CN110294048A - Intelligent workshop with sleeper positioning device is tracked robot with indoor navigation - Google Patents
Intelligent workshop with sleeper positioning device is tracked robot with indoor navigation Download PDFInfo
- Publication number
- CN110294048A CN110294048A CN201910671568.9A CN201910671568A CN110294048A CN 110294048 A CN110294048 A CN 110294048A CN 201910671568 A CN201910671568 A CN 201910671568A CN 110294048 A CN110294048 A CN 110294048A
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- China
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- driving device
- positioning device
- body shell
- force driving
- drive shaft
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/04—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors
- B60B33/06—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors mounted retractably
- B60B33/063—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors mounted retractably by linear movement parallel to swivel axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Handcart (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Abstract
The present invention relates to a kind of intelligent workshops with sleeper positioning device to be tracked robot with indoor navigation; including rectangle body shell and electric-control system; drive wheel assemblies are respectively equipped in the arranged on left and right sides setting of rectangle body shell; active force driving device, the steering force driving device that drive wheel assemblies have the rolling wheel apparatus of two groups of forward and backward settings and are installed above and below, active force driving device, steering force driving device are sequentially connected with rolling wheel apparatus.The present invention has simplified traditional driving force, the structure type of steering force, in the case where total keeps the reasonable situation of counterweight, it is able to ascend the dragging ability of robot, further prolongation structure simultaneously, can add the towed jack-up system separated with main structure, gravity is avoided to be applied on body shell, towed jack-up system, sleeper positioning device are further set, it realizes the demand for adapting to different operating conditions, the adaptability of robot can be greatly improved, reduce the cost of the entire project implementation.
Description
Technical field
The present invention relates to automated machine equipment technical field, especially a kind of intelligent workshop with sleeper positioning device
It is tracked robot with indoor navigation.
Background technique
In well known technical field, development and transition and upgrade with social economy, industry manufacture field increasingly
Automation equipment, especially intelligent shop popular in recent years are relied on, is substantially exactly to form original production technology
Complete full-automatic assembly line can be realized intelligent, manless production, especially rely on the transformation of non-standard automatic equipment.?
In each process of production technology, in order to realize the automatic operating linking of process in workshop, integral design can be generally used
Equipment, but in the machining of some complexity or the production of chemical material, the design of monoblock type is difficult to adapt to complicated need
It asks, generally requires and break up various processes, this just needs to apply to the handling device that can be mutually linked between various processes.
In the design of current automation workshop, can generally use the technology of indoor navigation, by various kinds of sensors with
And the predetermined route being laid with, it tracks so that transfer robot is able to carry out to different designated positions.But it is existing to use this kind
The robot architecture that tracks of mentality of designing is not only uncomplicated, operation maintenance trouble, while it has a single function, and can only carry out simple
Guidance, lifting capacity is also not all right, also needs to be separately provided different structures for different technique, while that there is also other is very much
The problem of need further to explore and improve, above-mentioned variety of problems, urgent need will solve, and just adapt to nonstandard automatic
Change the needs of transformation and further decreases the cost of the transformation in intelligent workshop.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the above mentioned problems and provide a kind of intelligence with sleeper positioning device
Workshop is tracked robot with indoor navigation, can not only realize that load-carrying is big, structure is simple, maintenance is convenient, while can also adapt to
The transformation of different operating conditions reduces the cost used.
The technical solution adopted by the present invention to solve the technical problems is: a kind of intelligent workshop with sleeper positioning device
It is tracked robot, including rectangle body shell and electric-control system with indoor navigation, in the arranged on left and right sides of the rectangle body shell
Setting is respectively equipped with drive wheel assemblies, and two groups of drive wheel assemblies be it is arranged symmetrically, the drive wheel assemblies are with two
The rolling wheel apparatus of the forward and backward setting of group and the active force driving device being installed above and below turn to force driving device, described
Active force driving device, steering force driving device are sequentially connected with rolling wheel apparatus,
The wheel apparatus that rolls has the steering connecting bushing being from top to bottom sequentially arranged, isolation retention mechanism, traveling wheel
Mounting bracket,
It is equipped with drive shaft in the steering connecting bushing, is equipped at intervals between steering connecting bushing and the drive shaft
Two needle bearings,
The isolation retention mechanism has installation cover, described to install the opening down of cover and be fastened on traveling wheel installation
The top of bracket, and installation chamber is formed between the installation cover and traveling wheel mounting bracket, with the steering connecting bushing
Central axis be rotation center, in the installation cavity room be equipped at least three ball nuts, it is described installation cover it is upper
Side surface is equipped with mounting flange, is equipped with and the one-to-one fastening bolt mounting hole of ball nut on the mounting flange
Position,
It is respectively equipped with horizontal drive shaft, traveling wheel in the upper and lower two sides of the traveling wheel mounting bracket, the drive shaft is perpendicular
It directly sequentially passes through downwards and turns to connecting bushing, installation cover, traveling wheel mounting bracket and pass through cone with one end of horizontal drive shaft
Gear engagement, is connected between the other end and traveling wheel of the horizontal drive shaft by belt pulley, in the drive shaft and walking
Take turns in being equipped between the top of mounting bracket and set isolation flange, it is described in set the lower part of isolation flange and be equipped with positive stop lug boss and resist
The inner surface at the top of traveling wheel mounting bracket, it is described in set the top of isolation flange and be inserted into installation cavity room, and it is described in
Set isolation flange top edge be equipped with circular arc chamfering and with all ball nuts be in close contact, and it is described in set isolation flange with
It is clearance fit between drive shaft,
The active force driving device and drive shaft are sequentially connected, and the steering force driving device and steering connecting bushing pass
Dynamic connection,
The ducting system cooling for electric-control system is additionally provided in the rectangle body shell.
Further, as a kind of specific embodiment, heretofore described active force driving device turns to power drive
Device is located at the forward and backward side of rectangle body shell in the horizontal direction,
The active force driving device has double drive electric machine, and the double drive electric machine is arranged side by side by two
Driving motor constitute, the output shaft of the driving motor stretches out straight up and in the position of output shaft equipped with cooling and lubricating
Box, the output shaft of the driving motor run through cooling and lubricating box, and set in being equipped between the output shaft of the driving motor defeated
Shaft, it is described in set the lower end of output shaft and be located in cooling and lubricating box and engage with the output shaft of driving motor, the upper end is erected
It is straight to extend upwards and connect with drive shaft by the first pulley drive of perspective plane triangular shape in the horizontal direction,
The steering force driving device has flat torque motor, and the flat torque motor is by the horizontal direction
Perspective plane triangular shape the second pulley drive connection
Further, as a kind of specific embodiment, it is in isosceles that heretofore described ducting system, which has cross section,
Trapezoidal opening frame bracket is equipped with perforative hollow hole on the surface of the opening frame bracket, on the opening frame bracket
It is opening down and be welded and fixed with the bottom of rectangle body shell and constitute cross section be isosceles trapezoid, can be used for accommodating electric power storage
The cooling air channel of pond group and sensor device, the electric-control system is mounted on the top of opening frame bracket, in the opening frame
Several radiator fans are equipped on the side wall of bracket side by side.
Further, it as a kind of specific application mode, is equipped with and drags on the rectangle body shell in the present invention
Formula jack-up system is dragged, the towed jack-up system has detachable bracket, and the detachable bracket is mounted on square by hook
On the side wall of shape body shell, and the towed jack-up system has symmetrically arranged two floating riser devices, at two
Pressurization oil storage barrel is equipped between floating riser device,
The floating riser device has both ends open and hollow mounting cylinder, in the upper/lower terminal point of the mounting cylinder
Not She You jacking post, support column, be equipped with T font positive stop lug boss in the top of the jacking post, the bottom end of support column, and in institute
It states between jacking post and the upper end of mounting cylinder, be equipped with buffer gasket, the jacking post between support column and the lower end of mounting cylinder
Lower end and the top of support column be inserted in mounting cylinder and constitute closed hydraulic oil accommodation space, in the mounting cylinder
Side wall is equipped with the connection sprue bushing for enabling to hydraulic oil accommodation space to be connected with pressurization oil storage barrel, is located in the mounting cylinder
The inner wall of jacking post side is equipped with several limit keyways to extend along the vertical direction, and length is equipped in the limit keyway
The shorter than limited block of positive stop key slot length,
At least three guiding top pillar is installed by limiting platen on the support column, the guiding top pillar is with support column
Central axis centered on rotate distribution, and the guiding top pillar is inserted in jacking post, and every guiding top pillar with jack
It is equipped with the gap for oil liquid flowing between column, is equipped with universal wheel in the bottom of the support column.
Further, as a kind of specific embodiment, the present invention is equal in the front and rear sides of the rectangle body shell
Equipped with towed jack-up system.
Further, as a kind of specific application mode, arranged on left and right sides point of the present invention in the rectangle body shell
Not She You sleeper positioning device,
There are two floating idler wheel, the centerline axis parallels and central shaft of the floating idler wheel for the sleeper positioning device tool
The plane out of plumb, also unhorizontal that line is constituted is equipped with connecting rod, the both ends point of the connecting rod between the floating idler wheel
It is not hinged with the central axis of corresponding floating idler wheel, and be equipped at the middle part of the connecting rod and adjust pivot pin, in the rectangle vehicle
The side wall of body frame, which is equipped with, to be slidably connected and Level tune slot in long strip with pivot pin is adjusted,
The sleeper positioning device also has the dedicated sleeper to match therewith, equal at the horizontal both ends of the dedicated sleeper
It is open equipped with adjusting, drop-over sliding slot is equipped between two adjusting openings, the adjusting opening is successively arranged taper from outside to inside
Introduce section, the first guidance arc section, the second guidance arc section.
Further, as a kind of specific embodiment, heretofore described first guidance arc section and the second guidance
The radius of arc section is not less than the radius of floating idler wheel, and the circular arc of first guidance arc section cross section in the vertical direction
Center be located at adjust opening inner cavity in, it is described second guidance arc section in the vertical direction cross section center of arc be located at adjust
Save the lumen outer of opening.
Further, as a kind of specific embodiment, the radius of heretofore described first guidance arc section is less than
The radius of second guidance arc section.
Further, as a kind of specific application mode, the present invention is equipped with close in the rear side of the rectangle body shell
Transport assembly is closed, the airtight transportation component has the main dragging hanging plate being removably mounted on rectangle body shell, in institute
The main tail portion for pulling hanging plate is stated to be connected with by two connecting rods in X-type distribution from dragging hanging plate, it is described logical from hanging plate is pulled
It crosses the upper sliding slot to extend along the vertical direction and lift cart is installed, liftable roll wheel assembly is equipped on the lift cart,
It is equipped with the discharge port door by electric control system controls in the bottom of the lift cart, around the cross of the discharge port door
Cross sectional shape determines block equipped with convex sealing in the bottom of the lift cart.
Further, as a kind of specific embodiment, the present invention is described from the arranged on left and right sides and liter that pull hanging plate
Drop trolley between be equipped with limit card block, be encircled into together between the limit card block and lift cart along the vertical direction extend,
The T-shaped sliding slot in cross section, and it is equipped with the T-type end being slidably connected with sliding slot from the arranged on left and right sides for pulling hanging plate described,
There is front and rear sides to be distributed and be mounted on the rolling of the rubber on lift cart by rotating shaft pin for the roll wheel assembly
Wheel is equipped with the telescopic rod driven by electric oil cylinder between the rubber roll, is equipped with connecting shaft in the end of the telescopic rod
Set, is equipped with drive link between the connecting bushing and rotating shaft pin, and is equipped on the lift cart and rotation axis
The adaptable arc chute of pin.
The beneficial effects of the present invention are: the present invention has simplified traditional driving force, the structure type of steering force, in whole knot
Structure keep the reasonable situation of counterweight under, be able to ascend the dragging ability of robot, while further prolongation structure, can add with
The towed jack-up system of main structure separation, avoids gravity from being applied on body shell, and towed is further arranged and jacks
System, sleeper positioning device realize the demand for adapting to different operating conditions, can greatly improve robot by a variety of combinations
Adaptability reduces the cost of the entire project implementation.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram one of rectangle body shell in the embodiment of the present invention one；
Fig. 2 is the structural schematic diagram two of rectangle body shell in the embodiment of the present invention one；
Fig. 3 is the structural schematic diagram one of drive wheel assemblies in the embodiment of the present invention one；
Fig. 4 is the structural schematic diagram two of drive wheel assemblies in the embodiment of the present invention one；
Fig. 5 is the cross-sectional view of drive wheel assemblies in the embodiment of the present invention one；
Fig. 6 is the structural schematic diagram of double drive electric machine in the embodiment of the present invention one；
Fig. 7 is the structural schematic diagram in the embodiment of the present invention one at ducting system；
Fig. 8 is the bottom view of the embodiment of the present invention two；
Fig. 9 is the side view of the embodiment of the present invention two；
Figure 10 is the enlarged partial sectional view in Fig. 9 at A；
Figure 11 is cross-sectional view of the embodiment of the present invention two at guiding top pillar；
Figure 12 is the side view one of the embodiment of the present invention three；
Figure 13 is the side view two of the embodiment of the present invention three；
Figure 14 is the motion principle figure one of sleeper positioning device in the embodiment of the present invention three；
Figure 15 is the motion principle figure two of sleeper positioning device in the embodiment of the present invention three；
Figure 16 is the structural schematic diagram of the embodiment of the present invention four；
Figure 17 is the partial enlargement diagram in Figure 16 at B；
Figure 18 is the partial enlargement diagram in Figure 16 at C；
Figure 19 is the motion principle figure of the embodiment of the present invention four；
Figure 20 is the bottom substance schematic diagram of lift cart in the embodiment of the present invention four.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
There is the present invention as shown in FIG. 1 to FIG. 7 the intelligent workshop of sleeper positioning device to be tracked robot with indoor navigation
Embodiment one, including rectangle body shell 1 and electric-control system 3 are set respectively in the arranged on left and right sides setting of rectangle body shell 1
Have a drive wheel assemblies 2, and two groups of drive wheel assemblies 2 be it is arranged symmetrically, drive wheel assemblies 2 have the rolling of two groups of forward and backward settings
Driving wheel device 21 and the active force driving device 22 being installed above and below turn to force driving device 23, the active power drive
Device 22 turns to force driving device 23 with the rolling transmission connection of wheel apparatus 21, by the topology layout of this kind, is able to solve
In the mobile mode of traditional idler wheel driving, realizes the synchronous driving of four-wheel or use for reference the labyrinth or list of automobile 4 wheel driven
The pure control by motor changes to realize driving force and steering power, but defects, this kinds such as its stability is low are laid out according to institute
The weight and inertia during exercise for needing element enable to machine using the layout of upper and lower, front, rear, left and right formula straggly
The movement of people is more stable, can also evade the design of the stack of traditional structure, significantly reduces the thickness of rectangle body shell 1
Degree, extends mobile range,
The wheel apparatus 21 that rolls has the steering connecting bushing 211 being from top to bottom sequentially arranged, isolation retention mechanism
212, traveling wheel mounting bracket 213 is equipped with drive shaft 215 turning in connecting bushing 211, turning to connecting bushing 211 and driving
Two needle bearings 214 are equipped at intervals between moving axis 215,
The isolation retention mechanism 212 has installation cover 2121, described to install the opening down of cover 2121 and fasten
On the top of traveling wheel mounting bracket 213, and installs and forms installation chamber between cover 2121 and traveling wheel mounting bracket 213,
Using turn to the central axis of connecting bushing 211 as rotation center, at least three ball nuts 2122 are equipped in installation cavity room,
The uper side surface for installing cover 2121 is equipped with mounting flange 2123, is equipped with and ball nut 2122 on mounting flange 2123
One-to-one fastening bolt installs hole location, by the way that the effect of retention mechanism 212 is isolated, can either play using double Analysis of Nested Design
The respective problem that do not interfere, and can solve the vehicle body rigidity in load-carrying that plays a role of connecting bushing 211, drive shaft 215 is turned to, greatly
Width promotes anti-pressure ability and does not destroy rotating torque in the axial direction,
Horizontal drive shaft 216, traveling wheel 218, the drive are respectively equipped in the upper and lower two sides of traveling wheel mounting bracket 213
Moving axis 215 sequentially pass through straight down turn to connecting bushing 211, installation cover 2121, traveling wheel mounting bracket 213 and with level
One end of transmission shaft 216 is engaged by bevel gear, passes through belt pulley between the other end and traveling wheel 218 of horizontal drive shaft 216
Connection, be equipped between drive shaft 215 and the top of traveling wheel mounting bracket 213 in set isolation flange 217, it is described in set isolation
The lower part of flange 217 be equipped with positive stop lug boss and resist traveling wheel mounting bracket 213 top inner surface, it is described in set isolation method
Orchid 217 top be inserted into installation cavity room, and in set isolation flange 217 top edge be equipped with circular arc chamfering and with all balls
Head nut 2122 is in close contact, and guarantees rigidity by the contact that ball nut 2122 sets isolation flange 217 in carrying, and
In set between isolation flange 217 and drive shaft 215 avoid for clearance fit in set the deformation of isolation flange 217 and influence drive shaft
215,
In actual movement, drive shaft 215 can by power transmission to horizontal drive shaft 216, by the engagement of bevel gear,
The rotation of traveling wheel 218 is realized in the transmission of belt pulley, so that entire 1 shift position of rectangle body shell, and turn to connecting bushing
211 due to and drive shaft 215 of getting along well interfere, and isolation retention mechanism 212 can be passed through and traveling wheel mounting bracket 213 is fixed
Connection, so that when turning to the rotation of connecting bushing 211, the effect that traveling wheel 218 can turn to, in the control of above-mentioned movement
In, it is required to issue by electric-control system 3 on corresponding electric signal to active force driving device 22, steering force driving device 23
Associated motor on,
The active force driving device 22 is sequentially connected with drive shaft 215, the steering force driving device 23 and the company of steering
211 transmission connection of spindle set, as a kind of specific topology layout, the active force driving device 22 turns to force driving device
23 are located at the forward and backward side of rectangle body shell 1 in the horizontal direction,
The active force driving device 22 has double drive electric machine 221, and the double drive electric machine 221 is by two
Driving motor arranged side by side is constituted, and the output shaft of the driving motor is stretched out straight up and is equipped in the position of output shaft cold
But the output shaft of lubricating box 222, the driving motor runs through cooling and lubricating box 222, and sets between the output shaft of driving motor
Set output shaft 223 in having, it is described in set output shaft 223 lower end be located at it is in cooling and lubricating box 222 and defeated with driving motor
Shaft engagement, the upper end extend straight up and pass through perspective plane triangular shape in the horizontal direction with drive shaft 215
The transmission connection of first belt pulley 224, the steering force driving device 23 have flat torque motor 231, and flat torque motor
231 are sequentially connected by the second belt pulley 232 of perspective plane triangular shape in the horizontal direction.It can be realized the same of four-wheel
It walks start and stop, go to action and also reduces the control complexity of electric-control system 3 so that the process to track is more accurate.
The ducting system 4 cooling for electric-control system 3 is additionally provided in the rectangle body shell 1.The ducting system 4 has
Having cross section is in the opening frame bracket 41 of isosceles trapezoid, and perforative hollow hole is equipped on the surface of opening frame bracket 41, described
Opening frame bracket 41 on it is opening down and be welded and fixed with the bottom of rectangle body shell 1 and constitute cross section be isosceles trapezoid
, can be used for accommodating battery group and the cooling air channel 42 of sensor device, the electric-control system 3 is mounted on opening frame bracket
41 top is equipped with several radiator fans 43 side by side on the side wall of opening frame bracket 41.In view of specifically radiating, add
The heat in 41 outside of frame bracket that is open is introduced in cooling air channel 42 by radiator fan 43, passes through cooling air channel by ducting system 4
The heat release hole on 42 peripheries distributes heat, while can be by the maximum battery group of calorific value and sensor device in automatically controlled
Isolation of system comes, and is placed in cooling air channel 42, promotes the stability of whole system, also can make full use of flat vehicle body knot
The space of structure.
The embodiment of the present invention two as shown in Figure 8 to Figure 11 is actually added available on the basis of example 1
In the towed jack-up system 5 of carrying movement, specifically, towed jack-up system 5 is equipped on rectangle body shell 1, it is described
Towed jack-up system 5 has detachable bracket 51, and the detachable bracket 51 is mounted on rectangle body shell 1 by hook
It on side wall, conveniently adapts to different demands and is assembled, and towed jack-up system 5 has symmetrically arranged two floating risers
Device 52 is equipped with pressurization oil storage barrel 53 between two floating riser devices 52,
The floating riser device 52 has both ends open and hollow mounting cylinder 521, upper and lower the two of mounting cylinder 521
End is respectively equipped with jacking post 522, support column 523, is equipped with T font limit in the top of jacking post 522, the bottom end of support column 523
Position boss, and be all provided between jacking post 522 and the upper end of mounting cylinder 521, between support column 523 and the lower end of mounting cylinder 521
There is buffer gasket 524, the lower end of the jacking post 522 is inserted in mounting cylinder 521 and constitutes close with the top of support column 523
The hydraulic oil accommodation space closed is equipped on the side wall of mounting cylinder 521 and enables to hydraulic oil accommodation space and pressurization oil storage barrel
The 53 connection sprue bushings 525 being connected are equipped with several along vertical side on the inner wall that mounting cylinder 521 is located at 522 side of jacking post
To the limit keyway 526 of extension, the limited block 527 for being shorter in length than limit 526 length of keyway is equipped in limit keyway 526,
At least three guiding top pillar 529 is installed by limiting platen 528 on support column 523, is oriented to top pillar 529 to prop up
Distribution is rotated centered on the central axis of dagger 523, and is oriented to top pillar 529 and is inserted in jacking post 522, and every guiding top
It is equipped with the gap for oil liquid flowing between column 529 and jacking post 522, is equipped with universal wheel in the bottom of support column 523.
In the actual work of towed jack-up system 5, after rectangle body shell 1 is moved to the lower section of designated position,
It is such as moved to the lower section between two sleepers, electric-control system 3 issues signal, so that pressurization oil storage barrel 53 is defeated to connection sprue bushing 525
Enter to be pressurized oil liquid, so that hydraulic oil accommodation space expands, under the action of expansive force, support column 523 is moved downward so that universal
Wheel lands, and plays a supporting role, and jacking post 522 moves up, due to guiding top pillar 529 and jacking post 522 between gap,
Since oil liquid can also be scurried into gap, it is attached that the oil liquid between guiding top pillar 529 and jacking post 522 will generate certain viscosity
Put forth effort, slow down the movement of jacking post 522, so that its movement is more gentle reliable, additionally it is possible to the structure of jacking is significantly simplified, to replace
It is unfavorable for the problem of simplifying volume for the axial arrangement of traditional hydraulic jacking device complexity, is moved up in jacking post 522
In the process, the object of required movement leaves certain interval from sleeper, guiding top pillar 529 may also function as in the process stablize and
The effect of guiding can lock the pressure of oil liquid in the road clearance for reaching needs, carry out the movement of next step, by dividing
Design from formula so that towed jack-up system 5 when not in use can carry on rectangle body shell 1, nor affect on its fortune
It is dynamic, when needed, just playing a role, while in order to adapt to flat structure, the problem of solution must not be using traditional oil cylinder, use
The design of two-way ejection, solution required for can either solving the problems, such as, and can be avoided load and be applied to rectangle body shell 1,
It prolongs its service life, while can also have the adjusting range of floating elastic, so that the movement of jacking is synchronous, stablizes, is controllable.
It is equipped with towed jack-up system 5 in the front and rear sides of rectangle body shell 1, can be rectangle body shell 1
Other device slot millings of arranged on left and right sides carry.
Such as Figure 12~the embodiment of the present invention shown in figure 15 three, actually in order to solve carrying mobile process
In, if be accurately inserted between the sleeper for placing article, the function of automatic transporting can be given full play in this way, and pass
The article that the mode of system is generally placed between sleeper can only be fetched by being similar to the mobile device of forklift transformation, in code
With many in pile robot, but control motion processes some needs are accurate, Item Weight and it is little when, traditional mode
Just seem not very reliable.Therefore the present embodiment utilize above-mentioned two embodiment the advantages of, further a left side for rectangle body shell 1,
Right two sides are respectively equipped with sleeper positioning device 6, and there are two floating idler wheels 61 for the tool of sleeper positioning device 6, cleverly pass through thick stick
The adjusting of bar counterweight, can make the centerline axis parallel of the floating idler wheel 61 and the plane of center axis thereof composition is not hung down
Directly, also unhorizontal, that is, enable two floating idler wheels 61 that front and back is presented and be distributed shape, connection is equipped between floating idler wheel 61
Bar 62, the both ends of the connecting rod 62 are hinged with the central axis of corresponding floating idler wheel 61 respectively, and at the middle part of connecting rod 62
Equipped with pivot pin 63 is adjusted, being equipped on the side wall of rectangle body shell 1 can be slidably connected and in long strip with pivot pin 63 is adjusted
Level tune slot 64, so that floating idler wheel 61 can have one section of process buffered during with 66 contact of opening is adjusted,
The sleeper positioning device 6 also has the dedicated sleeper 65 to match therewith, at the horizontal both ends of dedicated sleeper 65
Be equipped with adjusting opening 66, be equipped with drop-over sliding slot 67 between two adjusting opening 66, the adjusting be open 66 from outside to inside according to
The secondary taper that is equipped with introduces the guidance guidance arc section 663 of arc section 662, second of section 661, first.
The radius of the first guidance arc section 662 and the second guidance arc section 663 is not less than the radius of floating idler wheel 61,
And first the center of arc of guidance arc section 662 cross section in the vertical direction be located in the inner cavity for adjusting opening 66, described the
Two guidance arc sections 663 in the vertical direction cross section center of arc be located at adjust opening 66 lumen outer, described first
Guide the radius of arc section 662 less than the radius of the second guidance arc section 663.
Motion principle figure as shown in Figure 14 and Figure 15 guarantees that one in front and one in back shape is presented in floating idler wheel 61, by dedicated
Sleeper either enters from which direction at sleeper both ends, and the floating idler wheel 61 for first contacting dedicated sleeper 65 will be forced to turn
It is dynamic to adjust to two floating idler wheels 61 are presented straight line and are distributed shape, and final two floating idler wheels 61 successively enter drop-over sliding slot
In 67, realization robot is in mobile carry, the determination of elaborate position.It will be apparent that embodiment three can make full use of implementation
Towed jack-up system 5 in example two enters in drop-over sliding slot 67 to behind designated position in floating idler wheel 61, passes through towed top
It rises system 5 and realizes remaining movement.
The embodiment of the present invention four as shown in Figure 16 to Figure 20 is equipped with airtight transportation in the rear side of rectangle body shell 1
Component 7, the airtight transportation component 7 have the main dragging hanging plate 71 being removably mounted on rectangle body shell 1, drag in master
The tail portion for dragging hanging plate 71 is connected with by two connecting rods 72 in X-type distribution from hanging plate 73 is pulled, and traditional towing hook, which connects, to be hung
Vehicle, between gap and the slack and undisciplined mobile range of control, the stability of will lead to it is unreliable, can not achieve the precision control of position
System needs the position mobile to material that can be precisely controlled especially in the production of chemical material, and traditional single connecting rod
Stability is not high, therefore the present embodiment is designed using the double link of formula straggly, if passed through described in realizing from dragging hanging plate 73
The upper sliding slot 77 to extend is equipped with lift cart 74 along the vertical direction, and liftable roll wheel assembly is equipped on lift cart 74
75,
Limit card block 76, the limiting card are being equipped between the arranged on left and right sides and lift cart 74 for pulling hanging plate 73
The sliding slot 77 that extension, cross section are T-shaped along the vertical direction is encircled between block 76 and lift cart 74 together, and is hung from dragging
The arranged on left and right sides of plate 73 is equipped with the T-type end being slidably connected with sliding slot 77, and the roll wheel assembly 75 is with front and rear sides point
Cloth and the rubber roll 752 on lift cart 74 is mounted on by rotating shaft pin 751, is equipped between rubber roll 752 by electricity
The telescopic rod 754 that dynamic oil cylinder 753 drives is equipped with connecting bushing 755 in the end of telescopic rod 754, in connecting bushing 755 and rotation
Drive link 756 is equipped between pivot pin 751, and it is sliding that the circular arc being adapted with rotating shaft pin 751 is equipped on lift cart 74
Slot 757.
It is equipped with the discharge port door 741 controlled by electric-control system 3 in the bottom of lift cart 74, surrounds the discharge port door
741 cross-sectional shape determines block 742 equipped with convex sealing in the bottom of lift cart 74.
In actual movement, after rectangle body shell 1 is moved to designated position, electricity can be issued by electric-control system 3
Signal drives drive link 756 to move obliquely indirectly so that the telescopic rod 754 that electric oil cylinder 753 drives is shunk, to compel
Move rotating shaft pin 751 obliquely along arc chute 757, so that the idler wheel deflecting on rotating shaft pin 751 is being erected
Histogram moves up upwards, at the same time, due to the presence of limit card block 76, and so that lift cart 74 declines along sliding slot 77,
74 bottom of lift cart is finally made with ground face contact, to seal the groove determined on the specified ground of the insertion of block 742 completely
Realize positioning and sealing, subsequent discharge port door 741 is controllable to be opened, and the material in lift cart 74 can pass through discharge port door
741 leave lift cart 74, it is clear that can be equipped on the ground and discharge port door 741, limit card block 76 is corresponding is embedded in ground
The material inlet in face can realize the hermetically sealed environment protecting of integrated artistic link to avoid fugitive dust and leakage is generated.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (6)
1. a kind of intelligent workshop with sleeper positioning device is tracked robot, including rectangle body shell (1) with indoor navigation
With electric-control system (3), it is characterised in that: be respectively equipped with driving wheel group in the arranged on left and right sides setting of the rectangle body shell (1)
Part (2), and two groups of drive wheel assemblies (2) be it is arranged symmetrically, the drive wheel assemblies (2) have two groups of forward and backward settings
Rolling wheel apparatus (21) and be installed above and below active force driving device (22), turn to force driving device (23), it is described
Active force driving device (22), steering force driving device (23) are sequentially connected with rolling wheel apparatus (21),
Described roll wheel apparatus (21) have the steering connecting bushing (211) being from top to bottom sequentially arranged, isolation retention mechanism
(212), traveling wheel mounting bracket (213),
Drive shaft (215) are equipped in the steering connecting bushing (211), in the steering connecting bushing (211) and drive shaft
(215) two needle bearings (214) are equipped at intervals between,
The isolation retention mechanism (212) has installation cover (2121), described to install the opening down and tight of cover (2121)
Gu on the top of traveling wheel mounting bracket (213), and shape between the installation cover (2121) and traveling wheel mounting bracket (213)
At installation chamber, it is equipped with extremely using the central axis for turning to connecting bushing (211) as rotation center, in the installation cavity room
Few three ball nuts (2122) are equipped with mounting flange (2123) in the uper side surface of installation cover (2121), in institute
State mounting flange (2123) be equipped with the one-to-one fastening bolt installation hole location of ball nut (2122),
It is respectively equipped with horizontal drive shaft (216), traveling wheel (218) in the upper and lower two sides of the traveling wheel mounting bracket (213),
The drive shaft (215) sequentially passes through straight down turns to connecting bushing (211), installation cover (2121), traveling wheel installation branch
Frame (213) is simultaneously engaged with one end of horizontal drive shaft (216) by bevel gear, the other end of the horizontal drive shaft (216) with
Connected between traveling wheel (218) by belt pulley, the top of the drive shaft (215) and traveling wheel mounting bracket (213) it
Between be equipped in set isolation flange (217), it is described in set isolation flange (217) lower part be equipped with positive stop lug boss and resist traveling wheel peace
Fill the inner surface at the top of bracket (213), it is described in set the top of isolation flange (217) and be inserted into installation cavity room, and it is described
In set the top edge of isolation flange (217) and be equipped with circular arc chamfering and be in close contact with all ball nuts (2122), and it is described
In set between isolation flange (217) and drive shaft (215) as clearance fit,
The active force driving device (22) and drive shaft (215) are sequentially connected, the steering force driving device (23) and steering
Connecting bushing (211) transmission connection,
The ducting system (4) cooling for electric-control system (3) is additionally provided in the rectangle body shell (1),
Sleeper positioning device (6) are respectively equipped in the arranged on left and right sides of the rectangle body shell (1).
2. the intelligent workshop with sleeper positioning device is tracked robot with indoor navigation as described in claim 1, feature
Be: the active force driving device (22), steering force driving device (23) are located at rectangle vehicle body frame in the horizontal direction
The forward and backward side of frame (1),
The active force driving device (22) has double drive electric machine (221), and the double drive electric machine (221) is by two
A driving motor arranged side by side is constituted, and the output shaft of the driving motor is stretched out straight up and is equipped in the position of output shaft
The output shaft of cooling and lubricating box (222), the driving motor runs through cooling and lubricating box (222), and in the defeated of the driving motor
Set in being equipped between shaft output shaft (223), it is described in set the lower end of output shaft (223) and be located in cooling and lubricating box (222) simultaneously
It is engaged with the output shaft of driving motor, the upper end is extended straight up and passed through in the horizontal direction with drive shaft (215)
The first belt pulley (224) of perspective plane triangular shape is sequentially connected,
The steering force driving device (23) have flat torque motor (231), and the flat torque motor (231) by
The second belt pulley (232) of perspective plane triangular shape in horizontal direction is sequentially connected.
3. the intelligent workshop with sleeper positioning device is tracked robot with indoor navigation as described in claim 1, feature
Be: it is in the opening frame bracket (41) of isosceles trapezoid that the ducting system (4), which has cross section, in the opening frame bracket (41)
Surface be equipped with perforative hollow hole, it is described opening frame bracket (41) on it is opening down and with rectangle body shell (1)
Bottom be welded and fixed and constitute cross section be isosceles trapezoid, can be used for accommodating the cooling wind of battery group and sensor device
Road (42), the electric-control system (3) are mounted on the top of opening frame bracket (41), on the side wall of opening frame bracket (41)
It is equipped with several radiator fans (43) side by side.
4. any intelligent workshop with sleeper positioning device as described in claims 1 to 3 is tracked robot with indoor navigation,
It is characterized by: there are two floating idler wheel (61), the central axis of the floating idler wheel (61) for sleeper positioning device (6) tool
It is plane out of plumb that parallel and center axis thereof is constituted, also unhorizontal, connecting rod is equipped between the floating idler wheel (61)
(62), the both ends of the connecting rod (62) are hinged with the central axis of corresponding floating idler wheel (61) respectively, and in the connecting rod
(62) middle part, which is equipped with, adjusts pivot pin (63), and being equipped on the side wall of the rectangle body shell (1) can be with adjusting pivot pin (63)
It is slidably connected and Level tune slot (64) in long strip,
The sleeper positioning device (6) also has the dedicated sleeper (65) to match therewith, in the water of the dedicated sleeper (65)
Flat both ends are equipped with adjusting opening (66), are equipped with drop-over sliding slot (67) between two adjusting openings (66), the adjusting opening
(66) it is successively arranged taper from outside to inside and introduces section (661), the first guidance arc section (662), the second guidance arc section (663).
5. the intelligent workshop with sleeper positioning device is tracked robot with indoor navigation as claimed in claim 4, feature
Be: the radius of first guidance arc section (662) and the second guidance arc section (663) is not less than the half of floating idler wheel (61)
Diameter, and it is described first guidance arc section (662) in the vertical direction cross section center of arc be located at adjust opening (66) it is interior
In chamber, it is described second guidance arc section (663) in the vertical direction cross section center of arc be located at adjust opening (66) it is interior
Outside chamber.
6. the intelligent workshop with sleeper positioning device is tracked robot with indoor navigation as claimed in claim 5, feature
It is: radius of the radius of first guidance arc section (662) less than the second guidance arc section (663).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910671568.9A CN110294048A (en) | 2017-11-10 | 2017-11-10 | Intelligent workshop with sleeper positioning device is tracked robot with indoor navigation |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105275.1A CN107878594B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot for intelligent workshop |
| CN201910671568.9A CN110294048A (en) | 2017-11-10 | 2017-11-10 | Intelligent workshop with sleeper positioning device is tracked robot with indoor navigation |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711105275.1A Division CN107878594B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot for intelligent workshop |
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| Publication Number | Publication Date |
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| CN110294048A true CN110294048A (en) | 2019-10-01 |
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Family Applications (8)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910672170.7A Active CN110294052B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot with closed transportation assembly for intelligent workshop |
| CN201910671564.0A Active CN110294046B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation robot for intelligent workshop |
| CN201711105275.1A Active CN107878594B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot for intelligent workshop |
| CN201910671568.9A Pending CN110294048A (en) | 2017-11-10 | 2017-11-10 | Intelligent workshop with sleeper positioning device is tracked robot with indoor navigation |
| CN201910672166.0A Active CN110294050B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot for intelligent workshop |
| CN201910671567.4A Active CN110294047B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot |
| CN201910672167.5A Active CN110294051B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot |
| CN201910671575.9A Active CN110294049B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracking robot with dragging type jacking system for intelligent workshop |
Family Applications Before (3)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910672170.7A Active CN110294052B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot with closed transportation assembly for intelligent workshop |
| CN201910671564.0A Active CN110294046B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation robot for intelligent workshop |
| CN201711105275.1A Active CN107878594B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot for intelligent workshop |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910672166.0A Active CN110294050B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot for intelligent workshop |
| CN201910671567.4A Active CN110294047B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot |
| CN201910672167.5A Active CN110294051B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot |
| CN201910671575.9A Active CN110294049B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracking robot with dragging type jacking system for intelligent workshop |
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| CN108422809A (en) * | 2018-04-08 | 2018-08-21 | 高亚贵 | A kind of universal wheel unit for carrier |
| CZ308089B6 (en) * | 2019-03-27 | 2019-12-27 | Dvořák - Svahové Sekačky S.R.O. | Axle, especially a universal carrier chassis |
| CN111285026A (en) * | 2020-02-25 | 2020-06-16 | 六安正辉优产机电科技有限公司 | Quick collection assembly convenient for seed storage |
| CN111302083B (en) * | 2020-02-25 | 2021-09-24 | 宣城智芬信息技术有限公司 | Centralized rapid collecting machine beneficial to seed collection and storage |
| CN111301944B (en) * | 2020-02-25 | 2021-09-28 | 李云 | Separating mechanism for efficiently removing impurities from seeds subjected to tedding/drying dehydration |
| CN114715282B (en) * | 2022-04-11 | 2024-04-12 | 运来智能装备(无锡)有限公司 | AGV chassis of self-adaptation ground and can initiative leveling |
| FR3141155A1 (en) * | 2022-10-21 | 2024-04-26 | Exotec | ORDER PREPARATION PROCESS |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110294050B (en) | 2020-11-03 |
| CN107878594A (en) | 2018-04-06 |
| CN110294050A (en) | 2019-10-01 |
| CN110294051B (en) | 2020-10-13 |
| CN110294046A (en) | 2019-10-01 |
| CN107878594B (en) | 2020-03-31 |
| CN110294046B (en) | 2020-11-03 |
| CN110294047B (en) | 2020-10-13 |
| CN110294052B (en) | 2020-10-27 |
| CN110294047A (en) | 2019-10-01 |
| CN110294052A (en) | 2019-10-01 |
| CN110294051A (en) | 2019-10-01 |
| CN110294049B (en) | 2020-11-06 |
| CN110294049A (en) | 2019-10-01 |
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