CN110282035B - Loading and transporting vehicle - Google Patents
Loading and transporting vehicle Download PDFInfo
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- CN110282035B CN110282035B CN201910609021.6A CN201910609021A CN110282035B CN 110282035 B CN110282035 B CN 110282035B CN 201910609021 A CN201910609021 A CN 201910609021A CN 110282035 B CN110282035 B CN 110282035B
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- vehicle body
- traction
- carrying
- steering
- clamping
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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
- B60P7/08—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 loading and transporting vehicle, comprising: a traction carrying segment for providing a traction force for forward movement; the omnibearing carrying section is positioned behind the traction carrying section and can realize omnibearing motion; the traction carrying section comprises a traction vehicle body, and the front end and/or the rear end of the traction vehicle body are/is provided with a power steering mechanism for providing traction force and controlling the movement direction; the omnibearing carrying section comprises a carrying vehicle body, the front end and the rear end of the carrying vehicle body are respectively provided with a carrying wheel shaft, and the two ends of the carrying wheel shaft are respectively provided with a Mecanum wheel; the rear end of the traction vehicle body is hinged with the front end of the carrier vehicle body; and the traction vehicle body and/or the carrier vehicle body are/is provided with clamping tools for clamping workpieces. The loading and transporting vehicle disclosed by the invention can meet the loading and transporting requirements of workpieces, and the carrying sections of the loading vehicle are controlled independently, so that the connection control mechanism between the carrying sections can be effectively simplified, and the reliability is higher.
Description
Technical Field
The invention belongs to the technical field of vehicles, and particularly relates to a loading and transporting vehicle.
Background
In the transition transportation process of large-scale workpieces, the carrier loader is required to have a large-span wheelbase and to be capable of bearing a large load, and the carrier loader can meet the requirement of steering and carrying according to the actual condition of the carrier loader and the requirement of road trafficability.
Chinese patent publication No. CN105383558A discloses a synchronous steering system for a multi-axle road transport vehicle, wherein the multi-axle road transport vehicle is a three-axle full trailer, and comprises a front axle, a middle axle and a rear axle, the front axle is in axle steering, the middle axle and the rear axle are in wheel steering, a front axle wheel set turntable is fixedly arranged on the front axle, the front axle wheel set turntable is rotatably mounted on a frame of the multi-axle road transport vehicle, a middle axle swing arm assembly is arranged at the middle axle, the middle axle swing arm assembly is rotatably mounted on a first vertical shaft, the first vertical shaft is fixedly mounted on a first vertical shaft bracket, the first vertical shaft bracket is fixed on the frame of the road transport vehicle, the middle axle swing arm assembly is connected with one end of a middle axle steering side pull rod through a ball hinge, the other end of the middle axle steering side pull rod is connected with a first steering knuckle arm through a ball hinge, the first steering knuckle arm is fixed at the upper end of the first wheel set, a first steering trapezoid arm is fixed at the lower end of the first wheel set steering knuckle, the first steering trapezoid arm is connected with one end of a first steering tie rod through a spherical hinge, the other end of the first steering tie rod is connected with a second steering trapezoid arm through a spherical hinge, the second steering trapezoid arm is fixed on a second wheel set steering knuckle, a rear axle swing arm assembly is arranged at the rear axle and is rotatably installed on a second vertical shaft, the second vertical shaft is fixedly installed on a second vertical shaft bracket, the second vertical shaft bracket is fixed on a frame of the multi-axle road transport vehicle, the rear axle swing arm assembly is connected with one end of a rear axle steering side tie rod through a spherical hinge, the other end of the rear axle steering side tie rod is connected with the second steering knuckle arm through a spherical hinge, the second steering knuckle arm is fixed at the upper end of a third wheel set steering knuckle, and a third steering trapezoid arm is fixed at the lower end of the third wheel set steering knuckle, the third steering trapezoid arm is connected with one end of the second tie rod through a spherical hinge, the other end of the second tie rod is connected with the fourth steering trapezoid arm through a spherical hinge, the fourth steering trapezoid arm is fixed on a fourth wheel set steering knuckle, two opposite sides of the front axle wheel set rotating disc are respectively connected with a first steel wire rope and a second steel wire rope, the other ends of the first steel wire rope and the second steel wire rope are respectively connected to the middle axle swing arm assembly, connecting points of the first steel wire rope and the middle axle swing arm assembly are respectively located on two opposite sides of the first vertical shaft, the first steel wire rope and the second steel wire rope are arranged in a crossed mode, two sides of the middle axle swing arm assembly, which are located on the first vertical shaft, are connected with a connecting pull rod in a spherical hinge mode, the other ends of the two connecting pull rods are respectively connected to the rear axle swing arm assembly in a spherical hinge mode, connecting points of the two connecting pull rods and the rear axle swing arm assembly are respectively located on.
Although the synchronous steering system of the multi-axle road transport vehicle can realize synchronous steering, the structure is complex, the steering synchronization is realized by utilizing the tension action of the steel wire rope, the tension of the steel wire rope is large for a large-scale carrier vehicle, the steel wire rope is easy to cause fatigue damage or even fracture in the use process, and the reliability is low.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a loading and transporting vehicle, which not only can meet the loading and transporting requirements of workpieces, but also can control the carrying segments of the loading vehicle independently from each other, can effectively simplify the connection control mechanism between the carrying segments, and has higher reliability.
In order to achieve the purpose, the invention provides the following technical scheme:
a load carrier, comprising:
a traction carrying segment for providing a traction force for forward movement;
the omnibearing carrying section is positioned behind the traction carrying section and can realize omnibearing motion;
the traction carrying section comprises a traction vehicle body, and the front end and/or the rear end of the traction vehicle body are/is provided with a power steering mechanism for providing traction force and controlling the movement direction;
the omnibearing carrying section comprises a carrying vehicle body, the front end and the rear end of the carrying vehicle body are respectively provided with a carrying wheel shaft, and the two ends of the carrying wheel shaft are respectively provided with a Mecanum wheel;
the rear end of the traction vehicle body is hinged with the front end of the carrier vehicle body;
and the traction vehicle body and/or the carrier vehicle body are/is provided with clamping tools for clamping workpieces.
Further, the power steering mechanism comprises a steering shaft which is arranged on the traction vehicle body in a rotating fit manner and a power wheel mounting seat which rotates synchronously with the steering shaft, wherein the power wheel mounting seat is provided with a power wheel shaft, and two ends of the power wheel shaft are respectively provided with power wheels which rotate synchronously with the power wheel shaft; and a power device for driving the power wheel to rotate and further provide traction force for forward movement is arranged in the power wheel mounting seat, and a steering driving mechanism for driving the steering shaft to rotate and further enable the traction carrying section to steer is arranged on the traction vehicle body.
Furthermore, the power device comprises power motors which are arranged in one-to-one correspondence with the power wheels, and a transmission is arranged between each power motor and the corresponding power wheel shaft.
Furthermore, the power wheel mounting seat is provided with at least two steering connecting rods which are uniformly distributed in an annular shape relative to the steering shaft, the steering shaft is provided with a steering connecting arm which synchronously rotates with the steering shaft, and the steering connecting arm is connected with the steering connecting rods.
Furthermore, the front end and/or the rear end of the power wheel mounting seat are/is provided with a road surface sensor for detecting the direction of a road surface track and the flatness of the road surface.
Furthermore, a battery pack which is arranged between the two power wheel mounting seats and used for providing electric energy is arranged on the tractor body.
Further, the steering driving mechanism comprises a steering motor arranged on the traction vehicle body, and an output shaft of the steering motor is in transmission connection with the steering shaft.
Furthermore, a connecting piece bolt is arranged between the rear end of the traction vehicle body and the front end of the carrying vehicle body, a front end hinge sleeve which is sleeved on the connecting piece bolt in a rotating fit manner is arranged at the rear end of the traction vehicle body, and a rear end hinge sleeve which is sleeved on the connecting piece bolt in a rotating fit manner is arranged at the front end of the carrying vehicle body.
Furthermore, a front-end staggered slide rail is arranged at the rear end of the traction vehicle body, the front-end hinge sleeve is installed on the front-end staggered slide rail in a sliding fit manner, and the rear-end hinge sleeve is in rotating fit with the carrier vehicle body; and/or the presence of a gas in the gas,
the front end of the carrying vehicle body is provided with a rear end dislocation slide rail, the rear end hinge sleeve is installed on the rear end dislocation slide rail in a sliding fit mode, and the front end hinge sleeve is in rotating fit with the traction vehicle body.
Further, the omnibearing vehicle segments are arranged into at least one; and when the omnibearing carrying sections are at least two, the carrying vehicle bodies of the adjacent omnibearing carrying sections are hinged and connected.
The clamping holding tool is used for supporting the workpiece, and universal wheels are arranged at the bottom of the tail body.
Furthermore, the clamping tool comprises a supporting base, a supporting groove for supporting the workpiece is arranged on the top surface of the supporting base, and two sides of the supporting groove are respectively provided with a holding arm for holding and fixing the workpiece in the supporting groove;
the both sides of supporting the groove are equipped with respectively rather than the parallel pivot of holding tightly of length direction, hold the arm suit of holding tightly in the pivot and with hold the pivot synchronous rotation tightly, just be equipped with on the support base and be used for the drive hold the pivot pivoted and hold actuating mechanism tightly.
Further, it includes fixed mounting to hold actuating mechanism tightly support the driving motor that holds on the base, it is equipped with the worm on driving motor's the output shaft to hold tightly, hold tightly be equipped with in the pivot rather than synchronous rotation and with worm mesh's turbine.
Furthermore, a first sensor for detecting the rotation angle of the enclasping rotating shaft is arranged on the enclasping rotating shaft.
Further, one side of the holding arm, which is in contact fit with the workpiece, is provided with a first rubber pad, and a second sensor for detecting the deformation of the first rubber pad is arranged on the first rubber pad.
Furthermore, the support groove is a V-shaped groove, and two side walls of the V-shaped groove are respectively provided with a plane rubber pad; or the like, or, alternatively,
the support groove adopts an arc-shaped groove, and an arc-shaped rubber pad is arranged at the bottom of the arc-shaped groove.
Furthermore, the holding arms respectively arranged at two sides of the supporting groove are arranged along the axial direction in a staggered manner.
Furthermore, one side of the supporting groove is provided with two of the clasping arms, a gap is arranged between the two clasping arms, and one clasping arm arranged on the other side of the supporting groove is less than or equal to the width of the gap and is arranged corresponding to the gap.
Further, the tractor body is provided with at least one clamping tool.
Furthermore, at least three clamping clasps are arranged on the tractor body at intervals, and of all the clamping clasps, two clamping clasps positioned at two ends are fixed clamping clasps which are fixedly arranged on the tractor body; be located two between the fixed clamping locking the clamping locking is slidingtype clamping locking, be equipped with the locking slide rail on the traction automobile body, slidingtype clamping locking sliding fit install on the locking slide rail, just on one's body the tractor with slidingtype clamping locking one-to-one is equipped with and is used for the drive to correspond slidingtype clamping locking follows the gliding screw lead screw mechanism of locking slide rail.
Further, be equipped with the locking device mounting panel on the delivery automobile body, set up on the delivery automobile body the clamping locking device is all installed on the locking device mounting panel, just the locking device mounting panel with be equipped with between the delivery automobile body and be used for adjusting the locking device height-adjusting mechanism of the height of locking device mounting panel.
Further, the height adjusting mechanism of the holding tool comprises a telescopic supporting rod arranged between the mounting plate of the holding tool and the carrying vehicle body and a telescopic driving device used for driving the telescopic supporting rod to extend or shorten.
The invention has the beneficial effects that:
according to the loading and transporting vehicle, the traction carrying section is arranged, and the power steering mechanism is arranged on the tractor body, so that the forward movement traction force can be provided, and the advancing direction can be controlled; by arranging the omnibearing carrying section and arranging the Mecanum wheels on the carrying vehicle body, the omnibearing carrying section can realize omnibearing motion by utilizing the motion characteristic of the Mecanum wheels; so, in the use, it is fixed to utilize the clamping locking tool to hold the work piece tightly, then utilize to pull the delivery section and pull whole transport vechicle and advance forward, when pulling the delivery section and turn, be located the usable all-round motion's of all-round delivery section characteristic at rear, arbitrary adjusting position, it has sufficient flexible regulation ability to ensure to pull delivery section and all-round delivery section, and only need will pull between delivery section and the all-round delivery section articulated be connected can, and need not set up complicated steering control mechanism like current transport vechicle, have the reliable advantage of simple structure.
The steering shaft is arranged, and the power wheel mounting seat is arranged to rotate synchronously with the steering shaft, so that the power wheel mounting seat can be driven to rotate by driving the steering shaft by the steering driving mechanism, and the control of the advancing direction is realized; the power wheel shaft is arranged on the power wheel mounting seat, and the power wheel is arranged on the power wheel shaft, so that the power device is utilized to drive the power wheel shaft to rotate, the traction carrier loader can be driven to move forwards, and the traction force for moving forwards is provided; in addition, the power wheel mounting seat is driven to rotate around the steering shaft, so that direction control can be realized, and the traction carrying section has the advantages of simple structure and convenience in control.
The clamping holding tool comprises a supporting base and holding arms which are rotatably matched with the supporting base and arranged on two sides of a supporting groove respectively, and a worm and gear mechanism is used for driving the holding arms to rotate, so that the work piece can be held and fixed, and meanwhile, the loosening can be prevented by using the self-locking characteristic of the worm and gear; through will set up respectively at the arm of hugging closely of supporting groove both sides along axial dislocation set, so, can make the clamping locking utensil can satisfy the clamping requirement of hugging closely from the work piece in less footpath to the work piece in great footpath.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a schematic structural view of an embodiment of a loading transporter of the present invention;
FIG. 2 is a schematic diagram of a configuration of a towing carriage;
FIG. 3 is a perspective view of a towing carriage;
FIG. 4 is a schematic structural view of a power steering mechanism;
FIG. 5 is a bottom view of FIG. 4;
FIG. 6 is a perspective view of the power steering mechanism;
FIG. 7 is a schematic view of an omni-directional vehicle segment;
FIG. 8 is a schematic structural view of the tail carrier section;
FIG. 9 is a schematic structural view of the clamping fixture;
fig. 10 is a schematic view of the articulated connection between the tractor body and the carrier body.
Description of reference numerals:
1-a workpiece;
100-towing a carrier vehicle; 101-a tractor body; 102-a power steering mechanism; 103-a steering shaft; 104-power wheel mount; 105-a power axle; 106-a power wheel; 107-a power motor; 108-a transmission; 109-steering linkage; 110-steering linkage arm; 111-a road surface sensor; 112-a battery pack; 113-a clamp slide rail; 114-a steering motor; 115-universal wheel set; 116-a sensor mount; 117-adjustment guide bar;
200-omnibearing carrying segment; 201-a carrier body; 202-a carrier wheel axle; 203-Mecanum wheels; 204-a holding fixture mounting plate; 205-telescoping support rods;
300-clamping a holding tool; 300 a-fixed clamping holding tool; 300 b-a sliding clamping holding tool; 301-a support base; 302-a support slot; 303-clasping arms; 304-clasping the rotating shaft; 305-a driving motor for holding tightly; 306-a worm; 307-a turbine; 308-a first sensor; 309-first rubber pad; 310-a second sensor; 311-arc rubber pad; 312-lead screw motor; 313-a threaded screw;
401-connector emboli; 402-a front end hinge sleeve; 403-rear hinge joint sleeve; 404-front end dislocation slide rail;
500-tail carry section; 501-tail vehicle body; 502-universal wheels; 503-height adjustment mechanism.
Detailed Description
The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.
Fig. 1 is a schematic structural view of an embodiment of the loading and transporting vehicle of the present invention. The loading transporter of the embodiment comprises:
a traction carrying segment 100 for providing a traction force for forward movement;
and the omnibearing carrying section 200 is positioned behind the traction carrying section 100 and can realize omnibearing motion.
The traction carriage section 100 of the present embodiment comprises a traction body 101, and the front end and/or the rear end of the traction body 101 is provided with a power steering mechanism 102 for providing traction and controlling the direction of movement. The front and rear ends of the traction body 101 of the present embodiment are each provided with a power steering mechanism 102 for providing traction and controlling the direction of movement.
The omni-directional carrier section 200 of the present embodiment includes a carrier body 201, carrier axles 202 respectively disposed at front and rear ends of the carrier body 201, and mecanum wheels 203 respectively disposed at two ends of the carrier axles 202.
The rear end of the tractor body 101 of the present embodiment is hingedly connected to the front end of the carrier body 201.
The towing vehicle body 101 and/or the carrier vehicle body 201 of the present embodiment are respectively provided with a clamping holder 300 for clamping the workpiece 1. Specifically, the towing vehicle body 101 and the carrying vehicle body 201 of the present embodiment are both provided with a clamping holder 300 for clamping the workpiece 1. Of course, in some embodiments, the clamping holder 300 may be disposed only on the towing vehicle body 101 or only on the carrier vehicle body 201, and the principle is equivalent and will not be described again. The workpiece 1 of the embodiment is divided into a front section and a rear section, so that the front section of the workpiece 1 can be clamped and fixed on the traction carrying section 100, the rear section of the workpiece 2 can be clamped and fixed on the all-round carrying section 200, and at the moment, the traction carrying section 100 and the all-round carrying section 200 can be controlled more flexibly.
Further, the power steering mechanism of the embodiment comprises a steering shaft 103 which is installed on the towing vehicle body 101 in a rotating fit manner, and a power wheel installation seat 104 which rotates synchronously with the steering shaft 103, wherein a power wheel shaft 105 is arranged on the power wheel installation seat 104, and the axis of the steering shaft 103 is vertically intersected with the axis of the power wheel shaft 105. Two ends of the power wheel shaft 105 are respectively provided with a power wheel 106 which synchronously rotates with the power wheel shaft; and a power device for driving the power wheel 106 to rotate and further providing traction force for forward movement is arranged in the power wheel mounting seat 104, and a steering driving mechanism for driving the steering shaft 103 to rotate and further steering the traction carrying section 100 is arranged on the traction vehicle body 101.
Specifically, the power device of the present embodiment includes power motors 107 disposed in one-to-one correspondence with the power wheels 106, and a transmission 108 is disposed between the power motors 107 and the power wheel shafts 105. Traction power is provided by power motor 107.
The power wheel mounting seat 104 of the embodiment is provided with at least two steering connecting rods 109 which are annularly and uniformly distributed relative to the steering shaft 103, the steering shaft 103 is provided with a steering connecting arm 110 which synchronously rotates with the steering shaft 103, and the steering connecting arm 110 is connected with the steering connecting rods 109. The two steering connecting rods 109 are arranged, and the steering connecting arm 110 is connected with the steering connecting rods 109, so that steering torque can be transmitted to the power wheel mounting seat 104 through the steering shaft 103, and the stress stability is improved. The steering driving mechanism of the embodiment comprises a steering motor 114 arranged on the towing vehicle body 101, and an output shaft of the steering motor 114 is in transmission connection with the steering shaft 103. Specifically, the traction body 101 is provided with a battery pack 112 located between the two power wheel mounting seats 104 and used for supplying electric energy, and the battery pack 112 of the present embodiment is detachably mounted on the traction body 101.
Further, a road surface sensor 111 for detecting a road surface track direction and a road surface flatness is provided at the front end and/or the rear end of the power wheel mounting base 104. The front end and the rear end of power wheel mount pad 104 of this embodiment all are equipped with the road surface sensor 111 that is used for detecting road surface track direction and road surface roughness, through setting up road surface sensor 111, can make and pull carrying section 100 and advance along predetermined route, and can the real-time detection road surface condition, avoid the transport vechicle to appear jolting because of the stone etc. that exist on road surface unevenness or the road surface, damage the work piece. The front end and the rear end of the power wheel mounting seat 104 of the embodiment are respectively provided with a sensor mounting frame 116, the power wheel mounting seat 104 is provided with an adjusting guide rod 117 for adjusting the height of the sensor mounting frame 116, and the pavement sensors 111 are arranged on the sensor mounting frame 116 at intervals. The front and rear ends of the tractor body 101 of this embodiment are also provided with universal wheel sets 115.
Further, a connecting piece bolt 401 is arranged between the rear end of the towing vehicle body 101 and the front end of the carrying vehicle body 201, a front end hinge sleeve 402 which is sleeved on the connecting piece bolt 401 in a rotating fit mode is arranged at the rear end of the towing vehicle body 101, and a rear end hinge sleeve 403 which is sleeved on the connecting piece bolt 401 in a rotating fit mode is arranged at the front end of the carrying vehicle body 201. Thus, the towing carrying segment 100 can tow the all-directional carrying segment 200 to travel along with the towing carrying segment, and in the traveling process, the all-directional carrying segment 200 can rotate around the connecting piece bolt 401 to adjust the position in real time.
Further, a front end dislocation slide rail 404 is arranged at the rear end of the traction vehicle body 101, a front end hinge sleeve 402 is installed on the front end dislocation slide rail 404 in a sliding fit manner, and a rear end hinge sleeve 403 is in rotating fit with the carrier vehicle body 201; and/or the front end of the carrier vehicle body 201 is provided with a rear end dislocation slide rail, the rear end hinge sleeve 403 is installed on the rear end dislocation slide rail in a sliding fit manner, and the front end hinge sleeve 402 is in rotating fit with the traction vehicle body 101. Through setting up front end dislocation slide rail 404 and rear end dislocation slide rail, can make all-round delivery section 200 can be for drawing delivery section 100 lateral shifting, can better adapt to the delivery requirement of different road conditions environment. In the present embodiment, a front-end offset slide rail 404 is provided at the rear end of the tractor body 101, and the front-end hinge sleeve 402 is slidably fitted on the front-end offset slide rail 404.
Further, the omni-directional vehicle segment 200 is provided as at least one; and when the number of the omnibearing carrying sections 200 is at least two, the carrying vehicle bodies 201 of two adjacent omnibearing carrying sections 200 are hinged, specifically, the manner of the hinged connection between the carrying vehicle bodies 201 of two adjacent omnibearing carrying sections 200 is the same as that between the towing vehicle body 101 and the carrying vehicle body 201, and the description is not repeated one by one. The number of the all-round carrying segments 200 of this embodiment is set to one, and of course, the number of the all-round carrying segments 200 may be set to a plurality according to the axial length of the actual carrying workpiece, and will not be described repeatedly.
Further, the loading and transporting vehicle of the embodiment further includes a tail carrying section 500, the tail carrying section 500 includes a tail vehicle body 501, the tail vehicle body 501 is provided with a clamping tool 300 for supporting the workpiece, and the bottom of the tail vehicle body 501 is provided with a universal wheel 502. The tail body 501 is provided with a height adjusting mechanism 503 for adjusting the height of the clamping tool 300. The tail carrying section 500 moves along with the omnibearing carrying section 200, and various control modules and the like can be installed in the tail body 501, which is not described in a repeated manner.
Further, the clamping fixture 300 of the present embodiment includes a supporting base 301, a supporting groove 302 for supporting a workpiece is disposed on a top surface of the supporting base 301, and two sides of the supporting groove 302 are respectively provided with a clasping arm 303 for clasping and fixing the workpiece in the supporting groove 302. Specifically, the two sides of the support groove 302 are respectively provided with a clasping rotating shaft 304 parallel to the length direction of the support groove, the clasping arm 303 is sleeved on the clasping rotating shaft 304 and rotates synchronously with the clasping rotating shaft 304, and the support base 301 is provided with a clasping driving mechanism for driving the clasping rotating shaft 304 to rotate. Specifically, the clasping driving mechanism of the present embodiment includes a clasping driving motor 305 fixedly mounted on the supporting base 301, a worm 306 is disposed on an output shaft of the clasping driving motor 305, and a turbine 307 which synchronously rotates with the clasping driving motor and is engaged with the worm 306 is disposed on the clasping rotating shaft 304. Through setting up the clamping locking tool to including supporting the base and setting up respectively rather than the arm of hugging closely of rotary fit in support groove both sides, utilize turbine worm mechanism drive to hug closely the arm and rotate, when realizing hugging closely fixedly to the work piece, still can utilize turbine worm's auto-lock characteristic to prevent not hard up.
Preferably, a first sensor 308 for detecting the rotation angle of the clasping rotating shaft 304 is arranged on the clasping rotating shaft, a first rubber pad 309 is arranged on one side of the clasping arm 303, which is in contact fit with the workpiece, and a second sensor 310 for detecting the deformation of the clasping arm is arranged on the first rubber pad 309. Through setting up first sensor 308 and second sensor 310, can detect the turned angle of embracing tight arm 303 and the deflection of first rubber pad 309, and then control the clamping and embrace tight power, make the clamping embrace tight power and in the settlement within range.
Further, the support groove 302 is a V-shaped groove, and two side walls of the V-shaped groove are respectively provided with a planar rubber pad; or, the support groove 302 is an arc-shaped groove, and an arc-shaped rubber pad 311 is arranged at the bottom of the arc-shaped groove. The supporting groove 302 of this embodiment is an arc-shaped groove, and an arc-shaped rubber pad 311 is disposed at the bottom of the arc-shaped groove.
Further, the clasping arms 303 respectively provided on both sides of the support groove 302 are arranged in a staggered manner in the axial direction. Specifically, one side of the support groove 302 is provided with two clasping arms 303, a gap is formed between the two clasping arms 303, and the width of one clasping arm 303 arranged on the other side of the support groove 302 is smaller than or equal to the width of the gap and is arranged corresponding to the gap. Through will set up respectively at the arm of hugging closely of supporting groove both sides along axial dislocation set, so, can make the clamping locking utensil can satisfy the clamping requirement of hugging closely from the work piece in less footpath to the work piece in great footpath.
Further, the towing vehicle body 101 is provided with at least one clamping tool 300. At least three clamping clasps 300 are arranged on the traction vehicle body 101 at intervals, of all the clamping clasps 300, the two clamping clasps 300 positioned at two ends are fixed clamping clasps 300a, and the fixed clamping clasps 300a are fixedly arranged on the traction vehicle body 101; the clamping holder 300 located between the two fixed clamping holders is a sliding type clamping holder 300b, a holder sliding rail 113 is arranged on the traction body 101, the sliding type clamping holder 300b is installed on the holder sliding rail 113 in a sliding fit mode, a threaded screw rod mechanism used for driving the corresponding sliding type clamping holder 300b to slide along the holder sliding rail 113 is arranged on the traction body 101 in a one-to-one correspondence mode with the sliding type clamping holder 300b, the threaded screw rod mechanism comprises a screw rod motor 312 and a threaded screw rod 313, and the threaded screw rod 313 is in threaded fit with a supporting base 301 of the corresponding sliding type clamping holder 300 b. The sliding clamp 300b of the present embodiment is provided as one.
Further, a clamp mounting plate 204 is arranged on the carrier body 201, the clamping clamps 300 arranged on the carrier body 201 are all mounted on the clamp mounting plate 204, and a clamp height adjusting mechanism for adjusting the height of the clamp mounting plate 204 is arranged between the clamp mounting plate 204 and the carrier body 201. The height adjusting mechanism of the clamp of the present embodiment includes a telescopic support rod 205 disposed between the clamp mounting plate 204 and the carrier body 201, and a telescopic driving device for driving the telescopic support rod 205 to extend or contract. Specifically, in the clamping holder 300 disposed on the holder mounting plate 204, two clamping holders 300 located at two ends may be disposed and fixedly mounted on the holder mounting plate 204, and the rest clamping holders 300 are slidably mounted on the holder mounting plate 204 in a single-degree-of-freedom manner. In the present embodiment, the clamping holder 300 is disposed on the holder mounting plate 204, and all the clamping holders 300 are fixedly mounted on the holder mounting plate 204.
According to the loading and transporting vehicle, the traction carrying section is arranged, and the power steering mechanism is arranged on the tractor body, so that the forward movement traction force can be provided, and the advancing direction can be controlled; by arranging the omnibearing carrying section and arranging the Mecanum wheels on the carrying vehicle body, the omnibearing carrying section can realize omnibearing motion by utilizing the motion characteristic of the Mecanum wheels; so, in the use, it is fixed to utilize the clamping locking tool to hold the work piece tightly, then utilize to pull the delivery section and pull whole transport vechicle and advance forward, when pulling the delivery section and turn, be located the usable all-round motion's of all-round delivery section characteristic at rear, arbitrary adjusting position, it has sufficient flexible regulation ability to ensure to pull delivery section and all-round delivery section, and only need will pull between delivery section and the all-round delivery section articulated be connected can, and need not set up complicated steering control mechanism like current transport vechicle, have the reliable advantage of simple structure.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (9)
1. A loading transporter, characterized in that: the method comprises the following steps:
a traction carrying segment (100) for providing a traction force for forward movement;
the omnibearing carrying segment (200) is positioned behind the traction carrying segment (100) and can realize omnibearing motion;
the traction carrying segment (100) comprises a traction vehicle body (101), and the front end and/or the rear end of the traction vehicle body (101) is/are provided with a power steering mechanism (102) for providing traction and controlling the movement direction;
the omnibearing carrier section (200) comprises a carrier body (201), wherein carrier wheel shafts (202) are respectively arranged at the front end and the rear end of the carrier body (201), and Mecanum wheels (203) are respectively arranged at the two ends of each carrier wheel shaft (202);
the rear end of the traction vehicle body (101) is hinged with the front end of the carrier vehicle body (201);
clamping clasps (300) for clamping workpieces are respectively arranged on the traction vehicle body (101) and/or the carrier vehicle body (201);
a connecting piece bolt (401) is arranged between the rear end of the traction vehicle body (101) and the front end of the carrier vehicle body (201), a front end hinge sleeve (402) which is sleeved on the connecting piece bolt (401) in a rotating and matching manner is arranged at the rear end of the traction vehicle body (101), and a rear end hinge sleeve (403) which is sleeved on the connecting piece bolt (401) in a rotating and matching manner is arranged at the front end of the carrier vehicle body (201);
the rear end of the traction vehicle body (101) is provided with a front end dislocation slide rail (404), the front end hinge sleeve (402) is installed on the front end dislocation slide rail (404) in a sliding fit manner, and the rear end hinge sleeve (403) is in rotating fit with the carrier vehicle body (201); and/or the presence of a gas in the gas,
the front end of the carrying vehicle body (201) is provided with a rear end dislocation slide rail, the rear end hinge sleeve (403) is installed on the rear end dislocation slide rail in a sliding fit mode, and the front end hinge sleeve (402) is in rotating fit with the traction vehicle body (101).
2. A loading transporter according to claim 1, wherein:
the power steering mechanism comprises a steering shaft (103) which is arranged on the traction vehicle body (101) in a rotating fit manner and a power wheel mounting seat (104) which rotates synchronously with the steering shaft (103), wherein a power wheel shaft (105) is arranged on the power wheel mounting seat (104), and power wheels (106) which rotate synchronously with the power wheel shaft (105) are respectively arranged at two ends of the power wheel shaft (105); and a power device for driving the power wheel (106) to rotate so as to provide traction force for forward movement is arranged in the power wheel mounting seat (104), and a steering driving mechanism for driving the steering shaft (103) to rotate so as to enable the traction carrying section (100) to steer is arranged on the traction vehicle body (101).
3. A loading transporter according to claim 2, wherein:
at least two steering connecting rods (109) which are annularly and uniformly distributed relative to the steering shaft (103) are arranged on the power wheel mounting seat (104), a steering connecting arm (110) which synchronously rotates with the steering shaft (103) is arranged on the steering shaft (103), and the steering connecting arm (110) is connected with the steering connecting rods (109);
the front end and/or the rear end of the power wheel mounting seat (104) are/is provided with a road surface sensor (111) for detecting the track direction and the flatness of a road surface;
and a battery pack (112) which is positioned between the two power wheel mounting seats (104) and used for providing electric energy is arranged on the traction vehicle body (101).
4. A loading transporter according to claim 1, wherein:
the omnibearing carrying segments (200) are arranged into at least one; when the omnibearing carrying sections (200) are arranged into at least two, the carrying vehicle bodies (201) of two adjacent omnibearing carrying sections (200) are hinged;
the omnidirectional vehicle further comprises a tail vehicle section (500), wherein the tail vehicle section (500) is positioned behind the omnidirectional vehicle section (200); the tail carrying section (500) comprises a tail body (501), the tail body (501) is provided with a clamping holding tool (300) for supporting the workpiece, and the bottom of the tail body (501) is provided with universal wheels (502).
5. A loading transporter according to any one of claims 1 to 4, wherein:
the clamping fixture (300) comprises a supporting base (301), a supporting groove (302) for supporting a workpiece is formed in the top surface of the supporting base (301), and holding arms (303) for holding and fixing the workpiece in the supporting groove (302) are respectively arranged on two sides of the supporting groove (302);
support the both sides of groove (302) and be equipped with respectively and hold pivot (304) tightly rather than the parallel of length direction, hold arm (303) suit tightly hold on pivot (304) tightly and with hold pivot (304) synchronous rotation tightly, just be equipped with on support base (301) and be used for the drive hold pivot (304) pivoted and hold actuating mechanism tightly.
6. A loading transporter according to claim 5, wherein:
the enclasping driving mechanism comprises an enclasping driving motor (305) fixedly installed on the supporting base (301), an output shaft of the enclasping driving motor (305) is provided with a worm (306), and the enclasping rotating shaft (304) is provided with a turbine (307) which synchronously rotates with the enclasping driving motor and is meshed with the worm (306);
a first sensor (308) for detecting the rotation angle of the enclasping rotating shaft (304) is arranged on the enclasping rotating shaft;
one side of the enclasping arm (303) in contact fit with the workpiece is provided with a first rubber pad (309), and a second sensor (310) for detecting the deformation of the first rubber pad (309) is arranged on the first rubber pad.
7. A loading transporter according to claim 5, wherein:
the clasping arms (303) respectively arranged at two sides of the supporting groove (302) are arranged along the axial direction in a staggered manner;
one side of the supporting groove (302) is provided with two clasping arms (303), a gap is formed between the two clasping arms (303), and the width of one clasping arm (303) arranged on the other side of the supporting groove (302) is smaller than or equal to the width of the gap and is arranged corresponding to the gap.
8. A loading transporter according to claim 5, wherein:
at least three clamping hoops (300) are arranged on the traction vehicle body (101) at intervals, two clamping hoops (300) positioned at two ends in all the clamping hoops (300) are fixed clamping hoops, and the fixed clamping hoops are fixedly arranged on the traction vehicle body (101); be located two between the fixed clamping locking tool (300) is slidingtype clamping locking tool, be equipped with locking tool slide rail (113) on pulling automobile body (101), slidingtype clamping locking tool sliding fit installs on locking tool slide rail (113), just pull on automobile body (101) with slidingtype clamping locking tool one-to-one is equipped with and is used for the drive to correspond slidingtype clamping locking tool follows the gliding screw lead screw mechanism of locking tool slide rail (113).
9. A loading transporter according to claim 5, wherein:
be equipped with the locking device mounting panel (204) on delivery automobile body (201), set up on delivery automobile body (201) clamping locking device (300) are all installed on locking device mounting panel (204), just locking device mounting panel (204) with be equipped with between delivery automobile body (201) and be used for adjusting the locking device height adjustment mechanism of the height of locking device mounting panel (204).
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 |
|---|---|
| CN110282035A CN110282035A (en) | 2019-09-27 |
| CN110282035B true 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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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758225A (en) * | 2019-10-31 | 2020-02-07 | 梁山通华专用车有限公司 | Clamping type cylindrical cargo transport vehicle |
| CN112937420B (en) * | 2021-01-29 | 2022-04-01 | 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 |
|---|---|
| CN110282035A (en) | 2019-09-27 |
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