CN107264304B - Can collaborative formula floor truck - Google Patents
Can collaborative formula floor truck Download PDFInfo
- Publication number
- CN107264304B CN107264304B CN201710328744.XA CN201710328744A CN107264304B CN 107264304 B CN107264304 B CN 107264304B CN 201710328744 A CN201710328744 A CN 201710328744A CN 107264304 B CN107264304 B CN 107264304B
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- CN
- China
- Prior art keywords
- carrying
- platform
- trolley
- supporting
- supporting mechanism
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/16—Single-axle vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention relates to a collaborative floor truck. Comprises more than one carrying trolley; each carrying trolley comprises a trolley body, a travelling mechanism and a rotary supporting mechanism; the vehicle body is a flat bottom plate; the traveling mechanism comprises a power box, a pair of driving mechanisms and a pair of wheels; the driving mechanism comprises a servo motor and a reduction gearbox which are connected in sequence; the rotary supporting mechanism is arranged at the top of the vehicle body, the carrying platform is arranged on the rotary supporting mechanism, and the object to be carried is directly placed on the carrying platform. When the cooperative carrying trolley comprises two carrying trolleys, the bottom of one side of the carrying platform is connected with the rotating supporting mechanism of one carrying trolley, and the bottom of the other side of the carrying platform is connected with the rotating supporting mechanism of the other carrying trolley. The invention can realize omnidirectional turning without turning radius and can adapt to various complex carrying spaces; the invention is convenient to store and occupies small area.
Description
Technical Field
The invention belongs to the technical field of carrying trolleys, and particularly relates to a collaborative carrying trolley.
Background
Along with the higher and higher requirements of factories on automation technology and the rapid development of the logistics industry, the factories and the logistics industry pay more and more attention to the improvement of the carrying efficiency of articles and the reduction of the working strength of workers, and the carrying of the articles in the scenes generally adopts the modes of using a conveyor belt, automatically guiding a trolley and the like. Although the automation level of production and logistics is improved to a certain extent by the carrying modes, the production efficiency is improved, and the labor intensity of workers is reduced, the defects are obvious, such as fixed routes of a conveyor belt and an automatic guide trolley, troublesome route adjustment, low flexibility degree, fixed load capacity, reduced production strain of enterprises, and inconvenience for competition of enterprises in modern production. And for the automatic guide trolley popular in the market at present, the automatic guide trolley mainly comprises a trolley body, a power system and universal wheels, wherein the power system is arranged on the trolley body, the bottom of the trolley body is provided with four wheels, the four wheels are distributed at four corners of the trolley body, and the trolley body is driven to move through the power system. However, the automatic guided vehicle has the disadvantages of large vehicle body volume, large turning radius, complex structure, single function, low expansibility, difficult subsequent development and inconvenient maintenance.
disclosure of Invention
The invention provides a conveying trolley capable of cooperating in order to realize conveying equipment with high flexibility and small occupied area when not used.
A cooperable transfer cart includes more than one transfer cart;
Each carrying trolley comprises a trolley body, a travelling mechanism and a rotary supporting mechanism;
The vehicle body 6 is a flat bottom plate;
The travelling mechanism comprises a power box 5, a pair of driving mechanisms and a pair of wheels 1; the power box 5 is arranged at the top of the vehicle body 6; the pair of wheels 1 are positioned at two sides of the bottom of the vehicle body 6 and are respectively and correspondingly connected with corresponding driving mechanisms;
the rotary supporting mechanism is arranged at the top of the vehicle body 6 and is positioned above the power box 5;
The driving mechanism comprises a servo motor 4 and a reduction gearbox 3 which are sequentially connected, an output shaft of the reduction gearbox 3 is connected with the wheels 1, and the servo motor 4 is connected with a power box 5 through a lead;
when in use, the carrying platform 13 is arranged on the rotating support mechanism of the carrying trolley, and the object to be carried is directly placed on the carrying platform 13.
The technical scheme for further limiting is as follows:
The reduction gearbox 3 is a gear reduction gearbox, and an output shaft of the reduction gearbox 3 is connected with the wheels 1 through an axle flange 2.
The supporting platform 10 is provided with a boss protruding upwards, the carrying platform 13 corresponding to the boss is provided with a matched groove, and the carrying platform 13 and the supporting platform 10 are connected with the boss in an embedded mode through the groove.
The rotary supporting mechanism comprises a top plate 9 and a supporting platform 10, wherein the bottom of the top plate 9 is connected with the top of the bottom plate 6 through four upright supporting rods 8; the top plate 9 is connected with the supporting platform 10 through a bearing, and the supporting platform 10 rotates relative to the top plate 9.
The top of roof 9 is equipped with the bearing frame, is equipped with tapered roller bearing in the bearing frame, and the bottom of supporting platform 10 is equipped with the pivot for supporting platform 10 realizes free rotation relatively with roof 9 through the interference fit of pivot and tapered roller bearing.
the servo motor 4 is a direct-current brushless servo motor, the power is 450W, and the rated rotating speed is 3000 r/min.
the reduction box is a planetary reducer, and the reduction ratio is 1: 10.
The power box 5 is a lithium battery and outputs voltage of 48 v.
The carrying platform comprises two carrying trolleys, when in use, the bottom of one side of the carrying platform 13 is connected with a rotating supporting mechanism of one carrying trolley, and the bottom of the other side of the carrying platform 13 is connected with a rotating supporting mechanism of the other carrying trolley.
the beneficial technical effects of the invention are embodied in the following aspects:
1. The two-wheeled single carrying trolley can realize omnidirectional turning, has no turning radius, and can adapt to various complex carrying spaces.
2. The carrying trolley can cooperate with multiple vehicles, can adapt to various types of goods, and can flexibly select the cooperation quantity according to the volume and the weight of the goods.
3. The carrying trolley body and the carrying platform are simply embedded, the carrying platform can be directly taken down after use, the carrying trolley is convenient to store, and the storage area is small.
4. The carrying trolley has the advantages of simple overall structure, symmetrical structures, reliable work, lower cost and convenient maintenance.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a front view of the bicycle with the loading platform installed.
Fig. 3 is a side view of the bicycle with the loading platform installed.
Fig. 4 is a side view schematic of a two-car cooperative load.
Fig. 5 is a schematic view showing a turning state when two vehicles carry a cooperative load.
Fig. 6 is a side view schematic of a three-car cooperative load.
Sequence numbers in the upper figure: the device comprises a wheel 1, an axle flange 2, a gear reduction box 3, a servo motor 4, a power box 5, a vehicle body 6, a gear box bracket 7, a support rod 8, a top plate 9, a supporting platform 10, a tapered roller bearing 11, a bolt 12 and a carrying platform 13.
Detailed Description
The invention will now be further described by way of example with reference to the accompanying drawings.
Example 1
referring to fig. 1, a cooperable floor truck includes a floor truck. The maximum load capacity of the bicycle is 200kg,
The maximum walking speed is 17KM/h, and the three-dimensional height, width and length of the bicycle are 0.5m, 0.4m and 0.8m respectively. The wheel is an 8-inch magnesium alloy light alloy hub and a 12-inch low-pressure vacuum rubber tire.
The carrying trolley comprises a trolley body, a travelling mechanism and a rotating supporting mechanism.
the vehicle body 6 is a flat plate-like floor.
The traveling mechanism comprises a power box 5, a pair of driving mechanisms and a pair of wheels 1. The power box 5 is a lithium battery, outputs 48V voltage and is arranged on the top of the vehicle body 6. The pair of wheels 1 are located on two sides of the bottom of the vehicle body 6 and are respectively and correspondingly connected with corresponding driving mechanisms.
The driving mechanism comprises a servo motor 4 and a reduction box 3 which are sequentially connected, the servo motor 4 is a direct-current brushless servo motor, the power is 450W, the rated rotating speed is 3000 r/min, and the driving mechanism is provided with a 20-bit incremental photoelectric encoder; the reduction box 3 is a planetary reducer, and the reduction ratio is 1: 10. an output shaft of the reduction gearbox 3 is connected with a wheel 1 through an axle flange 2, and the servo motor 4 is connected with a power supply box 5 through a wire; the servo motor 4 and the reduction box 3 are arranged at the bottom of the vehicle body 6.
The rotation supporting mechanism is arranged on the top of the vehicle body 6 and is positioned above the power box 5. The rotary supporting mechanism comprises a top plate 9 and a supporting platform 10, wherein the bottom of the top plate 9 is connected with the top of the bottom plate 6 through four upright supporting rods 8; the top plate 9 and the supporting platform 10 are connected through a bearing, the bearing seat is installed at the top of the top plate 9, the tapered roller bearing is installed in the bearing seat, the rotating shaft is installed at the bottom of the supporting platform 10, and the supporting platform 10 can freely rotate relative to the top plate 9 through the interference fit of the rotating shaft and the tapered roller bearing.
Referring to fig. 2 and 3, a loading platform 13 is mounted on the support platform 10 of the rotary support mechanism of the floor truck; as shown in fig. 1, the supporting platform 10 is provided with a convex boss protruding upward, the corresponding carrying platform 13 is provided with a matching groove, and the carrying platform 13 and the supporting platform 10 are connected with the boss through the groove in an embedded manner. The object to be transported can be directly placed on the loading platform 13 for transportation. When the bicycle operates independently, the supporting platform 10 and the top plate 9 cannot rotate mutually by inserting the pins.
The carrying platform used in the embodiment is small, and is suitable for carrying heavy objects with small size and weight within the carrying range of the carrying trolley. When the carrying trolley turns, the carrying trolley can directly utilize the differential speed of the two wheels to carry out omnidirectional turning and can achieve no turning radius.
example 2
referring to fig. 4, the collaboratable carrier includes two carriers, and when in use, the bottom of one side of the carrier platform 13 is connected to the rotation supporting mechanism of one carrier, and the bottom of the other side of the carrier platform 13 is connected to the rotation supporting mechanism of the other carrier.
The other structure is the same as that of embodiment 1.
The two carrying trolleys cooperate to keep the whole system stable. Because of the structural advantage, still can realize omnidirectional turn, no turning radius. The loading platform used in the state is large, and can be used for conveying some large and heavy objects.
Referring to fig. 5, in a turning state when the two transportation carts carry out cooperative transportation of objects, the two transportation carts rotate by a certain angle relative to the carrying platform 13 and turn cooperatively, so that the two transportation carts can meet the requirements of various turning radii.
Example 3
Referring to fig. 6, the cooperable floor truck includes three floor trucks. The mounting mode of the device is similar to the basic operation state and the two-vehicle cooperative motion state, and the loading platform used in the state is larger and is suitable for carrying some heavy objects which cannot be carried by the two-vehicle cooperative motion state.
Claims (1)
1. A cooperable transfer cart characterized by: comprises more than one carrying trolley;
each carrying trolley comprises a trolley body, a travelling mechanism and a rotary supporting mechanism;
the vehicle body (6) is a flat bottom plate;
The travelling mechanism comprises a power box (5), a pair of driving mechanisms and a pair of wheels (1); the output voltage 48v of the power box (5); the power box (5) is arranged at the top of the vehicle body (6); the pair of wheels (1) are positioned at two sides of the bottom of the vehicle body (6) and are respectively and correspondingly connected with corresponding driving mechanisms;
The rotary supporting mechanism is arranged at the top of the vehicle body (6) and is positioned above the power box (5);
The rotary supporting mechanism comprises a top plate (9) and a supporting platform (10), wherein the bottom of the top plate (9) is connected with the top of the bottom plate through four upright supporting rods (8); the top plate (9) is connected with the supporting platform (10) through a bearing, and the supporting platform (10) rotates relative to the top plate (9);
a bearing seat is arranged at the top of the top plate (9), a tapered roller bearing is arranged in the bearing seat, a rotating shaft is arranged at the bottom of the supporting platform (10), and the supporting platform (10) and the top plate (9) can freely rotate relatively through interference fit of the rotating shaft and the tapered roller bearing;
The supporting platform (10) is provided with an upward convex boss, the carrying platform (13) corresponding to the upward convex boss is provided with a matched groove, and the carrying platform (13) and the supporting platform (10) are connected with the boss in an embedded mode through the groove;
the driving mechanism comprises a servo motor (4) and a reduction gearbox (3) which are sequentially connected, wherein the power of the servo motor (4) is 450W, and the rated rotating speed is 3000 r/min; the servo motor (4) is a direct-current brushless servo motor, the reduction gearbox is a planetary reducer, an output shaft of the reduction gearbox (3) is connected with the wheels (1), and the servo motor (4) is connected with the power box (5) through a wire; the power box (5) is a lithium battery;
The reduction gearbox (3) is a gear reduction gearbox, and the reduction ratio is 1: 10, an output shaft of the reduction box (3) is connected with a wheel (1) through an axle flange (2);
When in use, the carrying platform (13) is arranged on the rotating support mechanism of the carrying trolley, and the object to be carried is directly placed on the carrying platform (13);
when the two carrying trolleys are used, the bottom of one side of the carrying platform (13) is connected with a rotating supporting mechanism of one carrying trolley, and the bottom of the other side of the carrying platform (13) is connected with a rotating supporting mechanism of the other carrying trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710328744.XA CN107264304B (en) | 2017-05-11 | 2017-05-11 | Can collaborative formula floor truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710328744.XA CN107264304B (en) | 2017-05-11 | 2017-05-11 | Can collaborative formula floor truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107264304A CN107264304A (en) | 2017-10-20 |
| CN107264304B true CN107264304B (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710328744.XA Active CN107264304B (en) | 2017-05-11 | 2017-05-11 | Can collaborative formula floor truck |
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| Country | Link |
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| CN (1) | CN107264304B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020170623A1 (en) * | 2019-02-20 | 2020-08-27 | 日本電産株式会社 | Conveyance system and carrier |
| CN111845924A (en) * | 2020-07-31 | 2020-10-30 | 马鞍山迈若斯机器人科技有限公司 | Robot interactive collaboration method and device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203283786U (en) * | 2013-04-26 | 2013-11-13 | 苏州博实机器人技术有限公司 | Conveying robot for AGV logistics |
| CN103448830A (en) * | 2013-09-09 | 2013-12-18 | 无锡虹业自动化工程有限公司 | Pivot steering AGV self-walking carrier vehicle |
| CN105467902A (en) * | 2016-01-14 | 2016-04-06 | 贵州大学 | Multiple intelligent small car cooperation controlling device based on ZigBee |
| CN105621041A (en) * | 2016-02-24 | 2016-06-01 | 苏州元谋智能机器人系统有限公司 | Automatic guiding transport vehicle |
| CN206050684U (en) * | 2016-09-07 | 2017-03-29 | 苏州牧星智能科技有限公司 | Storage robot rotation lifting body and storage robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627122A (en) * | 2017-02-28 | 2017-05-10 | 武汉慧能机器人科技有限公司 | Omni-directional differential drive wheel device and AGV |
-
2017
- 2017-05-11 CN CN201710328744.XA patent/CN107264304B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203283786U (en) * | 2013-04-26 | 2013-11-13 | 苏州博实机器人技术有限公司 | Conveying robot for AGV logistics |
| CN103448830A (en) * | 2013-09-09 | 2013-12-18 | 无锡虹业自动化工程有限公司 | Pivot steering AGV self-walking carrier vehicle |
| CN105467902A (en) * | 2016-01-14 | 2016-04-06 | 贵州大学 | Multiple intelligent small car cooperation controlling device based on ZigBee |
| CN105621041A (en) * | 2016-02-24 | 2016-06-01 | 苏州元谋智能机器人系统有限公司 | Automatic guiding transport vehicle |
| CN206050684U (en) * | 2016-09-07 | 2017-03-29 | 苏州牧星智能科技有限公司 | Storage robot rotation lifting body and storage robot |
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| Publication number | Publication date |
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| CN107264304A (en) | 2017-10-20 |
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