CN108275619A - It is a kind of can 360 ° steering handling devices - Google Patents
It is a kind of can 360 ° steering handling devices Download PDFInfo
- Publication number
- CN108275619A CN108275619A CN201810305086.7A CN201810305086A CN108275619A CN 108275619 A CN108275619 A CN 108275619A CN 201810305086 A CN201810305086 A CN 201810305086A CN 108275619 A CN108275619 A CN 108275619A
- Authority
- CN
- China
- Prior art keywords
- steering
- encoder
- handling device
- vehicle frame
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/001—Steering devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
- B62B5/0036—Arrangements of motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
- B66F9/183—Coplanar side clamps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2301/00—Wheel arrangements; Steering; Stability; Wheel suspension
- B62B2301/04—Wheel arrangements; Steering; Stability; Wheel suspension comprising a wheel pivotable about a substantially vertical axis, e.g. swivelling castors
Abstract
The present invention relates to it is a kind of can 360 ° steering handling devices, including vehicle frame, and the multiple walking mechanisms being arranged on vehicle frame, multiple steering mechanism, damping, clamping device, operation handle, controller, controller respectively with multiple walking mechanisms, multiple steering mechanism, clamping device, operation handle is electrically connected, the present invention passes through walking mechanism, not only realized with steering mechanism handling device can 360 ° steering, and handling device is made to may be implemented to be moved forward and backward, oblique translation, oblique steering and original place spinning motion, greatly improve mobile flexibility；Handling device is additionally provided with damping, and floor truck is made steadily to move, and mitigates the impact that bad road conditions are brought, and greatly improves the diversity that handling device transports goods, further improves the scope of application of device；In addition, accurately controlling the traveling of handling device by operation handle, turning to, the operability of handling device is further improved, handling efficiency is further improved, reduces landed cost.
Description
Technical field
The present invention relates to a kind of handling device technical field, especially it is a kind of can 360 ° of steerings handling devices.
Background technology
Currently, common wheeled warehouse logistics handling device, mainly four-wheel fork truck, two-wheeled fork truck, four-wheel carrier etc.,
The function of not having original place rotation or translated to any direction.Therefore, the movement of general warehouse logistics haulage equipment is flexible
Property is somewhat limited.In addition, common wheeled handling device needs to use trick when controlling it and turning to speed
Cooperation, this control mode limits activity of the people in driving procedure to a certain extent, and mode of operation is complicated；Separately
Outside, the position of wheel cannot be arranged in existing warehouse logistics haulage equipment and mobile platform in conjunction with auxiliary wheel according to actual needs
And quantity, single design cannot meet the mobile demand of different field, therefore there is an urgent need for a kind of novel logistics handling devices.
Invention content
In view of the deficiencies of the prior art, what the present invention provided a kind of highly practical, easy to operate four-wheel can 360 degree of steerings
Handling device, which has the function of original place rotation and to move to any direction.
The technical scheme is that：It is a kind of can 360 ° steering handling devices, including vehicle frame and be arranged on vehicle frame
Multiple walking mechanisms, multiple steering mechanism, damping, clamping device, operation handle, controller, the controller point
Not with multiple walking mechanisms, multiple steering mechanism, clamping device, operation handle be electrically connected, multiple walking mechanisms with
Steering mechanism is arranged in the lower end of vehicle frame, and the steering mechanism is sequentially connected with walking mechanism, to control carry out machine
Structure turns to, and the damping is arranged between vehicle frame and steering mechanism.
Further, the walking mechanism includes wheel, conducting slip ring and the traveling motor being built in wheel,
The conducting slip ring is arranged on vehicle frame and is electrically connected with motor is carried out, to drive wheel to turn by controlling traveling motor
It is dynamic.
Further, the steering mechanism includes connecting plate, steering motor, fork, tooth sector, motor gear, turns
To axis, the steering motor is arranged in the lower end of connecting plate, and the motor shaft of the steering motor is upward through connecting plate simultaneously
It is sequentially connected with motor gear, the motor gear and the tooth sector being arranged in steering shaft are ratcheting, the steering shaft
Lower end is passed down through connecting plate and is fixedly connected with fork, and the lower end of the fork is provided with wheel, the lower end of the connecting plate
It is additionally provided with angular encoder, the angular encoder is ratcheting with tooth sector by encoder gear, passes through angular coding
Device detects the steering angle and rotation direction of wheel in real time.
Further, the damping includes vibration damper plate, multiple damping connecting rods, damping spring, the vibration damper plate patch
It closes in the lower end of vehicle frame, vibration damper plate and vehicle frame are run through in the upper end of multiple damping connecting rods, and connecting plate is run through in lower end, and described subtracts
It is arranged with damping spring on shake connecting rod.
Further, the quantity of the clamping device is 2, and the clamping device described in 2 is symmetricly set on vehicle frame
And cooperate, to realize the clamping of cargo；
The clamping device include gripping and fixed plate, clamping cylinder a, clamping cylinder b, elastic clamp hand, lifting cylinder a,
Lifting cylinder b, the lifting cylinder a and lifting cylinder b are arranged on vehicle frame, and the lifting cylinder a and lifting cylinder b's is upper
End is provided with gripping and fixed plate, and clamping cylinder a, clamping cylinder b, the elasticity clamp hand difference are provided in the gripping and fixed plate
It is connect with the piston rod of clamping cylinder a, clamping cylinder b, to be moved by clamping cylinder a, the elastic clamp hand of clamping cylinder b drivings
It is dynamic, and elastic clip hand is controlled by lifting cylinder a and lifting cylinder b and is moved up and down.
Further, the operation handle includes turntable, rocking bar, encoder a, encoder b, encoder c, multi-directional ball turn
Motivation structure, arcuate rotation folder a, arcuate rotation press from both sides b, and the encoder a, encoder b, encoder c electrically connect with controller
It connects, and the lower end of the turntable has been wholely set turntable connecting rod, the lower end of the turntable connecting rod is connect with encoder a, institute
It states encoder a to be arranged in the encoder fixed seat being set on the outside of turntable connecting rod, also be covered on the outside of the encoder fixed seat
Equipped with a bearing, the outer sheath of the bearing and turntable is equipped with a housing, when realizing rotary sleeve by bearing, reaches rotation
The effect of turntable, resetting spring a, the encoder a is also arranged on the turntable connecting rod passes through connector sleeve and connect with rocking bar
It connects, the lower end of the rocking bar is connect with the multi-directional ball rotating mechanism being arranged in shell, is arranged on the right side wall of the shell
There is one end that encoder b, the encoder b press from both sides a with arcuate rotation to connect, the other end of the arcuate rotation folder a is by turning
Lever a is arranged on the left side wall of shell, and resetting spring b is provided on the rotating bar a；
It is provided with encoder c, the encoder c on the front side wall of the shell and one end of arcuate rotation folder b connects
It connects, the other end of the arcuate rotation folder b is arranged by rotating bar b on the front side wall of shell, is arranged in the rotating bar
There is resetting spring c, and the rocking bar passes through arcuate rotation folder a, arcuate rotation to press from both sides b, outer put on is additionally provided with tightly
Anxious switch and switching switch, the emergency switch are switched for controlling handling device emergency braking, the switching for changing
The mutual switching from rotary-die type and normal mode of handling device；
When normal mode, when by stirring rocking bar forward or backward, controller pass through read encoder c detection rotation
Angle, and then by controlling walking mechanism and steering mechanism, realize that handling device is moved forward or moved backward, pass through
The speed for stirring angle control handling device of rocking bar；When by stirring rocking bar to the left or to the right, controller is encoded by reading
The rotational angle of device b detection, and then by controlling walking mechanism and steering mechanism realizes handling device to the left or to the right
It is mobile, and resetting spring b or bullet are passed through when unclamping rocking bar by the speed of rocking bar stirred angle and control handling device
Spring c makes rocking bar reset；
From rotary-die type when, the tilting action of rocking bar does not work, by rotating clockwise or counterclockwise turntable, controller
By read encoder a detection rotational angle, and then by control steering mechanism, realize handling device clockwise or the inverse time
Needle rotates, and the rotational angle that dress is carried in the rotational angle control by controlling turntable is made after unclamping turntable by resetting spring a
Turntable is obtained to reset.
Further, the present invention also provides another clamping device, the clamping device include cup one hand in the other before the chest, two elevating mechanisms,
Described cupping one hand in the other before the chest is fixedly connected with 2 elevating mechanisms respectively, to drive lifting of cupping one hand in the other before the chest, the liter by two elevating mechanisms
Descending mechanism includes crane, lifting cylinder c, lifting sprocket, elevating chain, and the crane is arranged on vehicle frame, described
Lifting cylinder c is arranged on crane, and the lifting sprocket is arranged in the piston rod upper end of lifting cylinder c, the lift chain
Elevating chain is provided on wheel, described cupping one hand in the other before the chest is moved up and down by elevating chain in the guide groove of crane, to realize fork
The lifting of hand.
Further, the present invention also provides another operation handle, which includes control-rod, sensor, shell,
The control-rod is connect with sensor, and the sensor is arranged in shell, and the control-rod outer sheath is equipped with housing, institute
Outer put on stated is provided with emergency switch and switching switch, and the emergency switch is for controlling handling device emergency braking, institute
Mutual switching from rotary-die type and normal mode of the switching switch stated for changing handling device；
When normal mode, controller is applied to the size and Impact direction of power on control-rod by reading sensor detection,
And then by controlling walking mechanism and steering mechanism, realize traveling and the go to action of handling device；
From rotary-die type when, controller by read sensor detect control-rod the torque rotated about the z axis, to pass through control
Steering mechanism processed realizes the rotation of handling device.
Further, the controller also with conducting slip ring, steering motor, angular encoder, clamping cylinder a, clamp
Cylinder b, lifting cylinder a, lifting cylinder b, lifting cylinder c are electrically connected, to control walking mechanism, turning machine by controller
Structure, clamp system work.
Further, steering correction mechanism is additionally provided on the connecting plate, the steering correction mechanism includes peace
It shelves, optoelectronic switch, limiting plate, the mounting bracket is arranged on connecting plate, and optoelectronic switch is provided on the mounting bracket,
The limiting plate is arranged on tooth sector, and limiting plate triggers optoelectronic switch and sent to controller when tooth sector rotates
It rises along signal, which is the initial position of tooth sector, which is also the initial position of steering angle of wheel, turns to tooth
Angular encoder rotation is driven by encoder gear when wheel rotation, angular encoder is incremental encoder, angular encoder
The pulse signal of A, B two-way sequential intersection is sent out, controller receives the reality that tooth sector can be calculated after this two paths of signals
Border steering angle, to avoid turning to the inaccurate problem of detection caused by the error accumulation due to angular encoder.
Beneficial effects of the present invention are：By tooth sector, realize handling device can 360 ° of steerings, and pass through traveling machine
Structure and steering mechanism realize that the independent of wheel is advanced and turned to, and direction, angle and the speed of vehicle wheel rotation can be controlled freely, be made
It obtains handling device and back-and-forth motion, oblique translation, oblique steering and original place spinning motion may be implemented, greatly improve mobile
Flexibility；And handling device is additionally provided with damping, and floor truck is made steadily to move, and mitigate that bad road conditions bring rushes
It hits, while by different clamping devices, greatly improving the diversity that handling device transports goods, further improving device
The scope of application；In addition, accurately controlling the traveling of handling device by operation handle, turning to, handling device is further improved
Operability reduces landed cost to further improve handling efficiency.
Description of the drawings
Fig. 1 is the structural schematic diagram of one embodiment of the present invention；
Fig. 2 is the structural schematic diagram of another embodiment of the invention；
Fig. 3 is the structural schematic diagram of walking mechanism of the present invention；
Fig. 4 is the structural schematic diagram of the steering mechanism of the present invention；
Fig. 5 is the vertical view of steering mechanism of the present invention；
Fig. 6 is the structural schematic diagram of the first clamping device of the invention；
Fig. 7 is the structural schematic diagram of another clamping device of the present invention；
Fig. 8 is the structural schematic diagram one of the first operation handle of the invention；
Fig. 9 is the structural schematic diagram two of the first operation handle of the invention；
Figure 10 is the structural schematic diagram one of another operation handle of the present invention；
Figure 11 is the structural schematic diagram two of another operation handle of the present invention；
In figure, 1- vehicle frames, 2- walking mechanisms, 3- steering mechanism, 4- clamping devices, 5- operation handles, 6- dampings,
21- wheels, 22- traveling motors, 23- conducting slip rings, 31- connecting plates, 32- steering motors, 33- forks, 34- tooth sectors, 35-
Motor gear, 36- steering shafts, 37- angular encoders, 38- encoder gears, 39- steering corrections mechanism, 40- gripping and fixed plates,
41- clamping cylinders a, 42- clamping cylinder b, 43- elasticity clamp hand, 44- lifting cylinders a, 45- lifting cylinder b, 46- cup one hand in the other before the chest, 47- liters
Drop frame, 48- lifting cylinders c, 49- lifting sprocket, 490- elevating chains, 50- shells, 51- housings, 52- turntables, 53- rocking bars,
54- encoders a, 55 encoder b, 56- encoder c, 57- multi-directional ball rotating mechanisms, 58- arcuate rotations press from both sides a, 59- arcuate rotations
Press from both sides b, 510- emergency switches, 511- switching switches, 520- turntable connecting rods, 530- control-rods, 540- resetting springs a, 541- coding
Device fixed seat, 542- bearings, 543- connector sleeves, 550- resetting springs b, 560- resetting spring c, 570- sensor, 580- rotations
Bar a, 590- rotating bar b, 61- vibration damper plate, 62- damping connecting rods, 63- damping springs, 71- mounting brackets, 72- optoelectronic switches, 73- limits
Position plate.
Specific implementation mode
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings：
As shown in Figure 1 and Figure 2, it is a kind of can 360 ° of steerings handling devices, including vehicle frame 1 and be arranged on vehicle frame 1
Multiple walking mechanisms 2, multiple steering mechanism 3, damping 6, clamping device 4, operation handle 5, controller, the controller
It is electrically connected respectively with multiple walking mechanisms 2, multiple steering mechanism 3, clamping device 4, operation handle 5, multiple travelings
Mechanism 2 is arranged with steering mechanism 3 in the lower end of vehicle frame, and the steering mechanism 3 is sequentially connected with walking mechanism 2, to
Control carries out mechanism 2 and turns to, wherein the quantity of walking mechanism 2 of the invention is 4, the quantity and walking mechanism of steering mechanism 3
2 quantity corresponds, and realizes that steering, the damping 6 are arranged in vehicle frame to control corresponding walking mechanism 3 respectively
Between 1 and steering mechanism 3, the cargo for needing to carry is clamped by clamping device 4, and walking mechanism is controlled by operation handle 5
2, steering mechanism 3, clamping device 4, and then realize the carrying of cargo.
Further, as shown in figure 3, the walking mechanism 2 includes wheel 21, conducting slip ring 23 and is built in vehicle
Traveling motor 22 in wheel 21, the conducting slip ring 23 is arranged on vehicle frame 2 and is electrically connected with motor 22 is carried out, to pass through
Controlling traveling motor 22 drives wheel 21 to rotate.
Further, shown in Fig. 4, Fig. 5, the steering mechanism 3 includes connecting plate 31, steering motor 32, fork 33, turns
To gear 34, motor gear 35, steering shaft 36, the steering motor 32 is arranged in the lower end of connecting plate 31, the steering
The motor shaft of motor 32 is upward through connecting plate 31 and is sequentially connected with the motor gear 35 being arranged on connecting plate 31, described
Motor gear 35 and the tooth sector 34 being arranged in steering shaft 36 are ratcheting, wherein the tooth of tooth sector 34 and motor gear 35
Number is than being 3：1, the lower end of the steering shaft 36 is passed down through connecting plate 31 and is fixedly connected with fork 33, under the fork 33
End is provided with wheel 21, and steering motor 32 drives tooth sector 34 to rotate by motor gear 35, to drive steering shaft 36 to revolve
Turn, and then fork 33 is driven to be turned at any angle with the realization of motor car wheel 21, the lower end of the connecting plate 31 is additionally provided with angle
Encoder 37, the angular encoder 37 is by being arranged encoder gear 38 and 34 tooth of tooth sector in 31 upper end of connecting plate
It closes, to detect the steering angle and rotation direction of wheel 21 in real time by angular encoder 37.
Further, as shown in Fig. 3, Fig. 4, Fig. 5, the damping 6 includes vibration damper plate 61, multiple damping connecting rods
62, damping spring 63, the vibration damper plate 61 are fitted in the lower end of vehicle frame 1, and damping is run through in the upper end of multiple damping connecting rods 62
Plate 61 and vehicle frame 1, lower end run through connecting plate 31, damping spring 63, wherein damping connecting rod are arranged on the damping connecting rod 62
62 quantity is preferably 4, and the quantity of the damping spring 63 is corresponded with damping connecting rod 62, by damping 6 into
One step improves the stability of handling device.
Further, as shown in fig. 6, the quantity of the clamping device 4 is 2, the clamping device 4 described in 2 is symmetrical
It is arranged on vehicle frame 1 and cooperates, realizes the clamping transported goods；
The clamping device 4 includes gripping and fixed plate 40, clamping cylinder a41, clamping cylinder b42, elastic clamp hand 43, rises
Sending down abnormally ascending cylinder a44, lifting cylinder b45, the lifting cylinder a44 and lifting cylinder b45 are arranged on vehicle frame 1, the lifting air
The upper end of cylinder a44 and lifting cylinder b45 are provided with gripping and fixed plate 40, and clamping cylinder is provided in the gripping and fixed plate 40
A41, clamping cylinder b42, the elasticity clamp hand 43 are connect with the piston rod of clamping cylinder a41, clamping cylinder b42 respectively, to
It moves by clamping cylinder a41, the elastic clamp hand 43 of clamping cylinder b42 drivings, and passes through lifting cylinder a44 and lifting cylinder b45
Control elasticity clamp hand 43 moves up and down, to realize the clamping of cargo.
As shown in fig. 7, the present invention also provides another clamping device 4, which includes 46, two elevators of cupping one hand in the other before the chest
Structure, described cup one hand in the other before the chest 46 are fixedly connected with 2 elevating mechanisms respectively, to be cupped one hand in the other before the chest 46 liftings by two elevating mechanisms drivings,
The elevating mechanism includes crane 47, lifting cylinder c48, lifting sprocket 49, elevating chain 490, the crane 47
It is arranged on vehicle frame 1, the lifting cylinder c48 is arranged on crane 47, and the lifting sprocket 49 is arranged in lifting air
The piston rod upper end of cylinder c48, is provided with elevating chain 490 in the lifting sprocket 49, and described cup one hand in the other before the chest 46 passes through elevating chain
490 are arranged and are moved up and down in the guide groove of crane 47, to realize cup one hand in the other before the chest 46 lifting.
Further, as shown in Figure 8, Figure 9, the operation handle 5 includes turntable 52, rocking bar 53, encoder a54, compiles
Code device b55, encoder c56, multi-directional ball rotating mechanism 57, arcuate rotation folder a58, arcuate rotation press from both sides b59, the encoder
A54, encoder b55, encoder c56 are electrically connected with controller, and the outer sheath of the turntable 52 is equipped with a housing 51, and
The lower end of the turntable 52 has been wholely set turntable connecting rod 520, and the lower end of the turntable connecting rod 520 is connect with encoder a54,
The encoder a54 is mounted in encoder fixed seat 541, and the encoder fixed seat 541 is set in turntable connecting rod 520
On, 541 outside of encoder fixed seat is also arranged with a bearing 542, and reset is also arranged on the turntable connecting rod 520
Spring a540, the encoder a54 are connect by connector sleeve 543 with rocking bar 53, the lower end of the rocking bar 53 be arranged in shell
Multi-directional ball rotating mechanism 57 in body 50 connects, and encoder b55, the coding are provided on the right side wall of the shell 50
One end that device b55 presss from both sides a58 with arcuate rotation is connect, and the other end of the arcuate rotation folder a58 is existed by rotating bar a580 settings
On the left side wall of shell 50, resetting spring b550 is provided on the rotating bar a580；
It is provided with encoder c56, the encoder c56 on the front side wall of the shell 50 and presss from both sides b59 with arcuate rotation
One end connection, the other end of arcuate rotation folder b59 is arranged by rotating bar b590 on the front side wall of shell 50, described
Rotating bar b590 on be provided with resetting spring c560, and the rocking bar 53 passes through arcuate rotation folder a58, arcuate rotation folder
B59, emergency switch 510 and switching switch 511 are additionally provided on the housing 51, and the emergency switch 510 is used to control
Handling device emergency braking, the switching switch 511 are used for the mutual switching from rotary-die type and normal mode of handling device；
When normal mode, when by stirring rocking bar 53 forward or backward, what controller was detected by reading encoder c56
Rotational angle, and then by controlling walking mechanism 2 and steering mechanism 3, realize that handling device is moved forward or moved back
It is dynamic, pass through the speed of rocking bar 53 stirred angle and control handling device；When by stirring rocking bar to the left or to the right, controller passes through
The rotational angle of encoder b55 detections is read, and then by controlling walking mechanism 2 and steering mechanism 3, realizes handling device
It to the left or moves right, and is passed through when unclamping rocking bar 53 by the speed of rocking bar 53 stirred angle and control handling device
Resetting spring b550 or spring c560 makes rocking bar 53 reset；
From rotary-die type when, the tilting action of rocking bar 53 does not work, and by rotating clockwise or counterclockwise turntable 52, controls
Device processed, by controlling steering mechanism 3, realizes that handling device is clockwise by reading the rotational angle of encoder a54 detections
Or rotate counterclockwise, the rotational angle that dress is carried in the rotational angle control by controlling turntable 53 passes through after unclamping turntable 53
Resetting spring a540 makes turntable reset.
Further, as shown in Figure 10, Figure 11, the present invention also provides another operation handle 5, which includes
Control-rod 530, sensor 570, shell 50, the control-rod 530 are connect with sensor 570, the sensor 570 setting
In shell 50, x, y, z axis data-out port is provided on the sensor 570,530 outer sheath of the control-rod is equipped with
Housing 51, emergency switch 510 and switching switch 511 are provided on the housing 51, and the emergency switch 510 is used to control
Handling device emergency braking, the switching switch 511 are used to change mutually the cutting from rotary-die type and normal mode of handling device
It changes；
When normal mode, controller by read sensor 570 detect be applied to power on control-rod 530 size and by
Force direction, and then by controlling walking mechanism 2 and steering mechanism 3, realize traveling and the go to action of handling device；
From rotary-die type when, controller by read sensor 570 detect control-rod 530 the torque rotated about the z axis, to
By controlling steering mechanism 3, the rotation of handling device is realized.
Further, steering correction mechanism 39, the steering correction mechanism 39 are additionally provided on the connecting plate 31
Including mounting bracket 71, optoelectronic switch 72, limiting plate 73, the mounting bracket 71 is arranged on connecting plate 31, the mounting bracket
Optoelectronic switch 72 is provided on 71, the limiting plate 73 is arranged on tooth sector 34, when the tooth sector 34 rotates
Limiting plate 73 triggers optoelectronic switch 72, and sends rising edge signal to controller, which is the start bit of tooth sector 34
It sets, which is also the initial position of 21 steering angle of wheel, and angle is driven by encoder gear 38 when tooth sector 34 rotates
It spends encoder 37 to rotate, angular encoder is 37 incremental encoders, and angular encoder 37 sends out the arteries and veins of A, B two-way sequential intersection
Rush signal, controller receives the actual steering angle that tooth sector 34 can be calculated after this two paths of signals, to avoid by
The inaccurate problem of detection is turned to caused by the error accumulation of angular encoder 37.
Further, the controller also with conducting slip ring 23, steering motor 32, angular encoder 37, clamping cylinder
A41, clamping cylinder b42, lifting cylinder a44, lifting cylinder b45, lifting cylinder c48 are electrically connected, to pass through controller control
Walking mechanism 2 processed, steering mechanism 3, clamp system 4 work.
The above embodiments and description only illustrate the principle of the present invention and most preferred embodiment, is not departing from this
Under the premise of spirit and range, various changes and improvements may be made to the invention, these changes and improvements both fall within requirement and protect
In the scope of the invention of shield.
Claims (10)
1. it is a kind of can 360 ° steering handling devices, it is characterised in that：Including vehicle frame and the multiple travelings being arranged on vehicle frame
Mechanism, multiple steering mechanism, damping, clamping device, operation handle, controller, the controller respectively with multiple rows
It is electrically connected into mechanism, multiple steering mechanism, clamping device, operation handle, multiple walking mechanisms are set with steering mechanism
It sets in the lower end of vehicle frame, and the steering mechanism is sequentially connected with walking mechanism, mechanism steering is carried out to control, it is described
Damping be arranged between vehicle frame and steering mechanism.
2. it is according to claim 1 it is a kind of can 360 ° steering handling devices, it is characterised in that：The walking mechanism packet
Include wheel, conducting slip ring and the traveling motor being built in wheel, the conducting slip ring be arranged on vehicle frame and with progress
Motor is electrically connected.
3. it is according to claim 1 it is a kind of can 360 ° steering handling devices, it is characterised in that：Steering mechanism's packet
Connecting plate, steering motor, fork, tooth sector, motor gear, steering shaft are included, the steering motor is arranged in connecting plate
The motor shaft of lower end, the steering motor is upward through connecting plate and is sequentially connected with motor gear, the motor gear
Ratcheting with the tooth sector that is arranged in steering shaft, the lower end of the steering shaft, which is passed down through connecting plate and is fixed with fork, to be connected
It connects, the lower end of the fork is provided with wheel, and the lower end of the connecting plate is additionally provided with angular encoder, the angular coding
Device is ratcheting with tooth sector by encoder gear.
4. it is according to claim 1 it is a kind of can 360 ° steering handling devices, it is characterised in that：The clamping device
Quantity is 2, and the clamping device described in 2 is symmetricly set on vehicle frame and cooperates；
The clamping device includes gripping and fixed plate, clamping cylinder a, clamping cylinder b, elastic clamp hand, lifting cylinder a, lifting
Cylinder b, the lifting cylinder a and lifting cylinder b are arranged on vehicle frame, and the upper end of the lifting cylinder a and lifting cylinder b are set
Be equipped with gripping and fixed plate, be provided with clamping cylinder a, clamping cylinder b in the gripping and fixed plate, the elasticity clamp hand respectively with folder
The piston rod connection of tight cylinder a, clamping cylinder b.
5. it is according to claim 1 it is a kind of can 360 ° steering handling devices, it is characterised in that：The operation handle packet
Include turntable, rocking bar, encoder a, encoder b, encoder c, multi-directional ball rotating mechanism, arcuate rotation folder a, arcuate rotation folder b, institute
Encoder a, encoder b, the encoder c stated is electrically connected with controller, and the lower end of the turntable has been wholely set and has turned
The lower end of disk connecting rod, the turntable connecting rod is connect with encoder a, and the coding on the outside of turntable connecting rod is arranged in the encoder a
In device fixed seat, it is also arranged with a bearing on the outside of the described encoder fixed seat, the outer sheath of the bearing and turntable is equipped with
One housing is also arranged with resetting spring a on the turntable connecting rod, and the encoder a is connect by connector sleeve with rocking bar, institute
The lower end for stating rocking bar is connect with the multi-directional ball rotating mechanism being arranged in shell, and coding is provided on the right side wall of the shell
One end that device b, the encoder b press from both sides a with arcuate rotation is connect, and the other end of the arcuate rotation folder a is set by rotating bar a
It sets on the left side wall of shell, resetting spring b is provided on the rotating bar a；
It is provided with encoder c, the encoder c on the front side wall of the shell to connect with one end of arcuate rotation folder b, institute
The other end for stating arcuate rotation folder b is arranged by rotating bar b on the front side wall of shell, and reset is provided in the rotating bar
Spring c, and the rocking bar passes through arcuate rotation folder a, arcuate rotation to press from both sides b, and outer put on is additionally provided with emergency switch
It is switched with switching, the emergency switch carries dress for controlling handling device emergency braking, switching switch for changing
The mutual switching from rotary-die type and normal mode set；
When normal mode, when by stirring rocking bar forward or backward, controller pass through read encoder c detection angle of rotation
Degree, and then by controlling walking mechanism and steering mechanism, realize that handling device is moved forward or moved backward, by shaking
The speed for stirring angle control handling device of bar；When by stirring rocking bar to the left or to the right, controller is by reading encoder b
The rotational angle of detection, and then by controlling walking mechanism and steering mechanism, realizing handling device to the left or moving right
It is dynamic, and resetting spring b or spring c is passed through when unclamping rocking bar by the speed of rocking bar stirred angle and control handling device
So that rocking bar resets；
From rotary-die type when, the tilting action of rocking bar does not work, and by rotating clockwise or counterclockwise turntable, controller passes through
The rotational angle of encoder a detections is read, and then by controlling steering mechanism, realizes that handling device turns clockwise or counter-clockwise
Dynamic, the rotational angle of dress is carried in the rotational angle control by controlling turntable, after unclamping turntable, to turn by resetting spring a
Disk resets.
6. it is according to claim 1 it is a kind of can 360 ° steering handling devices, it is characterised in that：The damping packet
Vibration damper plate, multiple damping connecting rods, damping spring are included, the vibration damper plate is fitted in the lower end of vehicle frame, multiple damping connecting rods
Vibration damper plate and vehicle frame are run through in upper end, and lower end runs through connecting plate, damping spring is arranged on the damping connecting rod.
7. it is according to claim 1 it is a kind of can 360 ° steering handling devices, it is characterised in that：The clamping device packet
Include cup one hand in the other before the chest, two elevating mechanisms, described cupping one hand in the other before the chest be fixedly connected with 2 elevating mechanisms respectively, and the elevating mechanism includes rising
Frame, lifting cylinder c, lifting sprocket, elevating chain drop, and the crane is arranged on vehicle frame, the lifting cylinder c settings
On crane, the lifting sprocket is arranged is provided with lifting on the piston rod upper end of lifting cylinder c, the lifting sprocket
Chain, described cupping one hand in the other before the chest are fastened on by elevating chain in the guide groove of crane, and can be moved up and down in guide groove.
8. it is according to claim 1 it is a kind of can 360 ° steering handling devices, it is characterised in that：The operation handle packet
Control-rod, sensor, shell are included, the control-rod is connect with sensor, and the sensor is arranged in shell, the control
Bar outer sheath processed is equipped with housing, and outer put on is provided with emergency switch and switching switch, and the emergency switch is for controlling
Handling device emergency braking processed, mutually cutting from rotary-die type and normal mode of the described switching switch for changing handling device
It changes；
When normal mode, controller is applied to the size and Impact direction of power on control-rod by reading sensor detection, in turn
By controlling walking mechanism and steering mechanism, traveling and the go to action of handling device are realized；
From rotary-die type when, controller by read sensor detect control-rod the torque rotated about the z axis, to pass through control turn
To mechanism, the rotation of handling device is realized.
9. it is according to claim 1 it is a kind of can 360 ° steering handling devices, it is characterised in that：The controller also with
Conducting slip ring, steering motor, angular encoder, clamping cylinder a, clamping cylinder b, lifting cylinder a, lifting cylinder b, lifting cylinder
C is electrically connected.
10. it is according to claim 3 it is a kind of can 360 ° steering handling devices, it is characterised in that：On the connecting plate
It is additionally provided with steering correction mechanism, the steering correction mechanism includes mounting bracket, optoelectronic switch, limiting plate, the installation
Frame is arranged on connecting plate, and optoelectronic switch is provided on the mounting bracket, and the limiting plate is arranged on tooth sector, turns
Limiting plate triggers optoelectronic switch and sends rising edge signal to controller when being rotated to gear, which is rising for tooth sector
Beginning position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810305086.7A CN108275619A (en) | 2018-04-08 | 2018-04-08 | It is a kind of can 360 ° steering handling devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810305086.7A CN108275619A (en) | 2018-04-08 | 2018-04-08 | It is a kind of can 360 ° steering handling devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108275619A true CN108275619A (en) | 2018-07-13 |
Family
ID=62811148
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810305086.7A Pending CN108275619A (en) | 2018-04-08 | 2018-04-08 | It is a kind of can 360 ° steering handling devices |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110843880A (en) * | 2019-12-10 | 2020-02-28 | 珠海格力电器股份有限公司 | Electrical apparatus base and electrical apparatus subassembly |
| CN111243253A (en) * | 2020-01-10 | 2020-06-05 | 浙江金华文瑞机电有限公司 | Receiving circuit of conveying equipment controller and remote control method |
| CN112141956A (en) * | 2020-09-16 | 2020-12-29 | 中建材创新科技研究院有限公司 | Positioning system and method of laser navigation forklift |
| CN112173520A (en) * | 2019-07-04 | 2021-01-05 | 南京苏星智能装备有限公司 | Stacker with four-way walking function and control method thereof |
| CN112519909A (en) * | 2020-12-09 | 2021-03-19 | 广州高新兴机器人有限公司 | Four-wheel drive robot and chassis thereof |
| CN113027694A (en) * | 2021-03-25 | 2021-06-25 | 中材科技风电叶片股份有限公司 | Transfer mechanism, blade root transfer trolley, blade tip transfer trolley and blade transfer system |
| CN113212510A (en) * | 2021-05-28 | 2021-08-06 | 永嘉县吉明水泵有限公司 | Maintenance device for vertical multi-stage pump |
| CN113419253A (en) * | 2021-06-18 | 2021-09-21 | 杭州电子科技大学 | Indoor mobile platform based on vision SLAM |
| CN113635952A (en) * | 2021-08-09 | 2021-11-12 | 江苏道金智能装备有限公司 | Static material transfer device for lithium battery ternary positive electrode material production |
| CN113879390A (en) * | 2021-10-28 | 2022-01-04 | 广东欧能新能源设备有限公司 | Disconnect-type steering mechanism for hand electric fork truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112173520A (en) * | 2019-07-04 | 2021-01-05 | 南京苏星智能装备有限公司 | Stacker with four-way walking function and control method thereof |
| CN110843880A (en) * | 2019-12-10 | 2020-02-28 | 珠海格力电器股份有限公司 | Electrical apparatus base and electrical apparatus subassembly |
| CN111243253A (en) * | 2020-01-10 | 2020-06-05 | 浙江金华文瑞机电有限公司 | Receiving circuit of conveying equipment controller and remote control method |
| CN112141956B (en) * | 2020-09-16 | 2022-02-11 | 中建材创新科技研究院有限公司 | Positioning system and method of laser navigation forklift |
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| CN112519909A (en) * | 2020-12-09 | 2021-03-19 | 广州高新兴机器人有限公司 | Four-wheel drive robot and chassis thereof |
| CN113027694A (en) * | 2021-03-25 | 2021-06-25 | 中材科技风电叶片股份有限公司 | Transfer mechanism, blade root transfer trolley, blade tip transfer trolley and blade transfer system |
| CN113027694B (en) * | 2021-03-25 | 2022-08-30 | 中材科技风电叶片股份有限公司 | Transport mechanism, blade root transfer trolley, blade tip transfer trolley and blade transfer system |
| CN113212510A (en) * | 2021-05-28 | 2021-08-06 | 永嘉县吉明水泵有限公司 | Maintenance device for vertical multi-stage pump |
| CN113419253B (en) * | 2021-06-18 | 2022-08-12 | 杭州电子科技大学 | Indoor mobile platform based on vision SLAM |
| CN113419253A (en) * | 2021-06-18 | 2021-09-21 | 杭州电子科技大学 | Indoor mobile platform based on vision SLAM |
| CN113635952A (en) * | 2021-08-09 | 2021-11-12 | 江苏道金智能装备有限公司 | Static material transfer device for lithium battery ternary positive electrode material production |
| CN113879390A (en) * | 2021-10-28 | 2022-01-04 | 广东欧能新能源设备有限公司 | Disconnect-type steering mechanism for hand electric fork truck |
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