speed reducing motor 9; the suspension arm structure comprises a self-locking quick-release upper arm 15, a self-locking quick-release lower arm 10 and a fixed suspension arm 3; and a positioning structure including an encoder 14 and an encoder rotary wheel 5.

Wherein, the auxiliary bogie 12 is connected with the chassis 1 through a 13-shaft rotating shaft, and the auxiliary steering wheel 2 is attached to the side surface of a smooth track in the sliding process.

The left direct current brushless gear motor 7 drives the left driving wheel 6, the right direct current brushless gear motor 9 drives the right driving wheel 8 to run, and the left direct current brushless gear motor 7 and the right direct current brushless gear motor 9 run in a differential mode when the turning position is achieved, so that turning is achieved.

The fixed suspension arm is fixed on the ground, and the upper arm of the fixed suspension arm cannot move; self-locking quick detach underarm 10 is fixed on chassis 1, and self-locking quick detach underarm 10 links to each other with self-locking quick detach upper arm 15 through copper post 11, and self-locking quick detach upper arm 15 is portable, constitutes self-locking structure with self-locking quick detach underarm 10, realizes the loading and unloading of suspensible mobile device on the track.

The encoder 14 is connected with the encoder steering wheel 5, the number of turns of the encoder steering wheel 5 is fed back to the encoder 14, the encoder 14 feeds back data to the main controller, and the main controller compares the data fed back by the encoder 14 with a measured value, so that the existing position of the suspensible mobile device is determined, whether turning is needed or not is determined, and whether stopping is needed or not is determined.

The working principle is as follows: and (3) hanging the suspension structure on the smooth track, closing the self-locking quick-release device, and hanging the whole suspensible mobile device on the S-shaped track by the self-locking quick-release upper arm 3. When the whole system is powered on, the left driving wheel 6 runs under the drive of the left direct current brushless speed reduction motor 7, the right driving wheel 8 runs under the drive of the right direct current brushless speed reduction motor, meanwhile, the driven wheel 4 is driven to move along the upper wall of the S-shaped track, the auxiliary steering wheel 2 moves along the side wall of the S-shaped track, the encoder rotates the wheel 5 to run, the encoder 14 feeds position information back to the main controller, the main controller judges whether to turn, if the main controller judges to turn, if the main controller sends a left-turning signal, the right direct current brushless speed reduction motor runs at a certain rotating speed greater than that of the left direct current brushless motor, left-turning is realized, and the right-. When the device is operated to the destination, the encoder 14 reads the number of turns of the rotating wheel 5 of the encoder and feeds back the position information to the main controller, and the main controller controls the direct current brushless motor to stop rotating and the suspensible mobile device to stop operating.

Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and the changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also belong to the protection scope of the present invention.

Claims

1. A suspendable moving device of S-shaped rails, comprising:

the chassis structure comprises a chassis and an auxiliary bogie, wherein the chassis is connected with a suspension arm and a material, the material moves along with a pulley in the sliding process, and a driven wheel is arranged on the auxiliary bogie to assist steering and sliding;

the sliding structure comprises a driving wheel, a driven wheel and an auxiliary steering wheel, wherein the driving wheel rotates under the driving of the DC brushless motor, and at a turning position, the driving wheel operates in a differential mode under the driving of the DC brushless speed reducing motor to realize steering, and the auxiliary steering wheel assists in steering;

the suspension arm structure comprises a self-locking quick-release device and a fixed suspension arm, wherein a lower arm is fixed on the chassis device, and an upper arm is hung on the S-shaped track and is connected with the S-shaped track;

the positioning device comprises an encoder and an encoder rotating wheel, wherein the encoder is connected with the encoder rotating wheel to position the suspensible mobile device, so that the suspensible mobile device can be steered, and the automatic stop can be realized when the suspensible mobile device reaches a destination.