CN110294052B - Indoor navigation tracing robot with closed transportation assembly for intelligent workshop - Google Patents
Indoor navigation tracing robot with closed transportation assembly for intelligent workshop Download PDFInfo
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- CN110294052B CN110294052B CN201910672170.7A CN201910672170A CN110294052B CN 110294052 B CN110294052 B CN 110294052B CN 201910672170 A CN201910672170 A CN 201910672170A CN 110294052 B CN110294052 B CN 110294052B
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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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Abstract
The invention relates to an indoor navigation and tracking robot with a closed transportation assembly for an intelligent workshop, which comprises a rectangular vehicle body frame and an electric control system, wherein driving wheel assemblies are respectively arranged on the left side and the right side of the rectangular vehicle body frame, each driving wheel assembly is provided with two groups of rolling wheel devices arranged in front and at the back, and a main power driving device and a steering power driving device which are respectively arranged up and down, and the main power driving device and the steering power driving device are in transmission connection with the rolling wheel devices. The invention simplifies the structural form of the traditional driving force and steering force, can improve the dragging capability of the robot under the condition that the whole structure keeps reasonable balance weight, further expands the structure, can add a dragging type jacking system separated from the main structure, avoids gravity from being applied to a vehicle body frame, further sets the dragging type jacking system and a sleeper positioning device, realizes the requirements of adapting to different working conditions, can greatly improve the adaptability of the robot, and reduces the implementation cost of the whole project.
Description
Technical Field
The invention relates to the technical field of automatic mechanical equipment, in particular to an indoor navigation and tracing robot with a closed transportation assembly for an intelligent workshop.
Background
In the known technical field, with the development and transformation upgrading of social economy, automation equipment is increasingly relied on in the field of industrial manufacturing, particularly in the field of hot intelligent workshop reconstruction in recent years, and essentially the original production process is formed into a complete full-automatic assembly line, so that intelligent and unmanned production can be realized, and particularly the reconstruction of nonstandard automation equipment is relied on. In each process of the production process, in order to realize automatic operation connection of the processes in a workshop, equipment with an integral design is generally adopted, but in some complex machining or chemical material production, the integral design is difficult to adapt to complex requirements, the processes are generally scattered, and a conveying device capable of connecting the processes is required.
In the design of the existing automatic factory building, an indoor navigation technology is generally applied, and the carrying robot can seek to different specified positions through various sensors and a preset laid line. However, the existing tracing robot adopting the design idea is not only uncomplicated in structure and troublesome in operation and maintenance, but also has single function, can only be simply guided, has no load-carrying capacity, and also needs to be provided with different structures separately aiming at different processes, and needs to be further explored and improved for a lot of other problems.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the problem is overcome, an intelligent indoor navigation tracing robot with a closed transportation assembly for the workshop is provided, the carrying weight can be realized, the structure is simple, the overhaul is convenient, meanwhile, the indoor navigation tracing robot can adapt to the transformation of different working conditions, and the use cost is reduced.
The technical scheme adopted by the invention for solving the technical problems is as follows: an indoor navigation tracing robot with a closed transportation assembly for an intelligent workshop comprises a rectangular vehicle body frame and an electric control system, wherein driving wheel assemblies are respectively arranged on the left side and the right side of the rectangular vehicle body frame, the two groups of driving wheel assemblies are symmetrically arranged, each driving wheel assembly is provided with two groups of rolling wheel devices which are arranged in front and at the back, and a main power driving device and a steering power driving device which are arranged up and down respectively, the main power driving device and the steering power driving device are in transmission connection with the rolling wheel devices,
the rolling wheel device is provided with a steering connecting shaft sleeve, an isolation fastening mechanism and a walking wheel mounting bracket which are arranged from top to bottom in sequence,
a driving shaft is arranged in the steering connecting shaft sleeve, two needle roller bearings are arranged between the steering connecting shaft sleeve and the driving shaft at intervals,
the isolation fastening mechanism is provided with an installation cover body, the opening of the installation cover body faces downwards and is fastened at the upper part of the travelling wheel installation support, an installation cavity is formed between the installation cover body and the travelling wheel installation support, at least three ball nuts are arranged in the installation cavity by taking the central axis of the steering connecting shaft sleeve as a rotation center, a connecting flange plate is arranged on the upper side surface of the installation cover body, fastening bolt installation hole positions corresponding to the ball nuts one to one are arranged on the connecting flange plate,
the upper side and the lower side of the walking wheel mounting bracket are respectively provided with a horizontal transmission shaft and walking wheels, the driving shaft vertically and downwards sequentially penetrates through the steering connecting shaft sleeve, the mounting cover body and the walking wheel mounting bracket and is meshed with one end of the horizontal transmission shaft through a bevel gear, the other end of the horizontal transmission shaft is connected with the walking wheels through a third belt pulley, a middle isolation flange is arranged between the driving shaft and the top of the walking wheel mounting bracket, the lower part of the middle isolation flange is provided with a limiting boss and props against the inner surface of the top of the walking wheel mounting bracket, the upper part of the middle isolation flange extends into the mounting cavity, the edge of the upper part of the middle isolation flange is provided with a circular arc chamfer and is tightly contacted with all middle ball nuts, and the isolation flange is in clearance fit,
the main power driving device is in transmission connection with the driving shaft, the steering power driving device is in transmission connection with the steering connecting shaft sleeve,
and an air duct system for cooling the electric control system is also arranged in the rectangular vehicle body frame.
Further, as a specific embodiment, the main power driving device and the steering power driving device are respectively positioned at the front side and the rear side of the rectangular vehicle body frame in the horizontal direction,
the main power driving device is provided with a dual-drive motor device, the dual-drive motor device is composed of two drive motors arranged side by side, output shafts of the drive motors vertically extend upwards, cooling and lubricating boxes are arranged at the positions of the output shafts, the output shafts of the drive motors penetrate through the cooling and lubricating boxes, a middle output shaft is arranged between the output shafts of the drive motors, the lower end of the middle output shaft is positioned in the cooling and lubricating boxes and is meshed with the output shafts of the drive motors, the upper end of the middle output shaft vertically extends upwards and is in transmission connection with the drive shaft through a first belt pulley with a triangular projection in the horizontal direction,
the steering force driving device is provided with a flat torque motor, and the flat torque motor is in transmission connection with a second belt pulley in a triangular shape through a projection surface in the horizontal direction
Further, as a specific implementation manner, the air duct system in the invention has an opening frame support with an isosceles trapezoid cross section, through hollow holes are formed in the surface of the opening frame support, an opening in the opening frame support faces downward and is welded and fixed with the bottom of the rectangular vehicle body frame to form a cooling air duct with an isosceles trapezoid cross section and used for containing a storage battery pack and a sensor device, the electric control system is installed at the top of the opening frame support, and a plurality of cooling fans are arranged on the side wall of the opening frame support side by side.
Further, as a specific application mode, the rectangular vehicle body frame is provided with a dragging type jacking system, the dragging type jacking system is provided with a detachable support, the detachable support is arranged on the side wall of the rectangular vehicle body frame through a hook, the dragging type jacking system is provided with two symmetrically arranged floating lifting devices, a pressurizing oil storage barrel is arranged between the two floating lifting devices,
the floating lifting device is provided with a hollow installation cylinder with openings at two ends, a jacking column and a support column are respectively arranged at the upper end and the lower end of the installation cylinder, T-shaped limiting bosses are respectively arranged at the top end of the jacking column and the bottom end of the support column, buffering gaskets are respectively arranged between the jacking column and the upper end of the installation cylinder and between the support column and the lower end of the installation cylinder, the lower end of the jacking column and the top end of the support column are respectively inserted into the installation cylinder and form a closed hydraulic oil accommodating space, a connecting sprue bushing capable of communicating the hydraulic oil accommodating space with a pressurizing oil storage barrel is arranged on the side wall of the installation cylinder, a plurality of limiting key grooves extending along the vertical direction are arranged on the inner wall of the installation cylinder on one side of the jacking column, and limiting blocks with the length shorter than that of the limiting key grooves are arranged in the limiting key grooves,
install 3 at least direction fore-props through spacing pressure disk on the support column, the central axis that the direction fore-prop used the support column distributes as center rotation, just the direction fore-prop all inserts in the jacking post, and all is equipped with the clearance that is used for fluid to flow between every direction fore-prop and the jacking post the bottom of support column is equipped with the universal wheel.
Further, as a specific implementation mode, the front side and the rear side of the rectangular vehicle body frame are respectively provided with a dragging type jacking system.
Furthermore, as a specific application mode, the invention is provided with sleeper positioning devices respectively arranged at the left side and the right side of the rectangular vehicle body frame,
the sleeper positioning device is provided with two floating rollers, the central axes of the floating rollers are parallel, the plane formed by the central axes of the floating rollers is not vertical nor horizontal, a connecting rod is arranged between the floating rollers, two ends of the connecting rod are respectively hinged with the central axes of the corresponding floating rollers, an adjusting shaft pin is arranged in the middle of the connecting rod, a horizontal adjusting groove which is in a strip shape and can be connected with the adjusting shaft pin in a sliding way is arranged on the side wall of the rectangular vehicle body frame,
the sleeper positioning device is also provided with a special sleeper matched with the sleeper positioning device, adjusting openings are arranged at the two horizontal ends of the special sleeper, a direct-connection sliding groove is arranged between the two adjusting openings, and a conical introduction section, a first guide circular arc section and a second guide circular arc section are sequentially arranged at the adjusting openings from outside to inside.
Further, as a specific implementation manner, in the present invention, the radius of the first guiding arc segment and the radius of the second guiding arc segment are not less than the radius of the floating roller, the arc center of the transversal section of the first guiding arc segment in the vertical direction is located in the inner cavity of the adjustment opening, and the arc center of the transversal section of the second guiding arc segment in the vertical direction is located outside the inner cavity of the adjustment opening.
Further, as a specific embodiment, in the present invention, a radius of the first guiding circular arc segment is smaller than a radius of the second guiding circular arc segment.
Further, as a specific application mode, the invention is provided with a closed transportation component at the rear side of the rectangular vehicle body frame, the closed transportation component is provided with a main dragging hanging plate which is detachably arranged on the rectangular vehicle body frame, the tail part of the main dragging hanging plate is connected with a secondary dragging hanging plate through two connecting rods which are distributed in an X shape, the secondary dragging hanging plate is provided with a lifting trolley through a sliding chute which extends along the vertical direction, the lifting trolley is provided with a lifting roller component,
the bottom of the lifting trolley is provided with a discharge port door controlled by an electric control system, and the bottom of the lifting trolley is provided with a convex sealing fixed block body around the cross section shape of the discharge port door.
Further, as a specific implementation mode, the invention is characterized in that limiting fixture blocks are arranged between the left side and the right side of the trailing hanging plate and the lifting trolley, the limiting fixture blocks and the lifting trolley are enclosed to form a sliding groove which extends along the vertical direction and has a T-shaped cross section, the left side and the right side of the trailing hanging plate are respectively provided with a T-shaped end part which is in sliding connection with the sliding groove,
the rubber roller assembly is provided with rubber rollers which are distributed on the front side and the rear side and are arranged on the lifting trolley through rotating shaft pins, a telescopic rod driven by an electric oil cylinder is arranged between the rubber rollers, a connecting shaft sleeve is arranged at the end part of the telescopic rod, driving connecting rods are arranged between the connecting shaft sleeve and the rotating shaft pins, and an arc chute matched with the rotating shaft pins is arranged on the lifting trolley.
The invention has the beneficial effects that: the invention simplifies the structural form of the traditional driving force and steering force, can improve the dragging capability of the robot under the condition that the whole structure keeps reasonable balance weight, further expands the structure, can add a dragging type jacking system separated from the main structure, avoids gravity from being applied to a vehicle body frame, further sets the dragging type jacking system and a sleeper positioning device, realizes the requirements of adapting to different working conditions through various combinations, can greatly improve the adaptability of the robot, and reduces the implementation cost of the whole project.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a first schematic structural view of a rectangular body frame according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram II of a rectangular vehicle body frame according to a first embodiment of the present invention;
FIG. 3 is a first schematic structural view of a drive wheel assembly according to a first embodiment of the present invention;
FIG. 4 is a second schematic structural view of a drive wheel assembly in the first embodiment of the present invention;
FIG. 5 is a cross-sectional view of a drive wheel assembly in accordance with a first embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a dual drive motor apparatus according to a first embodiment of the present invention;
FIG. 7 is a schematic view of the structure of the air duct system according to the first embodiment of the present invention;
FIG. 8 is a bottom view of embodiment two of the present invention;
FIG. 9 is a side view of a second embodiment of the present invention;
FIG. 10 is an enlarged partial cross-sectional view taken at A in FIG. 9;
FIG. 11 is a cross-sectional view of a second embodiment of the invention at the pilot jack post;
FIG. 12 is a first side view of a third embodiment of the present invention;
FIG. 13 is a second side view of a third embodiment of the present invention;
fig. 14 is a first schematic view of the movement of the crosstie positioning device in the third embodiment of the present invention;
FIG. 15 is a second schematic diagram of the movement of the tie positioning apparatus in the third embodiment of the present invention;
FIG. 16 is a schematic structural diagram of a fourth embodiment of the present invention;
fig. 17 is a partially enlarged schematic view at B in fig. 16;
FIG. 18 is an enlarged partial schematic view at C of FIG. 16;
FIG. 19 is a kinematic diagram of a fourth embodiment of the present invention;
fig. 20 is a schematic bottom structure view of the lifting trolley in the fourth embodiment of the invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Fig. 1 to 7 show a first embodiment of an intelligent workshop indoor navigation and tracking robot with a sealed transportation assembly according to the present invention, which includes a rectangular vehicle body frame 1 and an electric control system 3, wherein driving wheel assemblies 2 are respectively disposed on the left and right sides of the rectangular vehicle body frame 1, the two driving wheel assemblies 2 are symmetrically disposed, the driving wheel assemblies 2 include two sets of rolling wheel devices 21 disposed in front and rear, and a main power driving device 22 and a steering power driving device 23 disposed in upper and lower directions, respectively, the main power driving device 22 and the steering power driving device 23 are both in transmission connection with the rolling wheel devices 21, and through the structural layout of the first embodiment, it is possible to realize four-wheel synchronous driving or use the complex structure of four-wheel driving of an automobile in the conventional roller driving and moving manner, or to realize driving force and steering power by the control change of a motor alone, but the stability is low, and the layout adopts the layout of up, down, front, back, left and right staggered type according to the weight of the required elements and the inertia during movement, so that the movement of the robot is more stable, the stacked design of the traditional structure can be avoided, the thickness of the rectangular vehicle body frame 1 is obviously reduced, the movement range is expanded,
the rolling wheel device 21 is provided with a steering connecting shaft sleeve 211, an isolation fastening mechanism 212 and a travelling wheel mounting bracket 213 which are sequentially arranged from top to bottom, a driving shaft 215 is arranged in the steering connecting shaft sleeve 211, two needle roller bearings 214 are arranged between the steering connecting shaft sleeve 211 and the driving shaft 215 at intervals,
the isolation fastening mechanism 212 has a mounting cover 2121, the opening of the mounting cover 2121 is downward and fastened to the upper part of the traveling wheel mounting bracket 213, a mounting chamber is formed between the mounting cover 2121 and the traveling wheel mounting bracket 213, at least three ball nuts 2122 are arranged in the mounting chamber with the central axis of the steering connecting shaft sleeve 211 as the rotation center, a connecting flange 2123 is arranged on the upper surface of the mounting cover 2121, fastening bolt mounting holes corresponding to the ball nuts 2122 one-to-one are arranged on the connecting flange 2123, and by the action of the isolation fastening mechanism 212, the steering connecting shaft sleeve 211 and the driving shaft 215 which adopt a double-sleeve design can be exerted respectively without interference, the problem of vehicle body rigidity during loading can be solved, the load-bearing pressure-resisting capability is greatly improved without damaging the rotation moment in the axial direction,
a horizontal transmission shaft 216 and a walking wheel 218 are respectively arranged at the upper side and the lower side of a walking wheel mounting bracket 213, the driving shaft 215 vertically and downwards sequentially penetrates through a steering connecting shaft sleeve 211, a mounting cover body 2121 and the walking wheel mounting bracket 213 and is meshed with one end of the horizontal transmission shaft 216 through a bevel gear, the other end of the horizontal transmission shaft 216 is connected with the walking wheel 218 through a third belt pulley, a middle isolation flange 217 is arranged between the driving shaft 215 and the top of the walking wheel mounting bracket 213, the lower part of the middle isolation flange 217 is provided with a limiting boss and props against the inner surface of the top of the walking wheel mounting bracket 213, the upper part of the middle isolation flange 217 extends into a mounting cavity, the upper edge of the middle isolation flange 217 is provided with an arc chamfer and is tightly contacted with all ball nuts 2122, and the rigidity is ensured through the contact of the ball nuts 2122 and the, and the middle isolation flange 217 is in clearance fit with the driving shaft 215, so that the driving shaft 215 is prevented from being influenced by the deformation of the middle isolation flange 217,
in actual movement, the driving shaft 215 can transmit power to the horizontal transmission shaft 216, the rotation of the road wheels 218 is realized through the engagement of bevel gears and the transmission of belt pulleys, so that the whole rectangular vehicle body frame 1 moves, the steering connecting shaft sleeve 211 can be fixedly connected with the road wheel mounting bracket 213 through the isolation fastening mechanism 212 without interfering with the driving shaft 215, so that when the steering connecting shaft sleeve 211 rotates, the road wheels 218 can have steering effect, in the control of the movement, corresponding electric signals are required to be sent to relevant motors on the main power driving device 22 and the steering power driving device 23 through the electric control system 3,
the main power driving device 22 is in transmission connection with a driving shaft 215, the steering power driving device 23 is in transmission connection with a steering connection shaft sleeve 211, as a specific structural layout, the main power driving device 22 and the steering power driving device 23 are respectively positioned at the front side and the rear side of the rectangular vehicle body frame 1 in the horizontal direction, the main power driving device 22 is provided with a dual-driving motor device 221, the dual-driving motor device 221 is composed of two driving motors arranged side by side, output shafts of the driving motors vertically extend upwards and are provided with cooling and lubricating boxes 222 at the positions of the output shafts, the output shafts of the driving motors penetrate through the cooling and lubricating boxes 222, a middle output shaft 223 is arranged between the output shafts of the driving motors, the lower ends of the output shafts 223 are positioned in the cooling and lubricating boxes 222 and are all meshed with the output shafts of the driving motors, the upper ends of the output shafts extend vertically upwards and form a triangular shape with the driving shaft 215 through a first belt pulley 224 in the The steering force driving device 23 has a flat torque motor 231, and the flat torque motor 231 is connected in a transmission manner through a second belt pulley 232 having a triangular projection in the horizontal direction. The synchronous start-stop and steering actions of four wheels can be realized, the tracking process is more accurate, and the control complexity of the electric control system 3 is also reduced.
And an air duct system 4 for cooling the electric control system 3 is further arranged in the rectangular vehicle body frame 1. The air duct system 4 is provided with an opening frame support 41 with an isosceles trapezoid-shaped cross section, through hollow holes are formed in the surface of the opening frame support 41, an opening in the opening frame support 41 faces downwards and is welded and fixed with the bottom of the rectangular vehicle body frame 1 to form a cooling air duct 42 with an isosceles trapezoid-shaped cross section and capable of containing a storage battery pack and a sensor device, the electric control system 3 is installed at the top of the opening frame support 41, and a plurality of cooling fans 43 are arranged on the side wall of the opening frame support 41 side by side. In consideration of specific heat dissipation, the air duct system 4 is additionally arranged, heat outside the opening frame support 41 is introduced into the cooling air duct 42 through the cooling fan 43, the heat is dissipated through the heat dissipation holes on the periphery of the cooling air duct 42, meanwhile, the storage battery pack with the largest heat productivity and the sensor device can be isolated from the electric control system and placed into the cooling air duct 42, the stability of the whole system is improved, and the space of the flat type vehicle body structure can be fully utilized.
In the second embodiment of the present invention shown in fig. 8 to 11, a dragging jacking system 5 for carrying is added on the basis of the first embodiment, specifically, the dragging jacking system 5 is provided on the rectangular car body frame 1, the dragging jacking system 5 has a detachable bracket 51, the detachable bracket 51 is installed on the side wall of the rectangular car body frame 1 through a hook, so as to be convenient for assembly according to different requirements, the dragging jacking system 5 has two floating lifting devices 52 symmetrically arranged, a pressurized oil storage barrel 53 is provided between the two floating lifting devices 52,
the floating lifting device 52 is provided with a hollow installation cylinder 521 with openings at two ends, a jacking column 522 and a supporting column 523 are respectively arranged at the upper end and the lower end of the installation cylinder 521, T-shaped limiting bosses are respectively arranged at the top end of the jacking column 522 and the bottom end of the supporting column 523, buffer gaskets 524 are respectively arranged between the jacking column 522 and the upper end of the installation cylinder 521 and between the supporting column 523 and the lower end of the installation cylinder 521, the lower end of the jacking column 522 and the top end of the supporting column 523 are respectively inserted into the installation cylinder 521 to form a closed hydraulic oil accommodating space, a connecting sprue 525 capable of communicating the hydraulic oil accommodating space with the pressurized oil storage barrel 53 is arranged on the side wall of the installation cylinder 521, a plurality of limiting key slots 526 extending along the vertical direction are arranged on the inner wall of the installation cylinder 521 at one side of the jacking column 522, and limiting blocks 527 with the length shorter than the length of the limiting key slots,
at least 3 guide top posts 529 are installed on the supporting column 523 through a limiting pressure plate 528, the guide top posts 529 are rotationally distributed around the central axis of the supporting column 523, the guide top posts 529 are inserted into the jacking columns 522, gaps for oil to flow are formed between each guide top post 529 and the jacking columns 522, and universal wheels are arranged at the bottom of the supporting column 523.
In the actual work of the dragging type jacking system 5, after the rectangular car body frame 1 moves to the lower part of the designated position, for example, the rectangular car body frame moves to the lower part between two sleepers, the electric control system 3 sends out a signal to enable the pressurizing oil storage tank 53 to input pressurizing oil to the connecting pump nozzle 525 to enable the hydraulic oil accommodating space to expand, under the action of expansion force, the support column 523 moves downwards to enable the universal wheel to land on the ground to play a supporting role, the jacking column 522 moves upwards, because the gap between the guide jacking column 529 and the jacking column 522 is formed, because the oil can also flow into the gap, the oil between the guide jacking column 529 and the jacking column 522 can generate certain viscosity adhesive force to slow down the movement of the jacking column 522, the movement of the jacking column 522 is more reliable, the jacking structure can be greatly simplified, and the problem that the complicated axial structure of the traditional hydraulic jacking device is not beneficial to volume reduction is, in the process that the jacking column 522 moves upwards, an object needing to move leaves a certain gap from a sleeper, the guide jacking column 529 can play a role in stabilizing and guiding in the process, when the required ground clearance is reached, the pressure of oil can be locked, next-step movement is carried out, through the split design, the dragging type jacking system 5 can be hung on the rectangular vehicle body frame 1 when not used, the movement of the dragging type jacking system is not influenced, the dragging type jacking system plays a role only when needed, meanwhile, in order to adapt to a flat structure, the problem that a traditional oil cylinder cannot be adopted is solved, the two-way ejection design is adopted, the problem needing to be solved can be solved, the load can be prevented from being applied to the rectangular vehicle body frame 1, the service life of the dragging type jacking system is prolonged, meanwhile, the elastic adjustment range of floating can be achieved, and jacking actions are synchronous, stable and controllable.
The front side and the rear side of the rectangular vehicle body frame 1 are both provided with a dragging type jacking system 5, and spaces can be reserved for mounting other devices on the left side and the right side of the rectangular vehicle body frame 1.
The third embodiment of the present invention shown in fig. 12 to 15 is to solve the problem that in the process of carrying and moving, if the third embodiment is inserted between sleepers for placing objects accurately, the automatic carrying function can be fully exerted, while in the conventional manner, objects placed between the sleepers can be taken only by a moving device similar to a forklift, and the third embodiment is used in a palletizing robot, but when the weight of the objects is not large due to the need of precise control of the moving process, the conventional manner is not reliable. Therefore, the present embodiment utilizes the advantages of the two embodiments, and further, the left and right sides of the rectangular vehicle body frame 1 are respectively provided with the sleeper positioning device 6, the sleeper positioning device 6 has two floating rollers 61, skillfully adjusts through the lever counterweight, so that the central axes of the floating rollers 61 are parallel, and the plane formed by the central axes of the floating rollers 61 is not vertical nor horizontal, that is, the two floating rollers 61 can be distributed front and back, the connecting rod 62 is arranged between the floating rollers 61, the two ends of the connecting rod 62 are respectively hinged with the central axes of the corresponding floating rollers 61, the middle part of the connecting rod 62 is provided with the adjusting shaft pin 63, the side wall of the rectangular vehicle body frame 1 is provided with the horizontal adjusting groove 64 which can be connected with the adjusting shaft pin 63 in a sliding way and is in a strip shape, so that the floating rollers 61 can have a buffer process in the process of contacting with the adjusting opening 66,
the sleeper positioning device 6 is also provided with a special sleeper 65 matched with the sleeper positioning device, the two horizontal ends of the special sleeper 65 are respectively provided with an adjusting opening 66, a direct-connection sliding groove 67 is arranged between the two adjusting openings 66, and the adjusting openings 66 are sequentially provided with a conical leading-in section 661, a first guiding arc section 662 and a second guiding arc section 663 from outside to inside.
The radius of the first guide circular arc section 662 and the radius of the second guide circular arc section 663 are not smaller than the radius of the floating roller 61, the circular arc center of the transverse section of the first guide circular arc section 662 in the vertical direction is positioned in the inner cavity of the adjusting opening 66, the circular arc center of the transverse section of the second guide circular arc section 663 in the vertical direction is positioned outside the inner cavity of the adjusting opening 66, and the radius of the first guide circular arc section 662 is smaller than the radius of the second guide circular arc section 663.
As shown in the movement schematic diagrams of fig. 14 and fig. 15, it is ensured that the floating rollers 61 are in tandem, and no matter which direction enters from two ends of the sleeper through the special sleeper, the floating rollers 61 contacting the special sleeper 65 first will be forced to rotate and adjusted to be in a straight line distribution shape, and finally the two floating rollers 61 enter the sequential connecting chute 67 in sequence, so that the accurate position of the robot is determined when the robot moves and carries. Obviously, the third embodiment can fully utilize the dragging type jacking system 5 in the second embodiment, and after the floating roller 61 enters the sequential sliding groove 67 to the designated position, the dragging type jacking system 5 can realize other actions.
As shown in fig. 16 to 20, in the fourth embodiment of the present invention, a sealed transportation assembly 7 is disposed at the rear side of a rectangular vehicle body frame 1, the sealed transportation assembly 7 has a main towing hanging plate 71 detachably mounted on the rectangular vehicle body frame 1, a secondary towing hanging plate 73 is connected to the tail of the main towing hanging plate 71 through two connecting rods 72 distributed in an X shape, a conventional towing hook is connected to a trailer, and a gap and a slack between the conventional towing hook and the trailer will cause unreliable range and stability of the controlled movement, and precision control of the position cannot be achieved, especially in the production of chemical materials, the position where the material is moved needs to be precisely controlled, and the stability of the conventional single connecting rod is not high, so the present embodiment adopts a staggered type double-connecting-rod design, if a lifting trolley 74 is mounted on the secondary towing hanging plate 73 through a chute 77 extending in the vertical direction, a liftable roller assembly 75 is disposed on the lifting trolley 74,
limiting fixture blocks 76 are arranged between the left side and the right side of the dragging hanging plate 73 and the lifting trolley 74, the limiting fixture blocks 76 and the lifting trolley 74 are enclosed to form a sliding groove 77 which extends along the vertical direction and is T-shaped in cross section, T-shaped end portions which are connected with the sliding groove 77 in a sliding mode are arranged on the left side and the right side of the dragging hanging plate 73, the roller wheel assemblies 75 are provided with rubber roller wheels 752 which are distributed on the front side and the rear side and are installed on the lifting trolley 74 through rotating shaft pins 751, an expansion rod 754 driven by an electric oil cylinder 753 is arranged between the rubber roller wheels 752, a connecting shaft sleeve 755 is arranged at the end portion of the expansion rod 754, driving connecting rods 756 are arranged between the connecting shaft sleeve 755 and the rotating shaft pins 751, and an arc sliding groove 757 which is matched with the rotating shaft pins 751.
A discharge port door 741 controlled by the electronic control system 3 is arranged at the bottom of the lifting trolley 74, a convex sealing fixed block body 742 is arranged at the bottom of the lifting trolley 74 and surrounds the cross section of the discharge port door 741.
In actual movement, after the rectangular car body frame 1 moves to a specified position, an electric signal is sent through the electric control system 3, so that the expansion rod 754 driven by the electric cylinder 753 is contracted to indirectly drive the driving connecting rod 756 to move obliquely upwards, so that the rotating shaft pin 751 is forced to move obliquely upwards along the arc chute 757, so that the roller on the rotating shaft pin 751 changes direction and moves upwards in the vertical direction, meanwhile, due to the existence of the limiting fixture block 76, the lifting trolley 74 descends along the chute 77, finally, the bottom of the lifting trolley 74 is completely contacted with the ground, the sealing fixture block 742 is inserted into a groove on the specified ground, positioning and sealing can be realized, then, the discharge port door 741 can be controlled to be opened, materials in the lifting trolley 74 can leave the lifting trolley 74 through the discharge port door 741, obviously, a material inlet buried in the ground corresponding to the discharge port door 741 and the limiting fixture block 76 can be arranged on the ground, the dust can be prevented from being raised and leaked, and the full-sealing environment-friendly effect of the whole process link is realized.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (4)
1. The utility model provides an intelligence workshop is with indoor navigation machine people that trails with airtight transportation subassembly, includes rectangle automobile body frame (1) and electrical system (3), its characterized in that: the left side and the right side of the rectangular vehicle body frame (1) are respectively provided with a driving wheel assembly (2), the two groups of driving wheel assemblies (2) are symmetrically arranged, each driving wheel assembly (2) is provided with two groups of rolling wheel devices (21) which are arranged in front and at the back, and a main power driving device (22) and a steering power driving device (23) which are arranged up and down respectively, the main power driving device (22) and the steering power driving device (23) are in transmission connection with the rolling wheel devices (21),
the rolling wheel device (21) is provided with a steering connecting shaft sleeve (211), an isolation fastening mechanism (212) and a walking wheel mounting bracket (213) which are sequentially arranged from top to bottom,
a driving shaft (215) is arranged in the steering connecting shaft sleeve (211), two needle roller bearings (214) are arranged between the steering connecting shaft sleeve (211) and the driving shaft (215) at intervals,
the isolation fastening mechanism (212) is provided with an installation cover body (2121), the opening of the installation cover body (2121) faces downwards and is fastened on the upper part of a walking wheel installation support (213), an installation cavity is formed between the installation cover body (2121) and the walking wheel installation support (213), at least three ball nuts (2122) are arranged in the installation cavity by taking the central axis of the steering connection shaft sleeve (211) as a rotation center, a connection flange plate (2123) is arranged on the upper side surface of the installation cover body (2121), fastening bolt installation hole positions corresponding to the ball nuts (2122) one by one are arranged on the connection flange plate (2123),
a horizontal transmission shaft (216) and a walking wheel (218) are respectively arranged on the upper side and the lower side of the walking wheel mounting bracket (213), the driving shaft (215) vertically and downwards sequentially penetrates through a steering connection shaft sleeve (211), a mounting cover body (2121) and the walking wheel mounting bracket (213) and is meshed with one end of the horizontal transmission shaft (216) through a bevel gear, the other end of the horizontal transmission shaft (216) is connected with the walking wheel (218) through a third belt pulley, a middle isolation flange (217) is arranged between the driving shaft (215) and the top of the walking wheel mounting bracket (213), a limiting boss is arranged on the lower part of the middle isolation flange (217) and abuts against the inner surface of the top of the walking wheel mounting bracket (213), the upper part of the middle isolation flange (217) extends into the mounting cavity, and an arc chamfer is arranged on the edge of the upper part of the middle isolation flange (217) and is tightly contacted with all ball nuts, and the middle isolation flange (217) is in clearance fit with the driving shaft (215),
the main power driving device (22) is in transmission connection with a driving shaft (215), the steering power driving device (23) is in transmission connection with a steering connecting shaft sleeve (211),
an air duct system (4) used for cooling the electric control system (3) is also arranged in the rectangular vehicle body frame (1),
a closed transportation component (7) is arranged at the rear side of the rectangular vehicle body frame (1),
the closed transportation component (7) is provided with a main dragging hanging plate (71) which is detachably arranged on the rectangular vehicle body frame (1), the tail part of the main dragging hanging plate (71) is connected with a secondary dragging hanging plate (73) through two connecting rods (72) which are distributed in an X shape, a lifting trolley (74) is arranged on the secondary dragging hanging plate (73) through a sliding chute (77) which extends along the vertical direction, and a liftable roller component (75) is arranged on the lifting trolley (74),
a discharge port door (741) controlled by an electric control system (3) is arranged at the bottom of the lifting trolley (74), a convex sealing fixed block body (742) is arranged at the bottom of the lifting trolley (74) around the cross section of the discharge port door (741), and a groove matched with the sealing fixed block body (742) is arranged on the designated ground.
2. The intelligent indoor navigation and tracking robot for a workshop with a closed transportation assembly according to claim 1, wherein: the main power driving device (22) and the steering power driving device (23) are respectively positioned at the front side and the rear side of the rectangular vehicle body frame (1) in the horizontal direction,
the main power driving device (22) is provided with a double-driving motor device (221), the double-driving motor device (221) is composed of two driving motors arranged side by side, output shafts of the driving motors vertically extend upwards, cooling and lubricating boxes (222) are arranged at the positions of the output shafts, the output shafts of the driving motors penetrate through the cooling and lubricating boxes (222), a middle output shaft (223) is arranged between the output shafts of the driving motors, the lower ends of the middle output shaft (223) are positioned in the cooling and lubricating boxes (222) and are all meshed with the output shafts of the driving motors, the upper ends of the middle output shaft (223) vertically extend upwards and are in transmission connection with a driving shaft (215) through a first belt pulley (224) with a triangular projection in the horizontal direction,
the steering force driving device (23) is provided with a flat torque motor (231), and the flat torque motor (231) is in transmission connection through a second belt pulley (232) with a triangular projection surface in the horizontal direction.
3. The intelligent indoor navigation and tracking robot for a workshop with a closed transportation assembly according to claim 1, wherein: air duct system (4) have opening frame support (41) that the cross section is isosceles trapezoid the fretwork hole that runs through is equipped with on the surface of opening frame support (41), opening on opening frame support (41) down and with the bottom welded fastening of rectangle automobile body frame (1) and constitute the cross section and be isosceles trapezoid, can be used to hold storage battery and sensor device's cooling duct (42), the top at opening frame support (41) is installed in electrical system (3) be equipped with a plurality of radiator fan (43) on the lateral wall of opening frame support (41) side by side.
4. The indoor navigation and tracking robot for the intelligent workshop with the closed transportation component as claimed in claim 1, wherein: limiting fixture blocks (76) are arranged between the left side and the right side of the secondary dragging hanging plate (73) and the lifting trolley (74), the limiting fixture blocks (76) and the lifting trolley (74) are enclosed to form a sliding groove (77) which extends along the vertical direction and has a T-shaped cross section, the left side and the right side of the secondary dragging hanging plate (73) are respectively provided with a T-shaped end part which is in sliding connection with the sliding groove (77),
the roller assembly (75) is provided with rubber rollers (752) which are distributed on the front side and the rear side and are installed on a lifting trolley (74) through a rotating shaft pin (751), an expansion rod (754) driven by an electric oil cylinder (753) is arranged between the rubber rollers (752), a connecting shaft sleeve (755) is arranged at the end part of the expansion rod (754), driving connecting rods (756) are arranged between the connecting shaft sleeve (755) and the rotating shaft pin (751), and an arc chute (757) matched with the rotating shaft pin (751) is arranged on the lifting trolley (74).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910672170.7A CN110294052B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot with closed transportation assembly for intelligent workshop |
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 |
| CN201910672170.7A CN110294052B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot with closed transportation assembly for intelligent workshop |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711105275.1A Division CN107878594B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot for intelligent workshop |
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| CN110294052A CN110294052A (en) | 2019-10-01 |
| CN110294052B true CN110294052B (en) | 2020-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910671564.0A Active CN110294046B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation robot for intelligent workshop |
| 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 |
| CN201910672166.0A Active CN110294050B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot for intelligent workshop |
| CN201711105275.1A Active CN107878594B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot for intelligent workshop |
| CN201910671567.4A Active CN110294047B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot |
| CN201910671568.9A Pending CN110294048A (en) | 2017-11-10 | 2017-11-10 | Intelligent workshop with sleeper positioning device is tracked robot with indoor navigation |
| CN201910672170.7A Active CN110294052B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot with closed transportation assembly for intelligent workshop |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910671564.0A Active CN110294046B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation robot for intelligent workshop |
| 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 |
| CN201910672166.0A Active CN110294050B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot for intelligent workshop |
| CN201711105275.1A Active CN107878594B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot for intelligent workshop |
| CN201910671567.4A Active CN110294047B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot |
| CN201910671568.9A Pending CN110294048A (en) | 2017-11-10 | 2017-11-10 | Intelligent workshop with sleeper positioning device is tracked robot with indoor navigation |
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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 |
| CN110673226A (en) * | 2019-11-07 | 2020-01-10 | 安徽现勘信息科技有限公司 | Multispectral all-angle biological footprint searching device |
| CN110843712B (en) * | 2019-12-19 | 2024-08-30 | 广州极飞科技股份有限公司 | Multifunctional unmanned vehicle |
| CN111301944B (en) * | 2020-02-25 | 2021-09-28 | 李云 | Separating mechanism for efficiently removing impurities from seeds subjected to tedding/drying dehydration |
| 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 |
| 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 |
|---|---|
| CN110294049A (en) | 2019-10-01 |
| CN110294047B (en) | 2020-10-13 |
| CN110294047A (en) | 2019-10-01 |
| CN110294049B (en) | 2020-11-06 |
| CN110294046B (en) | 2020-11-03 |
| CN110294046A (en) | 2019-10-01 |
| CN110294050A (en) | 2019-10-01 |
| CN107878594A (en) | 2018-04-06 |
| CN110294048A (en) | 2019-10-01 |
| CN110294050B (en) | 2020-11-03 |
| CN110294051B (en) | 2020-10-13 |
| CN110294051A (en) | 2019-10-01 |
| CN110294052A (en) | 2019-10-01 |
| CN107878594B (en) | 2020-03-31 |
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