CN106185357A - A kind of full-automatic load wagon - Google Patents
A kind of full-automatic load wagon Download PDFInfo
- Publication number
- CN106185357A CN106185357A CN201610553345.9A CN201610553345A CN106185357A CN 106185357 A CN106185357 A CN 106185357A CN 201610553345 A CN201610553345 A CN 201610553345A CN 106185357 A CN106185357 A CN 106185357A
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- China
- Prior art keywords
- vehicle frame
- electric servo
- platform
- full
- cylinder
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Classifications
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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
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/06—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of full-automatic load wagon, including walking dolly, lifting apparatus, vision localization guide and docking loading attachment, described walking dolly include vehicle frame and be located at vehicle frame before and after four Mecanum wheels；Described lifting apparatus includes load lifting cylinder, parallel lifting bar and platform bracket；Described vision localization guide is a vocational work photographic head for image acquisition；Described docking loading attachment includes rotationally supporting fixing device, upper mounting plate, lower platform and electric servo cylinder.The present invention can implement the operation of full-automation, realizes multi-faceted motion by six degree of freedom platform, accurately adjusts height and the angle of inclination of workpiece device, completes the loading and unloading between workpiece on equipment；Can realize moving ahead simultaneously, traversing, diagonal, the omnibearing movable of the motion mode such as rotation and combinations thereof；Flexible at limited narrow spatial operation, functional reliability is high.
Description
Technical field
The present invention relates to engineering machinery field, particularly relate to a kind of full-automatic load wagon.
Background technology
It is equipment to carry out workpiece loading and unloading be typically in the way of manual operation machinery to load and unload at present, its work efficiency
Extremely low, operator's working strength is big simultaneously.Docking, body invariably are loaded for the equipment the finest, parameter request is high
Reveal inferior position and the deficiency of manual mode of operation, even if existing mechanical technique also is difficult to substitute manually carries out finer handling
Docking.Therefore it is badly in need of using advanced machinery equipment to replace manual work, improves precision and the accuracy of handling, and then improve operation
Efficiency, handling safety and alleviate labor intensity of operating staff.
Summary of the invention
In order to overcome above-mentioned deficiency, the invention provides one and can reduce personnel depaly, it is achieved operation full-automatic
Changing, stable operation and angle can finely control, and greatly shorten the full-automatic load wagon of the lay day of equipment.
For achieving the above object, the present invention adopts the technical scheme that:
The present invention includes walking dolly, lifting apparatus, vision localization guide and docking loading attachment, and described walking is little
Car includes vehicle frame and is located at four Mecanum wheels before and after vehicle frame, the corner of vehicle frame by damping shock absorber and hinge joint rotating shaft with
Mecanum wheel connects；
Described lifting apparatus includes in load lifting cylinder, parallel lifting bar and platform bracket, one end of load lifting cylinder and vehicle frame rear end
The lower end in portion is connected, and the other end of this load lifting cylinder is connected with a position of parallel lifting bar bottom by hinge joint rotating shaft；Parallel lift
One end of rising stem is fixed in the middle part of vehicle frame rear end by hinge joint rotating shaft, and the other end of this parallel lifting bar is connected with platform bracket；
Described vision localization guide be one for the vocational work photographic head of image acquisition, returned by image acquisition
Passing and computer alignment system image analysis software carries out para-position, this vision localization guide is located at platform bracket and lifts by parallel
The side of rising stem, is used for loading and unloading fixation and recognition and guiding；
Described docking loading attachment includes rotationally supporting fixing device, upper mounting plate, lower platform and electric servo cylinder, wherein,
Lower platform is connected with above-mentioned platform bracket by rotationally supporting fixing device, and lower platform and upper mounting plate are by 8 electric servo cylinders
Connecting, wherein 4 electric servo cylinders are distributed on the corner of upper and lower platform, other 4 electric servo cylinders be located at above-mentioned 2 electronic
Between servoBcylinder, inclined layout, equal off center line 60mm, the electric servo cylinder inclined in opposite directions of opposite side.
The present invention compared with prior art has the advantage that
1, workpiece device can be carried by carrying out accurate angle analysis, thus implement the docking loading operation of full-automation,
Operator's quantity needed for minimizing；
2, moved by six degree of freedom platform and realize multi-faceted motion, and adjust height and the inclination of workpiece device accurately
Angle, completes the loading and unloading of equipment work-piece, greatly shortens handling docking time；
3, use Mecanum wheel construction simultaneously, make equipment realize moving ahead, traversing, diagonal, the motion such as rotation and combinations thereof
The omnibearing movable of mode；
4, flexible at limited narrow spatial operation, functional reliability is high.
Accompanying drawing explanation
Fig. 1 is side-looking simplified schematic diagram of the present invention.
Fig. 2 is that the present invention overlooks simplified schematic diagram.
Fig. 3 is backsight simplified schematic diagram of the present invention.
In figure: 1, vehicle frame；2, load lifting cylinder；3, damping shock absorber；4, hinge joint rotating shaft；5, parallel lifting bar；6, docking loads
Device；7, upper mounting plate；8, electric servo cylinder；9, lower platform；10, fixing device is rotationally supported；11, platform bracket；12, vision is fixed
Position guide；13, Mecanum wheel；14, hinge joint rotating shaft.
Detailed description of the invention
In full-automatic load wagon schematic diagram as shown in Figure 1, Figure 2 and Figure 3, the vehicle frame 1 of walking dolly is metal structure, its
Corner is connected with Mecanum wheel 13 by damping shock absorber 3 and hinge joint rotating shaft 14；In the middle part of one end of load lifting cylinder 2 and vehicle frame rear end
Lower end be connected, the position connection by hinge joint rotating shaft and parallel lifting bar 5 bottom of the other end of this load lifting cylinder, parallel lifting
One end of bar is fixed in the middle part of vehicle frame rear end by hinge joint rotating shaft 4, and the other end of this parallel lifting bar is connected with platform bracket 11；
Vision localization guide 12 is located at the platform bracket side by parallel lifting bar, is used for loading and unloading fixation and recognition and guiding, above-mentioned
Vision localization guide is a vocational work photographic head for image acquisition, by image acquisition passback and computer pair
Position systems soft ware graphical analysis carries out para-position；Lower platform 9 in docking loading attachment 6 is by rotationally supporting fixing device 10 with upper
Stating platform bracket to connect, lower platform is connected by 8 electric servo cylinders 8 with upper mounting plate 7, and this electric servo cylinder is all by leading screw spiral shell
Female and screw is fixed on upper and lower platform, and wherein 4 electric servo cylinders are distributed on the corner of upper and lower platform, other 4 electronic
ServoBcylinder is located between above-mentioned 2 electric servo cylinders, inclined layout, and equal off center line 60mm, the electronic of opposite side is watched
Take cylinder inclined in opposite directions.
Claims (2)
1. a full-automatic load wagon, it is characterised in that: it include walking dolly, lifting apparatus, vision localization guide and
Docking loading attachment, described walking dolly includes vehicle frame and is located at four Mecanum wheels before and after vehicle frame, and the corner of vehicle frame leads to
Overdamp vibroshock and hinge joint rotating shaft are connected with Mecanum wheel；
Described lifting apparatus includes in the middle part of load lifting cylinder, parallel lifting bar and platform bracket, one end of load lifting cylinder and vehicle frame rear end
Lower end is connected, and the other end of this load lifting cylinder is connected with a position of parallel lifting bar bottom by hinge joint rotating shaft；Parallel lifting bar
One end be fixed in the middle part of vehicle frame rear end by hinge joint rotating shaft, the other end of this parallel lifting bar and platform bracket are connected；
Described vision localization guide is a vocational work photographic head for image acquisition, and it is located at platform bracket by flat
The side of row lifting bar, is used for loading and unloading fixation and recognition and guiding；
Described docking loading attachment includes rotationally supporting fixing device, upper mounting plate, lower platform and electric servo cylinder, described lower platform
Being connected with above-mentioned platform bracket by rotationally supporting fixing device, lower platform is connected by 8 electric servo cylinders with upper mounting plate.
Full-automatic load wagon the most according to claim 1, it is characterised in that: in described 8 electric servo cylinders, 4 are electronic
ServoBcylinder is distributed on the corner of upper and lower platform, and other 4 electric servo cylinders are respectively provided between above-mentioned 2 electric servo cylinders, in
It is in tilted layout, equal off center line 60mm, the electric servo cylinder inclined in opposite directions of opposite side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610553345.9A CN106185357A (en) | 2016-07-14 | 2016-07-14 | A kind of full-automatic load wagon |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610553345.9A CN106185357A (en) | 2016-07-14 | 2016-07-14 | A kind of full-automatic load wagon |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106185357A true CN106185357A (en) | 2016-12-07 |
Family
ID=57474337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610553345.9A Pending CN106185357A (en) | 2016-07-14 | 2016-07-14 | A kind of full-automatic load wagon |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106185357A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0294383B1 (en) * | 1986-02-21 | 1991-07-03 | De Rotterdamsche Droogdok Maatschappij B.V. | Equipment for the handling of crop material |
| CN102616103A (en) * | 2012-04-23 | 2012-08-01 | 扬州万方电子技术有限责任公司 | Mecanum wheel omnidirectional mobile vehicle and working method thereof |
| CN103419944A (en) * | 2012-05-25 | 2013-12-04 | 深圳中集天达空港设备有限公司 | Air bridge and automatic abutting method therefor |
| CN204110964U (en) * | 2014-08-06 | 2015-01-21 | 桐乡市金都植绒有限公司 | A kind of lifting car loader |
| CN204508617U (en) * | 2014-12-31 | 2015-07-29 | 四川航泰航空装备有限公司 | A kind of aircraft bomb truck |
| CN205061460U (en) * | 2015-08-19 | 2016-03-02 | 广东精铟海洋工程股份有限公司 | Continuous pneumatic cylinder operating system of offshore platform ring beam |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN205381871U (en) * | 2015-12-10 | 2016-07-13 | 新疆天业（集团）有限公司 | Railway container open car loading positioner |
-
2016
- 2016-07-14 CN CN201610553345.9A patent/CN106185357A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0294383B1 (en) * | 1986-02-21 | 1991-07-03 | De Rotterdamsche Droogdok Maatschappij B.V. | Equipment for the handling of crop material |
| CN102616103A (en) * | 2012-04-23 | 2012-08-01 | 扬州万方电子技术有限责任公司 | Mecanum wheel omnidirectional mobile vehicle and working method thereof |
| CN103419944A (en) * | 2012-05-25 | 2013-12-04 | 深圳中集天达空港设备有限公司 | Air bridge and automatic abutting method therefor |
| CN204110964U (en) * | 2014-08-06 | 2015-01-21 | 桐乡市金都植绒有限公司 | A kind of lifting car loader |
| CN204508617U (en) * | 2014-12-31 | 2015-07-29 | 四川航泰航空装备有限公司 | A kind of aircraft bomb truck |
| CN205061460U (en) * | 2015-08-19 | 2016-03-02 | 广东精铟海洋工程股份有限公司 | Continuous pneumatic cylinder operating system of offshore platform ring beam |
| CN205381871U (en) * | 2015-12-10 | 2016-07-13 | 新疆天业（集团）有限公司 | Railway container open car loading positioner |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |
|
| RJ01 | Rejection of invention patent application after publication |