CN110282035A - Loader transporter vehicle - Google Patents
Loader transporter vehicle Download PDFInfo
- Publication number
- CN110282035A CN110282035A CN201910609021.6A CN201910609021A CN110282035A CN 110282035 A CN110282035 A CN 110282035A CN 201910609021 A CN201910609021 A CN 201910609021A CN 110282035 A CN110282035 A CN 110282035A
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- CN
- China
- Prior art keywords
- vehicle body
- tool
- delivery
- traction
- delivery section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
- B60P7/08—Securing to the vehicle floor or sides
- B60P7/12—Securing to the vehicle floor or sides the load being tree-trunks, beams, drums, tubes, or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
- B60P7/135—Securing or supporting by load bracing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
Abstract
The invention discloses a kind of loader transporter vehicles, comprising: traction delivery section, for providing the tractive force to travel forward；Comprehensive delivery section delivers section rear positioned at the traction and can realize omnibearing movable；Traction delivery section includes traction vehicle body, and the front end and/or rear end of the traction vehicle body are equipped with the power steering mechanism for providing tractive force and controlling the direction of motion；The comprehensive delivery section includes delivery vehicle body, and the rear and front end of the delivery vehicle body is respectively equipped with delivery wheel shaft, and the both ends of the delivery wheel shaft are respectively equipped with Mecanum wheel；It is articulated and connected between the rear end of the traction vehicle body and the front end of the delivery vehicle body；The clamping that clamping workpiece is respectively provided with the traction vehicle body and/or the carrier loader embraces tool.Loader transporter vehicle of the invention, the loading transport that can not only meet workpiece requires, and controls independently of each other between each delivery section of load wagon, can effectively simplify the connection control mechanism between each delivery section, and reliability is higher.
Description
Technical field
The invention belongs to technical field of vehicle, are specifically a kind of loader transporter vehicle.
Background technique
In the transition transportational process of large-scale workpiece, it is desirable that carrier loader has large span wheelbase and is able to bear big load
Lotus, according to the actual conditions of carrier loader and the requirement of road passability, carrier loader should be able to also meet the requirement for turning to delivery.
The Chinese patent of Publication No. CN105383558A discloses a kind of multiaxis road transport vehicle synchronous steering system, institute
State multiaxis road transport vehicle be three axis full trailors comprising preceding bridge, jackshaft and rear axle, preceding bridge be axle steer, in, rear axle be rotation
To being fixed with a front axle wheel group turntable on the preceding bridge, the front axle wheel group turntable is installed in rotation on multiaxis highway fortune
On the vehicle frame of defeated vehicle, jackshaft swing arm assembly is equipped at the jackshaft, it is vertical that the jackshaft swing arm assembly is installed in rotation on first
On axis, first vertical shaft is fixedly mounted on the first vertical shaft stent, and first vertical shaft stent is fixed on multiaxis highway transportation
On the vehicle frame of vehicle, the jackshaft swing arm assembly is connect with one end flexural pivot that jackshaft turns to side pull rod, and the jackshaft turns to side pull rod
The other end connect with the first knuckle arm flexural pivot, first knuckle arm is fixed on first round group knuckle upper end, described
First round group knuckle lower end is fixed with the first steering trapezoidal arm, and the one of first steering trapezoidal arm and the first track rod
Flexural pivot connection is held, the other end of first track rod is connect with the second steering trapezoidal arm flexural pivot, second steering ladder
Shape arm is fixed on the second wheel group knuckle, and rear axle swing arm assembly is equipped at the rear axle, and the rear axle swing arm assembly can be rotated
Ground is mounted on the second vertical shaft, and second vertical shaft is fixedly mounted on the second vertical shaft stent, and second vertical shaft stent is fixed
On the vehicle frame of multiaxis road transport vehicle, the rear axle swing arm assembly is connect with one end flexural pivot of rear-axle steering side pull rod, described
The other end of rear-axle steering side pull rod is connect with the second knuckle arm flexural pivot, and second knuckle arm is fixed on third round group and turns
To section upper end, the third round group knuckle lower end is fixed with third steering trapezoidal arm, the third steering trapezoidal arm and second
One end flexural pivot of track rod connects, and the other end of second track rod is connect with the 4th steering trapezoidal arm flexural pivot,
4th steering trapezoidal arm is fixed on fourth round group knuckle, and the opposite sides of the front axle wheel group turntable is connected separately with
First wirerope and the second wirerope, the other end of the first and second wirerope are connected on jackshaft swing arm assembly, and first and second
The tie point of wirerope and jackshaft swing arm assembly is located at the opposite sides of the first vertical shaft, the first and second wirerope arranged crosswise,
The equal flexural pivot in two sides positioned at the first vertical shaft of jackshaft swing arm assembly is connected with a connecting rod, the other end of two connecting rods
Flexural pivot is connected on rear axle swing arm assembly respectively, and it is vertical that the tie point of two connecting rods and rear axle swing arm assembly is located at second
The two sides of axis, two connecting rod parallel arrangements.
Although the multiaxis road transport vehicle synchronous steering system can be realized synchronous steering, but structure is complicated, and it is utilized
The pulling force effect of wirerope synchronizes to realize to turn to, and for large-scale carrier loader, lineoutofservice signal pull is larger, and wirerope is using
It is easy to appear fatigue damage in the process to be even broken, reliability is lower.
Summary of the invention
In view of this, the loading fortune of workpiece can not only be met the purpose of the present invention is to provide a kind of loader transporter vehicle
Defeated requirement, and controlled independently of each other between each delivery section of load wagon, it can effectively simplify the company between each delivery section
Control mechanism is connect, reliability is higher.
In order to achieve the above objectives, the invention provides the following technical scheme:
A kind of loader transporter vehicle, comprising:
Traction delivery section, for providing the tractive force to travel forward；
Comprehensive delivery section delivers section rear positioned at the traction and can realize omnibearing movable；
The traction delivery section includes traction vehicle body, and the front end and/or rear end of the traction vehicle body are equipped with and lead for providing
Gravitation and the power steering mechanism for controlling the direction of motion；
The comprehensive delivery section includes delivery vehicle body, and the rear and front end of the delivery vehicle body is respectively equipped with delivery wheel shaft,
The both ends of the delivery wheel shaft are respectively equipped with Mecanum wheel；
It is articulated and connected between the rear end of the traction vehicle body and the front end of the delivery vehicle body；
The clamping that clamping workpiece is respectively provided with the traction vehicle body and/or the carrier loader embraces tool.
Further, the power steering mechanism include steering shaft that rotatable engagement is mounted on the tractor and with institute
The power wheel mounting base of steering shaft synchronous rotation is stated, the power wheel mounting base is equipped with power wheel shaft, the power wheel shaft
Both ends are respectively equipped with the power wheel of synchronous rotation；And it is equipped in the power wheel mounting base for driving the power to rotate
It is dynamic that the power device of the tractive force to travel forward is provided in turn, it is equipped with the tractor for driving the steering axes
And then the steering driving mechanism for turning to the traction delivery section.
Further, the power device includes the power motor being arranged in a one-to-one correspondence with the power wheel, the power electric
Speed changer is equipped between machine and the power wheel shaft.
Further, the power wheel mounting base is equipped at least two steerings uniformly distributed relative to the steering shaft annular and connects
Bar, the steering shaft are equipped with the steering linking arm of synchronous rotation, and the steering linking arm is connect with the steering link.
Further, the front end and/or rear end of the power wheel mounting base are equipped with for detecting road surface orbital direction and road surface
The road surface sensor of flatness.
Further, it is equipped between two power wheel mounting bases with the tractor and for providing electric energy
Battery pack.
Further, the steering driving mechanism includes the steering motor being arranged in the tractor, the steering electricity
It is sequentially connected between the output shaft of machine and the steering shaft.
Further, it is equipped with connector embolus between the rear end of the traction vehicle body and the front end of the delivery vehicle body, it is described
The rear end of traction vehicle body is equipped with rotatable engagement and is sleeved on the front end hinged set on the connector embolus, before the delivery vehicle body
End is equipped with rotatable engagement and is sleeved on the rear end hinged set on the connector embolus.
Further, the rear end of the traction vehicle body is equipped with front end dislocation sliding rail, and the front end hinged set is slidably installed
On front end dislocation sliding rail, rotatable engagement between the rear end hinged set and the delivery vehicle body；And/or
The front end of the delivery vehicle body is equipped with rear end dislocation sliding rail, and the rear end hinged set is slidably installed after described
On end dislocation sliding rail, rotatable engagement between the front end hinged set and the traction vehicle body.
Further, the comprehensive delivery section is set as at least one；And when the comprehensive delivery section is set as at least
At two, it is articulated and connected between the delivery vehicle body of the two neighboring comprehensive delivery section.
It further, further include tail portion delivery section, the tail portion delivery section includes tail portion vehicle body, and the tail portion vehicle body is equipped with
The clamping for being used to support the workpiece embraces tool, and the bottom of the tail portion vehicle body is equipped with universal wheel.
Further, it includes support base that the clamping, which embraces tool, and the top surface of the support base, which is equipped with, is used to support workpiece
Support slot, the two sides of the support slot, which are respectively provided with, holds workpiece tightly be fixed in the support slot holding arm；
The two sides of the support slot are respectively equipped with the holding shaft parallel with its length direction, and the holding arm is sleeved on institute
It states and holds tightly in shaft and rotated synchronously with the holding shaft, and the support base is equipped with for driving the holding shaft
The holding driving mechanism of rotation.
Further, the holding driving mechanism includes the holding driving motor being fixedly mounted in the support base, institute
The output shaft for holding driving motor tightly is stated equipped with worm screw, the holding shaft is equipped with synchronous rotation and nibbles with the worm screw
The turbine of conjunction.
Further, the shaft of holding tightly is equipped with the first sensor for detecting its rotational angle.
Further, the side that the holding arm and workpiece are engaged is equipped with the first rubber pad, on first rubber pad
Equipped with the second sensor for detecting its deflection size.
Further, the support slot uses V-groove, and the two sidewalls of the V-groove are respectively equipped with flat rubber pad；Or,
The support slot uses arc groove, and the slot bottom of the arc groove is equipped with arc rubber pad.
Further, the holding arm for being separately positioned on the support slot two sides is arranged along axile displacement.
Further, the wherein side of the support slot is equipped with two holding arms, is equipped between two holding arms
Gap, be arranged in a holding arm of the support slot other side width be less than or equal to the gap width and with
The gap is correspondingly arranged.
Further, it is equipped at least one described clamping with the tractor and embraces tool.
Further, it is equipped at intervals at least three clampings with the tractor and embraces tool, all clampings embrace tool
In, it is that fixed clamping embraces tool, and the fixed clamping is embraced tool and is fixedly mounted on that two clampings positioned at both ends, which embrace tool,
With the tractor；Embracing the clamping between tool to embrace tool positioned at two fixed clampings is that slidingtype clamping embraces tool,
It being equipped with the tractor and embraces tool sliding rail, the slidingtype clamping embraces tool and is slidably installed on described armful of tool sliding rail, and
Tool is embraced with the slidingtype clamping with the tractor to correspond equipped with for driving the corresponding slidingtype clamping to embrace
Has the threaded screw rod mechanism slided along described armful of tool sliding rail.
Further, it is equipped with the carrier loader and embraces tool mounting plate, the clamping with the carrier loader is set and is embraced
Tool, which is installed in described embrace, to be had on mounting plate, and is equipped between described armful of tool mounting plate and the delivery vehicle body described for adjusting
That embraces the height of tool mounting plate embraces tool height adjustment mechanism.
Further, described armful of tool height adjustment mechanism includes being arranged between described armful of tool mounting plate and the delivery vehicle body
Telescopic supporting rod and retractable driving device for driving the telescopic supporting rod to elongate or shorten.
The beneficial effects of the present invention are:
Loader transporter vehicle of the invention draws delivery section by setting, and power steering mechanism is arranged with tractor,
It is capable of providing the tractive force to travel forward and controls direction of travel；By the way that comprehensive delivery section is arranged, and set with carrier loader
Mecanum wheel is set, using the kinetic characteristic of Mecanum wheel, comprehensive delivery section can be made to realize omnibearing movable；In this way, making
With in the process, tool is embraced using clamping and holds workpiece tightly fixation, then draw entire transport vehicle using traction delivery section and advance forward,
When traction delivery section turning, the comprehensive delivery section being located behind can utilize the characteristic of its omnibearing movable, arbitrarily adjustment position
It sets, it is ensured that traction delivery section and comprehensive delivery section have enough soft readjustment abilities, and only need that delivery Duan Yuquan will be drawn
Orientation is delivered and is articulated and connected between section, without complicated course changing control mechanism is arranged as existing transport vehicle,
Have the advantages that simple and reliable for structure.
It is set as rotating synchronously with steering shaft by the way that steering shaft is arranged, and by power wheel mounting base, in this way, driving using turning to
The rotation of power wheel mounting base can be driven in motivation structure driving steering shaft, the control of direction of travel is realized, in the prior art turn
It is compared to mechanism, it is simple and reliable for structure；By the way that power wheel shaft is arranged in power wheel mounting base, and it is arranged on power wheel shaft and moves
Wheels can be driven traction carrier loader and advance forward, that is, provide forward in this way, being rotated using power device driving power wheel shaft
The tractive force of traveling；To sum up, traction delivery section has abandoned the system structure for controlling Vehicular turn using steering wheel in the prior art,
And power device and power wheel shaft are integrally disposed in power wheel mounting base, tractive force is provided, in addition, driving power wheel installation
Seat is rotated around steering shaft, and direction controlling can be realized, have the advantages that simple structure, convenient control.
Include support base and be respectively set in support slot two sides and rotate cooperation by embracing tool to be set as clamping
Holding arm is rotated using turbine and worm mechanism driving holding arm, while realizing fixed to workpiece holding, also using turbine
The latching characteristics of worm screw prevents from loosening；Holding arm by that will be separately positioned on support slot two sides is arranged along axile displacement, in this way,
Clamping can be made to embrace the clamping holding that has and can satisfy from the workpiece compared with small axle diameter to the workpiece compared with large-diameter to require.
Detailed description of the invention
In order to keep the purpose of the present invention, technical scheme and beneficial effects clearer, the present invention provides following attached drawing and carries out
Illustrate:
Fig. 1 is the structural schematic diagram of loader transporter vehicle embodiment of the present invention；
Fig. 2 is the structural schematic diagram of traction delivery section；
Fig. 3 is the perspective view of traction delivery section；
Fig. 4 is the structural schematic diagram of power steering mechanism；
Fig. 5 is the bottom view of Fig. 4；
Fig. 6 is the perspective view of power steering mechanism；
Fig. 7 is the structural schematic diagram of comprehensive delivery section；
Fig. 8 is the structural schematic diagram that tail portion delivers section；
Fig. 9 is the structural schematic diagram that clamping embraces tool；
Figure 10 is the schematic diagram for drawing vehicle body and delivering the articulated connection structure between vehicle body.
Description of symbols:
1- workpiece；
100- draws carrier loader；101- draws vehicle body；102- power steering mechanism；103- steering shaft；104- power wheel peace
Fill seat；105- power wheel shaft；106- power wheel；107- power motor；108- speed changer；109- steering link；110-, which is turned to, to be connected
Connect arm；111- road surface sensor；112- battery pack；113- embraces tool sliding rail；114- steering motor；115- steering wheel group；116- is passed
Sensor mounting rack；117- adjusts guide rod；
The comprehensive delivery section of 200-；201- delivers vehicle body；202- delivers wheel shaft；203- Mecanum wheel；204- embraces tool peace
Loading board；205- telescopic supporting rod；
300- clamping embraces tool；The fixed clamping of 300a- embraces tool；300b- slidingtype clamping embraces tool；301- support base；
302- support slot；303- holding arm；304- holds shaft tightly；305- holds driving motor tightly；306- worm screw；307- turbine；308-
One sensor；The first rubber pad of 309-；310- second sensor；311- arc rubber pad；312- lead screw motor；313- screw thread silk
Bar；
401- connector embolus；The front end 402- hinged set；The rear end 403- hinged set；The front end 404- dislocation sliding rail；
The tail portion 500- delivers section；The tail portion 501- vehicle body；502- universal wheel；503- height adjustment mechanism.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It better understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, being the structural schematic diagram of loader transporter vehicle embodiment of the present invention.The loader transporter vehicle of the present embodiment,
Include:
Traction delivery section 100, for providing the tractive force to travel forward；
Comprehensive delivery section 200 positioned at traction delivery 100 rear of section and can realize omnibearing movable.
The traction delivery section 100 of the present embodiment includes traction vehicle body 101, and the front end and/or rear end for drawing vehicle body 101 are equipped with
For providing tractive force and controlling the power steering mechanism 102 of the direction of motion.The front end of the traction vehicle body 101 of the present embodiment is with after
End is equipped with for providing tractive force and controlling the power steering mechanism 102 of the direction of motion.
The comprehensive delivery section 200 of the present embodiment includes delivery vehicle body 201, and the rear and front end of delivery vehicle body 201 is set respectively
There is delivery wheel shaft 202, the both ends of delivery wheel shaft 202 are respectively equipped with Mecanum wheel 203.
It is articulated and connected between the rear end of the traction vehicle body 101 of the present embodiment and the front end for delivering vehicle body 201.
The clamping that clamping workpiece 1 is respectively provided on the traction vehicle body 101 and/or delivery vehicle body 201 of the present embodiment is embraced
Tool 300.It is embraced specifically, being equipped on the traction vehicle body 101 of the present embodiment and delivery vehicle body 201 for the clamping of clamping workpiece 1
Tool 300.Certainly, in some embodiments, clamping armful tool can be only set on delivery vehicle body 201 in traction vehicle body 101 or only
300, principle is suitable, is not repeated.1 split settings of workpiece of the present embodiment are two sections of front and back, in this way, can will be before workpiece 1
Section clamping is fixed in traction delivery section 100, the back segment clamping of workpiece 2 is fixed in comprehensive delivery section 200, at this point, leading
Draw delivery section 100 and comprehensive delivery section 200 between can be more flexible controlled.
Further, the power steering mechanism of the present embodiment includes the steering shaft that rotatable engagement is mounted on traction vehicle body 101
103 and with steering shaft 103 rotate synchronously power wheel mounting base 104, power wheel mounting base 104 be equipped with power wheel shaft 105, turn
It intersects vertically to the axis of the axis and power wheel shaft 105 of axis 103.The both ends of power wheel shaft 105 are respectively equipped with synchronous turn
Dynamic power wheel 106；And it is equipped in power wheel mounting base 104 for driving power wheel 106 to rotate what offer in turn travelled forward
The power device of tractive force, traction vehicle body 101 are equipped with for driving steering shaft 103 to rotate and then making 100 turns of section of traction delivery
To steering driving mechanism.
Specifically, the power device of the present embodiment includes the power motor 107 being arranged in a one-to-one correspondence with power wheel 106, move
Speed changer 108 is equipped between force motor 107 and power wheel shaft 105.Traction power is provided using power motor 107.
The power wheel mounting base 104 of the present embodiment is equipped at least two steerings uniformly distributed relative to 103 annular of steering shaft
Connecting rod 109, steering shaft 103 are equipped with the steering linking arm 110 of synchronous rotation, turn to linking arm 110 and steering link 109
Connection.The steering link 109 of the present embodiment is set as two, turns to linking arm 110 by setting and is connected with steering link 109,
Steering torque can be made to be transferred in power wheel mounting base 104 by steering shaft 103, improve force stability.The steering of the present embodiment
Driving mechanism includes the steering motor 114 being arranged on traction vehicle body 101, the output shaft of steering motor 114 and steering shaft 103 it
Between be sequentially connected.Specifically, traction vehicle body 101 is equipped with and is located between two power wheel mounting bases 104 and for providing electric energy
Battery pack 112, be mounted on to 112 replaceable of battery pack of the present embodiment traction vehicle body 101 on.
Further, the front end and/or rear end of power wheel mounting base 104 are equipped with flat for detecting road surface orbital direction and road surface
The road surface sensor 111 of whole degree.The front-end and back-end of the power wheel mounting base 104 of the present embodiment are equipped with for detecting road surface rail
The road surface sensor 111 of road direction and surface evenness, by be arranged road surface sensor 111, can make traction delivery section 100 along
Preset route is advanced, and can real-time detection surface conditions, avoid transport vehicle because of stone present on pavement roughness or road surface
Block etc. jolts, defective work piece.The rear and front end of the power wheel mounting base 104 of the present embodiment is respectively equipped with sensor mount
116, power wheel mounting base 104 is equipped with the adjusting guide rod 117 for adjusting 116 height of sensor mount, road surface sensor
111 are arranged at intervals on sensor mount 116.The rear and front end of the traction vehicle body 101 of the present embodiment is additionally provided with steering wheel group
115。
Further, it draws and is equipped with connector embolus 401, traction between the rear end of vehicle body 101 and the front end of delivery vehicle body 201
The rear end of vehicle body 101 is equipped with rotatable engagement and is sleeved on the front end hinged set 402 on connector embolus 401, before delivering vehicle body 201
End is equipped with rotatable engagement and is sleeved on the rear end hinged set 403 on connector embolus 401.In this way, traction delivery section 100 can be drawn entirely
Delivery section 200 in orientation is advanced therewith, and during traveling, comprehensive delivery section 200 can be 401 turns around connector embolus
It is dynamic, real-time adjusting position.
Further, the rear end for drawing vehicle body 101 is equipped with front end dislocation sliding rail 404, and front end hinged set 402 is slidably installed
On front end dislocation sliding rail 404, rotatable engagement between rear end hinged set 403 and delivery vehicle body 201；And/or delivery vehicle body 201
Front end be equipped with rear end misplace sliding rail, rear end hinged set 403 be slidably installed rear end dislocation sliding rail on, front end hinged set
Rotatable engagement between 402 and traction vehicle body 101.By setting front end dislocation sliding rail 404 and rear end dislocation sliding rail, full side can be made
Delivery section 200 in position can deliver 100 transverse shifting of section relative to traction, and the delivery that can better conform to different road conditions environment is wanted
It asks.The present embodiment is equipped with front end dislocation sliding rail 404 in the rear end of traction vehicle body 101, and front end hinged set 402 is slidably installed
Front end misplaces on sliding rail 404.
Further, comprehensive delivery section 200 is set as at least one；And when comprehensive delivery section 200 is set as at least two
It when a, is articulated and connected between the delivery vehicle body 201 of two neighboring comprehensive delivery section 200, specifically, two neighboring comprehensive fortune
It carries the mode being articulated and connected between the delivery vehicle body 201 of section 200 and traction vehicle body 101 and delivers hingedly connecting between vehicle body 201
It is identical to connect mode, no longer tires out one by one and states.The comprehensive delivery section 200 of the present embodiment is set as one, certainly, according to practical delivery
The axial length size of workpiece, the quantity of comprehensive delivery section 200 can be set to multiple, be not repeated.
Further, the loader transporter vehicle of the present embodiment further includes tail portion delivery section 500, and it includes tail portion that tail portion, which delivers section 500,
Vehicle body 501, tail portion vehicle body 501 is equipped with the clamping armful tool 300 for being used to support workpiece, and the bottom of tail portion vehicle body 501 is equipped with ten thousand
To wheel 502.Tail portion vehicle body 501 is equipped with the height adjustment mechanism 503 that 300 height of tool are embraced for adjusting clamping.Tail portion delivers section
500 follow comprehensive delivery section 200 to move, and can be used for installing all kinds of control modules etc. in tail portion vehicle body 501, are not repeated.
Further, it includes support base 301 that the clamping of the present embodiment, which embraces tool 300, and the top surface of support base 301, which is equipped with, to be used
In the support slot 302 of support workpiece, the two sides of support slot 302, which are respectively provided with, is fixed on workpiece holding in support slot 302
Holding arm 303.Specifically, the two sides of support slot 302 are respectively equipped with the holding shaft 304 parallel with its length direction, hold tightly
Arm 303, which is sleeved on, to be held tightly in shaft 304 and rotates synchronously with shaft 304 is held tightly, and support base 301 is equipped with and embraces for driving
The holding driving mechanism that tight shaft 304 rotates.Specifically, the holding driving mechanism of the present embodiment includes being fixedly mounted on support bottom
Holding driving motor 305 on seat 301, the output shaft for holding driving motor 305 tightly are equipped with worm screw 306, hold tightly and set in shaft 304
The turbine 307 for having synchronous rotation and being engaged with worm screw 306.It is set as including support base and propping up by the way that clamping is embraced tool
The holding arm for rotating cooperation is respectively set in support slot two sides, is rotated using turbine and worm mechanism driving holding arm, in realization pair
While workpiece holds fixed tightly, also prevent from loosening using the latching characteristics of turbine and worm.
Preferably, hold shaft 304 tightly and be equipped with first sensor 308 for detecting its rotational angle, holding arm 303 with
The side that workpiece is engaged is equipped with the first rubber pad 309, and the first rubber pad 309 is equipped with for detecting its deflection size
Second sensor 310.By setting first sensor 308 and second sensor 310, it is able to detect the angle of rotation of holding arm 303
The deflection of degree and the first rubber pad 309, and then clamping enclasping force is controlled, make clamping enclasping force within the set range.
Further, support slot 302 uses V-groove, and the two sidewalls of V-groove are respectively equipped with flat rubber pad；Or, support slot
302 use arc groove, and the slot bottom of arc groove is equipped with arc rubber pad 311.The support slot 302 of the present embodiment uses arc groove, arc
The slot bottom of shape slot is equipped with arc rubber pad 311.
Further, the holding arm 303 for being separately positioned on 302 two sides of support slot is arranged along axile displacement.Specifically, support slot
302 wherein side is equipped with two holding arms 303, and gap is equipped between two holding arms 303, and setting is another in the support slot 302
The width of a piece holding arm 303 of side is less than or equal to the width in gap and is correspondingly arranged with gap.By that will be separately positioned on
The holding arm of support slot two sides along axile displacement be arranged, in this way, can make clamping embrace tool can satisfy from the workpiece compared with small axle diameter to
Clamping compared with the workpiece of large-diameter holds requirement tightly.
Further, traction vehicle body 101 is equipped at least one clamping and embraces tool 300.Between on the traction vehicle body 101 of the present embodiment
Tool 300 is embraced every being equipped at least three clampings, all clampings are embraced in tool 300, and two clampings positioned at both ends embrace tool 300 to fix
Formula clamping embraces tool 300a, and fixed clamping is embraced tool 300a and is fixedly mounted on traction vehicle body 101；Positioned at two fixed clampings
Embracing the clamping between tool and embracing tool 300 is that slidingtype clamping embraces tool 300b, and traction vehicle body 101 is equipped with an armful tool sliding rail 113, slidingtype
Clamping embraces tool 300b and is slidably installed on embracing tool sliding rail 113, and draws and embrace tool 300b mono- on vehicle body 101 with slidingtype clamping
One is correspondingly provided with for driving corresponding slidingtype clamping to embrace tool 300b along the threaded screw rod mechanism for embracing the sliding of tool sliding rail 113, spiral shell
Line screw body includes lead screw motor 312 and threaded screw rod 313, and threaded screw rod 313 embraces tool 300b with corresponding slidingtype clamping
Support base 301 between be threadedly engaged.The slidingtype clamping of the present embodiment embraces tool 300b and is set as one.
Further, delivery vehicle body 201, which is equipped with, embraces tool mounting plate 204, and the clamping being arranged on delivery vehicle body 201 embraces tool
300 be installed in embrace tool mounting plate 204 on, and embrace tool mounting plate 204 and delivery vehicle body 201 between be equipped with for adjust embrace tool peace
The height of loading board 204 embraces tool height adjustment mechanism.The tool height adjustment mechanism of embracing of the present embodiment includes that tool installation is being embraced in setting
Telescopic supporting rod 205 between plate 204 and delivery vehicle body 201 and flexible for drive that telescopic supporting rod 205 elongates or shortens
Driving device.It is embraced in tool 300 specifically, the clamping embraced on tool mounting plate 204 is arranged in, may be set to be two positioned at both ends
A clamping, which embraces tool 300 and is fixedly mounted on to embrace, to be had on mounting plate 204, remaining clamping embraces 300 single-degree-of-freedoms of tool and is slidably installed
On embracing tool mounting plate 204.The present embodiment is arranged in the clamping embraced on tool mounting plate 204 and embraces in tool 300, and all clampings embrace tool
300 are fixedly mounted on armful tool mounting plate 204.
Loader transporter vehicle of the invention draws delivery section by setting, and power steering mechanism is arranged with tractor,
It is capable of providing the tractive force to travel forward and controls direction of travel；By the way that comprehensive delivery section is arranged, and set with carrier loader
Mecanum wheel is set, using the kinetic characteristic of Mecanum wheel, comprehensive delivery section can be made to realize omnibearing movable；In this way, making
With in the process, tool is embraced using clamping and holds workpiece tightly fixation, then draw entire transport vehicle using traction delivery section and advance forward,
When traction delivery section turning, the comprehensive delivery section being located behind can utilize the characteristic of its omnibearing movable, arbitrarily adjustment position
It sets, it is ensured that traction delivery section and comprehensive delivery section have enough soft readjustment abilities, and only need that delivery Duan Yuquan will be drawn
Orientation is delivered and is articulated and connected between section, without complicated course changing control mechanism is arranged as existing transport vehicle,
Have the advantages that simple and reliable for structure.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of loader transporter vehicle, it is characterised in that: include:
Traction delivery section (100), for providing the tractive force to travel forward；
Comprehensive delivery section (200) is located at traction delivery section (100) rear and can realize omnibearing movable；
Traction delivery section (100) includes traction vehicle body (101), and the front end and/or rear end of traction vehicle body (101) are equipped with
For providing tractive force and controlling the power steering mechanism (102) of the direction of motion；
The comprehensive delivery section (200) includes delivery vehicle body (201), and the rear and front end of delivery vehicle body (201) is set respectively
Have delivery wheel shaft (202), the both ends of delivery wheel shaft (202) are respectively equipped with Mecanum wheel (203)；
It is articulated and connected between the rear end of traction vehicle body (101) and the front end of delivery vehicle body (201)；
The clamping that clamping workpiece is respectively provided on traction vehicle body (101) and/or delivery vehicle body (201) embraces tool
(300)。
2. loader transporter vehicle according to claim 1, it is characterised in that:
The power steering mechanism include rotatable engagement be mounted on it is described traction vehicle body (101) on steering shaft (103) and with institute
The power wheel mounting base (104) of steering shaft (103) synchronous rotation is stated, the power wheel mounting base (104) is equipped with power wheel shaft
(105), the both ends of the power wheel shaft (105) are respectively equipped with the power wheel (106) of synchronous rotation；And the power wheel peace
It is equipped in dress seat (104) for driving the power wheel (106) rotation to provide the power device of the tractive force to travel forward in turn,
The traction vehicle body (101) is equipped with for driving the steering shaft (103) to rotate and then turning traction delivery section (100)
To steering driving mechanism.
3. loader transporter vehicle according to claim 2, it is characterised in that:
The power wheel mounting base (104) is equipped at least two steerings uniformly distributed relative to the steering shaft (103) annular and connects
Bar (109), the steering shaft (103) are equipped with the steering linking arm (110) of synchronous rotation, the steering linking arm
(110) it is connect with the steering link (109)；
The front end and/or rear end of the power wheel mounting base (104) are equipped with for detecting road surface orbital direction and surface evenness
Road surface sensor (111)；
The traction vehicle body (101), which is equipped with, to be located between two power wheel mounting bases (104) and for providing electric energy
Battery pack (112).
4. loader transporter vehicle according to claim 1, it is characterised in that:
Connector embolus (401) are equipped between the rear end of traction vehicle body (101) and the front end of delivery vehicle body (201),
The rear end of traction vehicle body (101) is equipped with rotatable engagement and is sleeved on the front end hinged set on the connector embolus (401)
(402), the front end of delivery vehicle body (201) is equipped with rotatable engagement and is sleeved on the hinge of the rear end on the connector embolus (401)
Female connector (403)；
The rear end of traction vehicle body (101) is equipped with front end dislocation sliding rail (404), and the front end hinged set (402) is slidably matched
It is mounted on front end dislocation sliding rail (404), is rotated between the rear end hinged set (403) and the delivery vehicle body (201)
Cooperation；And/or
The front end of delivery vehicle body (201) is equipped with rear end dislocation sliding rail, and the rear end hinged set (403) is slidably installed
On the rear end dislocation sliding rail, rotatable engagement between the front end hinged set (402) and the traction vehicle body (101).
5. loader transporter vehicle according to claim 1, it is characterised in that:
The comprehensive delivery section (200) is set as at least one；And when the comprehensive delivery section (200) is set as at least two
When a, it is articulated and connected between the delivery vehicle body (201) of the two neighboring comprehensive delivery section (200)；
It further include tail portion delivery section (500), tail portion delivery section (500) is located at the rear of the comprehensive delivery section (200)；
Tail portion delivery section (500) includes tail portion vehicle body (501), and the tail portion vehicle body (501) is equipped with and is used to support the workpiece
The clamping embrace tool (300), and the bottom of the tail portion vehicle body (501) be equipped with universal wheel (502).
6. loader transporter vehicle according to claim 1-5, it is characterised in that:
It includes support base (301) that the clamping, which embraces tool (300), and the top surface of the support base (301), which is equipped with, to be used to support
The support slot (302) of workpiece, the two sides of the support slot (302), which are respectively provided with, is fixed on the support slot for workpiece holding
(302) holding arm (303) in；
The two sides of the support slot (302) are respectively equipped with the holding shaft (304) parallel with its length direction, the holding arm
(303) it is sleeved on the holding shaft (304) and is rotated synchronously with the holding shaft (304), and the support base
(301) it is equipped with the holding driving mechanism for driving holding shaft (304) to rotate.
7. loader transporter vehicle according to claim 6, it is characterised in that:
The driving mechanism of holding tightly includes the holding driving motor (305) being fixedly mounted on the support base (301), described
The output shaft for holding driving motor (305) tightly is equipped with worm screw (306), and the holding shaft (304) is equipped with synchronous rotation
And the turbine (307) engaged with the worm screw (306)；
Described hold tightly shaft (304) are equipped with the first sensor (308) for detecting its rotational angle；
The side that the holding arm (303) and workpiece are engaged is equipped with the first rubber pad (309), first rubber pad
(309) it is equipped with the second sensor (310) for detecting its deflection size.
8. loader transporter vehicle according to claim 6, it is characterised in that:
The holding arm (303) for being separately positioned on the support slot (302) two sides is arranged along axile displacement；
The wherein side of the support slot (302) is equipped with two holding arms (303), between two holding arms (303)
Equipped with gap, it is arranged described in being less than or equal in the width of a holding arm (303) of support slot (302) other side
The width in gap is simultaneously correspondingly arranged with the gap.
9. loader transporter vehicle according to claim 6, it is characterised in that:
It is equipped at intervals at least three clampings on the traction vehicle body (101) and embraces tool (300), all clampings embrace tool
(300) in, it is that fixed clamping embraces tool, and the fixed clamping embraces tool that two clampings positioned at both ends, which embrace tool (300),
It is fixedly mounted on the traction vehicle body (101)；The clamping between tool, which is embraced, positioned at two fixed clampings embraces tool
(300) tool is embraced for slidingtype clamping, the traction vehicle body (101), which is equipped with, embraces tool sliding rail (113), and the slidingtype clamping embraces tool
It is slidably installed on described armful of tool sliding rail (113), and embraces tool one with the slidingtype clamping on the traction vehicle body (101)
One is correspondingly provided with for driving the corresponding slidingtype clamping to embrace the threaded screw rod machine that tool is slided along described armful of tool sliding rail (113)
Structure.
10. loader transporter vehicle according to claim 6, it is characterised in that:
The delivery vehicle body (201), which is equipped with, embraces tool mounting plate (204), and the dress on delivery vehicle body (201) is arranged
It holds tool (300) to be installed on described armful of tool mounting plate (204), and described armful of tool mounting plate (204) and the delivery vehicle body
(201) armful tool height adjustment mechanism for adjusting the height for embracing tool mounting plate (204) is equipped between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910609021.6A CN110282035B (en) | 2019-07-08 | 2019-07-08 | Loading and transporting vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910609021.6A CN110282035B (en) | 2019-07-08 | 2019-07-08 | Loading and transporting vehicle |
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| Publication Number | Publication Date |
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| CN110282035A true CN110282035A (en) | 2019-09-27 |
| CN110282035B CN110282035B (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910609021.6A Active CN110282035B (en) | 2019-07-08 | 2019-07-08 | Loading and transporting vehicle |
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| CN (1) | CN110282035B (en) |
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| CN112937420A (en) * | 2021-01-29 | 2021-06-11 | 军事科学院系统工程研究院军事新能源技术研究所 | Vehicle-mounted pipe storage device and pipeline operation vehicle |
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| Publication number | Publication date |
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| CN110282035B (en) | 2020-06-05 |
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