CN110027926A - A kind of intelligent carloader based on mobile robot - Google Patents
A kind of intelligent carloader based on mobile robot Download PDFInfo
- Publication number
- CN110027926A CN110027926A CN201910430720.4A CN201910430720A CN110027926A CN 110027926 A CN110027926 A CN 110027926A CN 201910430720 A CN201910430720 A CN 201910430720A CN 110027926 A CN110027926 A CN 110027926A
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- chamber
- gear
- carloader
- mobile robot
- fixedly installed
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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
- 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
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Gear Transmission (AREA)
Abstract
The present invention relates to shipping fields, especially a kind of intelligent carloader based on mobile robot, including carloader, the lifting device being fixed in the carloader, mobile device and mobile robot, the support device being fixed in the mobile robot, switching device and handling device；A kind of intelligent carloader based on mobile robot provided by the invention, the mobile robot of the cargo of carrying can be promoted to and car trunk parallel position, facilitate the entrucking of cargo, the carloader can be moved easily simultaneously, and it is provided with the skewback for being moved easily robot or more, it is more convenient, equipment utilization mobile robot driving wheel power drive carloader promotes cargo, structure is more ingenious, corresponding mating mobile robot conveniently moving simultaneously, built-in transfer can be easily by goods movement to any position, functional, stability is good, precision is high, popularization and use easy to produce.
Description
Technical field
The present invention relates to shipping field, especially a kind of intelligent carloader based on mobile robot.
Background technique
Cargo carloader is suitable for transmission, the loading and unloading of article, greatly shorten it is artificial round-trip carry material away from
From it is drop that raising working efficiency, which reduces labor intensity, reduces the damage ratio of cargo, shorten the lay day, reduces labor intensity,
Low entreprise cost and quality, the equipment for improving effective efficiency, but traditional carloader need to carry and promoted cargo, efficiency simultaneously
Lower, traditional mobile robot is only able to achieve the mobile carrying of cargo, and can not by freight lifting to boxcar energy, because
It is necessary to a kind of intelligent carloader improvement above problem based on mobile robot is arranged for this.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent carloader based on mobile robot, can overcome the prior art
Drawbacks described above, to improve the practicability of equipment.
The technical solution adopted by the present invention to solve the technical problems is: a kind of intelligence based on mobile robot of the invention
Energy carloader, including carloader, the lifting device being fixed in the carloader, mobile device and mobile robot, fixation
Support device, switching device and handling device in the mobile robot, wherein the lifting device is set to described
The promotion being arranged in carloader roof is intracavitary, and the mobile device is set in the carloader bottom wall, and the support device is set
It is intracavitary to be placed in the switching being arranged in the mobile robot roof, the switching device is set to setting in the wall of the switching bottom of chamber
Sliding cavity and the mobile robot on the left of in the centrifugal chamber that is arranged in end wall, the handling device is set to the movement
In the rotation chamber and turn-around chamber being arranged in robot bottom wall；
The lifting device includes promoting pallet, two roller chambers and power stacking apparatus, the promotion tray both slid setting
It is intracavitary in the promotion, it is symmetrically disposed in the promotion pallet roof before and after two roller chambers, the power superposition dress
It installs in the mixing chamber for being placed in and being arranged between former and later two described roller chambers；
The mobile device includes driving chamber and hydraulic cavities, and the driving chamber is set in the carloader bottom wall, the liquid
Pressure chamber is set on the left of the carloader in end wall；
The support device includes support plate, and the support plate is set at the top of the mobile robot；
The switching device includes sliding shoe and centrifugal device, and the sliding shoe is slideably positioned in the sliding cavity, described
Centrifugal device is set in the centrifugal chamber；
The handling device includes power cavity and turn-around chamber, and the power cavity is set on the left of the rotation chamber in end wall, institute
It states turn-around chamber Open Side Down and be set in the mobile robot bottom wall.
Further, the lifting device further includes the worm gear chamber, two the first thread bush, the first threaded holes, first
Threaded rod, the first worm gear, the first worm screw, limiting slot, limited block and first bevel gear, the worm gear chamber are set to the promotion
On the left of pallet in end wall, it is intracavitary to be symmetrically rotatably dispose in the worm gear before and after two first thread bush, first screw thread
Hole is set in first thread bush, first threaded rod be threadedly engaged connection it is interior with first threaded hole and with it is described
It promotes bottom of chamber wall to be fixedly connected, first worm gear is set to intracavitary first thread bush outer surface of the worm gear, described
First worm screw is rotatably dispose between the mixing chamber and the worm gear chamber and engages with the first worm gear described in former and later two, described
First bevel gear is fixedly installed on first worm screw end in the mixing chamber, the limit channel opening to set up in
In the promotion pallet roof, the limited block is fixedly installed on former and later two the first threaded rod top ends.
Further, the power stacking apparatus includes roller, first rotating shaft, belt chamber, belt pulley, belt, the second cone
Gear, third hand tap gear, fixed bracket, the 4th bevel gear, the belt chamber are set to the roller chamber far from the mixing chamber
In the end wall of side, the first rotating shaft bilateral symmetry is rotatably dispose between the belt chamber and the roller chamber, the belt
Wheel is fixedly installed on the intracavitary first rotating shaft end of the belt, is passed between two belt pulleys in left and right by the belt
Dynamic to be cooperatively connected, the roller is fixedly installed on the intracavitary first rotating shaft outer surface of the roller, and described the first of right side
Shaft end protrudes into the mixing chamber, and the second bevel gear is rotatably dispose in described first turn in the mixing chamber of front side
It axis outer surface and is engaged with the first bevel gear, the third hand tap gear is fixedly installed on described first in the mixing chamber
Shaft end, the fixed bracket are symmetrical set on the second bevel gear rear side end wall, and the 4th bevel gear turns
It is dynamic to be set in the fixed bracket opposite side end wall in left and right two and engaged with third hand tap gear described in former and later two.
Further, the mobile device further includes the second worm screw, first motor, the second shaft, the second worm gear, the first rolling
Wheel, the second idler wheel, hydraulic stem, resetting apparatus, hydraulic hole, guide runner, slider guide, push rod and skewback, the hydraulic stem are sliding
Dynamic to be set in the hydraulic cavities and elasticity is provided with resetting apparatus between the hydraulic cavities end wall, the guide runner is set to institute
It states on the right side of carloader in end wall, the slider guide is slideably positioned in the guide runner, and the skewback is slideably positioned in described
It is fixedly connected on the right side of carloader on end wall and with the slider guide, the hydraulic hole connection is set to the guide runner and hydraulic cavities
Between, the push rod is slideably positioned in the hydraulic hole and is fixedly connected with the slider guide, and the first motor fixation is set
It is placed on the right side of the driving chamber in end wall, second worm screw is rotatably dispose in the driving chamber and moves with the first motor
Power connection, second shaft is rotatably dispose in the driving chamber and front and rear sides are protruded into outside the carloader, and described first
Idler wheel is fixedly installed on second shaft front and rear sides end, and second worm gear is fixedly installed on the institute in the driving chamber
It states the second shaft outer surface and is engaged with second worm screw, second idler wheel is rotatably dispose in the carloader front and rear sides
On end wall.
Further, the support device further includes the second thread bush, the second threaded rod, the second threaded hole and the first tooth
Wheel, second thread bush be rotatably dispose in it is described switching it is intracavitary, second threaded hole is set to second thread bush top
In wall, second threaded rod is threadedly coupled to be fixedly connected in second threaded hole and with the support plate bottom wall, described
First gear is fixedly installed on intracavitary second thread bush outer surface of the switching.
Further, the switching device further includes the second motor, second gear, sliding eye press chamber, press block, U-shaped
Bar, second motor are fixedly installed in the sliding shoe roof, and the second gear is fixedly installed on second motor
Shaft end is exported, the press chamber is set on the left of the power cavity in end wall, and the press block is slideably positioned in the press
Intracavitary, the sliding eye connection is set between the sliding cavity and the press chamber, and the U-shaped bar is slideably positioned in the cunning
It is fixedly connected in dynamic hole and with the sliding shoe and press block.
Further, the centrifugal device include third worm screw, splined hole, splined shaft, rotating block, fixed block, hinge bar,
Gravitation ball, top pressure spring and third gear, the third worm screw are rotatably dispose between the power cavity and the centrifugal chamber,
The fixed block is fixedly installed on the third worm screw end in the centrifugal chamber, and the third gear is fixedly installed on described
Third worm screw end in power cavity, the splined hole are set in the third worm screw, the splined shaft spline fitted
Connection is interior with the splined hole and left distal end is rotatably dispose on the right side of the press block in end wall, described in the centrifugal chamber
Spline shaft end is fixedly installed rotating block, is symmetrically hingedly connected on the rotating block and the fixed block up and down end wall described
Hinge bar, the gravitation ball articulated connection is at the two hinge bar end articulated connections in left and right, the top pressure spring elasticity
It is set between the rotating block and the fixed block.
Further, the handling device further include third shaft, third worm gear, third idler wheel, steering shaft, bogie,
Deflecting roller, the 4th gear, the 5th gear and third motor, the third motor are fixedly installed on end wall on the right side of the power cavity
Interior, the 5th gear is fixedly installed on third motor output shaft end and engages with the third gear, the third
Shaft is rotatably dispose in the intracavitary and front and rear sides end of the rotation and stretches out outside the mobile robot, and the third idler wheel is solid
Surely it is set to third shaft front and rear sides end, the third worm gear is fixedly installed on the intracavitary third of the rotation
Shaft outer surface and engaged with the third worm screw, the steering axes be set to the switching chamber and the turn-around chamber it
Between, the 4th gear is fixedly installed on the intracavitary steering shaft end of the switching, and the bogie is fixedly installed on institute
The steering shaft end in turn-around chamber is stated, the steered wheel rotation is set in the bogie.
Beneficial effects of the present invention: a kind of intelligent carloader based on mobile robot provided by the invention can will be held
The mobile robot of the cargo of load is promoted to car trunk parallel position, facilitates the entrucking of cargo, while the carloader can
It is moved easily, and is provided with the skewback for being moved easily robot or more, more convenient, equipment utilization mobile robot driving wheel
Power drive carloader promotes cargo, and structure is more ingenious, while corresponding mating mobile robot conveniently moving, built-in steering
Device can be easily by goods movement to any position, and functional, stability is good, and precision is high, popularization and use easy to produce.
Detailed description of the invention
It, below will be to embodiment or existing in order to illustrate more clearly of inventive embodiments or technical solution in the prior art
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only to invent
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is a kind of intelligent carloader overall structure diagram based on mobile robot of the invention.
Fig. 2 is the structural schematic diagram of A-A in Fig. 1.
Fig. 3 is the enlarged structure schematic diagram of B in Fig. 2.
Fig. 4 is mobile robot overall structure diagram in Fig. 1.
Fig. 5 is the enlarged structure schematic diagram of C in Fig. 4.
Specific embodiment
Below with reference to Fig. 1-5, the present invention is described in detail, wherein for sake of convenience, now to hereafter described orientation
Provide as follows: hereafter described front-rear direction up and down is consistent with the front-rear direction up and down of Fig. 1 projection relation itself.
A kind of intelligent carloader based on mobile robot in conjunction with described in attached drawing 1-5, including carloader 10, be fixed on
Lifting device 200, mobile device 300 and mobile robot 48 in the carloader 10 are fixed on the mobile robot
Support device 400, switching device 500 and handling device 600 in 48, wherein the lifting device 200 is set to the dress
In the promotion chamber 16 being arranged in 10 roof of vehicle device, the mobile device 300 is set in 10 bottom wall of carloader, the support
Device 400 is set in the switching chamber 70 being arranged in 48 roof of mobile robot, and the switching device 500 is set to described
Switch in the centrifugal chamber 84 being arranged in the sliding cavity 64 and 48 left side end wall of the mobile robot being arranged in 70 bottom wall of chamber, institute
Handling device 600 is stated to be set in the rotation chamber 78 being arranged in 48 bottom wall of mobile robot and turn-around chamber 60, it is described to mention
Rising device 200 includes promoting 31, two roller chambers 41 of pallet and power stacking apparatus 700, and the sliding of promotion pallet 31 is set
It is placed in the promotion chamber 16, is symmetrically disposed on before and after two roller chambers 41 in 31 roof of promotion pallet, it is described dynamic
Power stacking apparatus 700 is set in the mixing chamber 47 being arranged between former and later two described roller chambers 41, and the mobile device 300 is wrapped
Driving chamber 28 and hydraulic cavities 11 are included, the driving chamber 28 is set in 10 bottom wall of carloader, and the hydraulic cavities 11 are arranged
In in the 10 left side end wall of carloader, the support device 400 includes support plate 73, and the support plate 73 is set to the shifting
48 top of mobile robot, the switching device 500 include sliding shoe 66 and centrifugal device 800, and the sliding of sliding shoe 66 is set
It is placed in the sliding cavity 64, the centrifugal device 800 is set in the centrifugal chamber 84, and the handling device 600 includes dynamic
Power chamber 54 and turn-around chamber 60, the power cavity 54 are set in the 78 left side end wall of rotation chamber, and the turn-around chamber 60 is open
It is down-set in 48 bottom wall of mobile robot.
Valuably, the lifting device 200 further includes 30, two the first thread bush 29, the first threaded holes of the worm gear chamber
34, the first threaded rod 15, the first worm gear 33, the first worm screw 35, limiting slot 22, limited block 14 and first bevel gear 42, it is described
Worm gear chamber 30 is set in the 31 left side end wall of promotion pallet, and two 29 front and backs of the first thread bush are symmetrically rotatably dispose in
In the worm gear chamber 30, first threaded hole 34 is set in first thread bush 29,15 screw thread of the first threaded rod
It is cooperatively connected and is fixedly connected in first threaded hole 34 and with 16 bottom wall of promotion chamber, first worm gear 33 is set to
29 outer surface of the first thread bush in the worm gear chamber 30, first worm screw 35 be rotatably dispose in the mixing chamber 47 with
It is engaged between the worm gear chamber 30 and with the first worm gear 33 described in former and later two, the first bevel gear 42 is fixedly installed on described
35 end of the first worm screw in mixing chamber 47, the limiting slot 22 are open to setting up in 31 roof of promotion pallet
Interior, the limited block 14 is fixedly installed on former and later two 15 top ends of the first threaded rod.
Valuably, the power stacking apparatus 700 includes roller 36, first rotating shaft 39, belt chamber 40, belt pulley 37, skin
Band 38, second bevel gear 43, third hand tap gear 46, fixed bracket 44, the 4th bevel gear 45, the belt chamber 40 is set to described
For roller chamber 41 far from the 47 side end wall of mixing chamber, 39 bilateral symmetry of first rotating shaft is rotatably dispose in the belt chamber
Between 40 and the roller chamber 41, the belt pulley 37 is fixedly installed on 39 end of the first rotating shaft in the belt chamber 40
It holds, is driven and is cooperatively connected by the belt 38 between two belt pulleys 37 in left and right, the roller 36 is fixedly installed on described
The mixing chamber 47, institute are protruded into 39 end of the first rotating shaft of 39 outer surface of the first rotating shaft in roller chamber 41, right side
State 39 outer surface of the first rotating shaft that second bevel gear 43 is rotatably dispose in the mixing chamber 47 of front side and with described the
The engagement of one bevel gear 42, the third hand tap gear 46 are fixedly installed on 39 end of the first rotating shaft in the mixing chamber 47,
The fixed bracket 44 is symmetrical set on the 43 rear side end wall of second bevel gear, and the 4th bevel gear 45 rotation is set
It is placed in the fixed 44 opposite side end wall of bracket in left and right two and is engaged with third hand tap gear 46 described in former and later two.
Valuably, the mobile device 300 further includes the second worm screw 24, first motor 23, the second shaft 27, the second worm gear
25, the first idler wheel 26, the second idler wheel 21, hydraulic stem 12, resetting apparatus 13, hydraulic hole 32, guide runner 19, slider guide 18, push rod
17 and skewback 20, the hydraulic stem 12 is slideably positioned in the hydraulic cavities 11 and elastic between 11 end wall of hydraulic cavities
It is provided with resetting apparatus 13, the guide runner 19 is set in the 10 right side end wall of carloader, and the sliding of slider guide 18 is set
Be placed in the guide runner 19, the skewback 20 be slideably positioned on the 10 right side end wall of carloader and with the slider guide
18 are fixedly connected, and the hydraulic connection of hole 32 is set between the guide runner 19 and hydraulic cavities 11, and the sliding of push rod 17 is set
It is placed in the hydraulic hole 32 and is fixedly connected with the slider guide 18, the first motor 23 is fixedly installed on the driving chamber
In 28 right side end walls, second worm screw 24 is rotatably dispose in the driving chamber 28 and connects with 23 power of first motor
It connecing, second shaft 27 is rotatably dispose in the driving chamber 28 and front and rear sides are protruded into outside the carloader 10, and described the
One idler wheel 26 is fixedly installed on the 27 front and rear sides end of the second shaft, and second worm gear 25 is fixedly installed on the driving
It 27 outer surface of the second shaft in chamber 28 and is engaged with second worm screw 24, second idler wheel 21 is rotatably dispose in institute
It states on 10 front and rear sides end wall of carloader.
Valuably, the support device 400 further include the second thread bush 59, the second threaded rod 58, the second threaded hole 57 with
And first gear 69, second thread bush 59 are rotatably dispose in the switching chamber 70, second threaded hole 57 is set to
In second thread bush, 59 roof, second threaded rod 58 be threadedly coupled in second threaded hole 57 and with the branch
73 bottom wall of fagging is fixedly connected, and the first gear 69 is fixedly installed on outside second thread bush 59 in the switching chamber 70
Surface.
Valuably, the switching device 500 further includes the second motor 67, second gear 68, the press of sliding eye 71 chamber 56, top
Briquetting 55, U-shaped bar 72, second motor 67 are fixedly installed in 66 roof of sliding shoe, and the second gear 68 is fixed
It is set to second motor 67 and exports shaft end, the press chamber 56 is set in the 54 left side end wall of power cavity, described
Press block 55 is slideably positioned in the press chamber 56, and the connection of sliding eye 71 is set to the sliding cavity 64 and the press
Between chamber 56, the U-shaped bar 72 is slideably positioned in the sliding eye 71 and fixes with the sliding shoe 66 and press block 55
Connection.
Valuably, the centrifugal device 800 includes third worm screw 77, splined hole 81, splined shaft 79, rotating block 85, fixes
Block 76, hinge bar 75, gravitation ball 82, top pressure spring 83 and third gear 51, the third worm screw 77 are rotatably dispose in described
Between power cavity 54 and the centrifugal chamber 84, the fixed block 76 is fixedly installed on the third worm screw in the centrifugal chamber 84
77 ends, the third gear 51 are fixedly installed on 77 end of third worm screw in the power cavity 54, the splined hole
81 are set in the third worm screw 77, and 79 spline fitted of the splined shaft connection is interior with the splined hole 81 and left distal end turns
Dynamic to be set in the 55 right side end wall of press block, 79 end of the splined shaft in the centrifugal chamber 84 is fixedly installed rotation
The hinge bar 75, the gravity are symmetrically hingedly connected on block 85, the rotating block 85 and about 76 end wall of fixed block
At the two 75 end articulated connections of hinge bar in left and right, the top pressure spring 83 is flexibly set in described the articulated connection of ball 82
Between rotating block 85 and the fixed block 76.
Valuably, the handling device 600 further includes third shaft 52, third worm gear 80, third idler wheel 53, steering shaft
63, bogie 62, deflecting roller 61, the 4th gear 65, the 5th gear 50 and third motor 49, the fixation of third motor 49 are set
Be placed in the 54 right side end wall of power cavity, the 5th gear 50 be fixedly installed on the third motor 49 export shaft end and
It is engaged with the third gear 51, the third shaft 52 is rotatably dispose in the rotation chamber 78 and front and rear sides end is stretched out
Outside the mobile robot 48, the third idler wheel 53 is fixedly installed on the 52 front and rear sides end of third shaft, described
Third worm gear 80 is fixedly installed on 52 outer surface of third shaft rotated in chamber 78 and nibbles with the third worm screw 77
It closes, the steering shaft 63 is rotatably dispose between the switching chamber 70 and the turn-around chamber 60, and the 4th gear 65 fixation is set
It is placed in 63 end of the steering shaft in the switching chamber 70, the bogie 62 is fixedly installed on the institute in the turn-around chamber 60
63 end of steering shaft is stated, the deflecting roller 61 is rotatably dispose in the bogie 62.
Fixed connection method described in the present embodiment includes but is not limited to that bolt the methods of is fixed, welded.
The sequence of the mechanical action of whole device:
1, the starting rotation of first motor 23 drives second worm screw 24 to rotate, described in the rotation of the second worm screw 24 drive
The rotation of second worm gear 25, the rotation of the second worm gear 25 drives first idler wheel 26 to rotate, to drive the carloader 10
Mobile, when the carloader 10 is moved to load wagon side, the hydraulic stem 12 offsets with the load wagon, described at this time
Hydraulic stem 12 moves to right compression hydraulic oil, to drive the push rod 17 that the slider guide 18 is driven to move down, to drive described oblique
Panel 20 is moved down to abut with ground, and the mobile robot 48 is facilitated to be moved on the promotion pallet 31 at this time；
2, start the rotation of third motor 49 and drive the 5th gear 50 rotation, to drive 51 turns of the third gear
It is dynamic, to drive the third worm screw 77 to rotate, to drive the third worm gear 80 to rotate, to drive the third idler wheel
53 is mobile, to drive the mobile robot 48 mobile, while the third worm screw 77 rotation drives described 79 turns of splined shaft
It is dynamic, so that the rotating block 85 is driven to rotate with the fixed block 76, so that the gravitation ball 82 is driven to rotate, it is described at this time heavy
Power ball 82 is displaced outwardly under the influence of centrifugal force, thus drive the rotating block 85 and the fixed block 76 close to each other, this
Shi Suoshu rotating block 85 is mobile to drive the splined shaft 79 to move left, to drive the press block 55 to move to left, to drive institute
It states sliding shoe 66 to move to left, so that the second gear 68 be driven to engage with the 4th gear 65, starts second electricity at this time
The rotation of machine 67 drives the second gear 68 to rotate, to drive the 4th gear 65 to rotate, to drive the bogie
62 and deflecting roller 61 swing, to control 48 moving direction of mobile robot；
3, when the mobile robot 48 is moved to cargo general tray bottom, the third motor 49 is closed, it is described at this time
Gravitation ball 82 no longer rotates, and the gravitation ball 82 disappears in centrifugal force, and the top pressure spring 83 drives the sliding shoe 66 at this time
It resets, the second gear 68 is engaged with the first gear 69 at this time, is started the rotation of the second motor 67 at this time and is driven institute
The rotation of second gear 68 is stated, so that the first gear 69 is driven to rotate, so that second thread bush 59 is driven to rotate, thus
Second threaded rod 58 is driven to move up, so that the support plate 73 is driven to move up, so that the cargo general tray is jacked up,
Start the third motor 49 at this time to rotate again, to drive the mobile robot 48 mobile；
4, when the mobile robot 48 is moved to 10 right side of carloader, the mobile robot 48 passes through the inclined-plane
Plate 20 moves up, described at this time when the third idler wheel 53 in the mobile robot 48 is moved between two rollers 36 in left and right
The skidding of third idler wheel 53 in mobile robot 48 can not move, and the rotation of third idler wheel 53 drives described 36 turns of roller at this time
It is dynamic, so that the first rotating shaft 39 is driven to rotate, so that the third hand tap gear 46 is driven to rotate, 46 turns of the third hand tap gear
It is dynamic that the second bevel gear 43 is driven to rotate, to drive the first bevel gear 43 to rotate, to drive first worm screw
35 rotations, to drive first worm gear 33 to rotate, to drive first thread bush 29 to rotate, to mention described in driving
It rises pallet 31 to move up when abutting with the limited block 14, the promotion pallet 31 is parallel with loading railway carriage, the promotion pallet 31
It cannot continue to move up, at this time since first thread bush 29 can not rotate, the roller 36 can not be rotated, at this time the third
Frictional force increases between idler wheel 53 and the roller 36, and the mobile robot 48 is moved to loading by the promotion pallet 31
In railway carriage.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow be familiar with this field technology
Personage can understand the content of present invention and be implemented, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the scope of protection of the present invention.
Claims (8)
1. a kind of intelligent carloader based on mobile robot, including carloader, the lifting device being fixed in the carloader,
Mobile device and mobile robot, the support device being fixed in the mobile robot, switching device and handling device,
It is characterized by: the lifting device is set to, the promotion being arranged in the carloader roof is intracavitary, and the mobile device is arranged
In in the carloader bottom wall, the switching that the support device is set to setting in the mobile robot roof is intracavitary, described
Switching device is set on the left of the sliding cavity for switching the interior setting of bottom of chamber wall and the mobile robot setting in end wall
In centrifugal chamber, the handling device is set in the rotation chamber being arranged in the mobile robot bottom wall and turn-around chamber；
The lifting device includes promoting pallet, two roller chambers and power stacking apparatus, the promotion tray both slid setting
It is intracavitary in the promotion, it is symmetrically disposed in the promotion pallet roof before and after two roller chambers, the power superposition dress
It installs in the mixing chamber for being placed in and being arranged between former and later two described roller chambers；
The mobile device includes driving chamber and hydraulic cavities, and the driving chamber is set in the carloader bottom wall, the liquid
Pressure chamber is set on the left of the carloader in end wall；
The support device includes support plate, and the support plate is set at the top of the mobile robot；
The switching device includes sliding shoe and centrifugal device, and the sliding shoe is slideably positioned in the sliding cavity, described
Centrifugal device is set in the centrifugal chamber；
The handling device includes power cavity and turn-around chamber, and the power cavity is set on the left of the rotation chamber in end wall, institute
It states turn-around chamber Open Side Down and be set in the mobile robot bottom wall.
2. a kind of intelligent carloader based on mobile robot as described in claim 1, it is characterised in that: the lifting device is also
Including the worm gear chamber, two the first thread bush, the first threaded hole, the first threaded rod, the first worm gear, the first worm screw, limiting slot,
Limited block and first bevel gear, the worm gear chamber are set on the left of the promotion pallet in end wall, two first screw threads
Set front and back is symmetrically rotatably dispose in that the worm gear is intracavitary, and first threaded hole is set in first thread bush, and described the
One threaded rod is threadedly engaged connection and is fixedly connected in first threaded hole and with promotion bottom of chamber wall, first worm gear
It is set to intracavitary first thread bush outer surface of the worm gear, first worm screw is rotatably dispose in the mixing chamber and institute
It states between worm gear chamber and is engaged with the first worm gear described in former and later two, the first bevel gear is fixedly installed in the mixing chamber
First worm screw end, for the limit channel opening to setting up in the promotion pallet roof, the limited block is solid
Surely former and later two the first threaded rod top ends are set to.
3. a kind of intelligent carloader based on mobile robot as claimed in claim 1 or 2, it is characterised in that: the power is folded
Feeder apparatus includes roller, first rotating shaft, belt chamber, belt pulley, belt, second bevel gear, third hand tap gear, fixed bracket, the
Four bevel gears, the belt chamber are set to the roller chamber far from the end wall of the mixing chamber side, described first rotating shaft or so
It is symmetrically rotatably dispose between the belt chamber and the roller chamber, the belt pulley is fixedly installed on the intracavitary institute of the belt
First rotating shaft end is stated, is driven and is cooperatively connected by the belt between two belt pulleys in left and right, the roller fixed setting
In the intracavitary first rotating shaft outer surface of the roller, the mixing chamber is protruded into the first rotating shaft end on right side, described
Second bevel gear be rotatably dispose in front side the mixing chamber in the first rotating shaft outer surface and with the first bevel gear
Engagement, the third hand tap gear are fixedly installed on the first rotating shaft end in the mixing chamber, described fixed bracket or so
It is symmetrically disposed on rear side of the second bevel gear on end wall, the 4th bevel gear is rotatably dispose in the two fixed bracket phases in left and right
It is engaged in the end wall of side and with third hand tap gear described in former and later two.
4. a kind of intelligent carloader based on mobile robot as described in claim 1, it is characterised in that: the mobile device is also
Including the second worm screw, first motor, the second shaft, the second worm gear, the first idler wheel, the second idler wheel, hydraulic stem, resetting apparatus, liquid
Press hole, guide runner, slider guide, push rod and skewback, the hydraulic stem be slideably positioned in the hydraulic cavities and with the liquid
Elasticity is provided with resetting apparatus between pressure chamber end wall, and the guide runner is set on the right side of the carloader in end wall, the slider guide
Be slideably positioned in the guide runner, the skewback be slideably positioned on the right side of the carloader on end wall and with the slider guide
It is fixedly connected, the hydraulic hole connection is set between the guide runner and hydraulic cavities, and the push rod is slideably positioned in the liquid
It is fixedly connected in pressure hole and with the slider guide, the first motor is fixedly installed on the right side of the driving chamber in end wall, described
Second worm screw is rotatably dispose in the driving chamber and is connected by power with the first motor, and second shaft is rotatably dispose in
In the driving chamber and front and rear sides are protruded into outside the carloader, and first idler wheel is fixedly installed on before and after second shaft
Both-side ends, second worm gear be fixedly installed on second shaft outer surface in the driving chamber and with second snail
Bar engagement, second idler wheel are rotatably dispose on the end wall of the carloader front and rear sides.
5. a kind of intelligent carloader based on mobile robot as described in claim 1, it is characterised in that: the support device is also
Including the second thread bush, the second threaded rod, the second threaded hole and first gear, second thread bush is rotatably dispose in described
Switch intracavitary, second threaded hole is set in the second thread bush roof, and second threaded rod is threadedly coupled and institute
It states in the second threaded hole and is fixedly connected with the support plate bottom wall, it is intracavitary that the first gear is fixedly installed on the switching
Second thread bush outer surface.
6. a kind of intelligent carloader based on mobile robot as described in claim 1, it is characterised in that: the switching device is also
Including the second motor, second gear, sliding eye press chamber, press block, U-shaped bar, second motor is fixedly installed on the cunning
In motion block roof, the second gear is fixedly installed on second motor output shaft end, and the press chamber is set to described
On the left of power cavity in end wall, the press block is slideably positioned in that the press is intracavitary, and the sliding eye is connected to and is set to the cunning
Between dynamic chamber and the press chamber, the U-shaped bar be slideably positioned in the sliding eye and with the sliding shoe and press block
It is fixedly connected.
7. a kind of intelligent carloader based on mobile robot as claimed in claim 1 or 6, it is characterised in that: the centrifugation dress
It sets including third worm screw, splined hole, splined shaft, rotating block, fixed block, hinge bar, gravitation ball, top pressure spring and third tooth
Wheel, the third worm screw are rotatably dispose between the power cavity and the centrifugal chamber, and the fixed block is fixedly installed on described
Third worm screw end in centrifugal chamber, the third gear are fixedly installed on the end of the third worm screw in the power cavity
End, the splined hole are set in the third worm screw, the splined shaft spline fitted connection and in the splined hole and left side
End is rotatably dispose on the right side of the press block in end wall, and the spline shaft end in the centrifugal chamber is fixedly installed rotation
The hinge bar is symmetrically hingedly connected with above and below block, the rotating block and the fixed block on end wall, the gravity ball-joint connects
Be connected to left and right two hinge bar end articulated connections at, the top pressure spring be flexibly set in the rotating block with it is described solid
Determine between block.
8. a kind of intelligent carloader based on mobile robot as described in claim 1, it is characterised in that: the handling device is also
Including third shaft, third worm gear, third idler wheel, steering shaft, bogie, deflecting roller, the 4th gear, the 5th gear and third
Motor, the third motor are fixedly installed on the right side of the power cavity in end wall, and the 5th gear is fixedly installed on described the
It three motor output shaft ends and is engaged with the third gear, the third shaft is rotatably dispose in the intracavitary and front and back of the rotation
Both-side ends are stretched out outside the mobile robot, and the third idler wheel is fixedly installed on third shaft front and rear sides end
End, the third worm gear are fixedly installed on the intracavitary third shaft outer surface of the rotation and nibble with the third worm screw
It closes, the steering axes are set between the switching chamber and the turn-around chamber, and the 4th gear is fixedly installed on described
Switch the intracavitary steering shaft end, the bogie is fixedly installed on the steering shaft end in the turn-around chamber, institute
Steered wheel rotation is stated to be set in the bogie.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910430720.4A CN110027926B (en) | 2019-05-22 | 2019-05-22 | Intelligent car loader based on mobile robot |
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| CN201910430720.4A CN110027926B (en) | 2019-05-22 | 2019-05-22 | Intelligent car loader based on mobile robot |
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| CN110027926A true CN110027926A (en) | 2019-07-19 |
| CN110027926B CN110027926B (en) | 2020-03-24 |
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| CN110027926B (en) | 2020-03-24 |
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