CN108749683A - A kind of handling transit vehicle - Google Patents
A kind of handling transit vehicle Download PDFInfo
- Publication number
- CN108749683A CN108749683A CN201810547191.1A CN201810547191A CN108749683A CN 108749683 A CN108749683 A CN 108749683A CN 201810547191 A CN201810547191 A CN 201810547191A CN 108749683 A CN108749683 A CN 108749683A
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- China
- Prior art keywords
- vehicle body
- axis
- component
- forearm
- arm seat
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/48—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using pivoted arms raisable above load-transporting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
Well-behaved case invention discloses a kind of handling transit vehicle, including wheel undercarriage（1）, scaffold（2）, vehicle body moving assembly（3）, electric drive swivel component（4）, fluid pressure type lift leg assembly（5）, vehicle body pedestal（6）, loading body（7）, robot assemblies（8）And driver's cabin（9）；The wheel undercarriage（1）It is identical as typical wheel undercarriage structure on the market；The present invention is a kind of extraordinary handling transit vehicle, its mobile device combines the advantage that wheeled devices speed is fast and leg formula device obstacle climbing ability is strong, specified region can quickly be reached, pass through the coordinated movement of various economic factors of vehicle body moving assembly and sixdegree-of-freedom simulation, assist staff's handling goods, Windsor, ability to work are strong, efficient.
Description
This divisional application original applying number be 2016112210601, the applying date be on December 26th, 2016, entitled " one
The extraordinary handling transit vehicle of kind ".
Technical field
The present invention relates to a kind of handling transit vehicle, specifically a kind of wheel leg type loads and unloads transit vehicle, belongs to vehicle research
Technical field.
Background technology
In existing vehicle movement technical solution, wheeled mobile device speed is fast but obstacle climbing ability is poor, leg formula mobile device
Obstacle climbing ability is strong but movement speed is slow；In addition, existing loading-unloading formula generally use is artificial, take time and effort, it is of high cost.
Invention content
In view of the above existing problems in the prior art, the present invention provides a kind of handling transit vehicle, mobile device synthesis
The advantage that wheeled devices speed is fast and leg formula device obstacle climbing ability is strong, can quickly reach specified region, moved by vehicle body
Staff's handling goods is assisted in the coordinated movement of various economic factors of component and sixdegree-of-freedom simulation, has the function of transhipment, and motility
Can be good, ability to work is strong, efficient.
To achieve the goals above, the technical solution adopted by the present invention is：A kind of handling transit vehicle, including wheeled bottom
Disk, scaffold, vehicle body moving assembly, electric drive swivel component, fluid pressure type lift leg assembly, vehicle body pedestal, loading body, machinery
Arm component and driver's cabin；Two sets of wheel undercarriages provide movement speed fast wheel type mobile mode for handling transit vehicle, vehicle body
Moving assembly adjusts the position of centre of gravity of handling transit vehicle, and electric drive swivel component and fluid pressure type lift leg assembly are handling transfer car(buggy)
It provides obstacle climbing ability strong leg formula move mode, has both that movement speed is fast and strong two advantages of obstacle climbing ability to be combined into
Telecontrol equipment quickly reaches designated position；By the coordinated movement of various economic factors of vehicle body moving assembly and robot assemblies, staff is assisted
Handling goods, Windsor, ability to work are strong, efficient；
The wheel undercarriage is identical as typical wheel undercarriage structure on the market, is only adjusted in the fitted position of part；
The robot assemblies by bolt be mounted on driver's cabin at the top of, including one component of axis, two component of axis, three component of axis,
Four component of axis, five component of axis, six component of axis, mechanical arm is electrically held and gripper；One component of axis, two component of axis, three component of axis,
Four component of axis, five component of axis and six component of axis are sequentially connected, and are combined into sixdegree-of-freedom simulation, one element end of axis installation tool
There are the gripper of clamping function, mechanical arm electrically to hold external power supply and signal receiving/transmission device, it can be by staff to constitute
Manipulation is to assist the sixdegree-of-freedom simulation of its handling goods；
One component of axis includes pawl head, pawl head swivel bearing, pawl head electric rotating machine and pawl headstock；Pawl head electric rotating machine is embedding
Enter the rectangular opening of pawl headstock and by the inner ring axially position of pawl head swivel bearing；The Internal and external cycle of pawl head swivel bearing respectively with pawl head
Seat is connected with pawl hook bolt；The output shaft of pawl head electric rotating machine is keyed with pawl head, and pawl head end is bolted with gripper；Pawl
The rotation band pawl head of head electric rotating machine output shaft is rotated around pawl head electric rotating machine axis direction, that is, axis one, to realize gripper
Around the rotation of axis one；
Two component of axis includes pawl headstock electric motor end cap, pawl headstock electric rotating machine, pawl headstock swivel bearing and forearm；Pawl
The Internal and external cycle of headstock swivel bearing is bolted with pawl headstock and forearm respectively, output shaft and the pawl headstock of pawl headstock electric rotating machine
Key connection；Pawl headstock electric motor end cap is fixed through periphery holes and small arm bolt, then through inner ring hole fixed jaw headstock electric rotating machine；Pawl head
The rotation band pawl headstock of seat electric rotating machine output shaft is rotated around pawl headstock electric rotating machine axis direction, that is, axis two, to realize axis
Rotation of one component around axis two；
Three component of axis includes forearm rotary connector, forearm swivel bearing, forearm electric rotating machine and small arm seat；Forearm
The Internal and external cycle of swivel bearing is bolted with forearm rotary connector and small arm seat respectively, the other end of forearm rotary connector with
Forearm is bolted；Forearm electric rotating machine is embedded in the rectangular opening of small arm seat and the inner ring axially position through forearm swivel bearing,
The output shaft of forearm electric rotating machine is keyed with forearm rotary connector；The rotation of forearm electric rotating machine output shaft drives forearm rotation
Turn connector to rotate around forearm electric rotating machine axis direction i.e. axis three, to realize rotation of two component of axis around axis three；
Four component of axis include small arm seat electric motor end cap, forearm seat rotating axis hold, small arm seat electric rotating machine and large arm；It is small
The Internal and external cycle of arm seat swivel bearing is bolted with small arm seat and large arm respectively, output shaft and the small arm seat of small arm seat electric rotating machine
Key connection；Small arm seat electric motor end cap is fixed through periphery holes and big arm bolt, then fixes small arm seat electric rotating machine through inner ring hole；Forearm
The rotation of seat electric rotating machine output shaft drives small arm seat to be rotated around small arm seat spin motor shaft line direction, that is, axis four, to realize axis
Rotation of three components around axis four；
Five component of axis includes large arm electric motor end cap, large arm electric rotating machine, large arm swivel bearing and big arm seat；Large arm is revolved
The Internal and external cycle that shaft is held is bolted with large arm and big arm seat respectively, and output shaft and the large arm of large arm electric rotating machine are keyed；Greatly
Arm electric motor end cap is fixed through periphery holes and big arm seat bolt, then fixes large arm electric rotating machine through inner ring hole；Large arm electric rotating machine is defeated
The rotation of shaft drives large arm to be rotated around large arm electric rotating machine axis direction, that is, axis five, to realize rotation of four component of axis around axis five
Turn；
Six component of axis includes big arm seat rotary connector, large arm seat rotating axis is held, mechanical arm pedestal and big arm seat revolve
Turn decelerating motor；Mechanical arm pedestal is bolted on vehicle body, the Internal and external cycle that large arm seat rotating axis is held respectively with mechanical arm
Pedestal and big arm seat rotary connector are bolted, and the other end and the big arm seat of big arm seat rotary connector are bolted；Large arm
Seat rotational deceleration motor is fixed on through bolt on mechanical arm pedestal, and output shaft is keyed with big arm seat rotary connector；Large arm
The rotation of seat rotational deceleration motor output shaft drives big arm seat around big arm seat rotational deceleration motor shaft through big arm seat rotary connector
Line direction, that is, axis six rotates, to realize rotation of five component of axis around axis six；
The gripper is mechanical fingers common on the market, can be according to the shape type corresponding with selection of dimension of cargo
With model；
The vehicle body moving assembly includes vehicle body mobile motor, vehicle body mobile motor seat, vehicle body movement shaft coupling, vehicle body movement
Drive block, vehicle body mobile connection part, vehicle body movement linear slider, vehicle body movement ball-screw, vehicle body movement line slide rail, vehicle body
Moving substrate, vehicle body movement lead screw shaft bearings and vehicle body move leading screw bearing；Vehicle body mobile motor seat, vehicle body movement straight line are slided
Rail and vehicle body movement lead screw shaft bearings are bolted on vehicle body moving substrate, vehicle body mobile motor and vehicle body movement
Leading screw bearing is bolted on respectively on vehicle body mobile motor seat and vehicle body movement lead screw shaft bearings；Vehicle body moves shaft coupling
Both ends be separately connected vehicle body movement ball-screw and vehicle body mobile motor output shaft, vehicle body move ball-screw the other end with
Vehicle body moves the inner ring tight fit of leading screw bearing；Loading body and driver's cabin are bolted on vehicle body pedestal, vehicle body
Pedestal both sides move linear slider with four vehicle bodies by bolt and are connected, and centre is fixed by bolt and vehicle body mobile connection part,
Vehicle body mobile connection part is fixed with vehicle body movement drive block bolt again；Vehicle body moves the inner ring of drive block and vehicle body moves ball wire
Thick stick screw-thread fit, the rotation of vehicle body mobile motor output shaft are converted to vehicle body and move drive block along vehicle by ball-screw-transmission
Body moves the movement in ball-screw axis direction, to realize that loading body and driver's cabin are laterally straight on vehicle body moving substrate
Line moves；On the one hand its position of centre of gravity is adjusted flexibly in loading and unloading transit vehicle motion process in vehicle body moving assembly, be fluid pressure type
The work for lifting leg assembly provides precondition；On the other hand after handling transit vehicle reaches designated position, pass through transverse movement
Increase the reachable operating space of handling goods；
The fluid pressure type lift leg assembly includes rotatable base, vehicle body supporting rack, Barrel of Hydraulic Cylinders, hydraulic cylinder piston rod, branch
It is fixed that support rotates small bearing, supporting rack rotary shaft, the big bearing of supporting rack rotation, supporting rack rotation hubcap, hydraulic cylinder rotary shaft
Bit slice and hydraulic cylinder rotary shaft；Vehicle body supporting rack is connect with vehicle body foundation bolt, and two side holes are with supporting rack rotary shaft through flower
It is keyed and passes through the shaft shoulder and sleeve axially position；Supporting rack rotating shaft terminal rotates small bearing and supporting rack with supporting rack respectively
Rotate the inner ring tight fit of big bearing, supporting rack rotates small bearing and supporting rack rotate the outer ring of big bearing respectively with rotatable base
The outer end face of two counterbore tight fits of seat, supporting rack rotation hubcap and supporting rack rotary shaft is adjacent to and is bolted on can
On rotating basis, to realize the axially position of supporting rack rotary shaft；The interlude outer surface of hydraulic cylinder rotary shaft and hydraulic cylinder
The connecting pin internal surface gaps cooperation of cylinder barrel or hydraulic cylinder piston rod, both sides section outer surface and rotatable base or vehicle body supporting rack
Corresponding aperture position internal surface gaps positioned through hydraulic cylinder rotary shaft locating plate with merging, to which Barrel of Hydraulic Cylinders and hydraulic cylinder be lived
The connecting pin of stopper rod is connected to the designated position of rotatable base or vehicle body supporting rack；Unilateral hydraulic cylinder piston rod is along its axis
The linear motion in line direction is converted to rotation of the vehicle body supporting rack around supporting rack rotary shaft by linkage rod slide block mechanism, thus will be another
The rotatable base of side lifts, and the work for electric drive swivel component provides precondition；
The electric drive swivel component includes swivel driving motor, swivel retarder, turntable bearing, swivel set axis and set axis
Locating plate；The both ends of turntable bearing are bolted with rotatable base and scaffold respectively, and swivel retarder is solid by bolt
It is scheduled on rotatable base, power source comes from swivel driving motor；Output shaft swivel set axis one end and turn retarder
Key connection, the other end connect through spline with scaffold and by covering axis locating plate axially position；Turn the output of driving motor
Torque is transmitted to through turning retarder amplification, then through swivel set axis on scaffold, under the premise of scaffold is fixed,
Rotating backward for swivel retarder is converted to, to drive rotatable base to rotate, the movement of leg assembly is lifted in conjunction with fluid pressure type, it is real
Now the leg formula movement of handling transit vehicle and obstacle detouring.
The rotatable base and vehicle body supporting rack is cast by stainless steel, is done on the basis of ensureing bearing capacity
Light-weight technologg.
Pawl headstock, forearm, small arm seat, large arm, big arm seat and the mechanical arm pedestal is cast, and is ensureing to carry
Light-weight technologg is done on the basis of ability.
The scaffold is welded using structural steel.
The present invention is a kind of handling transit vehicle, and mobile device combines wheeled devices speed soon and leg formula device gets over ditch
The strong advantage of ability can quickly reach specified region, by the coordinated movement of various economic factors of vehicle body moving assembly and sixdegree-of-freedom simulation,
Staff's handling goods is assisted, with good transport function, Windsor, ability to work is strong, efficient.
Description of the drawings
Fig. 1 is handling transit vehicle principle schematic provided in an embodiment of the present invention；
In figure：1, wheel undercarriage, 2, scaffold, 3, vehicle body moving assembly, 4, electric drive swivel component, 5, fluid pressure type lift leg group
Part, 6, vehicle body pedestal, 7, loading body, 8, robot assemblies, 9, driver's cabin.
Fig. 2 is handling transit vehicle front view provided in an embodiment of the present invention；
Fig. 3 is handling transit vehicle vertical view provided in an embodiment of the present invention；
Fig. 4 is handling transit vehicle side view provided in an embodiment of the present invention；
Fig. 5 is robot assemblies principle schematic provided in an embodiment of the present invention；
In figure：8.1, one component of axis, 8.2, two component of axis, 8.3, three component of axis, 8.4, four component of axis, 8.5, five component of axis,
8.6, six component of axis, 8.7, mechanical arm electrically hold, 8.8, gripper.
Fig. 6 is one assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.1.1, pawl head, 8.1.2, pawl head swivel bearing, 8.1.3, pawl head electric rotating machine, 8.1.4, pawl headstock.
Fig. 7 is two assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.2.1, pawl headstock electric motor end cap, 8.2.2, pawl headstock electric rotating machine, 8.2.3, pawl headstock swivel bearing,
8.2.4, forearm.
Fig. 8 is three assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.3.1, forearm rotary connector, 8.3.2, forearm swivel bearing, 8.3.3, forearm electric rotating machine are 8.3.4, small
Arm seat.
Fig. 9 is four assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.4.1, small arm seat electric motor end cap, 8.4.2, forearm seat rotating axis are held, 8.4.3, small arm seat electric rotating machine,
8.4.4, large arm.
Figure 10 is five assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.5.1, large arm electric motor end cap, 8.5.2, large arm electric rotating machine, 8.5.3, large arm swivel bearing, 8.5.4, large arm
Seat.
Figure 11 is six assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure：8.6.1, big arm seat rotary connector, 8.6.2, large arm seat rotating axis are held, 8.6.3, mechanical arm pedestal, and 8.6.4 is big
Arm seat rotational deceleration motor.
Figure 12 is vehicle body moving assembly principle schematic provided in an embodiment of the present invention；
In figure：3.1, vehicle body mobile motor, 3.2, vehicle body mobile motor seat, 3.3, vehicle body move shaft coupling, 3.4, vehicle body movement
Drive block, 3.5, vehicle body mobile connection part, 3.6, vehicle body move linear slider, 3.7, vehicle body move ball-screw, 3.8, vehicle body
Mobile line slide rail, 3.9, vehicle body moving substrate, 3.10, vehicle body move lead screw shaft bearings, 3.11, vehicle body move leading screw bearing.
Figure 13 is that fluid pressure type provided in an embodiment of the present invention lifts leg assembly principle schematic；
Figure 14 is that fluid pressure type provided in an embodiment of the present invention lifts circle A enlarged drawings in leg assembly principle schematic；
In figure：5.1, rotatable base, 5.2, vehicle body supporting rack, 5.3, Barrel of Hydraulic Cylinders, 5.4, hydraulic cylinder piston rod, 5.5, branch
Support rotates small bearing, 5.6, supporting rack rotary shaft, 5.7, supporting rack rotate big bearing, 5.8, supporting rack rotate hubcap,
5.9, hydraulic cylinder rotary shaft locating plate, 5.10, hydraulic cylinder rotary shaft.
Figure 15 is electric drive swivel component principle schematic provided in an embodiment of the present invention；
In figure：4.1, turn driving motor, 4.2, swivel retarder, 4.3, turntable bearing, 4.4, swivel set axis, 4.5, set axis it is fixed
Bit slice.
Figure 16 is that handling transit vehicle provided in an embodiment of the present invention crosses over irrigation canals and ditches state one.
Figure 17 is that handling transit vehicle provided in an embodiment of the present invention crosses over irrigation canals and ditches state two.
Figure 18 is that handling transit vehicle provided in an embodiment of the present invention crosses over irrigation canals and ditches state three.
Figure 19 is that handling transit vehicle provided in an embodiment of the present invention crosses over irrigation canals and ditches state four.
Figure 20 is that handling transit vehicle provided in an embodiment of the present invention crosses over irrigation canals and ditches state five.
Figure 21 is that handling transit vehicle provided in an embodiment of the present invention tilts state diagram across irrigation canals and ditches.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It please refers to Fig.1 to Fig.4, is that a kind of handling transit vehicle principle schematic provided in an embodiment of the present invention and three regard
Figure, it includes wheel undercarriage 1, scaffold 2, vehicle body moving assembly 3, electric drive swivel component 4, fluid pressure type lift leg assembly 5, vehicle
Body pedestal 6, loading body 7, robot assemblies 8 and driver's cabin 9；Two sets of wheel undercarriages 1 provide movement for handling transit vehicle
Fireballing wheel type mobile mode, vehicle body moving assembly 3 adjust the position of centre of gravity of handling transit vehicle, electric drive swivel component 4
Lift leg assembly 5 with fluid pressure type provides obstacle climbing ability strong leg formula move mode for handling transit vehicle, and shifting is had both to be combined into
Dynamic speed is fast and the telecontrol equipment of strong two advantages of obstacle climbing ability, quickly reaches designated position；Pass through vehicle body moving assembly 3 and machine
The coordinated movement of various economic factors of tool arm component 8, assistance staff's handling goods, Windsor, ability to work are strong, efficient；
The wheel undercarriage 1 is identical as typical wheel undercarriage structure on the market, is only adjusted in the fitted position of part；
The scaffold 2 is welded using structural steel.
Referring to Fig. 5, be a kind of robot assemblies principle schematic of handling transit vehicle provided in an embodiment of the present invention,
Including one component 8.1 of axis, two component 8.2 of axis, three component 8.3 of axis, four component 8.4 of axis, five component 8.5 of axis, six component 8.6 of axis,
Mechanical arm electrically holds 8.7 and gripper 8.8；One component 8.1 of axis, two component 8.2 of axis, three component 8.3 of axis, four component 8.4 of axis,
Five component 8.5 of axis and six component 8.6 of axis are sequentially connected, and are combined into sixdegree-of-freedom simulation, one component of axis, 8.1 end installation tool
There are the gripper 8.8 of clamping function, mechanical arm electrically to hold 8.7 external power supplys and signal receiving/transmission device, it can be by work to constitute
Make personnel's manipulation to assist the sixdegree-of-freedom simulation of its handling goods；
The gripper 8.8 is mechanical fingers common on the market, can be corresponding with selection of dimension according to the shape of cargo
Type and model.
Referring to Fig. 6, being a kind of one principle schematic of axis of handling transit vehicle provided in an embodiment of the present invention, it includes
Pawl head 8.1.1, pawl head swivel bearing 8.1.2, pawl head electric rotating machine 8.1.3 and pawl headstock 8.1.4；Pawl head electric rotating machine
8.1.3 it is embedded in the rectangular opening of pawl headstock 8.1.4 and by the inner ring axially position of pawl head swivel bearing 8.1.2；Pawl head swivel bearing
8.1.2 Internal and external cycle is bolted with pawl headstock 8.1.4 and pawl head 8.1.1 respectively；The output shaft of pawl head electric rotating machine 8.1.3 with
Pawl head 8.1.1 key connections, the pawl ends head 8.1.1 are bolted with gripper 8.8；Pawl head electric rotating machine 8.1.3 output shafts turn
Dynamic band pawl head 8.1.1 is rotated around pawl head electric rotating machine 8.1.3 axis directions, that is, axis one, to realize gripper 8.8 around axis one
Rotation；
The pawl headstock 8.1.4 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
Referring to Fig. 7, be a kind of two assembly principle schematic diagram of axis of handling transit vehicle provided in an embodiment of the present invention, it
Including pawl headstock electric motor end cap 8.2.1, pawl headstock electric rotating machine 8.2.2, pawl headstock swivel bearing 8.2.3 and forearm 8.2.4；
The Internal and external cycle of pawl headstock swivel bearing 8.2.3 is bolted with pawl headstock 8.1.4 and forearm 8.2.4 respectively, pawl headstock electric rotating
The output shaft of machine 8.2.2 is keyed with pawl headstock 8.1.4；Pawl headstock electric motor end cap 8.2.1 is through periphery holes and forearm 8.2.4 bolts
It is fixed, then through inner ring hole fixed jaw headstock electric rotating machine 8.2.2；The rotation band pawl of pawl headstock electric rotating machine 8.2.2 output shafts
Headstock 8.1.4 is rotated around pawl headstock electric rotating machine 8.2.2 axis directions, that is, axis two, to realize one component 8.1 of axis around axis two
Rotation；
The forearm 8.2.4 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
Referring to Fig. 8, be a kind of three assembly principle schematic diagram of axis of handling transit vehicle provided in an embodiment of the present invention, it
Including forearm rotary connector 8.3.1, forearm swivel bearing 8.3.2, forearm electric rotating machine 8.3.3 and small arm seat 8.3.4；It is small
The Internal and external cycle of arm swivel bearing 8.3.2 is bolted with forearm rotary connector 8.3.1 and small arm seat 8.3.4 respectively, forearm rotation
The other end and forearm 8.2.4 for turning connector 8.3.1 are bolted；Forearm electric rotating machine 8.3.3 is embedded in the square of small arm seat 8.3.4
In shape hole and through the inner ring axially position of forearm swivel bearing 8.3.2, output shaft and the forearm of forearm electric rotating machine 8.3.3 rotate
Connector 8.3.1 key connections；The rotation of forearm electric rotating machine 8.3.3 output shafts drives forearm rotary connector 8.3.1 around forearm
Electric rotating machine 8.3.3 axis directions, that is, axis three rotates, to realize rotation of two component 8.1 of axis around axis three；
The small arm seat 8.3.4 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
Referring to Fig. 9, be a kind of four assembly principle schematic diagram of axis of handling transit vehicle provided in an embodiment of the present invention, it
8.4.2, small arm seat electric rotating machine 8.4.3 and large arm 8.4.4 are held including small arm seat electric motor end cap 8.4.1, forearm seat rotating axis；
The Internal and external cycle that forearm seat rotating axis holds 8.4.2 is bolted small arm seat electric rotating machine with small arm seat 8.3.4 and large arm 8.4.4 respectively
8.4.3 output shaft is keyed with small arm seat 8.3.4；Small arm seat electric motor end cap 8.4.1 is solid through periphery holes and large arm 8.4.4 bolts
It is fixed, then fix small arm seat electric rotating machine 8.4.3 through inner ring hole；The rotation of small arm seat electric rotating machine 8.4.3 output shafts drives forearm
Seat 8.3.4 is rotated around small arm seat electric rotating machine 8.4.3 axis directions, that is, axis four, to realize rotation of three component 8.3 of axis around axis four
Turn；
The large arm 8.4.4 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
Referring to Fig. 10, be a kind of five assembly principle schematic diagram of axis of handling transit vehicle provided in an embodiment of the present invention,
It includes large arm electric motor end cap 8.5.1, large arm electric rotating machine 8.5.2, large arm swivel bearing 8.5.3 and big arm seat 8.5.4；Greatly
The Internal and external cycle of arm swivel bearing 8.5.3 is bolted with large arm 8.4.4 and big arm seat 8.5.4 respectively, large arm electric rotating machine 8.5.2
Output shaft be keyed with large arm 8.4.4；Large arm electric motor end cap 8.5.1 is fixed through periphery holes and big arm seat 8.5.4 bolts, then is passed through
Inner ring hole fixes large arm electric rotating machine 8.5.2；The rotation of large arm electric rotating machine 8.5.2 output shafts drives large arm 8.4.4 around large arm
Electric rotating machine 8.5.2 axis directions, that is, axis five rotates, to realize rotation of four component 8.4 of axis around axis five；
The big arm seat 8.5.4 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
1 is please referred to Fig.1, is a kind of six assembly principle schematic diagram of axis of handling transit vehicle provided in an embodiment of the present invention,
It includes big arm seat rotary connector 8.6.1, large arm seat rotating axis holds 8.6.2, mechanical arm pedestal 8.6.3 and big arm seat rotates
Decelerating motor 8.6.4；Mechanical arm pedestal 8.6.3 is bolted on vehicle body 6, and large arm seat rotating axis holds the inside and outside of 8.6.2
Circle is bolted with mechanical arm pedestal 8.6.3 and big arm seat rotary connector 8.6.1 respectively, big arm seat rotary connector 8.6.1
The other end be bolted with big arm seat 8.5.4；Big arm seat rotational deceleration motor 8.6.4 is fixed on mechanical arm pedestal through bolt
8.6.3 on, output shaft is keyed with big arm seat rotary connector 8.6.1；Big arm seat rotational deceleration motor 8.6.4 output shafts
It rotates and is around big arm seat rotational deceleration motor 8.6.4 axis directions through the big arm seat 8.5.4 of big arm seat rotary connector 8.6.1 drives
Axis six rotates, to realize rotation of five component 8.5 of axis around axis six；
The mechanical arm pedestal 8.6.3 is cast, and light-weight technologg is done on the basis of ensureing bearing capacity.
2 are please referred to Fig.1, is a kind of vehicle body moving assembly principle signal of handling transit vehicle provided in an embodiment of the present invention
Figure, it includes vehicle body mobile motor 3.1, vehicle body mobile motor seat 3.2, vehicle body movement shaft coupling 3.3, vehicle body movement drive block
3.4, vehicle body mobile connection part 3.5, vehicle body movement linear slider 3.6, vehicle body movement ball-screw 3.7, vehicle body movement straight line are slided
Rail 3.8, vehicle body moving substrate 3.9, vehicle body movement lead screw shaft bearings 3.10 and vehicle body movement leading screw bearing 3.11；Vehicle body moves
Motor cabinet 3.2, vehicle body movement line slide rail 3.8 and vehicle body movement lead screw shaft bearings 3.10 are bolted on vehicle body shifting
On dynamic substrate 3.9, vehicle body mobile motor 3.1 and vehicle body movement leading screw bearing 3.11 are bolted on vehicle body movement electricity respectively
On engine base 3.2 and vehicle body movement lead screw shaft bearings 3.10；3.3 both ends of vehicle body movement shaft coupling are separately connected vehicle body movement ball wire
The output shaft of thick stick 3.7 and vehicle body mobile motor 3.1, vehicle body moves the other end of ball-screw 3.7 and vehicle body moves leading screw bearing
3.11 inner ring tight fit；Loading body 7 and driver's cabin 9 are bolted on vehicle body pedestal 6,6 both sides of vehicle body pedestal
Linear slider is moved by bolt with four vehicle bodies to be connected, intermediate to fix by bolt and vehicle body mobile connection part 3.5, vehicle body moves
Follower link 3.5 is fixed with vehicle body movement 3.4 bolt of drive block again；Vehicle body moves the inner ring of drive block 3.4 and vehicle body movement is rolled
3.7 screw-thread fit of ballscrew, the rotation of 3.1 output shaft of vehicle body mobile motor are converted to vehicle body movement by ball-screw-transmission
Drive block 3.4 moves moving for 3.7 axis direction of ball-screw along vehicle body, to realize loading body 7 and driver's cabin 9 in vehicle body
Lateral linear motion on moving substrate 3.9；3 one side of vehicle body moving assembly is flexibly adjusted in loading and unloading transit vehicle motion process
Its whole position of centre of gravity, the work that leg assembly 5 is lifted for fluid pressure type provide precondition；On the other hand refer in handling transit vehicle arrival
Positioning postpones, and increases the reachable operating space of handling goods by transverse movement；
3 and 14 are please referred to Fig.1, are that a kind of fluid pressure type lift leg assembly principle of handling transit vehicle provided in an embodiment of the present invention is shown
It is intended to and wherein justifies the schematic diagram of A, it includes rotatable base 5.1, vehicle body supporting rack 5.2, Barrel of Hydraulic Cylinders 5.3, hydraulic cylinder
Piston rod 5.4, supporting rack rotate small bearing 5.5, supporting rack rotary shaft 5.6, supporting rack and rotate big bearing 5.7, supporting rack rotation
Hubcap 5.8, hydraulic cylinder rotary shaft locating plate 5.9 and hydraulic cylinder rotary shaft 5.10；Vehicle body supporting rack 5.2 moves base with vehicle body
Plate 3.9 is bolted, and two side holes, which are connect with supporting rack rotary shaft 5.6 through spline, passes through the shaft shoulder and sleeve axially position；Support
5.6 both ends of frame rotary shaft rotate small bearing 5.5 with supporting rack respectively and supporting rack rotates the inner ring tight fit of big bearing 5.7, branch
Support rotates small bearing 5.5 and supporting rack rotate the outer ring of big bearing 5.7 respectively with two counterbore close-fittings of rotatable base 5.1
It closes, supporting rack rotation hubcap 5.8 and the outer end face of supporting rack rotary shaft 5.6 are adjacent to and are bolted on rotatable base
On 5.1, to realize the axially position of supporting rack rotary shaft 5.6；The interlude outer surface of hydraulic cylinder rotary shaft 5.10 and hydraulic pressure
The connecting pin internal surface gaps cooperation of cylinder cylinder barrel 5.3 or hydraulic cylinder piston rod 5.4, both sides section outer surface and rotatable base 5.1
Or the corresponding aperture position internal surface gaps of vehicle body supporting rack 5.2 are positioned with merging through hydraulic cylinder rotary shaft locating plate 5.9, thus by liquid
The connecting pin of cylinder pressure cylinder barrel 5.3 and hydraulic cylinder piston rod 5.4 is connected to rotatable base 5.1 or vehicle body supporting rack 5.2
Designated position；Unilateral hydraulic cylinder piston rod 5.4 is converted to vehicle body along the linear motion of its axis direction by linkage rod slide block mechanism
Supporting rack 5.2 turns to lift the rotatable base 5.1 of the other side for electric drive around the rotation of supporting rack rotary shaft 5.6
The work of body component 4 provides precondition；
The rotatable base 5.1 and vehicle body supporting rack 5.2 is cast by stainless steel, on the basis of ensureing bearing capacity
Do light-weight technologg.
5 are please referred to Fig.1, is that a kind of electric drive swivel component principle of handling transit vehicle provided in an embodiment of the present invention is shown
It is intended to, it includes swivel driving motor 4.1, swivel retarder 4.2, turntable bearing 4.3, swivel set axis 4.4 and set axis positioning
Piece 4.5；The both ends of turntable bearing 4.3 are bolted with rotatable base 5.1 and scaffold 2 respectively, and swivel retarder 4.2 is logical
It crosses bolt to be fixed on rotatable base 5.1, power source comes from swivel driving motor 4.1；Swivel covers 4.4 one end of axis and turns
The output shaft of body retarder 4.2 is keyed, and the other end connect through spline with scaffold 2 and by covering axis locating plate 4.5 axially
Positioning；The output torque for turning driving motor 4.1 is amplified through turning retarder 4.2, then is transmitted to supporting frame through swivel set axis 4.4
On frame 2, under the premise of scaffold 2 is fixed, rotating backward for swivel retarder 4.2 is converted to, can be revolved to drive
Turn the rotation of pedestal 5.1, the movement of leg assembly 5 is lifted in conjunction with fluid pressure type, realizes the movement of leg formula and the obstacle detouring of handling transit vehicle, such as scheme
16-20 is that the present invention gets over ditch schematic diagram, and whens Figure 21 is not equal for irrigation canals and ditches both sides height, ditch state is got over using tilting.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (8)
1. a kind of handling transit vehicle, including wheel undercarriage（1）, scaffold（2）, vehicle body moving assembly（3）, electric drive swivel
Component（4）, fluid pressure type lift leg assembly（5）, vehicle body pedestal（6）, loading body（7）, robot assemblies（8）And driver's cabin（9）；
Wheel undercarriage（1）With two sets, two sets of wheel undercarriages（1）Mounted on vehicle body moving assembly（3）Bottom, vehicle body pedestal（6）Installation
In vehicle body moving assembly（3）On so that vehicle body pedestal（6）In vehicle body moving assembly（3）Upper movement, vehicle body pedestal（6）It is equipped with
Loading body（7）And driver's cabin（9）, driver's cabin（9）On robot assemblies are installed（8）.
2. a kind of handling transit vehicle according to claim 1, which is characterized in that the robot assemblies（8）Pass through
Bolt is mounted on driver's cabin（9）Top, including one component of axis（8.1）, two component of axis（8.2）, three component of axis（8.3）, four groups of axis
Part（8.4）, five component of axis（8.5）, six component of axis（8.6）, mechanical arm electrically holds（8.7）And gripper（8.8）；One component of axis
（8.1）, two component of axis（8.2）, three component of axis（8.3）, four component of axis（8.4）, five component of axis（8.5）And six component of axis
（8.6）It is sequentially connected, is combined into sixdegree-of-freedom simulation, one component of axis（8.1）Gripper of the end installation with clamping function
（8.8）, mechanical arm electrically holds（8.7）External power supply and signal receiving/transmission device can be manipulated to assist to constitute by staff
Help the sixdegree-of-freedom simulation of its handling goods.
3. a kind of handling transit vehicle according to claim 2, which is characterized in that one component of axis（8.1）Including
Pawl head（8.1.1）, pawl head swivel bearing（8.1.2）, pawl head electric rotating machine（8.1.3）And pawl headstock（8.1.4）；Pawl head rotates
Motor（8.1.3）Embedded pawl headstock（8.1.4）Rectangular opening and by pawl head swivel bearing（8.1.2）Inner ring axially position；Pawl
Head swivel bearing（8.1.2）Internal and external cycle respectively with pawl headstock（8.1.4）With pawl head（8.1.1）It is bolted；Pawl head electric rotating
Machine（8.1.3）Output shaft and pawl head（8.1.1）Key connection, pawl head（8.1.1）End and gripper（8.8）It is bolted；Pawl
Head electric rotating machine（8.1.3）The rotation band pawl head of output shaft（8.1.1）Around pawl head electric rotating machine（8.1.3）Axis direction, that is, axis
One rotation, to realize gripper（8.8）Around the rotation of axis one；
Two component of axis（8.2）Including pawl headstock electric motor end cap（8.2.1）, pawl headstock electric rotating machine（8.2.2）, pawl headstock
Swivel bearing（8.2.3）And forearm（8.2.4）；Pawl headstock swivel bearing（8.2.3）Internal and external cycle respectively with pawl headstock
（8.1.4）And forearm（8.2.4）It is bolted, pawl headstock electric rotating machine（8.2.2）Output shaft and pawl headstock（8.1.4）Key connects
It connects；Pawl headstock electric motor end cap（8.2.1）Through periphery holes and forearm（8.2.4）Bolt is fixed, then is revolved through inner ring hole fixed jaw headstock
Rotating motor（8.2.2）；Pawl headstock electric rotating machine（8.2.2）The rotation band pawl headstock of output shaft（8.1.4）It is rotated around pawl headstock
Motor（8.2.2）Axis direction, that is, axis two rotates, to realize one component of axis（8.1）Around the rotation of axis two.
4. a kind of handling transit vehicle according to claim 2, which is characterized in that three component of axis（8.3）Including
Forearm rotary connector（8.3.1）, forearm swivel bearing（8.3.2）, forearm electric rotating machine（8.3.3）And small arm seat
（8.3.4）；Forearm swivel bearing（8.3.2）Internal and external cycle respectively with forearm rotary connector（8.3.1）With small arm seat（8.3.4）
It is bolted, forearm rotary connector（8.3.1）The other end and forearm（8.2.4）It is bolted；Forearm electric rotating machine
（8.3.3）Embedded small arm seat（8.3.4）Rectangular opening in and through forearm swivel bearing（8.3.2）Inner ring axially position, forearm
Electric rotating machine（8.3.3）Output shaft and forearm rotary connector（8.3.1）Key connection；Forearm electric rotating machine（8.3.3）Output
The rotation of axis drives forearm rotary connector（8.3.1）Around forearm electric rotating machine（8.3.3）Axis direction, that is, axis three rotates, to
Realize two component of axis（8.1）Around the rotation of axis three；
Four component of axis（8.4）Including small arm seat electric motor end cap（8.4.1）, forearm seat rotating axis holds（8.4.2）, small arm seat
Electric rotating machine（8.4.3）And large arm（8.4.4）；Forearm seat rotating axis is held（8.4.2）Internal and external cycle respectively with small arm seat
（8.3.4）And large arm（8.4.4）It is bolted, small arm seat electric rotating machine（8.4.3）Output shaft and small arm seat（8.3.4）Key connects
It connects；Small arm seat electric motor end cap（8.4.1）Through periphery holes and large arm（8.4.4）Bolt is fixed, then is fixed small arm seat through inner ring hole and revolved
Rotating motor（8.4.3）；Small arm seat electric rotating machine（8.4.3）The rotation of output shaft drives small arm seat（8.3.4）It is rotated around small arm seat
Motor（8.4.3）Axis direction, that is, axis four rotates, to realize three component of axis（8.3）Around the rotation of axis four.
5. a kind of handling transit vehicle according to claim 2, which is characterized in that five component of axis（8.5）Including
Large arm electric motor end cap（8.5.1）, large arm electric rotating machine（8.5.2）, large arm swivel bearing（8.5.3）And big arm seat（8.5.4）；
Large arm swivel bearing（8.5.3）Internal and external cycle respectively with large arm（8.4.4）With big arm seat（8.5.4）It is bolted, large arm rotation
Motor（8.5.2）Output shaft and large arm（8.4.4）Key connection；Large arm electric motor end cap（8.5.1）Through periphery holes and big arm seat
（8.5.4）Bolt is fixed, then fixes large arm electric rotating machine through inner ring hole（8.5.2）；Large arm electric rotating machine（8.5.2）Output shaft
Rotation drives large arm（8.4.4）Around large arm electric rotating machine（8.5.2）Axis direction, that is, axis five rotates, to realize four component of axis
（8.4）Around the rotation of axis five；Six component of axis（8.6）Including big arm seat rotary connector（8.6.1）, large arm seat rotating axis
It holds（8.6.2）, mechanical arm pedestal（8.6.3）And big arm seat rotational deceleration motor（8.6.4）；Mechanical arm pedestal（8.6.3）It is logical
It crosses bolt and is fixed on vehicle body（6）On, large arm seat rotating axis is held（8.6.2）Internal and external cycle respectively with mechanical arm pedestal（8.6.3）With
Big arm seat rotary connector（8.6.1）It is bolted, big arm seat rotary connector（8.6.1）The other end and big arm seat
（8.5.4）It is bolted；Big arm seat rotational deceleration motor（8.6.4）It is fixed on mechanical arm pedestal through bolt（8.6.3）On, it is defeated
Shaft and big arm seat rotary connector（8.6.1）Key connection；Big arm seat rotational deceleration motor（8.6.4）The rotation of output shaft is through big
Arm seat rotary connector（8.6.1）Drive big arm seat（8.5.4）Around big arm seat rotational deceleration motor（8.6.4）Axis direction, that is, axis
Six rotations, to realize five component of axis（8.5）Around the rotation of axis six.
6. a kind of handling transit vehicle according to claim 1, which is characterized in that the vehicle body moving assembly（3）Packet
Include vehicle body mobile motor（3.1）, vehicle body mobile motor seat（3.2）, vehicle body move shaft coupling（3.3）, vehicle body move drive block
（3.4）, vehicle body mobile connection part（3.5）, vehicle body move linear slider（3.6）, vehicle body move ball-screw（3.7）, vehicle body move
Dynamic line slide rail（3.8）, vehicle body moving substrate（3.9）, vehicle body move lead screw shaft bearings（3.10）And vehicle body moves lead screw shaft
It holds（3.11）；Vehicle body mobile motor seat（3.2）, vehicle body move line slide rail（3.8）And vehicle body moves lead screw shaft bearings
（3.10）It is bolted on vehicle body moving substrate（3.9）On, vehicle body mobile motor（3.1）Leading screw bearing is moved with vehicle body
（3.11）It is bolted on vehicle body mobile motor seat respectively（3.2）Lead screw shaft bearings are moved with vehicle body（3.10）On；Vehicle body
Mobile shaft coupling（3.3）Both ends are separately connected vehicle body movement ball-screw（3.7）With vehicle body mobile motor（3.1）Output shaft,
Vehicle body moves ball-screw（3.7）The other end and vehicle body move leading screw bearing（3.11）Inner ring tight fit；Loading body（7）
And driver's cabin（9）It is bolted on vehicle body pedestal（6）On, vehicle body pedestal（6）Both sides are moved by bolt and four vehicle bodies
Dynamic linear slider（3.6）It is connected, centre passes through bolt and vehicle body mobile connection part（3.5）It is fixed, vehicle body mobile connection part（3.5）
Again drive block is moved with vehicle body（3.4）Bolt is fixed；Vehicle body moves drive block（3.4）Inner ring and vehicle body move ball-screw
（3.7）Screw-thread fit, vehicle body mobile motor（3.1）The rotation of output shaft is converted to vehicle body movement and is driven by ball-screw-transmission
Motion block（3.4）Ball-screw is moved along vehicle body（3.7）The movement of axis direction, to realize loading body（7）And driver's cabin（9）
In vehicle body moving substrate（3.9）On lateral linear motion；Vehicle body moving assembly（3）On the one hand in special type handling transit vehicle fortune
Its position of centre of gravity is adjusted flexibly during dynamic, leg assembly is lifted for fluid pressure type（5）Work provide precondition；On the other hand in spy
After kind handling transit vehicle reaches designated position, pass through the reachable operating space that transverse movement increases handling goods.
7. a kind of handling transit vehicle according to claim 1, which is characterized in that the fluid pressure type lifts leg assembly（5）
Including rotatable base（5.1）, vehicle body supporting rack（5.2）, Barrel of Hydraulic Cylinders（5.3）, hydraulic cylinder piston rod（5.4）, supporting rack
Rotate small bearing（5.5）, supporting rack rotary shaft（5.6）, supporting rack rotate big bearing（5.7）, supporting rack rotate hubcap
（5.8）, hydraulic cylinder rotary shaft locating plate（5.9）And hydraulic cylinder rotary shaft（5.10）；Vehicle body supporting rack（5.2）It is moved with vehicle body
Substrate（3.9）It is bolted, two side holes and supporting rack rotary shaft（5.6）It is connected through spline and axially fixed by the shaft shoulder and sleeve
Position；Supporting rack rotary shaft（5.6）Both ends rotate small bearing with supporting rack respectively（5.5）Big bearing is rotated with supporting rack（5.7）'s
Inner ring tight fit, supporting rack rotate small bearing（5.5）Big bearing is rotated with supporting rack（5.7）Outer ring respectively with rotatable base
（5.1）Two counterbore tight fits, supporting rack rotate hubcap（5.8）With supporting rack rotary shaft（5.6）Outer end face be adjacent to and lead to
It crosses bolt and is fixed on rotatable base（5.1）On, to realize supporting rack rotary shaft（5.6）Axially position；Hydraulic cylinder rotates
Axis（5.10）Interlude outer surface and Barrel of Hydraulic Cylinders（5.3）Or hydraulic cylinder piston rod（5.4）Connecting pin internal surface gaps
Cooperation, both sides section outer surface and rotatable base（5.1）Or vehicle body supporting rack（5.2）Corresponding aperture position internal surface gaps with merge
Through hydraulic cylinder rotary shaft locating plate（5.9）Positioning, thus by Barrel of Hydraulic Cylinders（5.3）And hydraulic cylinder piston rod（5.4）Connection
End is connected to rotatable base（5.1）Or vehicle body supporting rack（5.2）Designated position；Unilateral hydraulic cylinder piston rod（5.4）
Linear motion along its axis direction is converted to vehicle body supporting rack by linkage rod slide block mechanism（5.2）Around supporting rack rotary shaft
（5.6）Rotation, to by the rotatable base of the other side（5.1）It lifts.
8. a kind of handling transit vehicle according to claim 1, which is characterized in that the electric drive swivel component（4）
Including turning driving motor（4.1）, swivel retarder（4.2）, turntable bearing（4.3）, swivel set axis（4.4）And set axis positioning
Piece（4.5）；Turntable bearing（4.3）Both ends respectively with rotatable base（5.1）And scaffold（2）It is bolted, swivel subtracts
Fast device（4.2）It is bolted on rotatable base（5.1）On, power source comes from swivel driving motor（4.1）；Swivel
Cover axis（4.4）One end and swivel retarder（4.2）Output shaft key connection, the other end and scaffold（2）Simultaneously through spline connection
By covering axis locating plate（4.5）Axially position；Turn driving motor（4.1）Output torque through turn retarder（4.2）Amplification,
Again axis is covered through swivel（4.4）It is transmitted to scaffold（2）On, in scaffold（2）Under the premise of fixed, swivel is converted to
Retarder（4.2）Rotate backward, to drive rotatable base（5.1）Rotation lifts leg assembly in conjunction with fluid pressure type（5）Fortune
It is dynamic, realize the movement of leg formula and the obstacle detouring of extraordinary handling transit vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810547191.1A CN108749683A (en) | 2016-12-26 | 2016-12-26 | A kind of handling transit vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810547191.1A CN108749683A (en) | 2016-12-26 | 2016-12-26 | A kind of handling transit vehicle |
| CN201611221060.1A CN106427733B (en) | 2016-12-26 | 2016-12-26 | A kind of extraordinary handling transit vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110817415A (en) * | 2019-11-29 | 2020-02-21 | 安徽悦得自动化有限公司 | Multi-axis linkage robot arm for material handling |
| CN111591372A (en) * | 2020-07-07 | 2020-08-28 | 哈尔滨学院 | Intelligent transportation robot |
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| CN107323332A (en) * | 2017-07-01 | 2017-11-07 | 徐州乐泰机电科技有限公司 | A kind of rotatable container mechanism transported for vehicle and its vehicle |
| CN107225556A (en) * | 2017-07-01 | 2017-10-03 | 徐州乐泰机电科技有限公司 | A kind of removable mineral transporter |
| CN107444861A (en) * | 2017-07-26 | 2017-12-08 | 象州县科学技术情报研究所 | Rail-guided formula assisted loading machine |
| CN108789358B (en) * | 2018-06-05 | 2020-10-27 | 清华大学 | Mobile series-parallel processing robot based on three-degree-of-freedom force control parallel module |
| CN109775345B (en) * | 2018-12-09 | 2021-01-12 | 西安航天精密机电研究所 | Special robot for carrying, taking and placing pills |
| CN111003499A (en) * | 2019-12-27 | 2020-04-14 | 东莞市摩克电子科技有限公司 | Silk screen printing equipment based on automatic inkjet of manipulator |
| CN113924836A (en) * | 2021-09-24 | 2022-01-14 | 深圳伊洛农业装备智能有限公司 | Agricultural machinery equipment terraced fields and irrigation canals and ditches mechanism of crossing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE4244592A1 (en) * | 1992-12-31 | 1994-07-07 | Heinz Weckler | Tracked transport vehicle for industrial sites |
| CN2589419Y (en) * | 2002-04-02 | 2003-12-03 | 机械工业部西安重型机械研究所 | Mechanical arm apparatus for tubular product discharging |
| CN103921267B (en) * | 2014-03-18 | 2016-04-13 | 上海交通大学 | Four-footed all-around mobile mechanical arm |
| CN205219151U (en) * | 2015-12-24 | 2016-05-11 | 山东鲁班机械科技有限公司 | Rescue robot is with eight degree of freedom arms |
| CN105883424B (en) * | 2016-05-03 | 2018-08-17 | 上海交通大学 | Can autonomous stacking AGV devices |
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- 2016-12-26 CN CN201810547191.1A patent/CN108749683A/en active Pending
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110817415A (en) * | 2019-11-29 | 2020-02-21 | 安徽悦得自动化有限公司 | Multi-axis linkage robot arm for material handling |
| CN111591372A (en) * | 2020-07-07 | 2020-08-28 | 哈尔滨学院 | Intelligent transportation robot |
| CN111591372B (en) * | 2020-07-07 | 2020-12-08 | 哈尔滨学院 | Intelligent transportation robot |
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| CN106427733B (en) | 2018-09-11 |
| CN106427733A (en) | 2017-02-22 |
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Application publication date: 20181106 |