CN109573880B - Automatic transfer robot elevating gear - Google Patents
Automatic transfer robot elevating gear Download PDFInfo
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- CN109573880B CN109573880B CN201811363857.4A CN201811363857A CN109573880B CN 109573880 B CN109573880 B CN 109573880B CN 201811363857 A CN201811363857 A CN 201811363857A CN 109573880 B CN109573880 B CN 109573880B
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- driving
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- sleeve
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Manipulator (AREA)
Abstract
The invention relates to an automatic transfer robot lifting device, comprising: the bottom surface of the base is provided with a plurality of mobile devices; the lifting mechanism is fixedly arranged on the upper surface of the base and comprises a lifting support and one or more telescopic cylinders fixedly arranged on the lifting support, and each telescopic cylinder comprises a driving mechanism fixed on the lifting support close to the base, a piston rod with one end connected with an output shaft of the driving mechanism, a piston sleeve sleeved at one end of the piston rod far away from the driving mechanism and connected with the piston rod in a sliding manner, and a rod head fixedly arranged at one end of the piston sleeve far away from the driving mechanism; the platform is arranged at one end, far away from the base, of the lifting mechanism and is rotatably connected with the top end of the lifting mechanism through a rotating mechanism. The telescopic cylinder can effectively absorb the vibration force generated in the lifting process so as to reduce the damage to the telescopic cylinder in the lifting process.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a lifting device of an automatic transfer robot.
Background
An Automatic Guided Vehicle (AGV) is a transport Vehicle equipped with an electromagnetic or optical automatic positioning device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions, and belongs to the category of a wheeled mobile robot. In industrial application, the driver's transportation vehicle is not required, and the rechargeable battery is used as its power source. Generally, the traveling route and behavior can be controlled by a dispatching system, or a magnetic stripe or two-dimensional code is used for navigation, the magnetic stripe or two-dimensional code is pasted on the floor, and the automatic transfer robot follows the information brought by the magnetic stripe or two-dimensional code to move and operate the transport vehicle.
The working platform of the existing automatic transfer robot mainly comprises a walking device, a lifting device and a working platform, wherein the working platform is mostly arranged right above the lifting device, the two ends of the lifting device mostly pass through an electric cylinder and are respectively connected with a frame or a platform to lift, when a piston rod head is connected with the frame or the platform to contact, vibration caused by contact during lifting is transmitted to a nut and a thrust screw engaged with the nut, so that the nut or the screw is damaged, the service life of the nut or the screw is shortened, and a piston cylinder is deformed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an automatic transfer robot lifting device, which comprises:
the bottom surface of the base is provided with a plurality of mobile devices;
the lifting mechanism is fixedly arranged on the upper surface of the base and comprises a lifting support and one or more telescopic cylinders fixedly arranged on the lifting support, and each telescopic cylinder comprises a driving mechanism fixed on the lifting support close to the base, a piston rod with one end connected with an output shaft of the driving mechanism, a piston sleeve sleeved at one end of the piston rod far away from the driving mechanism and connected with the piston rod in a sliding manner, and a rod head fixedly arranged at one end of the piston sleeve far away from the driving mechanism;
the platform is arranged at one end, far away from the base, of the lifting mechanism and is rotatably connected with the top end of the lifting mechanism through a rotating mechanism.
Preferably, the lifting support is a scissor-fork type lifting mechanism, the lifting support comprises a plurality of connecting arms which are arranged in an X shape and symmetrically fixed on two sides of the upper surface of the base, a plurality of connecting rods which are arranged between the connecting arms and are correspondingly hinged to the connecting arms at two ends respectively, each connecting arm is formed by connecting a plurality of inner connecting arms and a plurality of outer connecting arms in a staggered manner, the inner connecting arms and the outer connecting arms are connected through hinged bolts and hinged nuts, one end of the telescopic cylinder is fixed to be close to the base, the connecting rod is arranged on the connecting rod, and the other end of the telescopic cylinder is fixed to be far away from the base.
Preferably, the telescopic cylinder further includes a first sleeve coaxially disposed with the output shaft of the driving mechanism and correspondingly fixed to the housing of the driving mechanism, and a second sleeve having one end correspondingly fixed to the first sleeve, the driving mechanism is fixed to the connecting rod close to the base, the piston rod is disposed in the first sleeve in a penetrating manner, and has one end connected to the output shaft of the driving mechanism, the outer diameter of the piston rod decreases from the position close to the driving mechanism to the position far from the driving mechanism, the piston rod includes a first rod end connected to the output shaft of the driving mechanism, and a second rod end fixedly disposed at the end of the first rod end far from the driving mechanism, the outer diameter of the first rod end is larger than the outer diameter of the second rod end, a fixing seat is sleeved outside the first rod end, and the fixing seat is rotatably connected to the first rod end, the first rod end is fixed in the first sleeve through a fixing seat, the outer side of the second rod end is provided with a screw thread, the outer side of the second rod end is sleeved with a sliding piece, the sliding piece comprises a nut which is sleeved on the outer side of the second rod end and is in threaded connection with the second rod end, and a piston block which is fixedly arranged on one side wall of the driving mechanism and is far away from the nut, the outer diameter of the piston block is larger than the outer diameter of the nut, one end of the second rod end, which is far away from the driving mechanism, is fixedly provided with a clamping block, the piston sleeve is sleeved on the outer side of the second rod end, the inner diameter of the piston sleeve is matched with the outer diameter of the clamping block, one end of the piston sleeve is correspondingly fixed on the piston sleeve of the side wall of the clamping block, the clamping block is in sliding connection with the inner side wall of the piston sleeve, the second sleeve, the piston block is connected with the inner side wall of the second sleeve in a sliding manner, the outer side of one end, far away from the driving mechanism, of the piston sleeve is further sleeved with a limiting ring, the outer diameter of the limiting ring is matched with the outer diameter of the second sleeve, and the limiting ring is correspondingly fixed at one end, far away from the driving mechanism, of the second sleeve, the piston sleeve penetrates through the limiting ring and extends to the outer side of the second sleeve, the rod head is fixed at one end of the piston sleeve extending to the outer side of the second sleeve, the rod head comprises a connecting frame fixedly arranged at one end of the piston sleeve far away from the driving mechanism, a rubber sheet fixedly arranged at one end of the connecting frame far away from the piston sleeve, and a protection piece fixedly arranged at one end of the rubber sheet far away from the piston sleeve, a first connecting piece connected with the connecting rod is arranged on the shell of the driving mechanism far away from one side of the rod head, and a side wall of the protection piece away from the piston sleeve is provided with a second connecting piece connected with the connecting rod.
Preferably, the rotating mechanism comprises a first frame fixed on one end face of the lifting mechanism far away from the base, a second frame arranged above the first frame in parallel and fixed on the first frame through a clamping column, and a motor fixedly arranged on one side face of the first frame far away from the second frame, the clamping column is arranged on width edges of two sides of the first frame, the second frame is rotationally connected with the first frame, the first frame comprises a first cross beam arranged between two side edges of the first frame and perpendicular to the clamping column and close to the clamping column, the second frame comprises a second cross beam arranged between two side edges of the second frame and perpendicular to the clamping column and close to the clamping column, a first belt pulley is sleeved on an output shaft of the motor, and a rotating shaft parallel to an output shaft of the motor is arranged between the side edge of the first frame and the first cross beam, the pivot with the position cover that first belt pulley corresponds is equipped with the second belt pulley, first belt pulley, second belt pulley overcoat are equipped with the belt, the pivot is kept away from the one end outside cover of second belt pulley is equipped with the eccentric wheel, the eccentric wheel is located first crossbeam is rather adjacent between the first frame lateral wall, second frame side with the fixed axle that is equipped with between the second crossbeam, the eccentric wheel overcoat is equipped with the rocking arm, rocking arm one end be provided with constant head tank and the other end with second frame joint, the eccentric wheel cup joint in the constant head tank, another pot head of rocking arm is located the fixed axle outside and with fixed axle fixed connection, the second frame is kept away from a terminal surface of first frame with platform fixed connection.
Preferably, the moving device includes a plurality of driving wheels symmetrically fixed to one end of the bottom surface of the base, and a plurality of driven wheels fixed to the bottom surface of the base, which is far away from one end of the driving wheels, each driving wheel includes a moving wheel and a driving motor for driving the moving wheel to move, the moving wheel includes a first moving wheel fixed to one end of the bottom surface of the base, and a second moving wheel symmetrically arranged on the bottom surface of the base with respect to the first moving wheel, the driving motor includes a first driving motor for driving the first moving wheel to move, and a second driving motor for driving the second moving wheel to move, the moving device further includes a controller arranged on the bottom surface of the base and used for controlling the first driving motor and the second driving motor, and a controller used for detecting the rotating angle of the moving wheel of the base and/or the traveling direction of the vehicle head, The controller is provided with two motor ports, each motor port is used for distributing corresponding driving power to the first driving motor and the second driving motor according to the working condition of the base, and the first driving motor and the second driving motor are oppositely arranged on the left side and the right side of the base and can output the same driving torque and synchronous rotating speed or output different driving torques and asynchronous rotating speeds; the angle detection device is used for detecting the rotating angle of a moving wheel of the base and/or the running direction of the vehicle head, the front-back inclination angle and the left-right inclination angle of the vehicle body, and the controller controls the first moving wheel and the second moving wheel to move according to the detected rotating angle of the moving wheel and/or the running direction of the vehicle head, the front-back inclination angle and the left-right inclination angle of the vehicle body; the steering driving device comprises a direction assisting unit and a steering indicating unit; when the angle detection device detects that the movable wheel rotates and/or the vehicle head deviates from the linear motion direction, the controller performs differential driving on the first driving motor and the second driving motor according to the turning radius of the base, and the steering driving device is started and controls the steering indicating unit and the direction power assisting unit to be automatically started; when the angle detection device detects that the movable wheels of the base reset and/or the vehicle head returns to the linear motion direction, the controller synchronously drives the first driving motor and the second driving motor and automatically closes the steering driving device.
Preferably, the automatic transfer robot lifting device further comprises an electronic switch, an output end of the electronic switch is connected with the motor and used for controlling the motor to be started or closed, an input end of the electronic switch is connected with the controller, the electronic switch comprises a triode and a current-limiting resistor, a positive electrode of a power supply of the motor is connected with a collector electrode of the triode through the motor, a negative electrode of the power supply of the motor is connected with an emitting electrode of the triode, the emitting electrode of the triode is grounded, and the controller is connected with a base electrode of the triode through the current-limiting resistor;
the controller comprises the following working steps:
a starting signal is sent to the electronic switch through a controller, the electronic switch controls the motor to be started, and the motor works to drive the second frame to rotate up and down on the first frame so as to drive the platform to rotate up and down;
and sending a closing signal to the electronic switch through the controller, controlling the motor to be closed by the electronic switch, and stopping the motor to rotate, so that the second frame is fixed on the basis of the first frame, and the platform does not move.
Preferably, the automatic transfer robot lifting device further comprises a navigation system, wherein the navigation system comprises a magnetic induction sensor fixedly arranged at the middle position of the bottom surface of the base, a landmark confirming device fixedly arranged on the bottom surface of the base, which is close to one side wall, a magnetic guide rail arranged on the ground, and a landmark arranged on the ground and close to the magnetic guide rail, and the magnetic guide rail comprises a guide rail arranged on the ground and a plurality of magnetic strips arranged on the guide rail.
Preferably, the lifting device of the automatic transfer robot further comprises a braking device, the braking device is arranged at the upper end of the magnetic guide rail and connected with the lower end of the base, the braking device comprises a magnetic gauge stand, the magnetic gauge stand is in a horizontal columnar structure, the upper end of the magnetic gauge stand is connected with the lower end of the base, the lower end of the magnetic gauge stand is connected to the upper end of the magnetic guide rail in a sliding manner, a rotary permanent magnet is arranged in the magnetic gauge stand in a transverse rotating manner, the rotary permanent magnet is in an axial structure and arranged in parallel with the length direction of the magnetic gauge stand, a fixed permanent magnet is arranged at the upper end of the magnetic gauge stand in a transverse manner, the fixed permanent magnet is in a strip-shaped structure, and the fixed permanent magnet is arranged in parallel with the rotary permanent; the side end of the magnetic gauge stand is connected with a rotating motor, the output end of the rotating motor is connected with the rotating permanent magnet, and the controller is connected with the rotating motor.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural view of an automatic transfer robot lifting apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the telescoping cylinder of FIG. 1;
FIG. 3 is a schematic structural view of the club head of FIG. 2;
FIG. 4 is a schematic structural view of the rotating mechanism of FIG. 1;
FIG. 5 is a schematic structural view of the first frame of FIG. 4;
fig. 6 is a control schematic diagram of an automatic transfer robot lifting apparatus according to another embodiment of the present invention;
FIG. 7 is a schematic diagram of the electronic switch of FIG. 6;
FIG. 8 is a control schematic of a navigation system provided in another embodiment of the present invention;
fig. 9 is a control schematic diagram of an automatic transfer robot lifting apparatus according to another embodiment of the present invention;
fig. 10 is a schematic structural view of a braking apparatus according to another embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 10, an automatic transfer robot lifting device according to the present invention includes:
the base 1 is provided with a plurality of mobile devices 5 on the bottom surface;
the lifting mechanism 2 is fixedly arranged on the upper surface of the base 1, the lifting mechanism 2 comprises a lifting support and one or more telescopic cylinders 2-3 fixedly arranged on the lifting support, the telescopic cylinders 2-3 comprise driving mechanisms 2-31 fixed on the lifting support close to the base 1, piston rods 2-32 with one ends connected with output shafts of the driving mechanisms 2-31, piston sleeves 2-33 sleeved at one ends of the piston rods 2-32 far away from the driving mechanisms 2-31 and connected with the piston rods 2-32 in a sliding manner, and rod heads 2-34 fixedly arranged at one ends of the piston sleeves 2-33 far away from the driving mechanisms 2-31;
the platform 3 is arranged at one end of the lifting mechanism 2 far away from the base 1 and is rotationally connected with the top end of the lifting mechanism 2 through a rotating mechanism 4.
The working principle and the beneficial effects of the technical scheme are as follows:
when in use, the automatic transfer robot is moved to a designated position through the moving device; meanwhile, the height of the platform can be adjusted according to the actual height of the use requirement, when the platform is required to be lifted, the piston sleeve in the telescopic cylinder is stretched under the action of the piston rod through the driving mechanism of the lifting mechanism, so that the platform is lifted, and the platform reaches the required height and works.
As shown in fig. 1, in one embodiment, the lifting bracket is a scissor type lifting mechanism, the lifting bracket comprises a plurality of connecting arms 2-1 symmetrically fixed on two sides of the upper surface of the base 1 and arranged in an X shape, a plurality of connecting rods 2-2 arranged between the connecting arms 2-1 and respectively hinged to the connecting arms 2-1 at two ends, each connecting arm 2-1 is formed by alternately connecting a plurality of inner connecting arms 2-11 and a plurality of outer connecting arms 2-12, the inner connecting arms 2-11 and the outer connecting arms 2-12 are connected through hinge bolts and hinge nuts, one end of the telescopic cylinder 2-3 is fixed on the connecting rod 2-2 close to the base 1, and the other end of the telescopic cylinder is fixed on the connecting rod 2-2 far away from the base 1.
The working principle and the beneficial effects of the technical scheme are as follows:
in the embodiment, the telescopic cylinder is controlled to be telescopic according to actual needs, and the telescopic cylinder is telescopic so as to bring the connecting arm to extend upwards until the connecting arm reaches a certain height; meanwhile, the safety of the platform under the condition that the single cylinder fails is guaranteed due to the arrangement of the connecting rod.
As shown in fig. 2 and 3, in an embodiment, the telescopic cylinder 2-3 further includes a first sleeve 2-35 coaxially disposed with the output shaft of the driving mechanism 2-31 and correspondingly fixed to the housing of the driving mechanism 2-31, and a second sleeve 2-36 having one end correspondingly fixed to the first sleeve 2-35, the driving mechanism 2-31 is fixed to the connecting rod 2-2 near the base 1, the piston rod 2-32 is inserted into the first sleeve 2-35 and has one end connected to the output shaft of the driving mechanism 2-31, the outer diameter of the piston rod 2-32 decreases from the position near the driving mechanism 2-31 to the position far from the driving mechanism 2-31, and the piston rod 2-32 includes a first rod end 2-321, a second rod end 2-36 connected to the output shaft of the driving mechanism 2-31, The second rod end 2-322 is fixedly arranged at one end, far away from the driving mechanism 2-31, of the first rod end 2-321, the outer diameter of the first rod end 2-321 is larger than that of the second rod end 2-322, a fixing seat 2-37 is sleeved on the outer side of the first rod end 2-321, the fixing seat 2-37 is rotatably connected with the first rod end 2-321, the first rod end 2-321 is fixed in the first sleeve 2-35 through the fixing seat 2-37, threads are arranged on the outer side of the second rod end 2-322, a sliding part 2-38 is sleeved on the outer side of the second rod end 2-322, and the sliding part 2-38 comprises a nut 2-381, a nut and a nut, wherein the nut is sleeved on the outer side of the second rod end 2-322 and is in threaded connection with the second rod end 2-, The piston block 2-382 is fixedly arranged on one side wall of the nut 2-381 far away from the driving mechanism 2-31, the outer diameter of the piston block 2-382 is larger than that of the nut 2-381, one end of the second rod end 2-322 far away from the driving mechanism 2-31 is fixedly provided with a clamping block 2-39, the piston sleeve 2-33 is sleeved outside the second rod end 2-322, the inner diameter of the piston sleeve 2-33 is matched with the outer diameter of the clamping block 2-39, one end of the piston sleeve is correspondingly fixed on the piston sleeve 2-33 on the side wall of the clamping block 2-39, the clamping block 2-39 is connected with the inner side wall of the piston sleeve 2-33 in a sliding manner, the second sleeve 2-36 is sleeved outside the second rod end 2-322, and the inner diameter of the second sleeve 2-36 is matched with the outer diameter of the piston block 2-382, the piston block 2-382 is slidably connected with the inner side wall of the second sleeve 2-36, the outer side of one end of the piston sleeve 2-33 far away from the driving mechanism 2-31 is further sleeved with a limit ring 2-310 which has an outer diameter matched with the outer diameter of the second sleeve 2-36 and is correspondingly fixed at one end of the second sleeve 2-36 far away from the driving mechanism 2-31, the piston sleeve 2-33 is arranged on the limit ring 2-310 in a penetrating manner and extends to the outer side of the second sleeve 2-36, the rod head 2-34 is fixed at one end of the piston sleeve 2-33 extending to the outer side of the second sleeve 2-36, and the rod head 2-34 comprises a connecting frame 2-341 which is fixedly arranged on one end of the piston sleeve 2-33 far away from the driving mechanism 2-31, The rubber sheet 2-342 is fixedly arranged at one end of the connecting frame 2-341 far away from the piston sleeve 2-33, and the protection piece 2-343 is fixedly arranged at one end of the rubber sheet 2-342 far away from the piston sleeve 2-33, the shell of one side of the driving mechanism 2-31 far away from the rod head 2-34 is provided with a first connecting piece 2-311 connected with the connecting rod 2-2, and the side wall of one side of the protection piece 2-343 far away from the piston sleeve 2-33 is provided with a second connecting piece connected with the connecting rod 2-2.
The working principle and the beneficial effects of the technical scheme are as follows:
in this embodiment, the rubber sheet may be a polyurethane rubber sheet, when the driving mechanism works, the rotation of the output shaft drives the piston rod to rotate, and because the piston rod is connected with the nut through the thread, when the piston rod rotates, the nut moves in a direction away from the driving mechanism, so as to drive the piston sleeve to move in the direction away from the driving mechanism and move to the outer side of the second sleeve; the piston rod is in threaded connection with the sliding piece, so that the piston sleeve cannot move to the outer side of the first sleeve due to the fact that the piston rod is clamped or damaged when the driving device works. Meanwhile, the club head also comprises a rubber sheet which can absorb the vibration force and has elasticity, so that the club head containing the rubber sheet can play a role of a shock absorber and can stop an object needing to be conveyed at a required position. When the rod head pushes the frame or the platform, the generated vibration is absorbed by the polyurethane rubber sheet, so that the piston sleeve and the nut are not influenced harmfully; when the frame or platform is transported in the direction of the club head, the guard of the club head bears the weight of the frame or platform, while at the same time the motor in the inverted drive mechanism moves the piston sleeve backwards, so that the club head can stop the frame or platform at a given position without adversely affecting the nut and piston rod.
As shown in fig. 4 and 5, in one embodiment, the rotating mechanism 4 includes a first frame 4-1 fixed on an end surface of the lifting mechanism 2 far away from the base 1, a second frame 4-3 disposed above the first frame 4-1 in parallel and fixed on the first frame 4-1 through a clamping column 4-2, and a motor 4-4 fixed on a side surface of the first frame 4-1 far away from the second frame 4-3, the clamping column 4-2 is disposed on a width edge of two sides of the first frame 4-1, the second frame 4-3 is rotatably connected with the first frame 4-1, the first frame 4-1 includes a first beam 4-11 disposed between two sides of the first frame 4-1 and perpendicular to the clamping column 4-2 and close to the clamping column 4-2, the second frame 4-3 comprises a second cross beam 4-31 which is arranged between two side edges of the second frame 4-3, is perpendicular to the clamping column 4-2 and is close to the clamping column 4-2, an output shaft of the motor 4-4 is sleeved with a first belt pulley 4-5, a rotating shaft 4-6 which is parallel to the output shaft of the motor 4-4 is arranged between the side edge of the first frame 4-1 and the first cross beam 4-11, a second belt pulley 4-7 is sleeved at a position of the rotating shaft 4-6 corresponding to the first belt pulley 4-5, belts 4-8 are sleeved outside the first belt pulley 4-5 and the second belt pulley 4-7, and an eccentric wheel 4-9 is sleeved outside one end of the rotating shaft 4-6 far away from the second belt pulley 4-7, the eccentric wheel 4-9 is arranged between the first cross beam 4-11 and one side wall of the first frame 4-1 adjacent to the first cross beam 4-11, a fixing shaft 4-10 is fixedly arranged between the side edge of the second frame 4-3 and the second cross beam 4-31, a rocker arm 4-11 is sleeved outside the eccentric wheel 4-9, one end of the rocker arm 4-11 is provided with a positioning groove, the other end of the rocker arm 4-11 is connected with the second frame 4-3 in a clamping manner, the eccentric wheel 4-9 is sleeved in the positioning groove, the other end of the rocker arm 4-11 is sleeved outside the fixing shaft 4-10 and is fixedly connected with the fixing shaft 4-10, and one end face, far away from the first frame 4-1, of the second frame 4-3 is fixedly connected with the platform 3.
The working principle and the beneficial effects of the technical scheme are as follows:
the motor work makes the first belt pulley of motor output shaft rotate to drive first belt pulley through motor work and rotate and drive the rotation of second belt pulley through the belt, thereby make the pivot rotate, the rotation of pivot drives the rotation of eccentric wheel, and the eccentric wheel drives the rotation that one end was fixed in the second frame and goes up the rocking arm, thereby realize with the second frame that first frame rotation is connected makes the second frame can follow under the effect of support column, motor, rocking arm the support column luffing motion sets up.
As shown in fig. 1 and 6, in one embodiment, the moving device 5 includes a plurality of driving wheels 5-1 symmetrically fixed at one end of the bottom surface of the base 1, and a plurality of driven wheels 5-2 fixed at the bottom surface of the base 1 far from one end of the driving wheels 5-1, each driving wheel 5-1 includes a moving wheel 5-11 and a driving motor 5-12 for driving the moving wheel 5-11 to move, the moving wheel 5-11 includes a first moving wheel fixed at one end of the bottom surface of the base 1, and a second moving wheel symmetrically arranged at the bottom surface of the base 1 with respect to the first moving wheel, the driving motor 5-12 includes a first driving motor 5-121 for driving the first moving wheel to move, and a second driving motor 5-122 for driving the second moving wheel to move, the moving device 5 further comprises a controller 5-3 arranged on the bottom surface of the base 1 and used for controlling the first driving motor 5-121 and the second driving motor 5-122, an angle detection device 5-4 used for detecting the rotating angle of the moving wheel 5-11 and/or the traveling direction of the head of the base 1, the front and back inclination angle and the left and right inclination angle of the vehicle body and connected with the controller 5-3, and a steering driving device 5-5 arranged on the bottom surface of the base 1 and connected with the controller 5-3, wherein the controller 5-3 is provided with two motor ports, each motor port is used for distributing corresponding driving power to the first driving motor 5-121 and the second driving motor 5-122 according to the working condition of the base 1, the first driving motor 5-121 and the second driving motor 5-122 are oppositely arranged on the left side and the right side of the base 1, the synchronous motor can output the same driving torque and synchronous rotating speed or output different driving torques and asynchronous rotating speeds; the angle detection device 5-4 is used for detecting a turning angle of a moving wheel 5-11 of the base 1 and/or a driving direction of a vehicle head, a front-back inclination angle and a left-right inclination angle of a vehicle body, and the controller 5-3 controls the movement of the first moving wheel and the second moving wheel according to the detected turning angle of the moving wheel 5-11 and/or the driving direction of the vehicle head, the front-back inclination angle and the left-right inclination angle of the vehicle body; the steering driving device 5-5 comprises a direction assisting unit and a steering indicating unit; when the angle detection device 5-4 detects that the movable wheels 5-11 rotate and/or the vehicle head deviates from the linear motion direction, the controller 5-3 performs differential driving on the first driving motors 5-121 and the second driving motors 5-122 according to the turning radius of the base 1, and the steering driving device 5-5 is started and controls the steering indication unit and the direction power assisting unit to be automatically started; when the angle detection device 5-4 detects that the moving wheels 5-11 of the base 1 are reset and/or the vehicle head returns to the linear motion direction, the controller 5-3 synchronously drives the first driving motor 5-121 and the second driving motor 5-122 and automatically turns off the steering driving device 5-5.
The working principle and the beneficial effects of the technical scheme are as follows:
in this embodiment, the angle detection device may be a three-dimensional gyroscope, each of the motors is provided with a frequency converter, and when the vehicle body needs to turn, the first controller controls the frequency converter to change the rotation speed of the motor, so that a speed difference is formed between the speeds of the two driving wheels, and the vehicle body turns; when the speed of the first driving wheel is higher than that of the second driving wheel, the vehicle body turns towards the direction outside the second driving wheel; when the speed of the second driving wheel is higher than that of the first driving wheel, the vehicle body turns in a direction out of the first driving wheel.
When the automatic carrying robot needs to move forwards, the two driving wheels move forwards at the same speed, and a double-wheel differential turning mode is adopted when turning is needed. Therefore, a steering wheel is not needed, and the driving mechanism has a simple structure and works reliably.
Meanwhile, when the angle detection device detects that the robot turns, the angle detection device can output electric signals representing angle variation with different intensities according to the turning radius of the robot, the first controller controls the motors on the inner side and the outer side to implement differential driving according to the electric signals representing the angle variation, so that turning rollover is effectively prevented, and the inner side and the outer side to turn are judged according to the positions of the left moving wheel and the right moving wheel during turning. Meanwhile, when the vehicle turns, a power-assisted motor in the direction power-assisted unit is driven to work, so that the direction power-assisted is realized. When the angle detection device detects that the driving wheels of the robot reset and/or the head of the robot restores to the linear motion direction after turning, the first controller synchronously drives the two motors and controls the steering driving unit to be automatically closed.
As shown in fig. 6, in one embodiment, the automatic handling robot lifting device further comprises an electronic switch 6-1 having an output end connected to the motor 4-4 and controlling the motor 4-4 to be turned on or off, the input end of the electronic switch 6-1 is connected with the controller 5-3, the electronic switch 6-1 comprises a triode 6-11 and a current limiting resistor 6-12, the positive electrode of the power supply of the motor 4-4 is connected with the collector of the triode 6-11 through the motor 4-4, the negative electrode of the power supply of the motor 4-4 is connected with the emitter of the triode 6-11, the emitting electrode of the triode 6-11 is grounded, and the controller 5-3 is connected with the base electrode of the triode 6-11 through the current limiting resistor 6-12;
the controller 5-3 comprises the following working steps:
a starting signal is sent to the electronic switch 6-1 through the controller 5-3, the electronic switch 6-1 controls the motor 4-4 to be started, and the motor 4-4 works, so that the second frame 4-3 is driven to rotate up and down on the first frame 4-1, and the platform is driven to rotate up and down;
a closing signal is sent to the electronic switch 6-1 through the controller 5-3, the electronic switch 6-1 controls the motor 4-4 to be closed, and the motor 4-4 stops rotating, so that the second frame 4-3 is fixed on the basis of the first frame 4-1, and the platform does not move.
The working principle and the beneficial effects of the technical scheme are as follows:
when the platform needs to be rotated, the controller controls the motor to be turned on or off, firstly, the controller sends a turning-on or turning-off signal to the electronic switch, and the electronic switch controls the motor to be turned on or off, so that the platform is rotated.
As shown in fig. 8, in one embodiment, the automatic transfer robot lifting device further includes a navigation system, the navigation system includes a magnetic induction sensor 7-1 fixedly disposed at a middle position of the bottom surface of the base 1, a landmark confirming device 7-2 fixedly disposed on the bottom surface of the base 1 near one side wall, a magnetic guide 7-3 disposed on the ground, and a landmark 7-4 disposed on the ground near the magnetic guide 7-3, the magnetic guide 7-3 includes a guide rail disposed on the ground, and a plurality of magnetic stripes disposed on the guide rails 7-31.
The working principle and the beneficial effects of the technical scheme are as follows:
the magnetic guide rail is arranged at a station where the automatic transfer robot needs to pass, the first controller induces the magnetic guide rail through the magnetic induction sensor, the driving mechanism is controlled to act, the vehicle body runs on the magnetic guide rail, the position of the landmark can be near the station and near the magnetic guide rail, when the landmark is confirmed at the preset stop position through the landmark confirming device, the first controller controls the driving mechanism to stop and controls the stopping mechanism to act, so that the vehicle body stops at the preset stop position, the preset stop position is just the station, the operation of workers is facilitated, and after the operation is finished, the automatic transfer robot continues to move and moves to the next station. The first controller includes: one or more of a central processing unit and an editable gate array circuit.
The beneficial effect of above-mentioned scheme does:
in the embodiment, the two-dimensional code is matched with the two-dimensional code reader, the pattern with the mark is matched with the camera, and the part protruding out of the ground is matched with the infrared grating or the proximity sensor;
when two-dimensional code and two-dimensional code reader cooperation use, first controller reads two-dimensional code information through the two-dimensional code reader and can know this position and be preset stop position. The advantage of selecting the two-dimensional code as the landmark is that the preset stop position can be changed at any time, and when the stop position needs to be changed, only the old two-dimensional code needs to be removed, and the two-dimensional code is pasted at the new preset position. The replacement is convenient and the cost of replacing the preset position is not high.
When the pattern with the mark is matched with the camera for use, the image recognition technology is mainly adopted, and the controller can know that the position is the preset stop position by shooting the pattern with the mark through the camera. The advantage of selecting the pattern with logo as the landmark is that the preset stop position can be changed at any time, and when the stop position needs to be changed, the old pattern with logo is only needed to be torn off, and the pattern with logo is pasted at the new preset position. The replacement is convenient and the cost of replacing the preset position is not high.
As shown in fig. 9 and 10, the lifting device of the automatic transfer robot further includes a braking device 10, the braking device 10 is disposed at the upper end of the magnetic guide rail 7-3 and connected to the lower end of the base 1, the braking device 10 includes a magnetic gauge stand 10-1, the magnetic gauge stand 10-1 is configured to be a horizontal column structure, the upper end of the magnetic gauge stand 10-1 is connected to the lower end of the base 1, the lower end of the magnetic gauge stand 10-1 is slidably connected to the upper end of the magnetic guide rail 7-3, a rotary permanent magnet 10-2 is laterally rotatably disposed in the magnetic gauge stand 10-1, the rotary permanent magnet 10-2 is configured to be an axial structure and is disposed parallel to the magnetic gauge stand 10-1 in the length direction, a fixed permanent magnet 10-3 is laterally disposed at the upper end of the magnetic gauge stand 10-1, the fixed permanent magnet 10-3 is of a strip structure, and the fixed permanent magnet 10-3 is parallel to the rotary permanent magnet 10-2; the side end of the magnetic gauge stand 10-1 is connected with a rotating motor 10-4, the output end of the rotating motor 10-4 is connected with the rotating permanent magnet 10-2, and the controller 5-3 is connected with the rotating motor 10-4.
The working principle and the beneficial effects of the technical scheme are as follows:
in this embodiment, after the mobile device travels to a preset position on the magnetic guide rail, the controller sends a stop instruction to the driving wheel, the driving wheel stops working, the controller rotates the motor to drive the rotating permanent magnet connected to the output end of the motor to rotate in the magnetic gauge stand, when the two-pole direction of the rotating permanent magnet is opposite to the two-pole direction of the fixed permanent magnet, the magnetic line of force is converged, the magnetic gauge stand slides on the magnetic guide rail, when the two-pole direction of the rotating permanent magnet is the same as the two-pole direction of the fixed permanent magnet, the magnetic line of force is released outwards, the magnetic gauge stand generates a suction force and is adsorbed on the magnetic guide rail, and the mobile device is braked at the preset position.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (6)
1. An automatic transfer robot lifting device, comprising:
the base (1) is provided with a plurality of moving devices (5) on the bottom surface;
the lifting mechanism (2) is fixedly arranged on the upper surface of the base (1), the lifting mechanism (2) comprises a lifting support and one or more telescopic cylinders (2-3) fixedly arranged on the lifting support, the telescopic cylinders (2-3) comprise driving mechanisms (2-31) fixedly arranged on the lifting support close to the base (1), piston rods (2-32) with one ends connected with output shafts of the driving mechanisms (2-31), piston sleeves (2-33) sleeved at one ends of the piston rods (2-32) far away from the driving mechanisms (2-31) and connected with the piston rods (2-32) in a sliding mode, and rod heads (2-34) fixedly arranged at one ends of the piston sleeves (2-33) far away from the driving mechanisms (2-31);
the platform (3) is arranged at one end of the lifting mechanism (2) far away from the base (1) and is rotationally connected with the top end of the lifting mechanism (2) through a rotating mechanism (4);
the navigation system comprises a magnetic induction sensor (7-1) fixedly arranged in the middle of the bottom surface of the base (1), a landmark confirming device (7-2) fixedly arranged on the bottom surface of the base (1) close to one side wall, a magnetic guide rail (7-3) arranged on the ground, and landmarks (7-4) arranged on the ground close to the magnetic guide rail (7-3), wherein the magnetic guide rail (7-3) comprises a guide rail arranged on the ground and a plurality of magnetic stripes arranged on the guide rail;
the braking device (10) is arranged at the upper end of the magnetic guide rail (7-3) and connected with the lower end of the base (1), the braking device (10) comprises a magnetic gauge stand (10-1), the magnetic gauge stand (10-1) is of a horizontal columnar structure, the upper end of the magnetic gauge stand (10-1) is connected with the lower end of the base (1), the lower end of the magnetic gauge stand (10-1) is connected with the upper end of the magnetic guide rail (7-3) in a sliding mode, a rotary permanent magnet (10-2) is arranged in the magnetic gauge stand (10-1) in a transverse rotating mode, the rotary permanent magnet (10-2) is of an axial structure and arranged in parallel with the length direction of the magnetic gauge stand (10-1), and a fixed permanent magnet (10-3) is arranged at the upper end of the magnetic gauge stand (10-1) in a transverse mode, the fixed permanent magnet blocks (10-3) are arranged in a strip structure, and the fixed permanent magnet blocks (10-3) and the rotating permanent magnet blocks (10-2) are arranged in parallel; the side end of the magnetic gauge stand (10-1) is connected with a rotating motor (10-4), the output end of the rotating motor (10-4) is connected with the rotating permanent magnet (10-2), and the controller (5-3) is connected with the rotating motor (10-4).
2. The lifting device of claim 1, wherein the lifting frame is a scissor-type lifting mechanism, the lifting frame comprises a plurality of X-shaped connecting arms (2-1) symmetrically fixed on both sides of the upper surface of the base (1), and a plurality of connecting rods (2-2) arranged between the connecting arms (2-1) and having two ends respectively hinged to the connecting arms (2-1), each connecting arm (2-1) is formed by connecting a plurality of inner connecting arms (2-11) and a plurality of outer connecting arms (2-12) in a staggered manner, the inner connecting arms (2-11) and the outer connecting arms (2-12) are connected by hinge bolts and hinge nuts, one end of the telescopic cylinder (2-3) is fixed to the connecting rod (2-2) close to the base (1) and the other end of the telescopic cylinder is fixed to a position far away from the base (1) ) On the connecting rod (2-2).
3. The automatic handling robot lifting device according to claim 2, wherein the telescoping cylinder (2-3) further comprises a first sleeve (2-35) coaxially disposed with the output shaft of the driving mechanism (2-31) and correspondingly fixed to the housing of the driving mechanism (2-31), and a second sleeve (2-36) having one end correspondingly fixed to the first sleeve (2-35), the driving mechanism (2-31) is fixed to the connecting rod (2-2) near the base (1), the piston rod (2-32) is inserted into the first sleeve (2-35) and has one end connected to the output shaft of the driving mechanism (2-31), the outer diameter of the piston rod (2-32) decreases gradually from the direction near the driving mechanism (2-31) to the direction far from the driving mechanism (2-31), the piston rod (2-32) comprises a first rod end (2-321) connected with an output shaft of the driving mechanism (2-31) and a second rod end (2-322) fixedly arranged at one end, far away from the driving mechanism (2-31), of the first rod end (2-321), the outer diameter of the first rod end (2-321) is larger than that of the second rod end (2-322), a fixing seat (2-37) is sleeved on the outer side of the first rod end (2-321), the fixing seat (2-37) is rotatably connected with the first rod end (2-321), the first rod end (2-321) is fixed in the first sleeve (2-35) through the fixing seat (2-37), threads are arranged on the outer side of the second rod end (2-322), a sliding piece (2-38) is sleeved on the outer side of the second rod end (2-322), the sliding part (2-38) comprises a nut (2-381) which is sleeved on the outer side of the second rod end (2-322) and is in threaded connection with the second rod end (2-322), and a piston block (2-382) which is fixedly arranged on one side wall of the nut (2-381) far away from the driving mechanism (2-31), the outer diameter of the piston block (2-382) is larger than that of the nut (2-381), a clamping block (2-39) is fixedly arranged at one end of the second rod end (2-322) far away from the driving mechanism (2-31), the piston sleeve (2-33) is sleeved on the outer side of the second rod end (2-322), the inner diameter of the piston sleeve (2-33) is matched with the outer diameter of the clamping block (2-39), and one end of the piston sleeve (2-33) is correspondingly fixed on the side wall of the clamping block (2-39), the clamping block (2-39) is connected with the inner side wall of the piston sleeve (2-33) in a sliding manner, the second sleeve (2-36) is sleeved on the outer side of the second rod end (2-322), the inner diameter of the second sleeve (2-36) is matched with the outer diameter of the piston block (2-382), the piston block (2-382) is connected with the inner side wall of the second sleeve (2-36) in a sliding manner, the outer side of one end, far away from the driving mechanism (2-31), of the piston sleeve (2-33) is further sleeved on a limiting ring (2-310) which is matched with the outer diameter of the second sleeve (2-36) and is correspondingly fixed on one end, far away from the driving mechanism (2-31), of the second sleeve (2-36), the piston sleeve (2-33) penetrates through the limiting ring (2-310) and extends to the outer side of the second sleeve (2-36), the rod head (2-34) is fixed at one end of the piston sleeve (2-33) extending to the outer side of the second sleeve (2-36), the rod head (2-34) comprises a connecting frame (2-341) fixedly arranged at one end, far away from the driving mechanism (2-31), of the piston sleeve (2-33) in a sleeved mode, a rubber sheet (2-342) fixedly arranged at one end, far away from the piston sleeve (2-33), of the connecting frame (2-341) and a protection piece (2-343) fixedly arranged at one end, far away from the piston sleeve (2-33), of the rubber sheet (2-342), a first connecting piece (2-311) connected with the connecting rod (2-2) is arranged on a shell, far away from one side of the rod head (2-34), of the driving mechanism (2-31), a side wall of the protection part (2-343) far away from the piston sleeve (2-33) is provided with a second connecting piece connected with the connecting rod (2-2).
4. The lifting device of claim 1, wherein the rotating mechanism (4) comprises a first frame (4-1) fixed on one end surface of the lifting mechanism (2) far away from the base (1), a second frame (4-3) arranged above the first frame (4-1) in parallel and fixed on the first frame (4-1) through a clamping column (4-2), and a motor (4-4) fixedly arranged on one side surface of the first frame (4-1) far away from the second frame (4-3), the clamping column (4-2) is arranged on the width edges of two sides of the first frame (4-1), the second frame (4-3) is rotatably connected with the first frame (4-1), and the first frame (4-1) comprises a second frame (4-1) arranged on two side edges of the first frame (4-1) A first cross beam (4-11) which is perpendicular to the clamping column (4-2) and close to the clamping column (4-2), the second frame (4-3) comprises a second cross beam (4-31) which is arranged between two side edges of the second frame (4-3) and perpendicular to the clamping column (4-2) and close to the clamping column (4-2), a first belt pulley (4-5) is sleeved on an output shaft of the motor (4-4), a rotating shaft (4-6) which is parallel to the output shaft of the motor (4-4) is arranged between the side edge of the first frame (4-1) and the first cross beam (4-11), a second belt pulley (4-7) is sleeved at a position of the rotating shaft (4-6) corresponding to the first belt pulley (4-5), the belt (4-8) is sleeved outside the first belt pulley (4-5) and the second belt pulley (4-7), an eccentric wheel (4-9) is sleeved outside one end of the rotating shaft (4-6) far away from the second belt pulley (4-7), the eccentric wheel (4-9) is arranged between the first cross beam (4-11) and the side wall of the first frame (4-1) adjacent to the first cross beam, a fixed shaft (4-10) is fixedly arranged between the side edge of the second frame (4-3) and the second cross beam (4-31), a rocker arm (4-11) is sleeved outside the eccentric wheel (4-9), one end of the rocker arm (4-11) is provided with a positioning groove, the other end of the rocker arm is connected with the second frame (4-3) in a clamping manner, and the eccentric wheel (4-9) is sleeved in the positioning groove, the other end of the rocker arm (4-11) is sleeved on the outer side of the fixed shaft (4-10) and fixedly connected with the fixed shaft (4-10), and one end face, far away from the first frame (4-1), of the second frame (4-3) is fixedly connected with the platform (3).
5. The automated transfer robot lifting apparatus according to claim 4, wherein the moving device (5) comprises a plurality of driving wheels (5-1) symmetrically fixed to one end of the bottom surface of the base (1), and a plurality of driven wheels (5-2) fixed to the bottom surface of the base (1) at the end far from the driving wheels (5-1), each driving wheel (5-1) comprises a moving wheel (5-11), and a driving motor (5-12) for driving the moving wheel (5-11) to move, the moving wheels (5-11) comprise a first moving wheel fixed to one end of the bottom surface of the base (1), and a second moving wheel symmetrically arranged on the bottom surface of the base (1) with respect to the first moving wheel, and the driving motors (5-12) comprise a first driving motor (5-121) for driving the first moving wheel to move, The moving device (5) further comprises a controller (5-3) which is arranged on the bottom surface of the base (1) and used for controlling the first driving motor (5-121) and the second driving motor (5-122), an angle detection device (5-4) which is used for detecting the rotating angle and/or the driving direction of a headstock of the moving wheel (5-11) of the base (1), the front and back inclination angle and the left and right inclination angle of a vehicle body and is connected with the controller (5-3), and a steering driving device (5-5) which is arranged on the bottom surface of the base (1) and is connected with the controller (5-3), wherein the controller (5-3) is provided with two motor ports, and each motor port is used for controlling the first driving motor (5-121) according to the working condition of the base (1), The second driving motors (5-122) distribute corresponding driving electric power, the first driving motors (5-121) and the second driving motors (5-122) are oppositely arranged on the left side and the right side of the base (1) and can output driving torques with the same size and synchronous rotating speeds or output different driving torques and asynchronous rotating speeds; the angle detection device (5-4) is used for detecting the rotation angle of a moving wheel (5-11) of the base (1) and/or the running direction of the headstock, the front-back inclination angle and the left-right inclination angle of the vehicle body, and the controller (5-3) controls the movement of the first moving wheel and the second moving wheel according to the detected rotation angle of the moving wheel (5-11) and/or the running direction of the headstock, the front-back inclination angle and the left-right inclination angle of the vehicle body; the steering driving device (5-5) comprises a direction assisting unit and a steering indicating unit; when the angle detection device (5-4) detects that the movable wheel (5-11) rotates and/or the vehicle head deviates from the linear motion direction, the controller (5-3) performs differential driving on the first driving motor (5-121) and the second driving motor (5-122) according to the turning radius of the base (1), and the steering driving device (5-5) is started and controls the steering indication unit and the direction power assisting unit to be automatically started; when the angle detection device (5-4) detects that the moving wheels (5-11) of the base (1) reset and/or the vehicle head returns to the linear motion direction, the controller (5-3) synchronously drives the first driving motor (5-121) and the second driving motor (5-122), and automatically closes the steering driving device (5-5).
6. The automated transfer robot lifting apparatus according to claim 5, further comprising an electronic switch (6-1) having an output terminal connected to the motor (4-4) and configured to control the motor (4-4) to be turned on or off, wherein the electronic switch (6-1) has an input terminal connected to the controller (5-3), the electronic switch (6-1) comprises a transistor (6-11) and a current limiting resistor (6-12), the positive power supply terminal of the motor (4-4) is connected to the collector terminal of the transistor (6-11) via the motor (4-4), the negative power supply terminal of the motor (4-4) is connected to the emitter terminal of the transistor (6-11), the emitter terminal of the transistor (6-11) is grounded, and the controller (5-3) is connected to the transistor (6) via the current limiting resistor (6-12) -11) is connected to the base;
the controller (5-3) comprises the following working steps:
a starting signal is sent to the electronic switch (6-1) through the controller (5-3), the electronic switch (6-1) controls the motor (4-4) to be started, the motor (4-4) works, and therefore the second frame (4-3) is driven to rotate up and down on the first frame (4-1), and the platform is driven to rotate up and down;
a closing signal is sent to the electronic switch (6-1) through the controller (5-3), the electronic switch (6-1) controls the motor (4-4) to be closed, the motor (4-4) stops rotating, and therefore the second frame (4-3) is fixed on the basis of the first frame (4-1), and the platform does not move.
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| CN110924299B (en) * | 2019-12-03 | 2021-02-09 | 哈尔滨学院 | Folding arm type double-arm bridge detection vehicle |
| CN111137625B (en) * | 2020-01-06 | 2021-08-24 | 国网河北省电力有限公司 | Movable heavy object loading and unloading platform |
| CN111891083B (en) * | 2020-08-13 | 2022-03-25 | 湖南沃德诺威信息科技有限公司 | Mobile vehicle maintenance equipment and control method |
| CN114572911A (en) * | 2022-03-10 | 2022-06-03 | 浙江鼎力机械股份有限公司 | Scissor fork type aerial work platform and scissor fork lifting assembly thereof |
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