CN109896468A - A kind of all-around mobile transporting container logistic car - Google Patents
A kind of all-around mobile transporting container logistic car Download PDFInfo
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- CN109896468A CN109896468A CN201910098234.7A CN201910098234A CN109896468A CN 109896468 A CN109896468 A CN 109896468A CN 201910098234 A CN201910098234 A CN 201910098234A CN 109896468 A CN109896468 A CN 109896468A
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Abstract
The invention discloses a kind of all-around mobile transporting container logistic cars.Two support arms, be placed on the inside of support arm four multistage raising forklift door frames and the four Ge Duqu omnidirectional wheel components being placed on the downside of support arm for connecting including backup plate, with the backup plate and extending forward from the backup plate left and right side respectively.Support arm is extension type, realizes the carrying of different model container；Four layer heap codes of container may be implemented in multistage raising forklift door frame；Four cup-shaped roller omni-directional wheels realize the all-around mobile of fork truck axially with the diagonal installation at 45 ° of vehicle body direction.The present invention has many advantages, such as that zero turning radius, movement are flexible, realizes the multi-layer stacking of container, improves space utilization rate and logistic car service life.
Description
Technical field
The present invention relates to a kind of carriers of container, more particularly, to a kind of all-around mobile transporting container logistics
Vehicle.
Background technique
The palletizing operation of Nowadays, Container shipping is generally completed by conventional forklift, and conventional forklift includes pallet fork and car body, at present
The major structural types of fork truck are located in front of car body for pallet fork causes fork truck system entire length partially long, and van container is removed
It is inconvenient to turn when fortune.On the other hand, the single-ended stress of the pallet fork of cantilever beam structure, and pallet fork is general longer, it can be in pallet fork
Occur biggish stress at stress to concentrate, reduces the pallet fork service life.And Nowadays, Container shipping fork truck stacking tier is lower, makes storage space
It is low with the utilization rate of height.
Summary of the invention
The present invention is using transporting container as background, and for traditional container fork truck, that there are turning radius is big, movement is flexible
The problems such as property is poor, the pallet fork service life is low low with space utilization rate, the purpose of the present invention is to provide a kind of achievable all-around mobiles
Adaptation Multiple Type transporting container the arm-type fork truck of support, using use four cupuliform roller omni-directional wheels independently driven,
The omnidirectional moving for realizing fork truck realizes removing for four layers of container in conjunction with the multistage forklift portal frame system for having extension type pallet fork
Fortune.
In order to achieve the above object, the technical solution adopted by the present invention is that:
The present invention includes backup plate, support arm, multistage raising forklift door frame and Du Qu omnidirectional wheel component；Two support arms in left and right
It is connected to the two sides of backup plate and extends at left and right sides of backup plate to front side respectively, each support facies medialis brachii offers perpendicular
Straight strip groove, multistage raising forklift door frame are installed in support arm strip groove；Container lot is in front of backup plate and is located at
Between two support arms in left and right, is supported and be lifted by multistage raising forklift door frame；Support arm bottom is mounted on omnidirectional's wheel component, entirely
Support arm support is connected to ground to wheel component；Each support arm includes fixed support arm, support arm telescopic rod and movable branch
Brace；Moveable support arm is telescopically connect by support arm telescopic rod with fixed support arm one end, the fixation of two support arms
The support arm other end is fixedly installed in backup plate bilateral symmetry two sides respectively, and the moveable support arm of two support arms prolongs to front side
It stretches, flexible by support arm telescopic rod adjusts support arm entire length to adapt to various sizes of container.
The multistage raising forklift door frame includes door frame pedestal, outer mast, 2-level hydraulic telescoping cylinder, middle door frame, raising
Chain, pallet fork, crotch, raising sprocket wheel, inner upright mounting and lateral idler wheel；Outer mast is fixed in the strip groove of support arm, middle door
Frame is mounted in outer mast by idler wheel slideway mechanism and is moved freely relatively up and down, and inner upright mounting is installed by idler wheel slideway mechanism
In middle door frame and up and down opposite to move freely, crotch is mounted in inner upright mounting and relatively free up and down by idler wheel slideway mechanism
It is mobile；The idler wheel slideway mechanism includes lateral idler wheel and bar shaped sliding slot, and crotch, inner upright mounting and middle door frame two sides are respectively mounted
There is lateral idler wheel；Rice offers bar shaped sliding slot on the inside of inner upright mounting, middle door frame and outer mast；Raising sprocket wheel is installed on inner upright mounting top
Portion is wound with raising chain on raising sprocket wheel, and raising chain one end is fixed at the top of middle door frame, and the other end is fixed at the top of crotch,
Pallet fork is mounted on crotch bottom and can horizontal extension movement.
The Du Qu omnidirectional wheel component includes four wheel shafts towards the omni-directional wheel independently driven at underbody center,
Each omni-directional wheel independently driven mainly by omni-directional wheel roller, roller bearing, roller short axle, clamp ring, roller bracket, damper,
Damping spring, encoder, brshless DC motor, L shape retarder, omni-directional wheel crotch are constituted, and clamp ring is along the circumferential direction provided with annular
Groove, roller bracket inner end are equipped with the boss to match with annular groove crooked radian, and multiple roller brackets are along the complete of clamp ring
Circumference passes sequentially through the wheel hub that respective boss forms omni-directional wheel in the annular groove of clamp ring, the outer end of multiple roller brackets
It bends along same circumferential direction and is evenly arranged in around clamp ring in a spiral form, the end of roller bracket outer end bending place is equal
It is fixedly connected with one end of roller short axle, passes through a pair of of roller bearing outside each roller short axle and is rotatably connected to omni-directional wheel roller；Phase
There is gap, the inner ring of omni-directional wheel roller is between two neighboring roller bracket outer end between the outer end of adjacent roller bracket
Gap location, the adjacent omni-directional wheel roller end face of the other end omni-directional wheel roller that is connected with itself of insertion of each roller short axle
In slot, successively head and the tail are mutually embedded in the outer contour envelope so that all omni-directional wheel rollers composition for the end of multiple omni-directional wheel rollers
At a complete circle, omni-directional wheel is rotatablely connected by axis and omni-directional wheel crotch, and the one side of omni-directional wheel crotch is successively solid vertically
Surely there are L shape retarder, brshless DC motor and encoder, the output shaft of brshless DC motor is logical through L shape retarder and omni-directional wheel
Axis connection is crossed, omni-directional wheel is fixedly and coaxially connected by the clamp ring of axis and Du Qu omnidirectional wheel component, fixed peace above omni-directional wheel crotch
Equipped with elastic axis, damping outer shaft sleeve has damping spring, and elastic axis is surrounded by four dampers being parallel to each other, damper
Upper end and the upper end of elastic axis are commonly connected to the lower surface of support arm.
The fixation support arm and moveable support facies medialis brachii center offers vertical strip groove, each bar shaped
Groove is mounted on a multistage raising forklift door frame.
The fixation support arm and moveable support arm bottom is mounted on omnidirectional's wheel component, four omnidirectional's wheel components
It independently drives and axial at 45 ° with front side direction.
The crotch bottom is equipped with sliding slot, and pallet fork is mounted in sliding slot by electromagnetic mechanism, and pallet fork passes through Electromagnetic Control
Realize the telescopic slide in crotch.
The omni-directional wheel roller is the cup body structure with big small end, the outer contour between the big small end of cup body structure
For camber line.
The backup plate is equipped with driver behavior room, and form is arranged in the side in driver behavior room towards front.
The logistic car is for carrying conveying container.
The present invention carries targeted containers for carrying.Support arm is extension type, realizes removing for different model container
Fortune；Four layer heap codes of container may be implemented in multistage raising forklift door frame；Four cup-shaped roller omni-directional wheels axial directions and vehicle body direction
Diagonal installation at 45 °, realizes the all-around mobile of fork truck.
The invention has the advantages that:
1, the present invention can be moved in current location along the path of any direction compared to conventional forklift, have zero-turn
The advantages that curved radius, movement are flexibly and space utilization rate is high.
2, four layer heaps of container may be implemented by the multistage forklift portal frame system with extension type pallet fork in the present invention
Code improves space utilization rate；And reduce pallet fork stress and concentrate, improve the pallet fork service life.
3, cup-shaped omni-directional wheel of the invention is ingenious in design, and structure is simple, is simple to manufacture, and is easy to Project Realization.
Detailed description of the invention
Fig. 1 is fork truck three-dimensional figure of the invention.
Fig. 2 is fork truck support arm expanded schematic diagram of the invention.
Fig. 3 is that multistage forklift door frame of the invention is located at lowest part three-dimensional explosive view.
Fig. 4 is the side view that multistage forklift door frame of the invention is located at lowest part.
Fig. 5 is that multistage forklift door frame of the invention is raised to highest point three-dimensional explosive view.
Fig. 6 is that multistage forklift door frame of the invention acts the side view for being raised to highest point.
Fig. 7 is omni-directional wheel cross-sectional view of the invention.
Fig. 8 is only drive omni-directional wheel three-dimensional figure of the invention.
Fig. 9 is top view of the invention.
Figure 10 is the course of work state diagram of multistage forklift portal frame system.
Figure 11 is that train indicates schematic diagram (length velocity relation at car body center and wheel subcenter).
Figure 12 is the schematic configuration diagram that four-wheel arrangement does not have mode in specific implementation.
In figure: 1, backup plate, 2, support arm, 3, multistage raising forklift door frame, 4, Du Qu omnidirectional wheel component, 1.1, driver behavior
Room, 1.2, form, 2.1, fixed support arm, 2.2, support arm telescopic rod, 2.3, moveable support arm, 3.1, door frame pedestal, 3.2,
Outer mast, 3.3,2-level hydraulic telescoping cylinder, 3.4, middle door frame, 3.5, raising chain, 3.6, pallet fork, 3.7, crotch, 3.8, raising
Sprocket wheel, 3.9, inner upright mounting, 3.10, lateral idler wheel, 4.1, omni-directional wheel roller, 4.2, roller bearing, 4.3, roller short axle, 4.4, folder
Ring, 4.5, roller bracket, 4.6, damper, 4.7, damping spring, 4.8, encoder, 4.9, brshless DC motor, 4.10, L shape
Retarder, 4.11 omni-directional wheel crotch.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1, the present invention includes backup plate 1, support arm 2, multistage raising forklift door frame 3 and Du Qu omnidirectional wheel component 4；
Two support arms 2 in left and right are connected to the two sides of backup plate 1 and extend respectively from 1 left and right sides of backup plate to front side, Mei Gezhi
2 medial surface of brace offers vertical strip groove, and multistage raising forklift door frame 3 is installed in 2 strip groove of support arm；Packaging
Case is located at 1 front of backup plate and is located between two support arms 2 in left and right, is supported and is lifted by multistage raising forklift door frame 3.
As shown in Figure 1, backup plate 1 is equipped with driver behavior room 1.1, view is arranged in the side in driver behavior room 1.1 towards front
Window 1.2, driver see the space among two support arm 2 by form 1.2 in driver behavior room 1.1.Form 1.2 is transparent
Material is made.
As shown in Fig. 2, 2 bottom of support arm is mounted on omnidirectional's wheel component 4, support arm 2 is supported and is connected by omnidirectional's wheel component 4
In ground；Each support arm 2 includes fixed support arm 2.1, support arm telescopic rod 2.2 and moveable support arm 2.3；Moveable support arm
2.3 are telescopically connect by support arm telescopic rod 2.2 with fixed 2.1 one end of support arm, and support arm telescopic rod 2.2 is parallel to vehicle
Front direction, 2.1 other end of fixation support arm of two support arms 2 are fixedly installed in 1 bilateral symmetry two sides of backup plate, two branch respectively
The moveable support arm 2.3 of brace 2 extends to front side, and support arm 2 adjusts support arm by the flexible of support arm telescopic rod 2.2
2 entire lengths are to adapt to various sizes of container.
Fixed support arm 2.1 and 2.3 medial surface center of moveable support arm offer vertical strip groove, each bar shaped
Groove is mounted on a multistage raising forklift door frame 3.
As shown in Fig. 3~Fig. 6, multistage raising forklift door frame 3 is stretched including door frame pedestal 3.1, outer mast 3.2,2-level hydraulic
Contracting cylinder 3.3, middle door frame 3.4, raising chain 3.5, pallet fork 3.6, crotch 3.7, raising sprocket wheel 3.8, inner upright mounting 3.9 and lateral idler wheel
3.10；Outer mast 3.2 is fixed in the strip groove of support arm 2, and middle door frame 3.4 is mounted on outer mast by idler wheel slideway mechanism
In 3.2 and up and down opposite to move freely, inner upright mounting 3.9 is mounted in middle door frame 3.4 and up and down relatively by idler wheel slideway mechanism
It moves freely, crotch 3.7 is mounted in inner upright mounting 3.9 by idler wheel slideway mechanism and is moved freely relatively up and down；Door frame pedestal
3.1 are fixed on 3.2 bottom of outer mast, and 3.3 cylinder body of 2-level hydraulic telescoping cylinder is mounted on 3.1 on door frame pedestal, and 2-level hydraulic is flexible
3.3 cylinder rod of cylinder is fixed on inner upright mounting 3.9；Middle door frame 3.4 is mounted on outer mast 3.2 and by lateral idler wheel 3.10 in external door
It is moved on the slideway that frame 3.2 is equipped with；Inner upright mounting 3.9 is mounted on middle door frame 3.4, and by lateral idler wheel 3.10 in middle door frame
It is moved on 3.4 slideways being equipped with；Crotch 3.7 is connected on inner upright mounting 3.9, and is set by lateral idler wheel 3.10 in inner upright mounting 3.9
It is moved on some slideways.
Idler wheel slideway mechanism includes lateral idler wheel 3.10 and bar shaped sliding slot, crotch 3.7, inner upright mounting 3.9 and middle door frame 3.4
Two sides are mounted on lateral idler wheel 3.10；Inner upright mounting 3.9, middle door frame 3.4 and 3.2 inside rice of outer mast offer bar shaped sliding slot；
Raising sprocket wheel 3.8 is installed on 3.9 top of inner upright mounting, is wound with raising chain 3.5 on raising sprocket wheel 3.8,3.5 one end of raising chain is solid
Be scheduled on 3.4 top of middle door frame, the other end is fixed on 3.7 top of crotch, pallet fork 3.6 be mounted on 3.7 bottom of crotch and can level stretch
Contracting movement.3.7 bottom of crotch is equipped with sliding slot, electromagnetism expansion link mechanism is provided in crotch, the movable end of electromagnetism telescopic rod is solid
Surely it is connected in the sliding slot of pallet fork 3.6；When electromagnetism telescoping mechanism control telescopic rod movement when, can drive pallet fork 3.6 movement from
And realize stretching motion of the pallet fork 3.6 in crotch；When not promoting container, electromagnetism telescopic rod is in be received forklift door frame system
Contracting state, so that pallet fork is also at contraction state.
As shown in Figure 10, the multistage forklift portal frame system course of work: container lot is when two folded arms 2 are intermediate, multistage door frame
The pallet fork 3.6 of system reaches container base, at this time shown in portal frame system state such as Figure 10 (a)；Then 2-level hydraulic is flexible
First order hydraulic cylinder works in cylinder 3.3 push inner upright mounting 3.9 to move upwards, while pulling pallet fork by raising chain 3.5
3.6 move upwards to promote container；When first order hydraulic cylinder in 2-level hydraulic telescoping cylinder 3.3 reaches the limit of position, door
Shown in frame system mode such as Figure 10 (b)；Then the second level hydraulic cylinder works in 2-level hydraulic telescoping cylinder 3.3 continue to press on interior
Door frame 3.9 moves upwards, at the same by 3.5 other end of raising chain pull in door frame 3.4 move upwards, enable container
It continues to lift up, shown in this process portal frame system state such as Figure 10 (c)；When the second level hydraulic cylinder in 2-level hydraulic telescoping cylinder 3.3
When reaching the limit of position, portal frame system reaches maximum lifting height position, at this time shown in portal frame system state such as Figure 10 (d).
As shown in fig. 7, omnidirectional's wheel component 4 includes four wheel shafts towards the omni-directional wheel independently driven at logistic car center,
And four axial directions taken turns and front side direction are at 45 °.Each omni-directional wheel independently driven is mainly by omni-directional wheel roller 4.1, roller
It is bearing 4.2, roller short axle 4.3, clamp ring 4.4, roller bracket 4.5, damper 4.6, damping spring 4.7, encoder 4.8, brushless
Direct current generator 4.9, L shape retarder 4.10, omni-directional wheel crotch 4.11 are constituted.Omni-directional wheel roller 4.1 is the cup body with big small end
Structure, the outer contour between the big small end of cup body structure are camber line.
As shown in fig. 7, clamp ring 4.4 is along the circumferential direction provided with annular groove, 4.5 inner end of roller bracket is equipped with and annular groove
The boss that crooked radian matches, multiple roller brackets 4.5 pass sequentially through respective boss along the full circumferences of clamp ring 4.4 and are embedded in
The wheel hub of omni-directional wheel is formed in the annular groove of clamp ring 4.4, the outer end of multiple roller brackets 4.5 is bent simultaneously along same circumferential direction
It is evenly arranged in around clamp ring 4.4 in a spiral form, it is short that the end of 4.5 outer end bending place of roller bracket is fixedly connected with roller
One end of axis 4.3, each roller short axle 4.3 is rotatably connected to omni-directional wheel roller 4.1 by a pair of of roller bearing 4.2 outside, adjacent
Roller bracket 4.5 outer end between there is gap, the inner ring of omni-directional wheel roller 4.1 is located at outside two neighboring roller bracket 4.5
Gap location between end, adjacent complete of the omni-directional wheel roller 4.1 that is connect with itself of other end insertion of each roller short axle 4.3
Into the slot of wheel 4.1 end face of roller, the axis of all rollers short axle 4.3 is tilted towards outer arrangement along omni-directional wheel direction of rotation, more
Successively head and the tail are mutually embedded in so that the outer contour envelope that all omni-directional wheel rollers 4.1 form for the end of a omni-directional wheel roller 4.1
At a complete circle.
As shown in figure 8, omni-directional wheel is rotatablely connected by axis and omni-directional wheel crotch 4.11, the one side of omni-directional wheel crotch 4.11
Successively it is vertically fixed L shape retarder 4.10, brshless DC motor 4.9 and encoder 4.8, the output of brshless DC motor 4.9
For axis through L shape retarder 4.10 and omni-directional wheel by axis connection, omni-directional wheel is same by the clamp ring 4.4 of axis and Du Qu omnidirectional wheel component 4
Axis is fixedly connected, and L shape retarder 4.10, brshless DC motor 4.9 and encoder 4.8 constitute the drive module of omni-directional wheel, omnidirectional
It is fixedly installed with elastic axis above wheel crotch 4.11, damping outer shaft sleeve has damping spring 4.7, and elastic axis is surrounded by four phases
Mutually parallel damper 4.6, plays cushioning effect, and the upper end of damper 4.6 and the upper end of elastic axis are commonly connected to fixed branch
The bottom surface of brace 2.1 and moveable support arm 2.3.
In specific implementation, omni-directional wheel roller 4.1 is the cup body structure with big small end, between the big small end of cup body structure
Outer contour is camber line.
As shown in figure 9, fixed support arm 2.1 and 2.3 bottom of moveable support arm are mounted on omnidirectional's wheel component 4, four
A 4 independence of omnidirectional's wheel component drives and axial direction is at 45 ° with front side direction.
In each omnidirectional's wheel component 4, brshless DC motor 4.9 drives clamp ring 4.4 to rotate.Due to the rolling around clamp ring 4.4
Omni-directional wheel roller 4.1 on submounts 4.5 is to rotate freely around roller short axle 4.3, therefore drive four in brshless DC motor 4.9
When clamp ring 4.4 in four omnidirectional's wheel components 4 at angle rotates, it can drive in omni-directional wheel component 4 and be rolled with the omni-directional wheel of ground face contact
Son 4.1 is rotated around roller short axle 4.3, passes through being rotatably assorted for four brshless DC motors, omni-directional wheel roller 4.1 and ground friction
The combination of power may make logistic car to move i.e. realization all-around mobile along any direction.
When controlling the rotation of clamp ring 4.4 in the four omnidirectional's wheel components 4 of driving of brshless DC motor 4.9, drive two is collateral
2 rigid body constitution water plane translation of brace；When control brshless DC motor 4.9 drives the clamp ring 4.4 in four omnidirectional's wheel components 4
When rotation, 2 rigid body constitution water plane rotation of arm supported on both sides is driven.
Using the rotation of omni-directional wheel crotch 4.11 as wheel, is rotated using omni-directional wheel roller 4.1 as rod, establish train, with
Lower combination specific implementation principle explains: being illustrated for taking turns i, if XMOYMFor the coordinate for being fixed on mobile robot car body center
System, x ' oiY ' is the coordinate system for being fixed on the center wheel i, (lcos βi,lsinβi,αi) indicate oiX ' y ' is to XMOYMPose, such as
Shown in Figure 11.
If (Vx,Vy, ω) and it is car body center in XMOYMIn generalized velocity, (V 'ix,V′iy,ω′i) indicate wheel subcenter oi
In x ' oiGeneralized velocity in y ', (Vix,Viy,ωi) indicate oiGeneralized velocity in O, ifFor the rotation speed of wheel i,
For the speed of roller, θ, ω are respectively corner and angular speed of the car body around O point, riFor the radius of wheel i, rrFor the radius of roller.
According to wheel subcenter in XMOYMLength velocity relation obtain:
Similarly, according to wheel subcenter in x ' oiLength velocity relation in y ' obtains:
It is obtained by formula (1), formula (2):
Also:
In substitution formula (3), (V is eliminatedix,Viy,ωi), the relational expression of body speed of vehicle and wheel speed can be obtained:
Wherein:
Formula (5) can indicate are as follows:
Because wheel speed be it is controllable, the speed of roller is uncontrollable, thus establish kinematical equation consider
It is the relationship between the speed of car body and the speed of wheel, the inverse kinematics equation of available system are as follows:
K indicates the quantity of wheel in car body in formula (7), and R is inverse kinematics matrix, can finally acquire:
All-around mobile system realizes that the necessary condition of omnibearing movable is Jacobian matrix R sequency spectrum.Common four-wheel
It is as shown in figure 12 to be symmetrically distributed with following several arrangement modes.
The order of inverse kinematics matrix R in the case of calculating four kinds, the 1st, 4 kind of arrangement mode R column not full rank, is discontented with feet all direction
The condition of movement, the 1st kind of arrangement mode can not achieve XMMovement on direction, the 4th kind of arrangement mode can not achieve and rotate in place.
2nd kind, the 3rd kind of sequency spectrum, meet the condition of omnibearing movable.Wherein, the 3rd kind of arrangement mode can be by the 2nd kind of arrangement side
Formula rotates to obtain by coordinate, thus the 2nd kind, the 3rd kind of arrangement mode be substantially identical.So this system selects the 2nd kind
Arrangement mode is to realize the omnibearing movable of system.
The course of work of the invention is as follows:
Loading process: logistic car is moved to the predetermined area near container first, and the driver behavior room 1.1 of backup plate 1 is just
To container, fixed support arm 2.1 and moveable support arm 2.3 are controlled apart from mutually separating by support arm telescopic rod 2.2, and pass through
Four omnidirectional's wheel components 4 drive logistic cars to move to container, so that container lot controls between two support arms 2 in left and right
The fixation support arm 2.1 and moveable support arm 2.3 of two support arms 2 are respectively positioned on container side.Between two support arms 2 away from
From being just the width of a container.
Start at this time, multistage raising forklift door frame 3 is located at lowest part, as shown in Figure 3 and Figure 4.Multistage raising forklift door frame 3
In, drive crotch 3.7 from surface uplift to container bottom surface by 2-level hydraulic telescoping cylinder 3.3, crotch 3.7 touches container
2-level hydraulic telescoping cylinder 3.3 continues that work support container is driven to lift behind bottom surface.After lifting, then pass through four omnidirectional's wheel components
4 move logistic car movement, realize that loading is carried.
Logistic car can start four Ge Duqu omnidirectional wheel components 4 and realize flexible omnidirectional in the case where not changing vehicle body attitude
Walking, container can be picked up more quickly, compared to traditional logistics vehicle, logistic car of the invention can current location along appoint
The path in meaning direction is mobile, has many advantages, such as zero turning radius, movement flexibly and space utilization rate is high, improve the dress of logistic car
Goods efficiency.
Discharging Process is the reverse procedure of loading process, and the present invention uses four cupuliform roller omni-directional wheels independently driven,
Realize the omnidirectional moving of logistic car, high degree of automation.
Thus implement as it can be seen that the present invention has zero turning radius, moves multi-layer stacking that is flexible, realizing container, improves
The advantages that space utilization rate and logistic car service life.
Claims (7)
1. a kind of all-around mobile transporting container logistic car, it is characterised in that: including backup plate (1), support arm (2), multistage
Rise forklift door frame (3) and Du Qu omnidirectional wheel component (4)；Two support arms (2) in left and right are connected to the two sides of backup plate (1) and divide
Do not extend at left and right sides of backup plate (1) to front side, each support arm (2) medial surface offers vertical strip groove, multistage
Raising forklift door frame (3) is installed in support arm (2) strip groove；Container lot is in front of backup plate (1) and is located at left and right two
Between support arm (2), is supported and be lifted by multistage raising forklift door frame (3)；Support arm (2) bottom is mounted on omnidirectional's wheel component
(4), support arm (2) support is connected to ground by omnidirectional's wheel component (4)；Each support arm (2) include fixed support arm (2.1),
Support arm telescopic rod (2.2) and moveable support arm (2.3)；Moveable support arm (2.3) passes through support arm telescopic rod (2.2) and fixed
Support arm (2.1) one end telescopically connects, and fixation support arm (2.1) other end of two support arms (2) is fixedly mounted respectively
In backup plate (1) bilateral symmetry two sides, the moveable support arm (2.3) of two support arms (2) extends to front side, is stretched by support arm
The flexible of contracting bar (2.2) adjusts support arm (2) entire length to adapt to various sizes of container；
The multistage raising forklift door frame (3) includes door frame pedestal (3.1), outer mast (3.2), 2-level hydraulic telescoping cylinder
(3.3), middle door frame (3.4), raising chain (3.5), pallet fork (3.6), crotch (3.7), raising sprocket wheel (3.8), inner upright mounting (3.9)
With lateral idler wheel (3.10)；Outer mast (3.2) is fixed in the strip groove of support arm (2), and middle door frame (3.4) is sliding by idler wheel
Road mechanism is mounted in outer mast (3.2) and moves freely relatively up and down, and inner upright mounting (3.9) is mounted on by idler wheel slideway mechanism
In middle door frame (3.4) and up and down with respect to moving freely, crotch (3.7) is mounted in inner upright mounting (3.9) by idler wheel slideway mechanism
And it moves freely relatively up and down；The idler wheel slideway mechanism includes lateral idler wheel (3.10) and bar shaped sliding slot, crotch (3.7),
Inner upright mounting (3.9) and middle door frame (3.4) two sides are mounted on lateral idler wheel (3.10)；Inner upright mounting (3.9), middle door frame (3.4) and
Rice offers bar shaped sliding slot on the inside of outer mast (3.2)；Raising sprocket wheel (3.8) is installed at the top of inner upright mounting (3.9), raising sprocket wheel
(3.8) it is wound on raising chain (3.5), raising chain (3.5) one end is fixed at the top of middle door frame (3.4), and the other end is fixed on
At the top of crotch (3.7), pallet fork (3.6) is mounted on crotch (3.7) bottom and can horizontal extension movement；
The Du Qu omnidirectional wheel component (4) includes that four wheel shafts are complete towards independently driving for underbody (1.1) center
To wheel, each omni-directional wheel independently driven is mainly by omni-directional wheel roller (4.1), roller bearing (4.2), roller short axle (4.3), folder
Ring (4.4), roller bracket (4.5), damper (4.6), damping spring (4.7), encoder (4.8), brshless DC motor
(4.9), L shape retarder (4.10), omni-directional wheel crotch (4.11) are constituted, and clamp ring (4.4) is along the circumferential direction provided with annular groove, are rolled
Submounts (4.5) inner end is equipped with the boss to match with annular groove crooked radian, and multiple roller brackets (4.5) are along clamp ring
(4.4) full circumferences pass sequentially through the wheel hub that respective boss forms omni-directional wheel in the annular groove of clamp ring (4.4), more
The outer end of a roller bracket (4.5) bends along same circumferential direction and is evenly arranged in around clamp ring (4.4) in a spiral form,
The end of roller bracket (4.5) outer end bending place is fixedly connected with one end of roller short axle (4.3), each roller short axle (4.3)
It is outer that omni-directional wheel roller (4.1) are rotatably connected to by a pair of of roller bearing (4.2)；The outer end of adjacent roller bracket (4.5) it
Between there is gap, the inner ring of omni-directional wheel roller (4.1) is located at the gap location between two neighboring roller bracket (4.5) outer end, often
The adjacent omni-directional wheel roller (4.1) of the omni-directional wheel roller (4.1) that the other end insertion of a roller short axle (4.3) is connect with itself
In the slot of end face, successively head and the tail are mutually embedded in so that all omni-directional wheel roller (4.1) groups for the end of multiple omni-directional wheel rollers (4.1)
At outer contour envelope at a complete circle, omni-directional wheel is rotatablely connected by axis and omni-directional wheel crotch (4.11), omni-directional wheel
The one side of crotch (4.11) is successively vertically fixed L shape retarder (4.10), brshless DC motor (4.9) and encoder
(4.8), through L shape retarder (4.10) and omni-directional wheel by axis connection, omni-directional wheel passes through the output shaft of brshless DC motor (4.9)
The clamp ring (4.4) of axis and Du Qu omnidirectional wheel component (4) is fixedly and coaxially connected, and is fixedly installed with and is subtracted above omni-directional wheel crotch (4.11)
Axis is shaken, damping outer shaft sleeve has damping spring (4.7), and elastic axis is surrounded by four dampers being parallel to each other (4.6), damping
The upper end of device (4.6) and the upper end of elastic axis are commonly connected to the lower surface of support arm (4).
2. a kind of all-around mobile transporting container logistic car according to claim 1, it is characterised in that: the fixation
Support arm (2.1) and moveable support arm (2.3) medial surface center offer vertical strip groove, and each strip groove is pacified
Equipped with a multistage raising forklift door frame (3).
3. a kind of all-around mobile transporting container logistic car according to claim 1, it is characterised in that: the fixation
Support arm (2.1) and moveable support arm (2.3) bottom are mounted on omnidirectional's wheel component (4), and four omnidirectional's wheel components (4) are only
It stands driving and axial direction is at 45 ° with front side direction.
4. a kind of all-around mobile transporting container logistic car according to claim 1, it is characterised in that: the crotch
(3.7) bottom is equipped with sliding slot, and pallet fork (3.6) is mounted in sliding slot by electromagnetic mechanism, and pallet fork (3.6) is realized by Electromagnetic Control
Telescopic slide in crotch (3.7).
5. a kind of all-around mobile transporting container logistic car according to claim 1, it is characterised in that: the omnidirectional
Taking turns roller (4.1) is the cup body structure with big small end, and the outer contour between the big small end of cup body structure is camber line.
6. a kind of all-around mobile transporting container logistic car according to claim 1, it is characterised in that: the backup plate
(1) driver behavior room (1.1) are equipped with, form (1.2) are arranged in the side in driver behavior room (1.1) towards front.
7. a kind of all-around mobile transporting container logistic car according to claim 1, it is characterised in that: the logistic car
For carrying conveying container.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910098234.7A CN109896468B (en) | 2019-01-31 | 2019-01-31 | All direction movement container transport commodity circulation car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910098234.7A CN109896468B (en) | 2019-01-31 | 2019-01-31 | All direction movement container transport commodity circulation car |
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| CN109896468A true CN109896468A (en) | 2019-06-18 |
| CN109896468B CN109896468B (en) | 2020-07-14 |
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ID=66944669
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910098234.7A Active CN109896468B (en) | 2019-01-31 | 2019-01-31 | All direction movement container transport commodity circulation car |
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| CN107416731A (en) * | 2017-05-22 | 2017-12-01 | 珠海见卓思特科技有限公司 | Fork truck |
| CN113859831A (en) * | 2021-09-07 | 2021-12-31 | 宝开(上海)智能物流科技有限公司 | Material box carrying logistics robot |
| CN114104783A (en) * | 2021-11-04 | 2022-03-01 | 国网辽宁省电力有限公司铁岭供电公司 | Handling device of block terminal |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109896468B (en) | 2020-07-14 |
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Application publication date: 20190618 Assignee: Hangzhou Taidian Automation Technology Co.,Ltd. Assignor: HANGZHOU DIANZI University Contract record no.: X2020330000108 Denomination of invention: A kind of all-round container transportation vehicle Granted publication date: 20200714 License type: Common License Record date: 20201129 |