CN109516094A - A kind of long-range driving means - Google Patents
A kind of long-range driving means Download PDFInfo
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- CN109516094A CN109516094A CN201811348485.8A CN201811348485A CN109516094A CN 109516094 A CN109516094 A CN 109516094A CN 201811348485 A CN201811348485 A CN 201811348485A CN 109516094 A CN109516094 A CN 109516094A
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- car body
- train
- diamond shape
- pillar
- support
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G25/00—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement
- B65G25/04—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors
- B65G25/08—Conveyors comprising a cyclically-moving, e.g. reciprocating, carrier or impeller which is disengaged from the load during the return part of its movement the carrier or impeller having identical forward and return paths of movement, e.g. reciprocating conveyors having impellers, e.g. pushers
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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
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
It is that combined type diamond shape telescoping mechanism is fixedly installed at the top of multi-functional vehicle for invalid the invention discloses a kind of long-range driving means；By coordinating traveling, steering and the on-position of multi-functional vehicle for invalid and stretching, extension and the contractile motion of combined type diamond shape telescoping mechanism, long-range driving means is manipulated along direction initialization and does push-and-pull campaign；By carrying corresponding tool, the present invention can replace manually carrying out various distal end conveying job tasks, have many advantages, such as that body is simple and compact, it is reliable to run smoothly, control is easy, manufacturing cost is cheap, can more applications.
Description
Technical field
The present invention relates to a kind of long-range driving means, are used for engineer machinery operation occasion, belong to electromechanical integration technology area.
Background technique
In current engineering field, generally require to transport required task execution component by manual or automated engineering machinery
It send to assignment position, however artificial time-consuming and laborious and cost is high, automation engineering machinery mainly includes that some electromechanics are set
Standby or industrial robot is generally made of pedestal mobile system and its long-range pushing machinery arm system, wherein long-range pushing machinery
Arm system is to be sequentially connected in series to constitute by multistage joint arm, and structure type results in that one side system motion freedom degree is more, structure
Complicated, manufacturing cost height, control difficulty are larger；On the other hand push multistage mechanical arm shared by working space it is larger, be unfavorable for be
The integrated level and stability of system；Have some telescopic long-range driving means, although relatively simple for structure, can only realize certain
Unidirectional push function, it is not ideal enough to the flexibility ratio of system omnidirectional manipulation, limit its use occasion.
Summary of the invention
The present invention be to avoid shortcoming present in the prior art, provide a kind of body it is simple it is light and handy, run smoothly can
It leans on, the long-range driving means that practical function, control method are easy, manufacturing cost is cheap, is used for engineer machinery operation occasion.
The present invention adopts the following technical scheme that in order to solve the technical problem
The characteristics of present invention long-range driving means is flexible in the top of multi-functional vehicle for invalid fixed setting combined type diamond shape
Mechanism；
The multi-functional vehicle for invalid includes car body and is fixed at the intracorporal vehicle frame of vehicle；
In the side of the car body, set gradually along longitudinal direction active train, the first passive train, the first cylindrical cam system and
First braking pillar；In the other side of the car body, set gradually along longitudinal direction the passive train of the third, the second passive train,
Second cylindrical cam system and the second braking pillar；And:
Active train and third follower tie up to the left and right sides positional symmetry of car body；
First passive train and the second follower tie up to the left and right sides positional symmetry of car body；
First cylindrical cam system and the second cylindrical cam tie up to the left and right sides positional symmetry of car body；
First braking pillar and second brakes pillar in the left and right sides positional symmetry of car body；
The car body is using front end is in one end where active train and the passive train of third, with the first braking pillar and the second system
Dynamic pillar is rear end at one end；
Using the steering for turning to driving motor driving multi-functional vehicle for invalid in the active train, using in active train
The traveling of driving wheel driving motor driving multi-functional vehicle for invalid；Utilize first cylindrical cam system and the second cylindrical cam system one
Pillar and the second braking pillar are braked in one corresponding driving described first, realize the unilateral or bilateral braking of multi-functional vehicle for invalid；
The diamond shape telescoping mechanism is by pillar panel in the upright top that car body is fixedly mounted, in the installed in front of pillar panel
Screw rod sliding module, the diamond shape telescoping mechanism have two groups of diamond shape telescopic units, respectively be setting screw rod sliding module with
The first diamond shape telescoping mechanism between switching pillar, and the second diamond shape being arranged between switching pillar and loading push platform
Telescoping mechanism drives the stretching motion of the diamond shape telescoping mechanism using the screw rod sliding module；It is solid in the rear side of pillar panel
Surely capstan winch draw off gear is set and ballast box, flexible wirerope one end are consolidated in capstan winch, level of the other end along diamond shape telescoping mechanism
Broken line direction is fixedly arranged on loading push platform, is realized using the capstan winch in capstan driving motor driving capstan winch draw off gear flexible
The folding and unfolding of wirerope.
The characteristics of present invention long-range driving means lies also in: the active train, active train bracket are located at the vehicle
The inside of body is simultaneously fixedly mounted on the vehicle frame, drives electricity in the steering being fixedly mounted on the active train bracket vertically
Machine is connected by output shaft and driving wheel driving motor support, is fixedly mounted on the driving wheel driving motor support in level
Driving wheel driving motor be connected by output shaft and driving wheel；The driving wheel is located at the outside of the car body；At described turn
It is respectively provided between driving motor and driving wheel driving motor support and between the driving wheel driving motor and driving wheel
To roll cooperation.
The characteristics of present invention long-range driving means, lies also in: the passive train of third, third passive train bracket position
It in the inside of the car body, and is fixedly mounted on the vehicle frame, the passive train support of third and the passive train branch of the third
Cooperation is rolled using vertical axes between frame；Third follower is located at the outside of the car body, and with the passive train support of third it
Between using trunnion axis in roll cooperation.
The characteristics of present invention long-range driving means, lies also in:
The first passive train and the second passive train structure type having the same, structure setting is by passive
Train bracket, passive train support and follower are constituted；The passive train bracket is located at the inside of the car body, and and vehicle
Using vertical axis in being slidably matched between body；It is in using vertical axes between the passive train support and the passive train bracket
Roll cooperation；The follower is located at the outside of the car body and is in roll using trunnion axis between the passive train support
Cooperation；The preceding cylinder reversal means protruded out is fixedly connected with towards the rear end side of car body on the passive train support, described
Relatively turnable preceding cylindrical roller is set in preceding cylinder reversal means；
First cylindrical cam system and the second cylindrical cam system structure type having the same, structure setting are served as reasons
Cylindrical cam system support, cylindrical cam driving motor and cylindrical cam are constituted；Cylindrical cam system support is fixedly mounted on
The inside of the car body passes through output in the cylindrical cam driving motor being fixedly mounted on cylindrical cam system support vertically
Axis is connected with cylindrical cam, is rotated in a horizontal plane using cylindrical cam driving motor driving cylindrical cam, the cylindrical cam
Top and bottom and cylindrical cam system support between using vertical axis roll cooperate；Outside the cylinder of the cylindrical cam
Surface is provided with oval conduit c；
The first braking pillar and the second braking pillar structure type having the same, structure setting is by braking
Branch pillar support and the cylinder sprag connected firmly on the braking branch pillar support are constituted；The braking branch pillar support is located at the vehicle
The inside of body and between car body using vertical axes in being slidably matched；The cylinder sprag is located at the outside of the car body；?
It is fixedly connected with the rear cylinder reversal means protruded out towards the front end side of car body on the braking branch pillar support, cylinder is dialled after described
Relatively turnable rear cylindrical roller is set on finger；
Rear cylinder rolling in the preceding cylindrical roller and the first braking pillar in the side of the car body, the first passive train
In the sub oval conduit c for being flush-mounted in the cylindrical cam for being in the same side jointly；
Rear cylinder in the preceding cylindrical roller and the second braking pillar in the other side of car body, the second passive train
Roller is flush-mounted in jointly in the oval conduit c for the cylindrical cam for being in the same side.
The characteristics of present invention long-range driving means, lies also in:
In the combined type diamond shape telescoping mechanism, the capstan winch support in capstan winch draw off gear is fixed at pillar panel
On, it is rotated using the capstan driving motor driving capstan winch being mounted on the capstan winch support, the capstan winch and the capstan winch support
Between using trunnion axis roll cooperation；
The screw rod sliding module by mould group support, screw drive motor, ball screw, slide and guide post group at,
The ball screw rotated by screw drive motor driving is in be vertically arranged using mould group support, the slide and the ball screw
Between cooperate for feed screw nut, two are stood on the two sides of slide by mould group support branch in vertical guide rod, the slide with lead
It is slidably matched to bar, the movement of slide is vertically directed using guide rod；
The switching pillar is made of fixed sectors platform, traveller and mobile fan-shaped platform, and the upper end of the traveller is solid
It ties in the middle part of the bottom surface in horizontal fixed sectors platform, the lower end of the traveller is through in horizontal mobile fan-shaped platform
Middle part enables the mobile fan-shaped platform to move along traveller, and the traveller is in be vertically arranged, the fixed sectors platform and shifting
The leading flank of dynamic sector platform is with being in in vertical leading flank A, after the fixed sectors platform and mobile fan-shaped platform
With being in in vertical trailing flank B, the leading flank A and trailing flank B is in angle in horizontal plane for sideAnd
Have:
The loading push platform is made of article carrying platform slide with slide unit, and it is sliding that the slide unit is set in the article carrying platform
The inside of seat is simultaneously slidably matched between article carrying platform slide in the vertical direction；
The first diamond shape telescoping mechanism and the second diamond shape telescoping mechanism structure type having the same, are by multiple scissors
Successively head and the tail are hinged in series for linkwork；The scissors linkwork has isometric first connecting rod, second connecting rod, third
Connecting rod and fourth link；The first connecting rod and second connecting rod hingedly form hinge joint a, the third connecting rod and the 4th at middle part
Connecting rod hingedly forms hinge joint b at middle part, is hingedly connected to hinge joint a and hinge joint b in two rod ends in horizontal intermediate connecting rod；
The flexible truss of a pair of of diamond shape for being symmetrically distributed in intermediate connecting rod both ends is formed, the flexible truss of the pair of diamond shape has one in front end
To rod end under rod end on front end and a pair of of front end, the flexible truss of the pair of diamond shape has rod end and one on a pair of of tail end in tail end
To rod end under tail end；
Rod end is hinged on mould group support on a pair of of tail end in first diamond shape telescoping mechanism；
Rod end is hinged on slide under a pair of of tail end in first diamond shape telescoping mechanism；
Rod end is hinged on the trailing flank of fixed sectors platform on a pair of of front end in first diamond shape telescoping mechanism；
Rod end is hinged on the trailing flank of mobile fan-shaped platform under a pair of of front end in first diamond shape telescoping mechanism；
Rod end is hinged on the leading flank of fixed sectors platform on a pair of of tail end in second diamond shape telescoping mechanism；
Rod end is hinged on the leading flank of mobile fan-shaped platform under a pair of of tail end in second diamond shape telescoping mechanism；
Rod end is hinged on the top of article carrying platform slide on a pair of of front end in second diamond shape telescoping mechanism；
Rod end is hinged on slide unit under a pair of of front end in second diamond shape telescoping mechanism.
The characteristics of present invention long-range driving means, lies also in: in the top surface of the mould group support, flat in the fixed sectors
It the top surface of platform and is corresponded in the top surface of the article carrying platform slide and is fixedly installed the first hanging ring, the second hanging ring and the
Three hanging rings；The tail end of the wirerope is wound on capstan winch, after the front end of the wirerope sequentially passes through the first hanging ring and the second hanging ring
It is fixedly arranged on the third hanging ring.
Compared with the prior art, the invention has the advantages that:
1, practical function of the present invention, manufacturing cost are cheap.Due to the active train and third follower of multi-functional vehicle for invalid
System, the first passive train and the second passive train, the first cylindrical cam system and the second cylindrical cam system and the first braking pillar
Add with the second braking pillar structure type having the same and along the car body symmetrical distribution in center, therefore simple and compact for structure
Work manufacture is relatively easy to, and is reduced the manufacturing cost of mechanism, is conducive to popularize；
2, the present invention in combined type diamond shape telescoping mechanism the first diamond shape telescoping mechanism and the second diamond shape telescoping mechanism by
Multiple scissors linkwork head and the tail are successively hinged in series, realize the modularization, interchangeability and versatility of system structure；
3, the motor adjustment scheme of multi-functional vehicle for invalid mainly uses cam drive form in the present invention, by controlling along more
The coordinated movement of various economic factors of the first cylindrical cam system and the second cylindrical cam system of the symmetrical distribution in car body center of function locomotive
Come complete the first braking pillar and second braking pillar over the ground vacantly with braking handoff functionality, passive train support rear appearance
The rear cylinder reversal means of outer surface is respectively with the cylindrical outer surface of cylindrical cam in front of the preceding cylinder reversal means and braking branch pillar support in face
Oval conduit constitutes interlock fit, avoids crank linkage driving system because eccentric load is also easy to produce vibration, impact and dead point
And rack and pinion drive mechanism heaviness and it being not easy self-locking disadvantage, body is simply light and handy, runs submissive steady, improves and is
Delivery efficiency of uniting and reliability；
4, control method of the present invention is simple and easy to do.Pass through the control to the cylindrical cam driving motor in multi-functional vehicle for invalid
Realize respectively the first braking pillar and the second braking pillar over the ground vacantly and braking motion, the steering of cooperation driving wheel system drives electricity
Machine control, to realize that multi-functional vehicle for invalid rolls, between three-wheel steering and two-wheel three kinds of motion states of braking in four-wheel
Flexibly switching；Cooperate the control of the screw drive motor of screw rod sliding module in combined type diamond shape telescoping mechanism, realizes combined type
Diamond shape telescoping mechanism does stretching, extension forward and contractile motion backward according to required distance, and then forms the long-range driving means of steering-type
System steer mode and control program；
5, the present invention can replace by carrying corresponding probe and engineer application tool and manually implement various distal end monitorings
Or conveying job task, it is particularly suitable for the engineering machinery applied field for having specific demand to omnidirectional's push and orientation adjustment function
It closes.
Detailed description of the invention
Fig. 1 is external structure schematic diagram of the present invention；
Fig. 2 is multi-functional vehicle for invalid structural schematic diagram in the present invention；
Fig. 3 is combined type diamond shape telescoping mechanism structural representation in the present invention；
Fig. 4 (a) is multi-functional vehicle for invalid schematic diagram of internal structure in the present invention；
Fig. 4 (b) is the A-A sectional view of Fig. 4 (a)；
Fig. 4 (c) is the B-B sectional view of Fig. 4 (a)；
Fig. 4 (d) is the C-C sectional view of Fig. 4 (a)；
Fig. 4 (e) is the D-D sectional view of Fig. 4 (a)；
Fig. 4 (f) is the E-E sectional view of Fig. 4 (a)；
Fig. 5 is combined type diamond shape telescoping mechanism schematic diagram of internal structure in the present invention；
Fig. 6 is movement rule schematic diagram of the present invention in ground G operation process I-II；
Fig. 7 is movement rule schematic diagram of the present invention in ground G operation process III-IV；
Fig. 8 is movement rule schematic diagram of the present invention in ground G operation process V-VI.
Specific embodiment
Referring to Fig. 1, the present embodiment medium-long range driving means is that combined type water chestnut is fixedly installed at the top of multi-functional vehicle for invalid 1
Shape telescoping mechanism 2.
Multi-functional vehicle for invalid 1 includes car body 101 and is fixed at car body in the present embodiment shown in Fig. 2 and Fig. 4 (a)
Vehicle frame 103 in 101；In the side of car body 101, active train 102, the first passive train 104, first are set gradually along longitudinal direction
Cylindrical cam system 105 and the first braking pillar 106；In the other side of car body 101, the passive train of third is set gradually along longitudinal direction
110, the second passive train 109, the second cylindrical cam system 108 and the second braking pillar 107；And: active train 102 and third
Left and right sides positional symmetry of the passive train 110 in car body 101；First passive train 104 and the second passive train 109 are in car body
101 left and right sides positional symmetry；First cylindrical cam system 105 and the second cylindrical cam system 108 are in the left and right sides of car body 101
Positional symmetry；First braking pillar 106 and second brakes pillar 107 in the left and right sides positional symmetry of car body 101；Car body 101
With active train 102 and passive 110 institute of train of third at one end for front end, with the first braking pillar 106 and the second braking pillar
107 be rear end at one end.
Fig. 2, Fig. 4 (a) utilize the steering driving motor in active train 102 in the present embodiment shown in Fig. 4 (b)
The steering of 1022 driving multi-functional vehicle for invalid 1, drives Multifunctional mobile using driving wheel driving motor 1025 in active train 102
The traveling of vehicle 1；Utilize the first cylindrical cam system 105 and 108 one-to-one correspondence of the second cylindrical cam system driving the first braking pillar 106
With the second braking pillar 107, the unilateral or bilateral braking of multi-functional vehicle for invalid 1 is realized.
Diamond shape telescoping mechanism 2 in Fig. 3 and the present embodiment shown in fig. 5 is that vehicle is fixedly mounted in upright in pillar panel 201
The top of body 101, in the installed in front screw rod sliding module 206 of pillar panel 201, there are diamond shape telescoping mechanism 2 two groups of diamond shapes to stretch
Contracting unit is the first diamond shape telescoping mechanism 205 that screw rod sliding module 206 is arranged between pillar 204 of transferring respectively, and
The second diamond shape telescoping mechanism 203 between switching pillar 204 and loading push platform 202 is set, screw rod sliding module is utilized
The stretching motion of 206 driving diamond shape telescoping mechanisms 2；Capstan winch draw off gear 208 and counterweight is fixedly installed in the rear side of pillar panel 201
Case 207,210 one end of flexible wirerope are consolidated in capstan winch 2083, and the other end is fixedly arranged at along the horizontal fold line direction of diamond shape telescoping mechanism 2
Loading pushes on platform 202, drives the capstan winch 2083 in capstan winch draw off gear 208 to realize flexibility using capstan driving motor 2081
The folding and unfolding of wirerope 210.
Multi-functional vehicle for invalid 1 is for carrying combined type diamond shape telescoping mechanism 2 in the present embodiment as shown in Fig. 6, Fig. 7 and Fig. 8
Be moved to setting ground location and realize system four-wheel roll, three-wheel turn to and two-wheel brake three kinds of motion states between into
Row flexibly switching；Combined type diamond shape telescoping mechanism 2 is to push to required task execution component far in a certain setting ground location
Hold the direct executing agency of assignment position；By the motor function of multi-functional vehicle for invalid 1 and combined type diamond shape telescoping mechanism 2 into
Row cooperation flexibly can realize omnidirectional's push function by control system.
As shown in Fig. 4 (a) and Fig. 4 (b), active train bracket 1021 is located at the inside of car body 101 simultaneously in active train 102
It is fixedly mounted on vehicle frame 103, passes through in the steering driving motor 1022 being fixedly mounted on active train bracket 1021 vertically
Output shaft is connected with driving wheel driving motor support 1023, is fixedly mounted on driving wheel driving motor support 1023 in level
Driving wheel driving motor 1025 is connected by output shaft with driving wheel 1024；Driving wheel 1024 is located at the outside of car body 101；Turning
To between driving motor 1022 and driving wheel driving motor support 1023 and in driving wheel driving motor 1025 and driving wheel
It is disposed as rolling cooperation between 1024；Car body 101 and vehicle frame 103 belong to the system bearing part of multi-functional vehicle for invalid 1, actively
Train 102 is used to control the advance, retrogressing and turning function of multi-functional vehicle for invalid 1.
As shown in Fig. 4 (a) and Fig. 4 (b), the passive train 110 of third, the passive train bracket 1101 of third is located at car body
101 inside, and being fixedly mounted on vehicle frame 103, the passive train support 1102 of third and the passive train bracket 1101 of third it
Between using vertical axes roll cooperation；Third follower 1103 is located at the outside of car body 101, and with the passive train support 1102 of third
Between using trunnion axis in roll cooperation.
As shown in Fig. 4 (a) and Fig. 4 (c), the first passive train 104 and the second passive train 109 structure shape having the same
Formula, structure setting are to be made of follower system bracket 1041, passive train support 1042 and follower 1043；Follower
It is the inside that bracket 1041 is located at car body 101, and is in be slidably matched using vertical axis between car body 101；Passive train support
Using vertical axes in rolling cooperation between 1042 and passive train bracket 1041；Follower 1043 is located at the outside of car body 101 simultaneously
Using trunnion axis in rolling cooperation between passive train support 1042；Towards car body 101 on passive train support 1042
Rear end side is fixedly connected with the preceding cylinder reversal means 1044 protruded out, be set in preceding cylinder reversal means 1044 it is relatively turnable before
Cylindrical roller 1045.
As shown in Fig. 4 (a), Fig. 4 (d) and Fig. 4 (e), the first cylindrical cam system 105 and the second cylindrical cam system 108 have
Identical structure type, structure setting are by cylindrical cam system support 1052, cylindrical cam driving motor 1051 and circle
Column cam 1053 is constituted；Cylindrical cam system support 1052 is fixedly mounted on the inside of car body 101, is fixedly mounted on cylinder in vertical
Cylindrical cam driving motor 1051 on cam -train support 1052 is connected by output shaft with cylindrical cam 1053, convex using cylinder
Wheel drive motor 1051 drives cylindrical cam 1053 to rotate in a horizontal plane, and the top and bottom of cylindrical cam 1053 and cylinder are convex
Cooperation is rolled using vertical axis between train support 1052；The cylindrical outer surface of cylindrical cam 1053 is provided with oval conduit
c。
As shown in Fig. 4 (a) and Fig. 4 (e), the first braking pillar 106 and the second braking structure shape having the same of pillar 107
Formula, structure setting are by braking branch pillar support 1061 and to connect firmly the cylinder sprag 1062 on braking branch pillar support 1061
It constitutes；Braking branch pillar support 1061 is located at the inside of car body 101 and is in be slidably matched using vertical axes between car body 101；Circle
Column sprag 1062 is located at the outside of car body 101；It is solid towards the front end side of car body 101 on braking branch pillar support 1061
It is associated with the rear cylinder reversal means 1064 protruded out, relatively turnable rear cylindrical roller 1063 is set in rear cylinder reversal means 1064.
Preceding cylindrical roller as shown in Fig. 4 (a) and Fig. 4 (f), in the side of car body 101, the first passive train 104
1045 and first braking pillar 106 in rear cylindrical roller 1063 jointly flush-mounted in be in the same side cylindrical cam 1053 it is ellipse
In circular groove c；Preceding cylindrical roller 1045 and the second braking pillar in the other side of car body 101, the second passive train 109
Rear cylindrical roller 1063 in 107 is jointly in the oval conduit c for the cylindrical cam 1053 for being in the same side.
The servo-actuated cooperation active train 102 of first passive train 104, the second passive train 109 and the passive train 110 of third
Motor pattern；First passive train 104 and the first braking pillar 106 are respectively in the correspondence of the first cylindrical cam system 105
Position is meshed, and by controlling the rotation of the first cylindrical cam system 105, realizes the first passive train 104 and the first braking pillar
Relative movement up and down between 106, to realize the wheeled rolling of vehicle body left side and the over the ground pattern switching between braking；Accordingly
Ground, the second passive train 109 are mutually nibbled in the correspondence position of the second cylindrical cam system 108 respectively with the second braking pillar 107
It closes, by controlling the rotation of the second cylindrical cam system 108, realizes between the second passive train 109 and the second braking pillar 107
Relative movement up and down, thus the pattern switching between realizing wheeled rolling on the right side of car body and braking over the ground.
The system control box 111 being fixedly mounted on vehicle frame 103 shown in figure (4c) is for installing multi-functional vehicle for invalid 1
And the motion control hardware system of diamond shape telescoping mechanism 2.
As shown in Figure 3 and Figure 5, in the present embodiment combined type diamond shape telescoping mechanism 2 structure setting are as follows:
Capstan winch support 2082 in capstan winch draw off gear 208 is fixed on pillar panel 201, using being mounted on capstan winch branch
Capstan driving motor 2081 on seat 2082 drives capstan winch 2083 to rotate, and level is utilized between capstan winch 2083 and capstan winch support 2082
Axis rolls cooperation.
Screw rod sliding module 206 is by mould group support 2061, screw drive motor 2063, ball screw 2062, slide 2065
And guide rod 2064 forms, the ball screw 2062 by the driving rotation of screw drive motor 2063 is in using mould group support 2061
It is vertically arranged, cooperates between slide 2065 and ball screw 2062 for feed screw nut, two in vertical guide rod 2064 by mould
Group support 2061 stands on the two sides of slide 2065, and slide 2065 is slidably matched with guide rod 2064, right using guide rod 2064
The movement of slide 2065 is vertically directed.
Switching pillar 204 is made of fixed sectors platform 2041, traveller 2043 and mobile fan-shaped platform 2042, traveller
2043 upper end is consolidated in the middle part of the bottom surface in horizontal fixed sectors platform 2041, and the lower end of traveller 2043 is through in level
Mobile fan-shaped platform 2042 middle part, so that mobile fan-shaped platform 2042 is moved along traveller 2043, traveller 2043 is in vertical
The leading flank of setting, fixed sectors platform 2041 and mobile fan-shaped platform 2042 is with being in in vertical leading flank A, fixed fan
The trailing flank of shape platform 2041 and mobile fan-shaped platform 2042 is with being in in vertical trailing flank B, leading flank A and trailing flank B
It is in angle in horizontal planeAnd have:AngleDetermine the first diamond shape telescoping mechanism 205 and second
Steering degree size between the front and back linear extendible direction of diamond shape telescoping mechanism 203.
Loading push platform 202 is made of article carrying platform slide 2021 and slide unit 2022, and it is flat that slide unit 2022 is set in loading
The inside of platform slide 2021 is simultaneously slidably matched between article carrying platform slide 2021 in the vertical direction；When control screw rod sliding die
When group 206 carries out straight reciprocating motion in the vertical direction, slide unit 2022 does corresponding straight up and down in article carrying platform slide 2021
Line moves back and forth.
First diamond shape telescoping mechanism 205 and the structure type having the same of the second diamond shape telescoping mechanism 203, are cut by multiple
The successively hinged parallelogram telescoping mechanism in series of head and the tail of formula linkwork 209；Scissors linkwork 209 has isometric
First connecting rod 2091, second connecting rod 2092, third connecting rod 2093 and fourth link 2094；First connecting rod 2091 and second connecting rod
2092, which hingedly form hinge joint a, third connecting rod 2093 and fourth link 2094 at middle part, hingedly forms hinge joint b at middle part, is in
Horizontal intermediate connecting rod 2095 is hingedly connected to hinge joint a and hinge joint b in two rod ends；Formation is symmetrically distributed in intermediate connecting rod
The flexible truss of a pair of of diamond shape at 2095 both ends, the flexible truss of a pair of of diamond shape have rod end and a pair of front end on a pair of of front end in front end
Lower rod end, the flexible truss of a pair of of diamond shape have rod end and rod end under a pair of of tail end on a pair of of tail end in tail end.
Rod end is hinged on mould group support 2061 on a pair of of tail end in first diamond shape telescoping mechanism 205, and the first diamond shape is stretched
Rod end is hinged on slide 2065 under a pair of of tail end in contracting mechanism 205, on a pair of of front end in the first diamond shape telescoping mechanism 205
Rod end is hinged on the trailing flank of fixed sectors platform 2041, and rod end is cut with scissors under a pair of of front end in the first diamond shape telescoping mechanism 205
It connects on the trailing flank of mobile fan-shaped platform 2041, rod end is hinged on solid on a pair of of tail end in the second diamond shape telescoping mechanism 205
On the leading flank of fixed sector platform 2041, rod end is hinged on mobile sector under a pair of of tail end in the second diamond shape telescoping mechanism 205
On the leading flank of platform 2041, rod end is hinged on article carrying platform slide on a pair of of front end in the second diamond shape telescoping mechanism 205
2021 top, rod end is hinged on slide unit 2022 under a pair of of front end in the second diamond shape telescoping mechanism 205.
Top surface in mould group support 2061, the top surface in fixed sectors platform 2041 and in article carrying platform slide 2021
Top surface correspond be fixedly installed the first hanging ring 211, the second hanging ring 212 and third hanging ring 213；The tail end of wirerope 210 around
It is formed on capstan winch 2083, the front end of wirerope 210 is fixedly arranged at third hanging ring after sequentially passing through the first hanging ring 211 and the second hanging ring 212
On 213；First hanging ring 211, the second hanging ring 212 and third hanging ring 213 are used to guide the flexible folding and unfolding campaign of wirerope 210, thus
Remaining the stretching effect that follows to system linear stretching motion, real-time tracking loading pushes the movement position of platform 202, from
And guarantee the mechanical stability of system omnidirectional push process.
Pillar panel 201 is the system bearing part of combined type diamond shape telescoping mechanism 2；Screw rod sliding module 206 is used for will be certainly
The straight reciprocating motion of body in the vertical direction is converted into the first diamond shape telescoping mechanism 205 and the second diamond shape telescoping mechanism 203 exists
Linear extendible movement on required horizontal fold line direction；Lead between first diamond shape telescoping mechanism 205 and the second diamond shape telescoping mechanism
The segment angle of switching pillar 204 is crossed to realize the flexible commutation function of horizontal direction；Loading push platform 202 is all kinds of for carrying
End engineer operation tool；The movement of capstan winch draw off gear 208 and the first diamond shape telescoping mechanism 205 and the second diamond shape telescoping mechanism
Horizontal stretching motion mutually coordinate, by controlling the folding and unfolding campaign of flexible hanger rope, real-time tracking loading push platform 202 it is specific
Movement position, to guarantee the mechanical stability of system omnidirectional push process；Ballast box 207 is used for combined type diamond shape telescoping mechanism
2 system counterweight maintains mechanical balance of the system in operation process.
As shown in Fig. 6, Fig. 7 and Fig. 8, the present embodiment medium-long range driving means has following different working condition:
On-position: the first braking pillar 106 and the second braking pillar 107 are fallen in the braking to ground G, more function
The car body 101 of energy locomotive 1 is braked.
Release on-position: the first braking pillar 106 and the second braking pillar 107 are raised out ground G and release braking
Any steering and traveling can be achieved in the car body 101 of state, multi-functional vehicle for invalid 1 under the driving of active train 102.
Side on-position: the first braking pillar 106 is fallen in the braking to ground G, and the second braking pillar 107 is lifted
Ground G is left in vacantly, the car body 101 of multi-functional vehicle for invalid 1 is under the driving of active train 102, it can be achieved that with the first braking
Pillar 106 is the rotation of center of rotation.
Other side on-position: the second braking pillar 107 is fallen in the braking to ground G, and the first braking pillar 106 is lifted
Ground G is lifted away from out in vacantly, the car body 101 of multi-functional vehicle for invalid 1 is under the driving of active train 102, it can be achieved that with the second system
Dynamic pillar 107 is the rotation of center of rotation.
Control mode:
I, the cylindrical cam driving motor 1051 of second cylindrical cam system 108 is positive in multi-functional vehicle for invalid 1 at the uniform velocity rotates
180 °, under the action of cam drive, the second braking pillar 107 is in on-position over the ground；Correspondingly, the first braking branch
Column 106 still keeps vacant state over the ground, then the driving wheel 1024 of multi-functional vehicle for invalid 1, third follower 1103 and the first quilt
The follower 1043 of driving wheel system 104 is kept in contact with ground G, and the follower 1043 of the second passive train 109 is detached from ground
G；
II, the steering driving motor 1022 of active train 102 at the uniform velocity rotates by a certain angle in multi-functional vehicle for invalid 1, more function
Energy locomotive 1 rotates in place certain angle to required position around the vertical central axis of the second braking pillar 107；Then, more function
Energy locomotive 1 drives combined type diamond shape telescoping mechanism 2 to complete car body divertical motion in ground G；
III, the cylindrical cam driving motor 1051 of first cylindrical cam system 105 is positive in multi-functional vehicle for invalid 1 at the uniform velocity rotates
180 °, under the action of cam drive, the first braking pillar 106 is in on-position over the ground；Correspondingly, Multifunctional mobile
The driving wheel 1024 and third follower 1103 of vehicle 1 are kept in contact with ground G, and the first passive train 104 and second is passive
The follower 1043 of train 109 is detached from ground G；
IV, the screw drive motor 2063 of screw rod sliding module 206 is positive in combined type diamond shape telescoping mechanism 2 at the uniform velocity rotates
Certain angle, combined type diamond shape telescoping mechanism 2 stretch forward certain distance to required position, and then the loading of front end pushes platform
202, which can carry all kinds of end-of-arm toolings, implements engineer operation；
V, after loading push platform 202 carries all kinds of end-of-arm toolings completion engineer operations, combined type diamond shape telescoping mechanism
The screw drive motor 2063 of screw rod sliding module 206 reversely at the uniform velocity rotates by a certain angle in 2, combined type diamond shape telescoping mechanism 2
To after-contraction certain distance to maximum rounding state；
VI, the cylindrical cam of first cylindrical cam system 105 and the second cylindrical cam system 108 drives in multi-functional vehicle for invalid 1
Motor 1051 is reversed at the uniform velocity to rotate 180 °, and the first braking pillar 106 and the second braking pillar 107 are in hanging shape over the ground
State, correspondingly, the driving wheel 1024 and third follower 1103 of multi-functional vehicle for invalid 1 are kept in contact with ground G, and first is passive
The follower 1043 of train 104 and the second passive train 109 also switchs to contact condition by disengaged position between ground G, then
Multi-functional vehicle for invalid 1 is in four-wheel rolling condition.
So far, long-range driving means, which completes, integrally turns to the monocycle that collaboration part turns to implementation push-and-pull operation on ground
Action process.In Practical Project operation, the above cyclical action process can constantly repeat.
Claims (6)
1. a kind of long-range driving means, it is characterized in that flexible in the top of multi-functional vehicle for invalid (1) fixed setting combined type diamond shape
Mechanism (2)；
The multi-functional vehicle for invalid (1) includes car body (101) and the vehicle frame (103) being fixed in car body (101)；
In the side of the car body (101), active train (102), the first passive train (104), first are set gradually along longitudinal direction
Cylindrical cam system (105) and the first braking pillar (106)；In the other side of the car body (101), set gradually along longitudinal direction described
The passive train of third (110), the second passive train (109), the second cylindrical cam system (108) and the second braking pillar (107)；And
And:
The left and right sides positional symmetry of active train (102) and the passive train of third (110) in car body (101)；
The left and right sides positional symmetry of first passive train (104) and the second passive train (109) in car body (101)；
The left and right sides positional symmetry of first cylindrical cam system (105) and the second cylindrical cam system (108) in car body (101)；
First braking pillar (106) brakes pillar (107) in the left and right sides positional symmetry of car body (101) with second；
The car body (101) is front end with active train (102) and the passive train of third (110) at one end, with the first braking
Pillar (106) and the second braking pillar (107) are rear end at one end；
Using the steering of steering driving motor (1022) driving multi-functional vehicle for invalid (1) in the active train (102), utilize
The traveling of driving wheel driving motor (1025) driving multi-functional vehicle for invalid (1) in active train (102)；Utilize first cylinder
Cam -train (105) and the second cylindrical cam system (108) correspond driving first braking pillar (106) and the second braking branch
Column (107) realizes the unilateral or bilateral braking of multi-functional vehicle for invalid (1)；
The diamond shape telescoping mechanism (2) is by pillar panel (201) in the upright top that car body (101) are fixedly mounted, in pillar panel
(201) installed in front screw rod sliding module (206), the diamond shape telescoping mechanism (2) have two groups of diamond shape telescopic units, respectively
It is first diamond shape telescoping mechanism (205) of the setting between screw rod sliding module (206) and switching pillar (204), and setting
The second diamond shape telescoping mechanism (203) between switching pillar (204) and loading push platform (202) is sliding using the screw rod
Dynamic model group (206) drives the stretching motion of the diamond shape telescoping mechanism (2)；Capstan winch is fixedly installed in the rear side of pillar panel (201)
Draw off gear (208) and ballast box (207), flexible wirerope (210) one end are consolidated in capstan winch (2083), and the other end is flexible along diamond shape
The horizontal fold line direction of mechanism (2) is fixedly arranged in loading push platform (202), drives capstan winch using capstan driving motor (2081)
Capstan winch (2083) in draw off gear (208) realizes the folding and unfolding of flexible wirerope (210).
2. long-range driving means according to claim 1, it is characterized in that:
The active train (102), active train bracket (1021) are located at the inside of the car body (101) and are fixedly mounted on
On the vehicle frame (103), in the steering driving motor (1022) being fixedly mounted on the active train bracket (1021) vertically
It is connected by output shaft and driving wheel driving motor support (1023), is fixedly mounted on the driving wheel driving motor branch in level
Driving wheel driving motor (1025) on seat (1023) is connected by output shaft with driving wheel (1024)；The driving wheel (1024)
Positioned at the outside of the car body (101)；The steering driving motor (1022) and driving wheel driving motor support (1023) it
Between and be disposed as between the driving wheel driving motor (1025) and driving wheel (1024) rolling cooperation.
3. long-range driving means according to claim 2, it is characterized in that:
The passive train of third (110), the passive train bracket (1101) of third are located at the inside of the car body (101), and
It is fixedly mounted on the vehicle frame (103), the passive train support (1102) of third and the passive train bracket (1101) of the third
Between using vertical axes roll cooperation；Third follower (1103) is located at the outside of the car body (101), and with third follower
It is using trunnion axis between support (1102) in rolling cooperation.
4. long-range driving means according to claim 3, it is characterized in that:
The first passive train (104) and the second passive train (109) structure type having the same, structure setting are
It is made of passive train bracket (1041), passive train support (1042) and follower (1043)；The passive train bracket
(1041) it is located at the inside of the car body (101), and is in be slidably matched using vertical axis between car body (101)；It is described passive
Using vertical axes in rolling cooperation between train support (1042) and the passive train bracket (1041)；The follower
(1043) it is located at the outside of the car body (101) and is matched using trunnion axis in rolling between the passive train support (1042)
It closes；The preceding cylinder protruded out is fixedly connected with towards the rear end side of car body (101) on the passive train support (1042) to dial
Refer to (1044), is set with relatively turnable preceding cylindrical roller (1045) on the preceding cylinder reversal means (1044)；
First cylindrical cam system (105) and second cylindrical cam system (108) structure type having the same, structure setting
It is to be made of cylindrical cam system support (1052), cylindrical cam driving motor (1051) and cylindrical cam (1053)；It is described
Cylindrical cam system support (1052) is fixedly mounted on the inside of the car body (101), and in being fixedly mounted on vertically, the cylinder is convex
Cylindrical cam driving motor (1051) on train support (1052) is connected by output shaft with cylindrical cam (1053), and circle is utilized
Column actuated by cams motor (1051) driving cylindrical cam (1053) rotates in a horizontal plane, the upper end of the cylindrical cam (1053)
Cooperation is rolled using vertical axis between lower end and cylindrical cam system support (1052)；In the cylindrical cam (1053)
Cylindrical outer surface is provided with oval conduit c；
First braking pillar (106) and second braking pillar (107) structure type having the same, structure setting are
By braking branch pillar support (1061) and connect firmly it is described braking branch pillar support (1061) on cylinder sprag (1062) constitute；Institute
Braking branch pillar support (1061) is stated to be located at the inside of the car body (101) and be in sliding using vertical axes between car body (101)
Cooperation；The cylinder sprag (1062) is located at the outside of the car body (101)；The court on the braking branch pillar support (1061)
The rear cylinder reversal means (1064) protruded out is fixedly connected with to the front end side of car body (101), the cylinder reversal means (1064) after described
On be set with it is relatively turnable after cylindrical roller (1063)；
Preceding cylindrical roller (1045) and the first braking pillar in the side of the car body (101), the first passive train (104)
(106) the rear cylindrical roller (1063) in is jointly in the oval conduit c for the cylindrical cam (1053) for being in the same side；
Preceding cylindrical roller (1045) and the second braking branch in the other side of car body (101), the second passive train (109)
Rear cylindrical roller (1063) in column (107) is jointly flush-mounted in the oval conduit c for the cylindrical cam (1053) for being in the same side
In.
5. long-range driving means according to claim 1, it is characterized in that:
Capstan winch support (2082) fixed setting in the combined type diamond shape telescoping mechanism (2), in capstan winch draw off gear (208)
On pillar panel (201), capstan winch is driven using the capstan driving motor (2081) being mounted on the capstan winch support (2082)
(2083) it rotates, rolls cooperation using trunnion axis between the capstan winch (2083) and the capstan winch support (2082)；
The screw rod sliding module (206) by mould group support (2061), screw drive motor (2063), ball screw (2062),
Slide (2065) and guide rod (2064) composition, by ball screw (2062) benefit of screw drive motor (2063) driving rotation
With mould group support (2061) in being vertically arranged, match between the slide (2065) and the ball screw (2062) for feed screw nut
It closes, two are stood on the two sides of slide (2065), the slide in vertical guide rod (2064) by mould group support (2061) branch
(2065) it is slidably matched with guide rod (2064), the movement of slide (2065) is vertically directed using guide rod (2064)；
The switching pillar (204) is by fixed sectors platform (2041), traveller (2043) and mobile fan-shaped platform (2042) group
At the upper end of the traveller (2043) is consolidated in the middle part of the bottom surface in horizontal fixed sectors platform (2041), the traveller
(2043) lower end makes described mobile fan-shaped platform (2042) energy through the middle part in horizontal mobile fan-shaped platform (2042)
Enough mobile along traveller (2043), for the traveller (2043) in being vertically arranged, the fixed sectors platform (2041) and movement are fan-shaped
For the leading flank of platform (2042) with being in in vertical leading flank A, the fixed sectors platform (2041) and mobile sector are flat
With being in in vertical trailing flank B, the leading flank A and trailing flank B is in horizontal plane for the trailing flank of platform (2042)
Angle isAnd have:
Loading push platform (202) is made of article carrying platform slide (2021) and slide unit (2022), the slide unit (2022)
It is set in the inside of the article carrying platform slide (2021) and is slided in the vertical direction between article carrying platform slide (2021)
Cooperation；
The first diamond shape telescoping mechanism (205) and second diamond shape telescoping mechanism (203) structure type having the same, are by more
Successively head and the tail are hinged in series for a scissors linkwork (209)；There is the scissors linkwork (209) isometric first to connect
Bar (2091), second connecting rod (2092), third connecting rod (2093) and fourth link (2094)；The first connecting rod (2091) and
Two connecting rods (2092) hingedly form hinge joint a, the third connecting rod (2093) and fourth link (2094) at middle part and cut with scissors at middle part
It connects to form hinge joint b, is hingedly connected to hinge joint a and hinge joint b in two rod ends in horizontal intermediate connecting rod (2095)；Formation pair
Claim a pair of of the diamond shape for being distributed in intermediate connecting rod (2095) both ends flexible truss, the flexible truss of the pair of diamond shape has one in front end
To rod end under rod end on front end and a pair of of front end, the flexible truss of the pair of diamond shape has rod end and one on a pair of of tail end in tail end
To rod end under tail end；
Rod end is hinged on mould group support (2061) on a pair of of tail end in first diamond shape telescoping mechanism (205)；
Rod end is hinged on slide (2065) under a pair of of tail end in first diamond shape telescoping mechanism (205)；
Rod end is hinged on the trailing flank of fixed sectors platform (2041) on a pair of of front end in first diamond shape telescoping mechanism (205)
On；
Rod end is hinged on the trailing flank of mobile fan-shaped platform (2041) under a pair of of front end in first diamond shape telescoping mechanism (205)
On；
Rod end is hinged on the leading flank of fixed sectors platform (2041) on a pair of of tail end in second diamond shape telescoping mechanism (205)
On；
Rod end is hinged on the leading flank of mobile fan-shaped platform (2041) under a pair of of tail end in second diamond shape telescoping mechanism (205)
On；
Rod end is hinged on the top of article carrying platform slide (2021) on a pair of of front end in second diamond shape telescoping mechanism (205)；
Rod end is hinged on slide unit (2022) under a pair of of front end in second diamond shape telescoping mechanism (205).
6. long-range driving means according to claim 5, it is characterized in that: the mould group support (2061) top surface,
The top surface of the fixed sectors platform (2041) and the article carrying platform slide (2021) top surface correspond fixation set
It is equipped with the first hanging ring (211), the second hanging ring (212) and third hanging ring (213)；The tail end of the wirerope (210) is wound in capstan winch
(2083) on, the front end of the wirerope (210) sequentially pass through be fixedly arranged at after the first hanging ring (211) and the second hanging ring (212) it is described
On third hanging ring (213).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811348485.8A CN109516094B (en) | 2018-11-13 | 2018-11-13 | Remote pushing device |
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| CN201811348485.8A CN109516094B (en) | 2018-11-13 | 2018-11-13 | Remote pushing device |
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| CN109516094B CN109516094B (en) | 2020-07-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112829853A (en) * | 2021-02-07 | 2021-05-25 | 四川国软科技发展有限责任公司 | Pusher and AGV vehicle |
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