CN106183671A - Wheel track dual-purpose all-around mobile carrying platform - Google Patents

Wheel track dual-purpose all-around mobile carrying platform Download PDF

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Publication number
CN106183671A
CN106183671A CN201610677564.8A CN201610677564A CN106183671A CN 106183671 A CN106183671 A CN 106183671A CN 201610677564 A CN201610677564 A CN 201610677564A CN 106183671 A CN106183671 A CN 106183671A
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CN
China
Prior art keywords
wheel
around mobile
rail
main car
platform
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Pending
Application number
CN201610677564.8A
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Chinese (zh)
Inventor
李允旺
王胜全
刘瑞达
董锋
张永昌
汪涛
郑宇巍
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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Application filed by China University of Mining and Technology CUMT filed Critical China University of Mining and Technology CUMT
Priority to CN201610677564.8A priority Critical patent/CN106183671A/en
Publication of CN106183671A publication Critical patent/CN106183671A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60FVEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F1/00Vehicles for use both on rail and on road; Conversions therefor
    • B60F1/04Vehicles for use both on rail and on road; Conversions therefor with rail and road wheels on different axles
    • B60F1/043Vehicles comprising own propelling units
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60PVEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, 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
    • B66F7/00Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/065Scissor linkages, i.e. X-configuration
    • B66F7/0666Multiple scissor linkages vertically arranged

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Invalid Beds And Related Equipment (AREA)

Abstract

The present invention provides a kind of wheel track dual-purpose all-around mobile carrying platform, and it includes all-around mobile chassis, Liftable rail running part, hoistable platform and horizontal push unit;Liftable rail running part is connected with the main car body on all-around mobile chassis, by the way of the variable angle that leading screw drives two rockers, change the relative position on rail wheel assembly and all-around mobile chassis, it is achieved all-around mobile pattern and the transformation of rail wheel Move Mode;Under rail wheel Move Mode, the carrying platform of the present invention can in orbit at a high speed, move efficiently, and under all-around mobile pattern, the carrying platform of the present invention can realize omnibearing movement and is suitable for the place that space is less;Hoistable platform is connected with the main car body on described all-around mobile chassis;Described horizontal push unit is fixed on the upper end of described hoistable platform.The carrying platform of the present invention can realize goods picking and placeing and long short-range carrying on differing heights shelf.

Description

Wheel track dual-purpose all-around mobile carrying platform
The present invention relates to a kind of carrying platform, the all-around mobile in particular to a kind of wheel track dual-purpose is carried flat Platform, belongs to Transport Machinery apparatus field.
Background technology
At present, the omni-directional moving platform of Mecanum wheel is used to be applied in the warehouse, factory of narrow field, Omni-directional moving platform has the advantages that motion is flexible, compact conformation, control accuracy are high.But some warehouses also require by goods from Pick and place on shelf, thus need lifting and fetching device.Need to goods from reloading point to warehouse in other places, or enter Distance transfer between the multiple warehouses of row, some place is provided with rail;And during the goods handling of this distance, often It is made without the all-around mobile of complexity;And use Mecanum wheel inefficient, if it is inevitable to carry out transport by rail Improve conevying efficiency.If having a kind of mobile platform can be the work of Mecanum wheel mobile platform when picking and placeing goods, now exist Small space can work efficiently, and can switch to other vehicle with walking machines being beneficial to long-distance transportation during transporting goods The mobile platform of structure, such as rail mounted, the shortcoming that just can make up Mecanum wheel mobile platform to a certain extent.
Summary of the invention
Present invention seek to address that technical problem present in prior art, to this end, the present invention to propose a kind of wheel track dual-purpose entirely Orientation moves carrying platform, and this carrying platform can actively switch to Mecanum wheel all-around mobile pattern and rail type mobile Pattern is to adapt to different operating mode, and this carrying platform also includes a hoistable platform and horizontal push unit simultaneously, it is simple to goods Pick and place.
The spinous process technical scheme of the present invention is: wheel track dual-purpose all-around mobile carrying platform, including: at the bottom of all-around mobile Dish, Liftable rail running part, hoistable platform and horizontal push unit;Described all-around mobile chassis includes: main car frame;Mike Nurse wheel assembly, described Mike's nurse wheel assembly is four, and described Mike's nurse wheel assembly is connected with described main car body;Described Liftable rail running part includes: upper fixed seat, and fixed seat is fixed on the described main car on described all-around mobile chassis On frame;Rocker, described rocker has two, and the upper end of described rocker is provided with gear, and described gear is pivotable with fixed seat Ground is connected, and the described gear of two described rocker upper ends is meshed;Screw block, described screw block and first described rocker The other end is pivotable to be connected;Axle bed block, the other end of described axle bed block and second described rocker is connected pivotly;Silk Thick stick, described leading screw is connected with screw thread pair with described screw block, and described leading screw is connected with revolute pair with described axle bed block;Leading screw drives Part, described leading screw actuator is connected with described leading screw, and drives described screw turns;Described rail wheel assembly, described rail wheel Assembly is two, and two described rail wheel assemblies are connected with two described rockers respectively;Described hoistable platform is comprehensive with described The described main car body of mobile chassis is connected;Described horizontal push unit is fixed on the upper end of described hoistable platform.
Optionally, in the wheel track dual-purpose all-around mobile carrying platform of the present invention, described Mike's nurse wheel assembly: Mike Na Mu takes turns, and described Mecanum wheel is connected pivotly with the side of described main car frame;Mecanum wheel actuator, described Mike Nurse wheel driving moving part of receiving is connected with described Mecanum wheel, and drives described Mecanum wheel to rotate.
Optionally, in the wheel track dual-purpose all-around mobile carrying platform of the present invention, each described rail wheel assembly includes: Track wheel carrier, described track wheel carrier is fixing with described rocker to be connected;Rail wheel, described rail wheel is two, two described rails Wheel both sides with described track wheel carrier respectively, road are connected;Rail wheel actuator, described rail wheel actuator and described rail wheel phase Connect and drive described rail wheel to rotate.
Described rail wheel actuator is motor or the motor through deceleration;Described Mecanum wheel actuator is motor or warp Cross the motor slowed down.
Optionally, according to embodiments of the present invention, described hoistable platform uses scissors type lifting platform, described scissors type lifting platform bag Including: lower fixed seat, described lower fixed seat is fixing with described main car frame to be connected;Gliding groove, described gliding groove is solid with described main car frame Fixed connection;Lower guide wheel assemblies, described lower guide wheel assemblies constitutes moving sets with gliding groove;Upper brace;Upper fixed seat, described Upper fixed seat is fixing with described upper brace to be connected;Upper hopper chute, described upper hopper chute is fixing with described upper brace to be connected;Upper guiding Wheel assembly, described upper guide wheel assemblies constitutes moving sets with described upper hopper chute;Scissors link assembly, described even scissors link assembly No less than one group, the described even scissors link assembly of many groups is sequentially connected, and described even scissors link assembly includes that two middle parts connect Connecting rod even, the lower end of two described connecting rods is connected pivotly with described lower fixed seat, described lower guide wheel assemblies respectively;Two The upper end of individual described connecting rod is connected pivotly with described upper guide wheel assemblies, fixed seat respectively;Hinged seat, described hinge Joint chair is two, and a described hinged seat is connected with described main car frame, and a described hinged seat is connected with described connecting rod;Straight line drives Moving part, the two ends of described linear drives part respectively with two described hinged seat hinges.
Further, described horizontal push unit includes: fixing seat, described fixing seat is fixed on described hoistable platform End;Screw rod, described screw rod is pivotable to be located on described fixing seat;Slide block, described slide block is connected with described fixing seat and constitutes Moving sets, and described slide block is connected with screw thread pair with described screw rod;Driver part;Described driver part is connected also with described screw rod Described screw rod can be driven to rotate;Bracket, described bracket is fixing with described slide block to be connected.
Further, described all-around mobile chassis also includes: power module, and described power module is fixed on described main car On frame;Control module, described control module is fixed on described main car frame;Sensing module, described sensing module and described main car Frame is connected.
By technique scheme, all-around mobile chassis can realize the all-around mobile of carrying platform.Described comprehensive Described Liftable rail running part is secured on the described main car body of mobile chassis;Described Liftable rail running part is at described silk Under the effect of thick stick actuator, described leading screw rotates, and drives the relative distance of described screw block and described axle bed block to become Change, thus cause two described rockers to do rotation in opposite direction, again because described rocker is for be front and back arranged symmetrically with, so two institutes State rotating as reverse and synchronization of rocker generation.And two described rail wheel assemblies are fixedly linked with two described rockers respectively And in being front and back arranged symmetrically with, so two described rail wheel assemblies can make the rotation of reverse sync along with described rocker, thus Have adjusted the angle between two described rail wheel assemblies, thus change between rail wheel and described all-around mobile chassis Distance.Thus can regulate the height of described rail wheel by controlling positive and negative the transferring of leading screw actuator, it is achieved present invention enforcement The carrying platform of example is wheeled and switching between rail operational mode.Specifically, under the effect of leading screw actuator, can make The angle of two described rail wheel assemblies increases, and makes described rail wheel be lifted up, to described rail wheel higher than described comprehensive The described Mecanum wheel of mobile chassis, the most described Mecanum wheel is ground state, and described rail wheel is vacant state, this Time the embodiment of the present invention carrying platform be comprehensive formula carrying platform, described rail wheel assembly is inoperative.In comprehensive shifting Under dynamic model formula, the present invention is moved above track, and make described Liftable rail running part and rail alignment, drive at leading screw Under the effect of moving part, it is possible to make the angle of two described rail wheel assemblies reduce, make described rail wheel swung downward, to described rail Wheel supporting track face, road, lifts described all-around mobile chassis, and described Mecanum wheel departs from ground, and now the present invention implements The carrying platform of example is rail mounted transport mode, can walk in respective rail.
Optionally, in the wheel track dual-purpose all-around mobile carrying platform of the present invention, described hoistable platform uses scissors liter Fall platform, drives described scissors link assembly to stretch by described linear drives part, thus drives and move down on described upper brace Dynamic, play the function of lifting.The described bracket of described horizontal push unit, can be horizontal under the effect with described slide block of the described leading screw To flexible.Therefore, the carrying platform of the embodiment of the present invention can realize autonomous to the carrying a range of vertical lift of thing With move horizontally.When the carrying platform of the embodiment of the present invention transports goods, goods is positioned on described horizontal push unit, fortune When being passed to access position, described hoistable platform carries out the lifting of vertical direction, needs when the arrangement of goods of side, described laterally pushes away Moving device drives goods to elapse to side.
Use technical scheme can obtain following beneficial effect: (1) uses the adjustable rail mounted of described angle Running part, it is achieved that the regulation of the angle of two described rail wheel assemblies, it is achieved thereby that all-around mobile pattern is moved with track The conversion of dynamic model formula;(3) owing to have employed described scissors type lifting platform and described horizontal push unit, carrying platform can independently exist Vertically and horizontally transport goods in certain limit, picking, cargo transport, goods putting automatization can be realized.
Accompanying drawing explanation
Fig. 1 is the dual-purpose all-around mobile carrying platform of wheel track according to embodiments of the present invention standing under track walking mode Body schematic diagram;
Fig. 2 is the explosive view of the Mike's nurse wheel assembly in embodiment illustrated in fig. 1;
Fig. 3 is the partial sectional view after embodiment illustrated in fig. 1 removes Mike's nurse wheel assembly and other structures of part;
Fig. 4 is the schematic perspective view of the Liftable rail running part in Fig. 1 institute embodiment;
Fig. 5 be embodiment illustrated in fig. 1 hoistable platform rise and schematic perspective view time horizontal push unit releases;
Fig. 6 is embodiment illustrated in fig. 1 schematic diagram of the article of lower position on picking frame;
Fig. 7 is the schematic diagram after embodiment illustrated in fig. 1 completes picking;
Fig. 8 is that goods is put into the process schematic of higher position on shelf by embodiment illustrated in fig. 1.
Reference
The all-around mobile carrying platform of 100 wheel track dual-purposes
1 all-around mobile chassis;
11 main car frames;
12 Mike's nurse wheel assemblies;
121 Mecanum wheels;
1211 pony rolls;1212 wheel hubs;1213 nuts;
122 Mecanum wheel actuators;
1221 motors;1222 decelerators;12221 drive shafts;1223 connecting plates;
13 power modules;
14 control modules;
141 control panels;
2 Liftable rail running parts;
21 upper fixed seats;22 rockers;23 screw blocks;24 axle bed blocks;25 leading screws;26 leading screw actuators;27 rail wheel assemblies;
271 track wheel carriers;272 rail wheels;
2721 rail wheel actuators;
221 gears;
2201 first rockers;2202 second rockers;
3 hoistable platforms;
31 lower fixed seats;32 gliding grooves;33 times guide wheel assemblies;34 upper fixed seats;35 upper hopper chutes;Wheels are guided on 36 Part;37 connect scissors link assembly;38 hinged seats;39 linear drives parts;310 upper braces;
371 connecting rods one;372 connecting rods two;
4 horizontal push units;
41 fix seat;42 screw rods;43 slide blocks;44 actuators;45 brackets;
5 tracks;
6 goods;
7 shelf.
Detailed description of the invention
Wheel track dual-purpose all-around mobile carrying platform according to embodiments of the present invention is described in detail below in conjunction with Fig. 1 to Fig. 8, And further illustrate the present invention, it is exemplary by the embodiment being described with reference to the drawings, is only used for explaining the present invention, and can not It is interpreted as limitation of the present invention.
Such as Fig. 1, Fig. 3, Fig. 5, a kind of wheel track dual-purpose all-around mobile carrying platform, including: all-around mobile chassis 1, can Fluctuating orbit running part 2, hoistable platform 3 and horizontal push unit 4;All-around mobile chassis 1 includes: main car frame 11;Mike Nurse wheel assembly 12, Mike's nurse wheel assembly 12 is four, and Mike's nurse wheel assembly 12 is connected with main car body 11;Liftable rail Running part 2 includes: upper fixed seat 21, and upper fixed seat 21 is fixed on the main car frame 11 on all-around mobile chassis 1;Rocker 22, pendulum Frame 22 has two, and the upper end of rocker 22 is provided with gear 221, and gear 221 is connected pivotly with upper fixed seat 21, and two rockers The gear 221 of 22 upper ends is meshed;Screw block 23, screw block 23 is connected pivotly with the other end of first rocker 2201; Axle bed block 24, axle bed block 24 is connected pivotly with the other end of second rocker 2202;Leading screw 25, leading screw 25 and screw block 23 Being connected with screw thread pair, leading screw 25 is connected with revolute pair with axle bed block 24;Leading screw actuator 26, leading screw actuator 26 and leading screw 25 phase Connect, and drive leading screw 25 to rotate;Rail wheel assembly 27, rail wheel assembly 27 is two, and two rail wheel assemblies 27 are respectively with two Individual rocker 22 is connected;Hoistable platform 3 is connected with the main car body 11 on all-around mobile chassis 1;Laterally push unit 4 is fixed on lifting The upper end of platform 3.
In some embodiments of the invention, as shown in Figure 1, Figure 3, all-around mobile chassis 1 also includes: power module 13, described power module 13 is fixed on main car frame 11;Control module 14, control module 14 is fixed on main car frame 11;Sensing Module, described sensing module is connected with main car frame 11.Control module 14 also includes control panel 141, specifically, such as Fig. 1, figure Control panel 141 shown in 3 is connected to the side of main car body 11.Described sensing module is mainly used in the dual-purpose full side of wheel track of the present invention The location of carrying platform 100, navigation, status monitoring etc. are moved in displacement, are made up of multiple sensors, are not drawn into institute in Figure of description State sensing module.Above-mentioned power module 13, control module 14, sensing module are the routine techniques of intelligent family moving platform, non- The technology emphasis of patent, is not described in detail in description.
In some embodiments of the invention, wheel track dual-purpose all-around mobile carrying platform, as shown in Figure 1 and Figure 2, Mike Nurse wheel assembly 12 includes: Mecanum wheel 121, and Mecanum wheel 121 is connected pivotly with the side of main car frame 11;Mike Receiving nurse wheel driving moving part 122, Mecanum wheel actuator 122 is connected with Mecanum wheel 121, and drives Mecanum wheel 121 turns Dynamic.Alternatively, Mecanum wheel actuator 122 is motor or the motor through deceleration.
Further, specifically, as shown in Figure 1 and Figure 2, Mecanum wheel actuator 122 have employed reducing motor, including Motor 1221, decelerator 1222, decelerator 1222 is provided with connecting plate 1223, and connecting plate 1223 is connected with main car frame 11.Subtract The drive shaft 12221 of speed device 1222 is bonded with the wheel hub 1212 of Mecanum wheel 121, and by nut 1213 and drive shaft 12221 axle heads connections axially position.In order to realize the detection of the rotating speed to Mecanum wheel 121, after motor 1221 End is provided with encoder, and in embodiment illustrated in fig. 2, described encoder is located in motor tail-hood and is connected with rotor that (Fig. 2 does not paints Go out encoder).Because Mecanum wheel actuator 122 is four, it is respectively at four base angles of main car frame 11.Real in order to realize energy Existing omnibearing movement, the rotation direction of the pony roll 1211 of the Mecanum wheel 121 at diagonal angle is identical.Mecanum wheel 121 is arranged as often Rule technology, is not set forth in detail.According to other embodiment, Mike's nurse wheel assembly 12 is by shock absorption buffering mechanism and main car Frame 11 is connected.
In some embodiments of the invention, wheel track dual-purpose all-around mobile carrying platform, as shown in Figure 3, Figure 4, each Liftable rail running part 2 includes two rail wheel assemblies 27;Each rail wheel assembly 27 includes: track wheel carrier 271, rail wheel Frame 271 is fixing with rocker 22 to be connected;Rail wheel 272, rail wheel 272 is two, two rail wheels 272 respectively with track wheel carrier The both sides of 271 are connected;Rail wheel 272 also includes that rail wheel actuator 2721, rail wheel actuator 2721 are connected with rail wheel 272 And drive rail wheel 272 to rotate.Alternatively, the rail wheel 272 of in two rail wheel assemblies 27 includes that rail wheel drives Part 2721, the rail wheel 272 of another rail wheel assembly 27 does not include rail wheel actuator 2721.According to other embodiments, two Four rail wheels 272 of individual rail wheel assembly 27 all include rail wheel actuator 2721.
Alternatively, rail wheel actuator 2721 is motor or the motor through deceleration;Still optionally further, as shown in Figure 4, Rail wheel actuator 2721 uses wheel hub motor, so can make the compact conformation of rail wheel 272.
Illustrate the structure of hoistable platform 3 below in conjunction with Fig. 3, Fig. 5, hoistable platform 3 uses scissors type lifting platform, described Scissors type lifting platform includes: lower fixed seat 31, and lower fixed seat 31 is fixing with main car frame 11 to be connected;Gliding groove 32, gliding groove 32 with Main car frame 11 is fixing to be connected;Lower guide wheel assemblies 33, lower guide wheel assemblies 33 constitutes moving sets with gliding groove 32;Upper brace 310;Upper fixed seat 34, upper fixed seat 31 is fixing with upper brace 310 to be connected;Upper hopper chute 35, upper hopper chute 35 and upper brace 310 Fixing connection;Upper guide wheel assemblies 36, upper guide wheel assemblies 36 constitutes moving sets with upper hopper chute 35;Scissors link assembly 37, even Scissors link assembly 37 is no less than one group, and many groups even scissors link assembly 37 is sequentially connected, and even scissors link assembly 37 includes two The a sequence of connecting rod in individual middle part, is designated as connecting rod 1 and connecting rod 2 372 respectively, and the lower end of connecting rod 1 and connecting rod 2 372 is respectively It is connected pivotly with lower fixed seat 31, lower guide wheel assemblies 33;The upper end of connecting rod 1 and connecting rod 2 372 respectively with on lead It is connected pivotly to wheel assembly 36, upper fixed seat 34;Hinged seat 38, hinged seat 38 is two, a hinged seat 38 and main car Frame 11 is connected, and a hinged seat 38 is connected with a described connecting rod;Linear drives part 39, the two ends of linear drives part 39 respectively with Two hinged seat 38 hinges;Specifically, linear drives part 39 uses electric pushrod.When being embodied as, in the embodiment of the present invention Company's scissors link assembly 37 of scissors type lifting platform 3 is designed to double-decker, lower fixed seat 31, gliding groove 32, upper fixed seat 31, Upper brace 310, upper hopper chute 35 are symmetrically arranged two.Embodiment shown in Fig. 3 have employed three groups and connects scissors connection rod set Part 37, these three groups connect scissors link assembly 37 and are sequentially connected;Bottom one group is connected with main car body 11, one group, the top and top Platform 310 is connected;Hoistable platform 3 uses scissors type lifting platform, uses above-mentioned technical scheme, and linear drives part 39 drives even to be cut Formula link assembly 37 stretches so that upper brace about 310 vertical lifting.
According to embodiments of the present invention, as it is shown in figure 5, laterally push unit 4 includes: fixing seat 41, fixing seat 41 is fixed on Described hoistable platform upper end;Screw rod 42, screw rod 42 is pivotable to be located on fixing seat 41;Slide block 43, slide block 43 and fixing seat 41 Connect and constitute moving sets, and slide block 43 is connected with screw thread pair with screw rod 42;Driver part 44;Driver part 44 and screw rod 42 phase Lian Bingneng drives screw rod 42 to rotate;Bracket 45, bracket 45 is fixing with slide block 43 to be connected.
By technique scheme, all-around mobile chassis can realize the all-around mobile of carrying platform.All-around mobile 2 Liftable rail running parts are secured on the main car body 11 on chassis 1;2 Liftable rail running parts are at the work of leading screw actuator 26 Under with, leading screw 25 rotates, and drives the relative distance of screw block 23 and axle bed block 24 to change, thus causes two rockers 22 do rotation in opposite direction, again because rocker 22 is for be front and back arranged symmetrically with, so the rotation that two rockers 22 occur be reverse and Synchronize.And two rail wheel assemblies 27 are fixedly linked with two rockers 22 and respectively in being front and back arranged symmetrically with, so two rails 272 assemblies 27 are taken turns in road can make the rotation of reverse sync along with rocker 22, thus have adjusted between two rail wheel assemblies 27 Angle, thus change the distance between rail wheel 272 and all-around mobile chassis 1.Thus can drive by controlling leading screw Part positive and negative transfers the height of adjustable track wheel 272, it is achieved the carrying platform of the embodiment of the present invention is wheeled and rail operational mode Between switching.Specifically, under the effect of leading screw actuator 26, the angle of two rail wheel assemblies 27 can be made to increase, Make rail wheel 272 be lifted up, be higher than the Mecanum wheel 121 on all-around mobile chassis 1, i.e. Mecanum to rail wheel 272 Wheel 121 is ground state, and rail wheel 272 is vacant state, and now the carrying platform of the embodiment of the present invention is that comprehensive formula is removed Fortune platform, rail wheel assembly 27 is inoperative, as shown in Figure 5, Figure 6.Under all-around mobile pattern, the present invention is moved to rail Above road 5, and make 2 Liftable rail running part and rail alignment, under the effect of leading screw actuator, it is possible to make two tracks The angle taking turns 272 assemblies 27 reduces, and makes rail wheel 272 swung downward, to rail wheel 272 supporting track face, by all-around mobile Chassis 1 is lifted, and Mecanum wheel 121 departs from ground, and now the carrying platform of the embodiment of the present invention is rail mounted transport mode, can To walk in respective rail 5, as shown in Figure 1.
By technique scheme, when linear drives part 39 extends or shortens, the relative distance of hinged seat 38 at two Changing, thus scissors type lifting platform 3 is highly raised and lowered, in Fig. 1, Fig. 6, scissors type lifting platform 3 is the least, Fig. 5, In Fig. 8, scissors type lifting platform 3 is the biggest.Laterally the drive part 44 of push unit 4 can drive screw rod 42 to rotate, so that with Screw rod 42 drives bracket to produce straight horizontal displacement with the slide block 43 that screw thread pair coordinates, and thus achieves and is placed on bracket 45 The vertical lift of goods and horizontal displacement.In Fig. 1, Fig. 7, bracket 45 is in retracted mode, and Fig. 5, Fig. 6 plant bracket 45 and be in and push away Do well.
The wheel track dual-purpose all-around mobile carrying platform 100 illustrating the embodiment of the present invention below by Fig. 6 to Fig. 8 exists The work process schematic diagram picking and placeing goods 6 under all-around mobile pattern.Fig. 6 is that the wheel track of the embodiment of the present invention is dual-purpose comprehensive Mobile carrying platform 100, at the process schematic of the goods 6 being automatically taken at lower position on shelf 7, now, passes through linear drives Part 39 regulates scissors type lifting platform 3 and is in relatively low state, makes bracket 45 concordant with goods 6 bottom, then by drive part 44 Regulate the bracket 45 of horizontal push unit 4, make bracket 45 reach and treat picking thing 6 bottom;Further, as it is shown in fig. 7, pass through regulation Scissors type lifting platform 3 and horizontal push unit 4, make bracket 45 carrying that goods 6 held up and moved to the embodiment of the present invention be put down The top of platform, now goods 6 can be along with the wheel track of the embodiment of the present invention dual-purpose all-around mobile carrying platform 100;Goods 6 is removed After transporting to destination, similar and picking process, by adjusting scissors type lifting platform 3 and horizontal push unit 4, goods 6 is placed in On another shelf 7, goods 6 is put by the wheel track dual-purpose all-around mobile carrying platform being illustrated in figure 8 the embodiment of the present invention The process schematic of higher position on shelf 7.The goods 6 of figure kind includes that torr contains the pallet of goods, and bracket 45 is the most direct With pallet effect.
Optionally, during transporting goods, if close together, the dual-purpose all-around mobile of wheel track of inventive embodiments is removed Fortune platform then uses wheeled running status to realize the transport of goods, such as the running status in the embodiment in Fig. 5;If transport distance Farther out, then rail mounted running status can be used to realize the transport of goods, if the embodiment in Fig. 1 is rail mounted operational mode, this Time can play rail mounted transport steadily, efficiency is high, the advantage that safety is high, it is to avoid Mecanum wheel holds at transportation vehicle body Easily vibration, the shortcomings such as noise is big.
Technical scheme can be extended in non-rail transport, it is also possible to by the Liftable rail in the present invention Running part 2 is replaced by liftable common wheel running part, after so using common wheel to replace rail wheel 272, at ordinary wheel row Under walking modes, the mobile platform of the present invention can do long-distance transportation on the ground, and such common wheel can use four bands to drive Common wheel, or four wheel hub motor wheels.
For other compositions of the carrying platform of the present invention, it is prior art, and has been those of ordinary skill in the art Know, therefore be not described in detail.
Although an embodiment of the present invention has been shown and described, these can be implemented by those of ordinary skill in the art Example carries out multiple change, revises, replaces and modification, and the scope of the present invention is limited by claim and equivalent thereof.

Claims (7)

1. a wheel track dual-purpose all-around mobile carrying platform, it is characterised in that including:
All-around mobile chassis, described all-around mobile chassis includes:
Main car frame;
Mike's nurse wheel assembly, described Mike's nurse wheel assembly is four, and described Mike's nurse wheel assembly and described main car body It is connected;
Liftable rail running part, described Liftable rail running part includes:
Upper fixed seat, fixed seat is fixed on the described main car frame on described all-around mobile chassis;
Rocker, described rocker has two, and the upper end of described rocker is provided with gear, and described gear is with fixed seat pivotly It is connected, and the described gear of two described rocker upper ends is meshed;
Screw block, the other end of described screw block and first described rocker is connected pivotly;
Axle bed block, the other end of described axle bed block and second described rocker is connected pivotly;
Leading screw, described leading screw is connected with screw thread pair with described screw block, and described leading screw is connected with revolute pair with described axle bed block;
Leading screw actuator, described leading screw actuator is connected with described leading screw, and drives described screw turns;
Rail wheel assembly, described rail wheel assembly is two, and two described rail wheel assemblies are connected with two described rockers respectively;
Hoistable platform, described hoistable platform is connected with the described main car body on described all-around mobile chassis;
Laterally push unit, described horizontal push unit is fixed on the upper end of described hoistable platform.
Wheel track the most according to claim 1 dual-purpose all-around mobile carrying platform, it is characterised in that described all-around mobile Chassis also includes:
Power module, described power module is fixed on described main car frame;
Control module, described control module is fixed on described main car frame;
Sensing module, described sensing module is connected with described main car frame.
Wheel track the most according to claim 1 dual-purpose all-around mobile carrying platform, it is characterised in that described Mike's nurse is taken turns Assembly:
Mecanum wheel, described Mecanum wheel is connected pivotly with the side of described main car frame;
Mecanum wheel actuator, described Mecanum wheel actuator is connected with described Mecanum wheel, and drives described Mike Na Mu takes turns rotation.
Wheel track the most according to claim 1 dual-purpose all-around mobile carrying platform, it is characterised in that each described rail wheel Assembly includes:
Track wheel carrier, described track wheel carrier is fixing with described rocker to be connected;
Rail wheel, described rail wheel is two, and two described rail wheels both sides with described track wheel carrier respectively are connected;
Rail wheel actuator, described rail wheel actuator is connected with described rail wheel and drives described rail wheel to rotate.
Wheel track the most according to claim 1 dual-purpose all-around mobile carrying platform, it is characterised in that described hoistable platform is adopted With scissors type lifting platform, described scissors type lifting platform includes:
Lower fixed seat, described lower fixed seat is fixing with described main car frame to be connected;
Gliding groove, described gliding groove is fixing with described main car frame to be connected;
Lower guide wheel assemblies, described lower guide wheel assemblies constitutes moving sets with gliding groove;
Upper mounting plate;
Upper fixed seat, fixed seat is fixing with described upper mounting plate to be connected;
Upper hopper chute, described upper hopper chute is fixing with described upper mounting plate to be connected;
Upper guide wheel assemblies, described upper guide wheel assemblies constitutes moving sets with described upper hopper chute;
Scissors link assembly, connected scissors link assembly is no less than one group, and the connected scissors link assembly of many groups is sequentially connected, and institute Even scissors link assembly includes two a sequence of connecting rods in middle part, the lower end of two described connecting rods respectively with described lower fixed seat, institute State lower guide wheel assemblies to be connected pivotly;The upper end of two described connecting rods respectively with described upper guide wheel assemblies, described solid Reservation is connected pivotly;
Hinged seat, described hinged seat is two, and a described hinged seat is connected with described main car frame, a described hinged seat and institute State connecting rod to be connected;
Linear drives part, the two ends of described linear drives part respectively with two described hinged seat hinges.
Wheel track the most according to claim 2 dual-purpose all-around mobile carrying platform, it is characterised in that:
Described rail wheel actuator is motor or the motor through deceleration;
Described Mecanum wheel actuator is motor or the motor through deceleration.
7. according to the arbitrary described wheel track dual-purpose all-around mobile carrying platform of claim 1-6, it is characterised in that described laterally Push unit includes:
Fixing seat, described fixing seat is fixed on described hoistable platform upper end;
Screw rod, described screw rod is located on described fixing seat pivotly;
Slide block, described slide block is connected with described fixing seat and constitutes moving sets, and described slide block and described screw rod are with screw thread parafacies Even;
Driver part;Described driver part is connected with described screw rod and described screw rod can be driven to rotate;
Bracket, described bracket is fixing with described slide block to be connected.
CN201610677564.8A 2016-08-16 2016-08-16 Wheel track dual-purpose all-around mobile carrying platform Pending CN106183671A (en)

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CN108372763A (en) * 2018-02-02 2018-08-07 深圳市中科智诚科技有限公司 A kind of safe and reliable intelligent rail-road car wheel
CN108639646A (en) * 2018-06-05 2018-10-12 广州市远能物流自动化设备科技有限公司 Rotary lifting-type AGV trolleies
CN108944325A (en) * 2018-07-05 2018-12-07 东莞理工学院 A kind of lift Mecanum wheel drive assembly
CN112479099A (en) * 2020-11-19 2021-03-12 腾讯科技(深圳)有限公司 Robot
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CN113619042A (en) * 2021-08-16 2021-11-09 苏州祥弘精密模具有限公司 Computer keyboard mould production is with moving fortune equipment
CN113771563A (en) * 2021-09-06 2021-12-10 安徽哥伦布智能科技有限公司 Dual-mode omnidirectional carrier
CN114056359A (en) * 2021-12-20 2022-02-18 郑州铁路职业技术学院 Rail flaw detection mechanism
CN114056359B (en) * 2021-12-20 2023-08-25 郑州铁路职业技术学院 Rail flaw detection mechanism

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Application publication date: 20161207