CN104401669A - Automatic grasping climbing and placing system capable of realizing steering conveyance - Google Patents
Automatic grasping climbing and placing system capable of realizing steering conveyance Download PDFInfo
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- CN104401669A CN104401669A CN201410603955.6A CN201410603955A CN104401669A CN 104401669 A CN104401669 A CN 104401669A CN 201410603955 A CN201410603955 A CN 201410603955A CN 104401669 A CN104401669 A CN 104401669A
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- vehicle frame
- wheel
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Abstract
The invention relates to an automatic grasping climbing and placing system capable of realizing steering conveyance. The automatic grasping climbing and placing system comprises a control cabinet, a conveying rail, a grasping device and a vehicle frame carrying platform, wherein the conveying rail comprises a climbing rail and a steering rail, the conveying rail comprises the climbing rail and the steering rail, the grasping device is arranged on the conveying rail in a matched way, and can move on the conveying rail, the vehicle frame carrying platform is positioned right under the steering rail, a vehicle frame is erected on the vehicle frame carrying platform, the climbing rail comprises a left rail and a right rail, an axle storage frame is arranged in front of the left rail and the right rail, the lower end of the axle storage frame is provided with a pressure sensor, and the steering rail comprises a No.1 bent rail and a No.2 bent rail. The automatic grasping climbing and placing system has the advantages that distance sensors distributed above the vehicle frame are used as data collecting devices, the placing positions are proper, and the monitoring on the positions of the vehicle frame and a suspension is very important, so that the setting number of controllers is reduced, and then, a control cabinet is used for controlling the moving of a moving support platform and a carried vehicle.
Description
Technical field
The present invention relates to auto parts and components automated assembling equipment technical field, specifically a kind ofly turn to the automatic capturing of transport, climb, place system.
Background technology
Vehicle bridge is the frame support being arranged on automobile chassis frame lower rear or lower front by suspension, because vehicle bridge is positioned at the below of vehicle frame, when vehicle bridge is installed, first vehicle frame overturning is come, suspension is installed, then vehicle bridge is arranged on suspension, the two ends installing wheel of vehicle bridge, in automotive performance influence factor, the Joint strenght of suspension to vehicle bridge and vehicle frame is one of most important factor, directly determines driving experience and the stability of vehicle in the process of running at high speed of automobile.
Vehicle bridge have rigid axle and broken bridge of car point, be applicable to dependent suspension and independent suspension respectively, rigid axle is just as huge barbell, total quality weight, especially the vehicle bridge in heavy motor vehicle, the mode of simple employing a dead lift is difficult to mobile, even if the vehicle bridge of less than seven roadlices still has larger weight, electric block is all adopted to promote vehicle bridge in prior art, place and install, electric block running velocity is slow, raising efficiency is low, the drop-off positions manually adjusting vehicle bridge is still needed during installation, vehicle bridge is heavier, adjustment inconvenience, the efficient batch seriously limiting vehicle bridge is installed, be unfavorable for vehicle assembly automation.
People need a kind ofly effectively to replace manually automatically accurately capturing vehicle bridge, firm grip, fast removal and the vehicle bridge assembling placement system of accurately placing, enterprise is helped to improve efficiency of assembling, reduce manually sling difficulty and labour intensity, improve enterprise automation production level.
Summary of the invention
In order to improve the efficiency of assembling of vehicle bridge, improving the degree of automation of car assembling, ensureing the installation quality of vehicle bridge, the invention provides and a kind ofly turn to the automatic capturing of transport, climb, place system.
The present invention solves its technical matters and realizes by the following technical solutions:
Turn to the automatic capturing of transport, climb, a place system, comprise control housing, conveying vehicle bridge transmission track, capture vehicle bridge grabbing device and be placed with vehicle frame and vehicle frame carrying platform for supporting vehicle bridge.
Described transmission track comprises the track and vehicle frame turns to track for being placed on by vehicle bridge half-twist so that by vehicle bridge perpendicular to the side of vehicle frame of climbing vehicle bridge be upwards delivered to above vehicle frame.
Described grabbing device cooperation is arranged on transmission track, and grabbing device can move on transmission track, and described vehicle frame carrying platform is positioned at and turns to immediately below track, and vehicle frame carrying platform is added is provided with vehicle frame.
The described track that climbs comprises left rail and right rail; The movable support platform for fixing left rail and right rail is provided with below described left rail and right rail, described movable support platform lower front end is each side provided with one for driving the servomotor of movable support platform, on the axle of described servomotor, all cover has motor roller, and below described movable support platform, rear end is provided with the road wheel with brake gear; Described left rail right flank and right rail left surface are equipped with the chute holding grabbing device, left rail downside left part and right rail downside right part are equipped with the tooth road coordinated with grabbing device, and the lower end of left rail and right rail is equipped with the bottom cover for being limited to by grabbing device in left rail and right rail.
The front of described left rail and right rail is provided with vehicle bridge storage rack, and the lower end of described vehicle bridge storage rack is provided with for detecting the pressure sensor whether vehicle bridge storage rack having vehicle bridge.
The described track that turns to comprises a curved rail and No. two curved rails, the initiating terminal of a described curved rail is connected to the upper end of right rail, the end of a curved rail curves 90 ° relative to the initiating terminal of a curved rail, the initiating terminal of described No. two curved rails is connected to the upper end of left rail, the end of No. two curved rails curves 90 ° relative to the initiating terminal of No. two curved rails, the medial surface of a described curved rail with the lateral surface of No. two curved rails is equipped with No. two chutes identical with a chute cross section, and the junction of a chute and No. two chutes all seamlessly transits, guarantee is got device and is being climbed track and turn to the smooth and easy movement of interorbital, No. two tooth roads are equipped with in the middle part of the downside of a curved rail and No. two curved rails, the end of a curved rail and No. two curved rails is equipped with top end cover, the top end cover of a described curved rail end is provided with a sensor for detecting suspension particular location in side on vehicle frame, the top end cover of described No. two curved rail ends is provided with No. two sensors for detecting opposite side suspension particular location on vehicle frame.
Described grabbing device comprises transverse axis, the two ends of described transverse axis are equipped with roller, transverse axis is left, right two ends respectively correspondence are provided with left crawl frame, right crawl frame, described left crawl frame comprises the side substrate be enclosed within transverse axis, the bottom of described side substrate is fixed with a motor, the axle of a described motor has through side substrate cover the left combination wheel coordinated with a tooth road, substrate lower end, described side is each side provided with an auxiliary wheel, described auxiliary wheel right side is positioned at the left side of left combination wheel left side, avoid the path of motion of auxiliary wheel and left combination wheel to produce to interfere, auxiliary wheel and roller are that isosceles triangle is stuck on left rail, prevent side substrate in left rail surface thereof, in addition, deviate from No. two curved rails for preventing auxiliary wheel, the run trace of described left combination wheel is positioned at the right side of auxiliary wheel run trace, and the distance between left combination wheel and auxiliary wheel should not be too small, the middle part of described side substrate is fixed with No. two motors, the axle of described No. two motors has driving gear through side substrate cover, the upper end of described side substrate is connected with rotation claw by hinged mode, the middle part of described rotation claw is fixed with the driven gear coordinated with driving gear, rotation claw upper end is provided with the fixed jaw to curving, rotating claw upper end is connected with to the bending movable claw of the other end by hinged mode, the bottom of described movable claw is connected with cylinder by hinged mode, the other end of described cylinder is connected to by hinged mode and rotates on claw, cylinder is rotated relative to fixed jaw by extension and contraction control movable claw, fixed jaw rotates under the drive of driving gear, described left crawl frame and right crawl frame are symmetrical about the central cross section of transverse axis except left combination wheel.
Described vehicle frame carrying platform comprises fitting line track, and described fitting line track is provided with the support car for fixing vehicle frame, and the bottom of described support car is provided with No. three motors, and described No. three motors can drive support car to move forward and backward.
Described control housing is corresponding to be respectively connected with pressure sensor with a motor, No. two motors, No. three motors, sensor, No. two sensors, cylinder, servomotors, control housing gathers transmission track, relative position between grabbing device and vehicle frame carrying platform or connection state information by sensor, No. two sensors and a pressure sensor, according to the original program in controller, utilize the action of a motor, No. two motors, No. three motors and Serve Motor Control various pieces, finally on accurate tram vehicle bridge being placed on vehicle frame or suspension.
Described movable claw and fixed jaw are arc-shaped claws, and ensure the encirclement of claw, locking effect, movable claw and fixed jaw are minor arc, be major arc, be enclosed in movable claw and fixed jaw by the maximum gauge of vehicle bridge, prevent vehicle bridge from deviating from when movable claw and fixed jaw combine.
Described left combination wheel comprises the left cylindrical wheel coordinated with a tooth road and the left conical gear coordinated with No. two tooth roads, when grabbing device climb track moves time, adopt left cylindrical wheel to coordinate with a tooth road.
Left combination wheel corresponding position on described right crawl frame and left crawl frame is provided with right combination wheel, described right combination wheel comprises the right cylindrical wheel coordinated with a tooth road and the right conical gear coordinated with No. two tooth roads, the reference cone angle of described right conical gear and the reference cone angle of left conical gear are towards identical, when grabbing device move to turn on track time, right cylindrical wheel and left cylindrical wheel all depart from a tooth road and engage, left conical gear all enters with No. two tooth roads with right conical gear and engages simultaneously, owing to doing differential motion between left crawl frame and right crawl frame, left conical gear is different from right conical gear parameter.
A described sensor and No. two sensors are rang sensor, the suspension arranged in the distance of the nearest object detected when a sensor and No. two sensors and control housing is fixed the distance of vehicle frame place to a sensor or No. two sensors not in the parameter area set, then continue operation No. three motors, support car is moved along conveyor line, until find correct position, if the detection data of a sensor or No. two sensors are excessive, should be then the both sides that detection range is offset to vehicle frame, if detection is on ground, now servomotor starts, continue to move forward movable support platform, until a sensor and No. two sensors detect date restoring normal range.
The invention has the beneficial effects as follows: the present invention is to be distributed in rang sensor above vehicle frame for data acquisition unit, placement location is suitable, to vehicle frame and suspension position monitoring very key, because this reducing the magnitude setting of controller, save cost, improve detection rates, control housing is utilized to control the movement of movable support platform and support car afterwards, place because movable support platform is vertical with support car, movable support platform does not affect support car and runs on conveyor line, and movable support platform and support car form two dimensional surface adjusts relation, ensure that rang sensor comprehensive adjustability planar.
Left combination wheel, right combination wheel is adopted to engage with left conical gear and left cylindrical wheel, right conical gear and right cylindrical wheel respectively, same drive motor is utilized to achieve the flexible transformation of grabbing device initiatively on straight line and curve track, avoid in prior art and change the gimmick that above-mentioned multi-form motion track often adopts replacing actuating device, decrease equipment use amount, reduce cost.
Described grabbing device adopts hinged side substrate and rotates claw, and the mode connected by gear controls both relatively rotating, make the crawl direction of rotation claw adjustable flexibly, thus vehicle bridge is walked around grabbing device and be put on vehicle frame, described movable claw and the flexible opening and closing of fixed jaw, it is convenient to capture, and is applicable to the vehicle bridge of various model, be combined as major arc due to fixed jaw and movable claw, vehicle bridge captured, clamping firmly.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is the annexation schematic diagram of transmission track of the present invention and grabbing device;
Fig. 3 is the forward right side upward view of transmission track of the present invention;
Fig. 4 is the three-dimensional view of grabbing device of the present invention;
Fig. 5 is the left view of grabbing device of the present invention;
Fig. 6 is the solid assembling schematic diagram of grabbing device of the present invention;
Fig. 7 is the annexation schematic diagram that claw is rotated in grabbing device of the present invention removing.
Detailed description of the invention
The technological means realized to make the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with concrete diagram, setting forth the present invention further.
As shown in Figures 1 to 7, a kind ofly turn to the automatic capturing of transport, climb, place system, comprise control housing 1, conveying vehicle bridge transmission track 2, capture vehicle bridge grabbing device 3 and be placed with vehicle frame 7 and vehicle frame carrying platform 4 for supporting vehicle bridge.
Described transmission track 2 comprises the track 5 and be used for vehicle bridge half-twist vehicle bridge to be placed on perpendicular to the side of vehicle frame 7 vehicle frame 7 turning to track 6 of climbing vehicle bridge be upwards delivered to above vehicle frame 7.
Described grabbing device 3 cooperation is arranged on transmission track 2, and grabbing device 3 can move on transmission track 2, and described vehicle frame carrying platform 4 is positioned at and turns to immediately below track 6, and vehicle frame carrying platform 4 is added is provided with vehicle frame 7.
The described track 5 that climbs comprises left rail 8 and right rail 9; The movable support platform 10 of fixing left rail 8 and right rail 9 is provided with below described left rail 8 and right rail 9, described movable support platform 10 lower front end is each side provided with one for driving the servomotor 11 of movable support platform 10, on the axle of described servomotor 11, all cover has motor roller 12, and below described movable support platform 10, rear end is provided with the road wheel 13 with brake gear; Described left rail 8 right flank and right rail 9 left surface are equipped with the chute 14 holding grabbing device 3, left rail 8 downside left part and right rail 9 downside right part are equipped with the tooth road 15 coordinated with grabbing device 3, and the lower end of left rail 8 and right rail 9 is equipped with the bottom cover 16 for being limited to by grabbing device 3 in left rail 8 and right rail 9.
The front of described left rail 8 and right rail 9 is provided with vehicle bridge storage rack 17, and the lower end of described vehicle bridge storage rack 17 is provided with for detecting the pressure sensor 18 whether vehicle bridge storage rack 17 having vehicle bridge.
The described track 6 that turns to comprises a curved rail 19 and No. two curved rails 20, the initiating terminal of a described curved rail 19 is connected to the upper end of right rail 9, the end of a curved rail 19 curves 90 ° relative to the initiating terminal of a curved rail 19, the initiating terminal of described No. two curved rails 20 is connected to the upper end of left rail 8, the end of No. two curved rails 20 curves 90 ° relative to the initiating terminal of No. two curved rails 20, the medial surface of a described curved rail 19 is equipped with No. two chutes 21 identical with chute 14 cross section with on the lateral surface of No. two curved rails 20, and the junction of a chute 14 and No. two chutes 21 all seamlessly transits, guarantee is got device and is being climbed track 5 and turn to smooth and easy movement between track 6, No. two tooth roads 22 are equipped with in the middle part of the downside of a curved rail 19 and No. two curved rails 20, the end of a curved rail 19 and No. two curved rails 20 is equipped with top end cover 23, the top end cover 23 of described curved rail 19 end is provided with a sensor 24 for detecting suspension particular location in side on vehicle frame 7, the top end cover 23 of described No. two curved rail 20 ends is provided with No. two sensors 25 for detecting opposite side suspension particular location on vehicle frame 7, a described sensor 24 and No. two sensors 25 are rang sensor.
Described grabbing device 3 comprises transverse axis 26, the two ends of described transverse axis 26 are equipped with roller 27, transverse axis 26 is left, right two ends respectively correspondence are provided with left crawl frame 28, right crawl frame 29, described left crawl frame 28 comprises the side substrate 30 be enclosed within transverse axis 26, the bottom of described side substrate 30 is fixed with a motor 31, the axle of a described motor 31 has through side substrate 30 cover the left combination wheel 32 coordinated with a tooth road 15, described left combination wheel 32 comprises the left cylindrical wheel 33 coordinated with a tooth road 15 and the left conical gear 34 coordinated with No. two tooth roads 22, when grabbing device 3 climb track 5 moves time, left cylindrical wheel 33 is adopted to coordinate with a tooth road 15, substrate 30 lower end, described side is each side provided with an auxiliary wheel 35, described auxiliary wheel 35 right side is positioned at the left side of left combination wheel 32 left side, avoid auxiliary wheel 35 to produce with the path of motion of left combination wheel 32 to interfere, auxiliary wheel 35 and roller 27 form isosceles triangle and combine, be stuck on left rail 8, prevent side substrate 30 in left rail 8 surface thereof, in addition, deviate from No. two curved rails 20 for preventing auxiliary wheel 35, the run trace of described left combination wheel 32 is positioned at the right side of auxiliary wheel 35 run trace, and the distance between left combination wheel 32 and auxiliary wheel 35 should not be too small, the middle part of described side substrate 30 is fixed with No. two motors 36, the axle of described No. two motors 36 has driving gear 37 through side substrate 30 cover, the upper end of described side substrate 30 is connected with by hinged mode rotates claw 38, the middle part of described rotation claw 38 is fixed with the driven gear 39 coordinated with driving gear 37, rotation claw 38 upper end is provided with the fixed jaw 40 to curving, rotating claw 38 upper end is connected with to the bending movable claw 41 of the other end by hinged mode, the bottom of described movable claw 41 is connected with cylinder 42 by hinged mode, the other end of described cylinder 42 is connected to by hinged mode and rotates on claw 38, cylinder 42 is rotated relative to fixed jaw 40 by extension and contraction control movable claw 41, fixed jaw 40 rotates under the drive of driving gear 37, described left crawl frame 28 and right crawl frame 29 are symmetrical about the central cross section of transverse axis 26 except left combination wheel 32, described movable claw 41 is arc-shaped claws with fixed jaw 40, ensure the encirclement of claw, locking effect, movable claw 41 and fixed jaw 40 are minor arc, movable claw 41 and fixed jaw 40 are major arc when combining, the maximum gauge of vehicle bridge is enclosed in movable claw 41 and fixed jaw 40, prevent vehicle bridge from deviating from.
Described right crawl frame 29 is provided with right combination wheel 42 with left combination wheel 32 corresponding position on left crawl frame 28, described right combination wheel 42 comprises the right cylindrical wheel 43 coordinated with a tooth road 15 and the right conical gear 44 coordinated with No. two tooth roads 22, the reference cone angle of described right conical gear 44 and the reference cone angle of left conical gear 34 are towards identical, when grabbing device 3 move to turn on track 6 time, right cylindrical wheel 43 and left cylindrical wheel 33 all depart from a tooth road 15 and engage, left conical gear 34 all enters with No. two tooth roads 22 with right conical gear 44 and engages simultaneously, owing to doing differential motion between left crawl frame 28 and right crawl frame 29, therefore, left conical gear 34 is different from right conical gear 44 parameter.
Described vehicle frame carrying platform 4 comprises fitting line track 45, and described fitting line track 45 is provided with the support car 46 for fixing vehicle frame 7, and the bottom of described support car 46 is provided with No. three motors 47, and described No. three motors 47 can drive support car 46 to move forward and backward.
Described control housing 1 is a corresponding and motor 31 respectively, No. two motors 36, No. three motors 47, a sensor 24, No. two sensors 25, cylinder 42, servomotor 11 is connected with pressure sensor 18, control housing 1 is by a sensor 24, No. two sensors 25 and pressure sensor 18 gather transmission track 2, relative position between grabbing device 3 and vehicle frame carrying platform 4 or connection state information, according to the original program in controller, utilize a motor 31, No. two motors 36, No. three motors 47 and servomotor 11 control the action of various piece, finally on accurate tram vehicle bridge being placed on vehicle frame 7 or suspension.
Algorithm is as follows: time initial, grabbing device is positioned at track lower end of climbing, when vehicle bridge storage rack places vehicle bridge, the signal detected is sent in control housing by described pressure sensor, control housing starts No. two motors, the rotation claw be connected with driven gear is driven to rotate to the vehicle bridge storage rack place of placing vehicle bridge by driving gear, start cylinder simultaneously, cylinder is shunk, movable claw opens, until above movable claw goes to vehicle bridge time, promote cylinder, cylinder is stretched out, movable claw is utilized to be stuck between fixed jaw by vehicle bridge, start afterwards and continue operation No. two motors, rotation claw is upwards overturn, vehicle bridge is gone to climb above track, then a motor is started, left combination wheel and right combination wheel is utilized to be transferred to by grabbing device above the track that climbs, and turn to 90 ° turning on track, start servomotor afterwards, if the detection data of a sensor or No. two sensors are excessive, should be then the both sides that detection range is offset to vehicle frame, if detection is on ground, now continue to run servomotor to start, continue to move forward movable support platform, until a sensor and No. two sensors detect date restoring normal range, the suspension arranged in the distance of the nearest object detected when a sensor and No. two sensors and control housing is fixed the distance of vehicle frame place to a sensor or No. two sensors not in the parameter area set, then mobile No. three motors, support car is moved along conveyor line, until the detection range of a sensor and No. two sensors falls in default parameter area, restart No. two motors, rotate claw, vehicle bridge is placed on vehicle frame.
More than show and describe groundwork of the present invention, principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and specification sheets just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (5)
1. can turn to the automatic capturing of transport, climb, a place system, comprise control housing, transmission track, grabbing device and vehicle frame carrying platform, it is characterized in that:
Described transmission track comprises the track and turn to track of climbing;
Described grabbing device cooperation is arranged on transmission track, and grabbing device can move on transmission track, and described vehicle frame carrying platform is positioned at and turns to immediately below track, and vehicle frame carrying platform is added is provided with vehicle frame;
The described track that climbs comprises left rail and right rail; The movable support platform of fixing left rail and right rail is provided with below described left rail and right rail, described movable support platform lower front end is each side provided with a servomotor, on the axle of described servomotor, all cover has motor roller, and below described movable support platform, rear end is provided with the road wheel with brake gear; Described left rail right flank and right rail left surface are equipped with a chute, and left rail downside left part and right rail downside right part are equipped with a tooth road, and the lower end of left rail and right rail is equipped with bottom cover;
The front of described left rail and right rail is provided with vehicle bridge storage rack, and the lower end of described vehicle bridge storage rack is provided with pressure sensor;
The described track that turns to comprises a curved rail and No. two curved rails, the initiating terminal of a described curved rail is connected to the upper end of right rail, the end of a curved rail curves 90 ° relative to the initiating terminal of a curved rail, the initiating terminal of described No. two curved rails is connected to the upper end of left rail, the end of No. two curved rails curves 90 ° relative to the initiating terminal of No. two curved rails, the medial surface of a described curved rail with the lateral surface of No. two curved rails is equipped with No. two chutes identical with a chute cross section, and the junction of a chute and No. two chutes all seamlessly transits, No. two tooth roads are equipped with in the middle part of the downside of a curved rail and No. two curved rails, the end of a curved rail and No. two curved rails is equipped with top end cover, the top end cover of a described curved rail end is provided with a sensor, the top end cover of described No. two curved rail ends is provided with No. two sensors,
Described grabbing device comprises transverse axis, the two ends of described transverse axis are equipped with roller, transverse axis is left, right two ends respectively correspondence are provided with left crawl frame, right crawl frame, described left crawl frame comprises the side substrate be enclosed within transverse axis, the bottom of described side substrate is fixed with a motor, the axle of a described motor has left combination wheel through side substrate cover, substrate lower end, described side is each side provided with an auxiliary wheel, described auxiliary wheel right side is positioned at the left side of left combination wheel left side, the middle part of described side substrate is fixed with No. two motors, the axle of described No. two motors has driving gear through side substrate cover, the upper end of described side substrate is connected with rotation claw by hinged mode, the middle part of described rotation claw is fixed with the driven gear coordinated with driving gear, rotation claw upper end is provided with the fixed jaw to curving, rotating claw upper end is connected with to the bending movable claw of the other end by hinged mode, the bottom of described movable claw is connected with cylinder by hinged mode, the other end of described cylinder is connected to by hinged mode and rotates on claw, described left crawl frame and right crawl frame are symmetrical about the central cross section of transverse axis except left combination wheel,
Described vehicle frame carrying platform comprises fitting line track, and described fitting line track is provided with support car, and the bottom of described support car is provided with No. three motors, and described No. three motors can drive support car to move forward and backward;
Described control housing is corresponding to be respectively connected with pressure sensor with a motor, No. two motors, No. three motors, sensor, No. two sensors, cylinder, servomotors.
2. according to claim 1ly a kind ofly turn to the automatic capturing of transport, climb, place system, it is characterized in that: described movable claw and fixed jaw are arc-shaped claws, movable claw and fixed jaw are minor arc, are major arc when movable claw and fixed jaw combine.
3. according to claim 1ly a kind ofly turn to the automatic capturing of transport, climb, place system, it is characterized in that: described left combination wheel comprises the left cylindrical wheel coordinated with a tooth road and the left conical gear coordinated with No. two tooth roads.
4. according to claim 3ly a kind ofly turn to the automatic capturing of transport, climb, place system, it is characterized in that: the left combination wheel corresponding position on described right crawl frame and left crawl frame is provided with right combination wheel, described right combination wheel comprises the right cylindrical wheel coordinated with a tooth road and the right conical gear coordinated with No. two tooth roads, and the reference cone angle of described right conical gear and the reference cone angle of left conical gear are towards identical.
5. according to claim 1ly a kind ofly turn to the automatic capturing of transport, climb, place system, it is characterized in that: a described sensor and No. two sensors are rang sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410603955.6A CN104401669B (en) | 2014-10-30 | A kind of turn to automatically the capturing of transport, climb, place system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410603955.6A CN104401669B (en) | 2014-10-30 | A kind of turn to automatically the capturing of transport, climb, place system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104401669A true CN104401669A (en) | 2015-03-11 |
| CN104401669B CN104401669B (en) | 2017-01-04 |
Family
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| CN106743274A (en) * | 2016-12-31 | 2017-05-31 | 长沙高汇环保科技有限公司 | Article automatic distributing retracting device |
| CN106743574A (en) * | 2016-12-31 | 2017-05-31 | 长沙高汇环保科技有限公司 | Intelligent article R-T unit |
| CN106743258A (en) * | 2016-12-31 | 2017-05-31 | 长沙高汇环保科技有限公司 | Fully automatic article distributes retracting device |
| CN106853914A (en) * | 2016-12-31 | 2017-06-16 | 长沙高汇环保科技有限公司 | The article receiving/transmission method of the full-automatic R-T unit of multi-track |
| CN107618828A (en) * | 2017-10-05 | 2018-01-23 | 嘉兴新博信息科技有限公司 | A kind of orbit determination comes and goes carrier robot |
| CN109572866A (en) * | 2019-01-28 | 2019-04-05 | 湖北三环车桥有限公司 | Vehicle bridge production line automatic charging device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106743274A (en) * | 2016-12-31 | 2017-05-31 | 长沙高汇环保科技有限公司 | Article automatic distributing retracting device |
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| CN109572866A (en) * | 2019-01-28 | 2019-04-05 | 湖北三环车桥有限公司 | Vehicle bridge production line automatic charging device |
| CN109572866B (en) * | 2019-01-28 | 2023-09-08 | 湖北三环车桥有限公司 | Axle production line automatic feeding device |
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