CN110668358B

CN110668358B - Forklift-shaped light mine car tire mounting vehicle

Info

Publication number: CN110668358B
Application number: CN201910969212.3A
Authority: CN
Inventors: 臧新良; 刘喜平; 吴凤和
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2019-10-12
Filing date: 2019-10-12
Publication date: 2020-10-02
Anticipated expiration: 2039-10-12
Also published as: CN110668358A

Abstract

The invention provides a forklift-shaped light mine car tire mounting vehicle which comprises a driving wheel system, a double-clamping-claw system, a car body system, a swing frame system, a lifting frame system and an electric control system, wherein the driving wheel system is connected with the double-clamping-claw system through a driving shaft; 4 driving wheel systems are respectively arranged at 4 corner points of the lower surface of a U-shaped vehicle body of the vehicle body system; the lifting frame system is fixedly connected to the vehicle body system, and a lifting screw rod of the vehicle body system is inserted into a vertical through cylindrical hole of the square lifting frame of the lifting frame system; the swing frame system is fixedly connected to the side face of the square lifting frame of the lifting frame system; the rotating shaft of the double-claw system is inserted into the inner ring inner hole of the rolling bearing of the swing frame system. The invention can realize the mechanization of the assembly of the light mine car tire, reduce the labor cost and reduce the labor intensity; the tire assembling efficiency can be improved, and the consistency and the production beat of the mounting quality can be ensured.

Description

Forklift-shaped light mine car tire mounting vehicle

Technical Field

The invention relates to a forklift-shaped light mine vehicle tire mounting vehicle.

Background

The installation of tires on light-duty mine car assembly lines is subject to a number of limitations: 1) one third of the tire of the articulated truck has extremely narrow space in the circumferential direction, and no tool can be placed; 2) the production beat requirement is strict: within 10 min; 3) the tire has large size and weight variation range: diameter 1500 mm-1882 mm, thickness: 400 mm-880 mm; weight: 500 kg-1350 kg.

In the past, the tyre of the light mine car is mounted on line by adopting a crown block and an auxiliary tool, and the defects are that: 1) the labor cost is high, and 4 installation workers are usually needed; 2) control of installation tact is difficult; 3) the labor intensity of workers is high; 4) the uniformity of the mounting quality is poor.

Disclosure of Invention

According to the technical problems that the tire installation on the light mine car assembly line is limited by a plurality of factors, the overhead travelling crane and the auxiliary tool are adopted for installation in the on-line installation, the labor cost is high, the installation beat is difficult to control, the labor intensity is high, and the installation quality is poor in consistency, and the forklift-shaped light mine car tire installation vehicle is provided. The invention mainly utilizes the mutual cooperation of the driving wheel system, the double-clamping jaw system, the vehicle body system, the swing frame system, the lifting frame system and the electric control system to ensure that the tire mounting vehicle has the functions of moving in any direction and rotating in various radiuses, thereby realizing the mechanization of the tire assembly of the light mine vehicle.

The technical means adopted by the invention are as follows:

a forklift-shaped light ore vehicle tire mounting vehicle, comprising: the device comprises a driving wheel system, a double-clamping-claw system, a vehicle body system, a swing frame system, a lifting frame system and an electric control system;

the driving wheel system mainly comprises a worm box body, a turntable bearing, a connecting plate, a worm wheel shaft, a U-shaped supporting frame, a servo motor A, a speed reducer A, a rolling bearing, a traveling wheel, a transmission shaft, a worm, a servo motor B and a speed reducer B;

the double-jaw system mainly comprises a limiting plate A, a spiral elevator screw A, a spiral elevator A, a rectangular rotating table, a jaw B, a limiting plate B, a spiral elevator screw B, a spiral elevator B, a jaw clamping screw, a jaw A, a speed reducer C, a servo motor C, a rotating shaft, a rolling guide rail A, a rolling guide rail sliding seat B, a rolling guide rail C, a rolling guide rail sliding seat D, a rolling guide rail D, a jaw clamping nut, a magnetic scale, a magnetic head B and a magnetic head A;

the vehicle body system mainly comprises a servo motor D, a speed reducer supporting plate, a lifting screw rod, a gantry frame and a U-shaped vehicle body;

the swing frame system mainly comprises a pin shaft A, an ear plate A, H-shaped swing frame, an ear plate B, an electric cylinder A with double trunnions, a hinge A, an ear plate C, an ear plate D, an electric cylinder B with double trunnions, a hinge B, an ear plate E, an ear plate F, a pin shaft B, an ear plate G, a servo motor E, a speed reducer E, an ear plate H, a rolling bearing, a hinge C and a hinge D;

the lifting frame system mainly comprises a rolling guide rail sliding seat E, a square lifting frame, a rolling guide rail sliding seat F, a rolling guide rail E, a lifting nut, a rolling guide rail sliding seat G, a rolling guide rail F and a rolling guide rail sliding seat H;

the U-shaped support frame is composed of a first cross beam and two vertical plates positioned on two sides below the first cross beam; the two vertical plates are respectively provided with a cylindrical through hole, the two cylindrical through holes are coaxial and have the same diameter, a rolling bearing A and a rolling bearing B are respectively arranged in the two cylindrical through holes, and inner ring inner holes of the two rolling bearings are connected with the transmission shaft in a matching manner; the middle part of the transmission shaft is connected with the travelling wheel in a matching way; one end of the transmission shaft is fixedly connected with an output shaft of the speed reducer A, a shell of the speed reducer A is fixedly connected to the outer side surface of the vertical plate, an input shaft of the speed reducer A is fixedly connected with an output shaft of the servo motor A, and a shell of the servo motor A is fixedly connected with the shell of the speed reducer A; the worm wheel shaft is a stepped shaft, and one end of a large-diameter shaft section of the worm wheel shaft is connected to the central point of the upper surface of the first cross beam; the middle part of the large-diameter shaft section of the worm wheel shaft is connected with an inner hole of the worm wheel in a matching way, and the worm wheel is connected with the worm in a meshing way; the small-diameter shaft section of the worm wheel shaft is inserted into an inner ring inner hole of the turntable bearing and is connected with the inner ring inner hole in a matching manner, and the outer ring end face of the turntable bearing is fixed on one side end face of the connecting plate; the end face of the other side of the connecting plate is connected with the worm box body, the worm box body is a rectangular box body, two box plates in the length direction of the worm box body are respectively provided with a cylindrical through hole, the two cylindrical through holes are coaxial and have the same diameter, and a rolling bearing C and a rolling bearing D are respectively arranged in the two cylindrical through holes; the worm is composed of three sections of cylinders, two ends of the worm are equal-diameter cylinder sections, the two equal-diameter cylinder sections are respectively connected with inner ring inner holes of the rolling bearing C and the rolling bearing D in a matching mode, and the middle cylinder section of the worm is connected with the worm wheel in a meshing mode; one end of the worm is fixedly connected with an output shaft of the speed reducer B, a shell of the speed reducer B is fixedly connected to the outer box wall of the worm box body, an input shaft of the speed reducer B is fixedly connected with an output shaft of the servo motor B, and a shell of the servo motor B is fixedly connected with the shell of the speed reducer B; a rectangular hole is formed in one side box plate of the worm box body, and the worm wheel penetrates through the rectangular hole to enter the worm box body and is meshed and connected with the worm;

the clamping jaw A and the clamping jaw B are both of U-shaped structures, the U-shaped structures mean that the clamping jaw A and the clamping jaw B are both composed of two side beams and a first bottom beam, and U-shaped openings of the clamping jaw A and the clamping jaw B are opposite and are symmetrically arranged in space; the upper edge and the lower edge of the outer side surface of the side beam on one side of the clamping jaw A are respectively and fixedly connected with a rolling guide rail sliding seat A and a rolling guide rail sliding seat B, the rolling guide rail sliding seat A is provided with the rolling guide rail A in a sliding manner, and the rolling guide rail sliding seat B is provided with the rolling guide rail B in a sliding manner; the upper edge and the lower edge of the outer side surface of the side beam on one side of the clamping jaw B are respectively and fixedly connected with a rolling guide rail sliding seat C and a rolling guide rail sliding seat D, the rolling guide rail C is installed on the rolling guide rail sliding seat C in a sliding mode, and the rolling guide rail D is installed on the rolling guide rail sliding seat D in a sliding mode; the end parts of the side beams on the other sides of the clamping jaw A and the clamping jaw B are both of V-shaped structures and are used for clamping tires; the rolling guide rail A, the rolling guide rail B, the rolling guide rail C and the rolling guide rail D are respectively and fixedly connected to one side end face of the rectangular rotating table, and the center of the other side end face of the rectangular rotating table is fixedly connected with the rotating shaft; the left side surface and the right side surface of the rectangular rotating table are respectively and fixedly connected with the limiting plate A and the limiting plate B; the magnetic scale is fixedly connected to the lower side surface of the rectangular rotating table; the bottom beams of the clamping jaw A and the clamping jaw B are respectively provided with a cylindrical through hole close to the mounting surface of the rolling guide rail sliding seat, the two cylindrical through holes are coaxial and have the same diameter, the diameter of the clamping jaw clamping screw rod is larger than the outer diameter of the clamping jaw clamping screw rod, the clamping jaw clamping screw rod is connected inside the two cylindrical through holes in a matching manner, one end of the clamping screw rod of the clamping jaw is fixedly connected with an output shaft of the speed reducer C, the other end of the clamping screw rod of the clamping jaw is suspended out of a bottom beam of the clamping jaw B, and is in threaded connection with the jaw clamping nut, the jaw clamping nut and the jaw clamping screw rod are matched to form a thread pair, wherein the jaw clamping nut is fixed on the U-shaped inner wall of the jaw B, the shell of the speed reducer C is fixed on the outer wall of the bottom beam of the jaw A, an input shaft of the speed reducer C is fixedly connected with an output shaft of the servo motor C, and a shell of the servo motor C is fixedly connected with a shell of the speed reducer C; the lower side surface of the rolling guide rail sliding seat B is fixedly connected with the magnetic head A, and the lower side surface of the rolling guide rail sliding seat D is fixedly connected with the magnetic head B;

the U-shaped vehicle body and the gantry frame are both of U-shaped structures, each U-shaped structure is composed of a bottom beam and two edge beams, and the end surfaces of the two edge beams of the gantry frame are respectively and fixedly connected to the upper surface of the bottom beam of the U-shaped vehicle body; the speed reducer supporting plate is fixedly connected to the middle of the outer side surface of the bottom beam of the gantry frame and extends out of the gantry frame in a suspending manner; a vertical cylindrical hole with the diameter larger than the outer diameter of the lifting screw rod is formed in the overhanging position of the support plate of the speed reducer, the lifting screw rod is inserted into the cylindrical hole and is fixedly connected with an output shaft of the speed reducer D, a shell of the speed reducer D is fixedly connected with the support plate of the speed reducer, an input shaft of the speed reducer D is fixedly connected with an output shaft of the servo motor D, and a shell of the servo motor D is fixedly connected to the shell of the speed reducer D;

the H-shaped swing frame consists of two rectangular vertical beams and a rectangular cross beam; the upper end surface of a left rectangular vertical beam of the H-shaped swing frame is fixedly connected with the lug plate B and the lug plate C, and the upper end surface of a right rectangular vertical beam of the H-shaped swing frame is fixedly connected with the lug plate D and the lug plate E; the ear plate B, the ear plate C, the ear plate D and the ear plate E are respectively provided with a cylindrical through hole with the same diameter, and the axes of the four cylindrical through holes are positioned on the same straight line; the side face of the lower end part of the left rectangular vertical beam of the H-shaped swing frame is fixedly connected with the ear plate A and the ear plate H, the side face of the lower end part of the right rectangular vertical beam of the H-shaped swing frame is fixedly connected with the ear plate F and the ear plate G, the ear plate A, the ear plate H, the ear plate F and the ear plate G are respectively provided with a cylindrical through hole with the same diameter, and the axes of the four cylindrical through holes are positioned on the same straight line; the pin shaft A is connected in the cylindrical through holes of the lug plate A and the lug plate H in a matching manner, and the pin shaft B is connected in the cylindrical through holes of the lug plate F and the lug plate G in a matching manner; the double trunnions of the electric cylinder A with the double trunnions are respectively inserted into the cylindrical through holes of the lug plate B and the lug plate C, the double trunnions of the electric cylinder A with the double trunnions are in clearance fit with the cylindrical through holes of the lug plate B and the lug plate C, and the hinge A is rotatably connected to the end part of a piston rod of the electric cylinder A with the double trunnions; the hinge C is rotatably connected to the cylinder body end part of the electric cylinder A with the double trunnions; the double trunnions of the electric cylinder B with the double trunnions are respectively inserted into the cylindrical through holes of the lug plate D and the lug plate E, the double trunnions of the electric cylinder B with the double trunnions are in clearance fit with the cylindrical through holes of the lug plate D and the lug plate E, the hinge B is rotatably connected to the end part of a piston rod of the electric cylinder B with the double trunnions, and the hinge D is rotatably connected to the end part of a cylinder body of the electric cylinder B with the double trunnions;

a cylindrical through hole is formed in the middle of a rectangular cross beam of the H-shaped swing frame, two rolling bearings are mounted in the cylindrical through hole, a shell of the speed reducer E is fixedly connected to the outer surface of the H-shaped swing frame, the axis of an output shaft of the speed reducer E is collinear with the axes of the two rolling bearings, an input shaft of the speed reducer E is fixedly connected with an output shaft of the servo motor E, and the shell of the servo motor E is fixedly connected with the shell of the speed reducer E;

the four corners of one side end face of the square lifting frame are respectively and fixedly connected with the rolling guide rail sliding seat E, the rolling guide rail sliding seat F, the rolling guide rail sliding seat G and the rolling guide rail sliding seat H, the rolling guide rail E is slidably installed on the rolling guide rail sliding seat E and the rolling guide rail sliding seat F, and the rolling guide rail F is slidably installed on the rolling guide rail sliding seat G and the rolling guide rail sliding seat H; the rolling guide rail E and the rolling guide rail F are arranged in parallel; a vertical through cylindrical hole with the diameter larger than the outer diameter of the lifting screw rod is formed in the center of the upper surface of the square lifting frame, and the lifting nut is fixedly connected to the upper surface of the square lifting frame and is coaxial with the vertical through cylindrical hole;

4 driving wheel systems are respectively installed at 4 corner points of the lower surface of the U-shaped vehicle body of the vehicle body system, and a connecting plate of each driving wheel system is fixedly connected with the lower surface of the U-shaped vehicle body; the rolling guide rail E and the rolling guide rail F of the lifting frame system are respectively and fixedly connected to the same side surfaces of two boundary beams of a gantry frame of the vehicle body system, and a lifting screw rod of the vehicle body system is inserted into a vertical through cylindrical hole of a square lifting frame of the lifting frame system and is matched with the lifting nut to form a thread pair; the ear plate A, the ear plate H, the ear plate F and the ear plate G of the swing frame system are respectively and fixedly connected to two angular points on the same side face of the square lifting frame of the lifting frame system, and the hinge A and the hinge B of the lifting frame system are respectively and fixedly connected to the other two angular points on the same side face of the square lifting frame of the lifting frame system; the rotating shaft of the double-jaw system is inserted into an inner ring inner hole of a rolling bearing of the swing frame system, and the end part of the rotating shaft is fixedly connected with the end part of an output shaft of the speed reducer E; the electric control system is arranged on the upper surface of a U-shaped vehicle body of the vehicle body system.

Further, the forklift-shaped light mine vehicle tire mounting vehicle has the functions of moving in any direction and rotating in various radiuses:

1) moving in the direction of the datum line (axis of the tyre)

Starting 4 servo motors B, driving 4 transmission shafts and 4 travelling wheels to rotate to 4 travelling wheel axes through 4 speed reducers B, 4 worms, 4 worm wheels, 4 worm wheel shafts and 4U-shaped support frames to be vertical to the datum line, simultaneously starting 4 servo motors A, driving 4 travelling wheels to rotate at the same speed through 4 speed reducers A and 4 transmission shafts, and moving the whole forklift-shaped light mine vehicle tire mounting vehicle along the datum line (tire axis);

2) moving in a direction perpendicular to the reference line

Starting 4 servo motors B, driving 4 transmission shafts and 4 travelling wheels to rotate to 4 travelling wheel axes parallel to the datum line through 4 speed reducers B, 4 worms, 4 worm wheels, 4 worm wheel shafts and 4U-shaped support frames, simultaneously starting 4 servo motors A, driving 4 travelling wheels to simultaneously rotate at the same speed through 4 speed reducers A and 4 transmission shafts, and moving the whole forklift-shaped light ore wheel tire mounting vehicle in the direction vertical to the datum line;

3) turn at minimum radius

When the two left travelling wheels drive the forklift-shaped light mineral vehicle tire assembling machine to move forwards integrally and the two right travelling wheels drive the double-jaw type hinge truck tire assembling machine to move backwards integrally, the forklift-shaped light mineral vehicle tire assembling machine rotates in situ with the minimum radius integrally; when the two left travelling wheels drive the forklift-shaped light mine tire mounting vehicle to move backwards integrally, and the two right travelling wheels drive the forklift-shaped light mine tire mounting vehicle to move forwards integrally, the forklift-shaped light mine tire mounting vehicle rotates reversely in situ at the minimum radius integrally;

4) moving in an oblique direction

When starting 4 servo motor B, through 4 reduction gears B, 4 worms, 4 worm wheels, 4 worm wheel shafts and 4U-shaped support frames drive 4 transmission shafts and 4 walking wheels rotate 4 walking wheel axes and all become certain angle with the datum line, start 4 servo motor A simultaneously, it is rotatory with the same speed simultaneously to drive 4 walking wheels through 4 reduction gears A and 4 transmission shafts, fork truck shape light-duty ore wheel child installation car is whole to be removed along forming certain angle direction with the datum line, fork truck shape light-duty ore wheel child installation car still has the slant function of removing promptly.

Further, the servo motor a, the servo motor B, the servo motor C, the servo motor D, the servo motor E, the spiral elevator a, the spiral elevator B, the electric cylinder a with the double-trunnion and the electric cylinder B with the double-trunnion are all electrically connected with the electric control system.

Furthermore, the servo motor A, the servo motor B, the servo motor C, the servo motor D and the servo motor E are all internally provided with encoders and are provided with band-type brakes.

Further, the magnetic scale, the magnetic head a and the magnetic head B form a relative position detection system between the symmetric surfaces of the jaw a and the jaw B and the rotation axis, and the detection system formed by the magnetic scale, the magnetic head a and the magnetic head B can be used for detecting the eccentricity between the symmetric surfaces of the jaw a and the jaw B and the rotation axis or detecting whether the symmetric surfaces are coincident with the rotation axis.

Compared with the prior art, the invention has the following advantages:

1. according to the forklift-shaped light mine vehicle tire mounting vehicle, the driving wheel system, the double-clamping-claw system, the vehicle body system, the swing frame system, the lifting frame system and the electric control system are matched with one another, so that the tire mounting vehicle has the functions of moving in any direction and rotating in various radiuses, and the mechanization of light mine vehicle tire mounting is realized.

2. The forklift-shaped light mine car tire mounting vehicle provided by the invention can reduce the labor cost and reduce the labor intensity of workers.

3. The forklift-shaped light mine vehicle tire mounting vehicle provided by the invention can improve the tire mounting efficiency and ensure the consistency of the mounting quality and the production beat.

In conclusion, the technical scheme of the invention can solve the problems that in the prior art, the installation of tires on a light mine car assembly line is limited, and the online installation adopts a crown block and an auxiliary tool to cause high labor cost, difficult installation beat control, high labor intensity and poor consistency of installation quality.

For the above reasons, the present invention can be widely applied to the industrial fields of mounting tires on a light-duty mine car assembly line using a tire mounting vehicle, and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a three-dimensional schematic view of a forklift-shaped light-duty tire mounting vehicle of the present invention.

Fig. 2 is a front view of a driving wheel system in the forklift-shaped lightweight mineral vehicle tire mounting vehicle of the present invention.

Fig. 3 is a sectional view a-a of fig. 2.

Fig. 4 is a front view of a double jaw system in a forklift-shaped lightweight mineral vehicle tire mounting vehicle of the present invention.

Fig. 5 is a top view of fig. 4.

Fig. 6 is a left side view of fig. 4.

Fig. 7 is a sectional view B-B of fig. 4.

Fig. 8 is a front view of the vehicle body system in the forklift-shaped light-duty tire mounting vehicle of the present invention.

Fig. 9 is a top view of fig. 8.

Fig. 10 is a right side view of fig. 8.

Fig. 11 is a front view of the swing frame system in the forklift type lightweight mineral vehicle tire mounting vehicle of the present invention.

Fig. 12 is a top view of fig. 11.

Fig. 13 is a left side view of fig. 11.

Fig. 14 is a front view of a crane system in a forklift-shaped lightweight mineral vehicle tire mounting vehicle of the present invention.

Fig. 15 is a top view of fig. 14.

In the figure: 100. a drive wheel system; 200. a dual jaw system; 300. a vehicle body system; 400. a swing frame system; 500. a crane system; 600. an electronic control system; 101. a worm box body; 102. a turntable bearing; 103. a connecting plate; 104. a worm gear; 105. a worm gear shaft; 106. a U-shaped support frame; 107. a servo motor A; 108. a reducer A; 109. a rolling bearing A; 110. a traveling wheel; 111. a rolling bearing B; 112. a drive shaft; 113. a worm; 114. a rolling bearing C; 115. a servo motor B; 116. a reducer B; 117. a rolling bearing D;

201. a limiting plate A; 202. a screw elevator lead screw A; 203. a screw elevator A; 204. a rectangular rotating table; 205. a claw B; 206. a limiting plate B; 207. a screw elevator lead screw B; 208. a screw lifter B; 209. the clamping jaws clamp the lead screw; 210. a claw A; 211. a reducer C; 212. a servo motor C; 213. a rotating shaft; 214. a rolling guide rail A; 215. a rolling guide rail slide carriage A; 216. a rolling guide rail slide B; 217. a rolling guide rail B; 218. a rolling guide rail C; 219. a rolling guide rail slide C; 220. a rolling guide rail slide carriage D; 221. a rolling guide rail D; 222. clamping the nut by the clamping jaw; 223. a magnetic scale; 224. a magnetic head B; 225. a magnetic head A;

301. a servo motor D; 302. a reducer D; 303. a reducer support plate; 304. lifting a screw rod; 305. a gantry frame; 306. a U-shaped vehicle body;

401. a pin shaft A; 402. an ear plate A; 403. an H-shaped swing frame; 404. an ear plate B; 405. an electric cylinder A with double trunnions; 406. a hinge A; 407. an ear plate C; 408. an ear plate D; 409. an electric cylinder B with double trunnions; 410. a hinge B; 411. an ear plate E; 412. an ear panel F; 413. a pin B; 414. an ear plate G; 415. a servo motor E; 416. a reducer E; 417. an ear plate H; 418. a rolling bearing E; 419. a rolling bearing F; 420. a hinge C; 421. a hinge D;

501. a rolling guide rail slide carriage E; 502. a square lifting frame; 503. a rolling guide rail slide carriage F; 504. a rolling guide rail E; 505. a lifting nut; 506. a rolling guide rail slider G; 507. a rolling guide rail F; 508. rolling guide carriage H.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

Example 1

As shown in fig. 1 to 15, the invention provides a forklift-shaped light mine vehicle tire mounting vehicle, which mainly comprises 6 systems, namely a driving wheel system 100, a double-clamping jaw system 200, a vehicle body system 300, a swing frame system 400, a lifting frame system 500 and an electric control system 600. The driving wheel system mainly comprises a worm box body 101, a turntable bearing 102, a connecting plate 103, a worm wheel 104, a worm wheel shaft 105, a U-shaped supporting frame 106, a servo motor A107, a speed reducer A108, a rolling bearing, a road wheel 110, a transmission shaft 112, a worm 113, a servo motor B115 and a speed reducer B116. The double-jaw system mainly comprises a limit plate A201, a spiral elevator lead screw A202, a spiral elevator A203, a rectangular rotating table 204, a jaw B205, a limit plate B206, a spiral elevator lead screw B207, a spiral elevator B208, a jaw clamping lead screw 209, a jaw A210, a speed reducer C211, a servo motor C212, a rotating shaft 213, a rolling guide rail A214, a rolling guide rail sliding seat A215, a rolling guide rail sliding seat B216, a rolling guide rail B217, a rolling guide rail C218, a rolling guide rail sliding seat C219, a rolling guide rail sliding seat D220, a rolling guide rail D221, a jaw clamping nut 222, a magnetic scale 223, a magnetic head B224 and a magnetic head A225. The vehicle body system mainly comprises a servo motor D301, a speed reducer D302, a speed reducer supporting plate 303, a lifting screw 304, a gantry frame 305 and a U-shaped vehicle body 306. The swing frame system mainly comprises a pin shaft A401, an ear plate A402, an H-shaped swing frame 403, an ear plate B404, an electric cylinder A405 with double trunnions, a hinge A406, an ear plate C407, an ear plate D408, an electric cylinder B409 with double trunnions, a hinge B410, an ear plate E411, an ear plate F412, a pin shaft B413, an ear plate G414, a servo motor E415, a speed reducer E416, an ear plate H417, a rolling bearing, a hinge C420 and a hinge D421. The lifting frame system mainly comprises a rolling guide rail sliding seat E501, a square lifting frame 502, a rolling guide rail sliding seat F503, a rolling guide rail E504, a lifting nut 505, a rolling guide rail sliding seat G506, a rolling guide rail F507 and a rolling guide rail sliding seat H508.

Example 2

As shown in fig. 2-3, the U-shaped supporting frame 106 is composed of a first cross beam and two vertical plates located at two sides below the first cross beam. Two vertical plates of the U-shaped support frame 106 are respectively provided with a cylindrical through hole, the two cylindrical through holes are coaxial and have the same diameter, a rolling bearing A109 and a rolling bearing B111 which have the same structure are respectively arranged in the two cylindrical through holes, inner ring inner holes of the two rolling bearings are connected with a transmission shaft 112 in a matching manner, and the transmission shaft 112 is inserted into inner ring inner holes of the rolling bearing A109 and the rolling bearing B111. The middle of the transmission shaft 112 is connected with the traveling wheel 110 in a matching manner, one end face of the transmission shaft 112 is fixedly connected with an output shaft of the speed reducer A108, a shell of the speed reducer A108 is fixedly connected to the side face of a vertical plate of the U-shaped support frame 106, an output shaft of the servo motor A107 is fixedly connected with an input shaft of the speed reducer A108, and a shell of the servo motor A107 is fixedly connected with a shell of the speed reducer B108.

The worm wheel shaft 105 is a stepped shaft, and one end face of a large-diameter shaft section thereof is fixedly connected to a central point of the upper surface of a first cross member of the U-shaped support frame 106. The middle part of the large-diameter shaft section of the worm wheel shaft 105 is inserted into the inner hole of the worm wheel 104 and fixedly connected with the inner hole of the worm wheel, and the worm wheel 104 is meshed with the worm 113. The small diameter shaft section of the worm wheel shaft 105 is inserted into the inner ring inner hole of the turntable bearing 102 and fixedly connected with the inner ring inner hole, and the outer ring end face of the turntable bearing 102 is fixedly connected with the right lower end face of the connecting plate 103. The left lower end face of the connecting plate 103 is connected with a worm box body 101, the worm box body 101 is a rectangular box body, two box plates in the length direction of the worm box body are respectively provided with a cylindrical through hole, the two cylindrical through holes are coaxial and have the same diameter, and a rolling bearing C114 and a rolling bearing D117 which have the same structure are respectively arranged in the two cylindrical through holes.

The worm 113 is composed of three sections of cylinders, two ends of the worm 113 are equal-diameter cylinder sections, the middle cylinder section is a worm section in meshed connection with the worm wheel, and the equal-diameter cylinder sections at the two ends of the worm 113 are respectively inserted into inner ring inner holes of the rolling bearing C114 and the rolling bearing D117. One end face of the worm 113 is fixedly connected with an output shaft of a reducer B116, a housing of the reducer B116 is fixedly connected to an outer box wall of the worm box 101, an output shaft of a servo motor B115 is fixedly connected with an input shaft of the reducer B116, and a housing of the servo motor B115 is fixedly connected with a housing of the reducer B116. The worm box 101 is fixedly connected to the left lower end face of the connecting plate 103, wherein a rectangular hole is formed in one side box plate of the worm box 101, and the worm wheel 104 penetrates through the rectangular hole to enter the worm box 101 and mesh with the worm 113.

As shown in fig. 4-7, the jaw a210 and the jaw B205 are both U-shaped, that is, the jaw a210 and the jaw B205 are both composed of two side beams and a bottom beam, and the U-shaped openings of the jaw a210 and the jaw B205 are opposite and symmetrically arranged in space. The upper edge and the lower edge of the outer side surface of the U-shaped side beam on the left side of the claw A210 are respectively and fixedly connected with a rolling guide rail sliding seat A215 and a rolling guide rail sliding seat B216, a rolling guide rail A214 is installed on the rolling guide rail sliding seat A215 in a sliding mode, and a rolling guide rail B217 is installed on the rolling guide rail sliding seat B216 in a sliding mode. The upper edge and the lower edge of the outer side surface of the U-shaped side beam on the left side of the jaw B205 are respectively and fixedly connected with a rolling guide rail sliding seat C219 and a rolling guide rail sliding seat D220, the rolling guide rail C218 is installed on the rolling guide rail sliding seat C219 in a sliding mode, and the rolling guide rail D221 is installed on the rolling guide rail sliding seat D220 in a sliding mode. The ends of the U-shaped side beams on the other sides of the claws A210 and B205 are both in a V-shaped structure and are used for clamping the tire. The rolling guide a214, the rolling guide B217, the rolling guide C218, and the rolling guide D221 are fixedly connected to the front end surface of the rectangular turntable 204, the rotating shaft 213 is fixedly connected to the center of the back end surface of the rectangular turntable 204, the stopper plate a201 and the stopper plate B206 are fixedly connected to the left and right sides of the rectangular turntable 204, respectively, and the magnetic scale 223 is fixedly connected to the lower side surface of the rectangular turntable 204. The U-shaped base beams of the jaw A210 and the jaw B205 are respectively provided with a cylindrical through hole close to the mounting surface of the rolling guide rail sliding seat, the two cylindrical through holes are coaxial and have the same diameter, the diameter is larger than the outer diameter of the jaw clamping screw 209, the jaw clamping screw 209 is inserted into the two cylindrical through holes, one end of the jaw clamping screw 209 is fixedly connected with the output shaft of the speed reducer C211, the other end of the jaw clamping screw 209 extends out of the U-shaped base beam of the jaw B205 in a hanging manner, the jaw clamping nut 222 is matched with the jaw clamping screw 209 to form a thread pair, the jaw clamping nut 222 is fixed on the U-shaped inner wall of the jaw B205, the shell of the speed reducer C211 is fixed on the outer wall of the U-shaped base beam of the jaw A210, the output shaft of the servo motor C212 is fixedly connected with the input shaft of. A magnetic head a225 is fixedly connected to the lower surface of the rolling-rail slider B216, and a magnetic head B224 is fixedly connected to the lower surface of the rolling-rail slider D220.

As shown in fig. 8-10, the U-shaped body 306 and the gantry frame 305 are both U-shaped structures, that is, both are composed of a bottom beam and two side beams, the lower end surfaces of the two side beams of the gantry frame 305 are respectively and fixedly connected to the upper surface of the bottom beam of the U-shaped body 306, the reducer support plate 303 is fixedly connected to the middle of the outer side surface of the bottom beam of the gantry frame 305 and overhangs the gantry frame 305, a vertical cylindrical hole with a diameter larger than the outer diameter of the lifting screw 304 is formed in the overhanging position of the reducer support plate 303, the lifting screw 304 is inserted into the cylindrical hole, the upper end of the lifting screw 304 is fixedly connected to the output shaft of the reducer D302, the casing of the reducer D302 is fixedly connected to the reducer support plate 303, the output shaft of the servo motor D301 is fixedly connected to the input shaft of the reducer D302, and the casing of the servo motor D301 is fixedly.

As shown in fig. 11-13, the H-shaped swing frame 403 is composed of two rectangular vertical beams and a rectangular cross beam, the left and right sides of the upper end surface of the left rectangular vertical beam of the H-shaped swing frame 403 are respectively and fixedly connected with an ear plate B404 and an ear plate C407, the left and right sides of the upper end surface of the right rectangular vertical beam of the H-shaped swing frame 403 are respectively and fixedly connected with an ear plate D408 and an ear plate E411, the ear plate B404, the ear plate C407, the ear plate D408 and the ear plate E411 are respectively provided with a cylindrical through hole with equal diameter, and the axes of the four cylindrical through holes are located on the same straight line. The left side and the right side of the front side of the lower end part of the left rectangular vertical beam of the H-shaped swing frame 403 are respectively fixedly connected with an ear plate A402 and an ear plate H417, the left side and the right side of the front side of the lower end part of the right rectangular vertical beam of the H-shaped swing frame 403 are respectively fixedly connected with an ear plate F412 and an ear plate G414, the ear plate A402, the ear plate H417, the ear plate F412 and the ear plate G414 are respectively provided with a cylindrical through hole with equal diameter, and the axes of the four cylindrical through holes are positioned on the same straight line. The pin A401 is inserted into the cylindrical through holes of the ear plate A402 and the ear plate H417, and the pin B413 is inserted into the cylindrical through holes of the ear plate F412 and the ear plate G414.

The trunnions of the electric cylinder a405 with the trunnions are respectively inserted into the cylindrical through holes of the lug plate B404 and the lug plate C407, and the trunnions of the electric cylinder a405 with the trunnions and the cylindrical through holes of the lug plate B404 and the lug plate C407 both form clearance fit. Hinge a406 is rotatably connected to the rod end of electric cylinder a405 with trunnions, and hinge C420 is rotatably connected to the block end of electric cylinder a405 with trunnions. The double trunnions of the electric cylinder B409 with the double trunnions are respectively inserted into the cylindrical holes of the lug plate D408 and the lug plate E411, the double trunnions of the electric cylinder B409 with the double trunnions and the cylindrical holes of the lug plate D408 and the lug plate E411 form clearance fit, the hinge B410 is rotatably connected to the end part of the piston rod of the electric cylinder B409 with the double trunnions, and the hinge D421 is rotatably connected to the end part of the cylinder body of the electric cylinder B409 with the double trunnions.

A cylindrical through hole is formed in the middle of a rectangular cross beam of the H-shaped swing frame 403, a rolling bearing E418 and a rolling bearing F419 with the same structure are coaxially installed in the cylindrical through hole, a shell of the speed reducer E416 is fixedly connected to the outer surface of the H-shaped swing frame 403, the axis of an output shaft of the speed reducer E416 is collinear with the axes of the rolling bearing E418 and the rolling bearing F419, an output shaft of a servo motor E415 is fixedly connected with an input shaft of the speed reducer E416, and a shell of the servo motor E415 is fixedly connected with the shell of the speed reducer E416.

As shown in fig. 14 to 15, a rolling guide rail slide carriage E501, a rolling guide rail slide carriage F503, a rolling guide rail slide carriage G506, and a rolling guide rail slide carriage H508 are respectively fixedly connected to the vicinity of four corner points of the front end face of the rectangular crane 502, the upper and lower sides of the rolling guide rail E504 are slidably mounted on the rolling guide rail slide carriage E501 and the rolling guide rail slide carriage F503, and the upper and lower sides of the rolling guide rail F507 are slidably mounted on the rolling guide rail slide carriage G506 and the rolling guide rail slide carriage H508. Rolling guide E504 and rolling guide F507 are parallel to each other. A vertical through cylindrical hole with the diameter larger than the outer diameter of the lifting screw 304 is formed in the center of the upper surface of the square lifting frame 502, and a lifting nut 505 is fixedly connected to the upper surface of the square lifting frame 502 and is coaxial with the vertical through cylindrical hole of the square lifting frame 502.

4 driving wheel systems 100 are respectively installed at 4 corner points of the lower surface of the U-shaped vehicle body 306 of the vehicle body system 300, namely, the connecting plate 103 of each driving wheel system 100 is fixedly connected with the lower surface of the U-shaped vehicle body 306. The rolling guide rail E504 and the rolling guide rail F507 of the crane system 500 are respectively and fixedly connected to the same side surface of two side beams of the gantry frame 305 of the car body system 300, and the lifting screw 304 of the car body system 300 is inserted into a vertical through cylindrical hole of the square crane 502 of the crane system 500 and is matched with a lifting nut 505 to form a thread pair. The ear plate A402, the ear plate H417, the ear plate F412 and the ear plate G414 of the swing frame system 400 are respectively and fixedly connected to the vicinities of two angular points in the horizontal direction below the same side face of the square-shaped lifting frame 502 of the lifting frame system 500, and the hinge A406 and the hinge B410 of the lifting frame system 500 are respectively and fixedly connected to the vicinities of the other two angular points in the horizontal direction above the same side face of the square-shaped lifting frame 502 of the lifting frame system 500. The rotating shaft 213 of the double-jaw system 200 is inserted into inner ring inner bores of rolling

bearings

418, 419 of the swing frame system 400, and an end of the rotating shaft 213 is fixedly connected to an end of an output shaft of the reducer E416. Electronic control system 600 is mounted to an upper surface of U-shaped body 306 of vehicle body system 300.

The forklift-shaped light mine vehicle tire mounting vehicle has the functions of moving in any direction and rotating in various radiuses:

1) moving in the direction of the datum line (axis of the tyre)

Starting 4 servo motors B115, driving 4 transmission shafts 112 and 4 travelling wheels 110 to rotate to the axes of the 4 travelling wheels 110 to be vertical to a reference line through 4 speed reducers B116, 4 worms 113, 4 worm wheels 104, 4 worm wheel shafts 105 and 4U-shaped support frames 106, simultaneously starting 4 servo motors A107, driving the 4 travelling wheels 110 to rotate at the same speed through 4 speed reducers A108 and 4 transmission shafts 112, and moving the whole forklift-shaped light-duty mine vehicle tire mounting vehicle along the direction of the reference line (tire axis);

2) moving in a direction perpendicular to the reference line

Starting 4 servo motors B115, driving 4 transmission shafts 112 and 4 travelling wheels 110 to rotate to enable the axes of the 4 travelling wheels 110 to be parallel to a datum line through 4 speed reducers B116, 4 worms 113, 4 worm gears 104, 4 worm gear shafts 105 and 4U-shaped support frames 106, simultaneously starting 4 servo motors A107, driving the 4 travelling wheels 110 to rotate at the same speed through 4 speed reducers A108 and 4 transmission shafts 112, and moving the whole forklift-shaped light-duty mine vehicle tire mounting vehicle in the direction vertical to the datum line;

3) turn at minimum radius

4) moving in an oblique direction

When 4 servo motor B115 is started, 4 transmission shafts 112 and 4 traveling wheels 110 are driven by 4 speed reducers B116, 4 worms 113, 4 worm wheels 104, 4 worm wheel shafts 105 and 4U-shaped supporting frames 106 to rotate to the axes of the 4 traveling wheels 110 to form a certain angle with the reference line, 4 servo motors A107 are started simultaneously, 4 traveling wheels 110 are driven by 4 speed reducers A108 and 4 transmission shafts 112 to rotate at the same speed simultaneously, the forklift-shaped light-duty mine tire mounting vehicle integrally moves in the direction forming a certain angle with the reference line, namely, the forklift-shaped light-duty mine tire mounting vehicle also has an oblique movement function.

In this embodiment, the servo motor a107, the servo motor B115, the servo motor C212, the servo motor D301, the servo motor E415, the spiral elevator a203, the spiral elevator B208, the electric cylinder with double trunnions a405, and the electric cylinder with double trunnions B409 are electrically connected to the electric control system 600.

In this embodiment, the servo motor a107, the servo motor B115, the servo motor C212, the servo motor D301, and the servo motor E415 are each provided with a band-type brake with an encoder built therein.

In this embodiment, the magnetic scale 223, the magnetic head a225, and the magnetic head B224 may form a relative position detection system of the symmetry plane of the claw a210 and the claw B205 and the axis of the rotating shaft 213.

The working process of the invention is as follows:

the tire mounting process of the present invention is divided into two steps: 1) the forklift-shaped light mine vehicle tire mounting vehicle grabs the tire from the ground; 2) the tire is mounted to the light-duty car drive axle.

1. The tire grabbing process comprises the following steps: referring to fig. 1-15, the preassembled tire is placed on the ground with its axis parallel to the ground. The servo motor E415 is started, the double-jaw system 200 is driven to rotate together through the speed reducer E416, and when the rectangular rotating table 204 is in a horizontal state, the servo motor E415 brakes and locks. Both the spiral elevator a203 and the spiral elevator B208 are in a contracted state, i.e., both the spiral elevator screw a202 and the spiral elevator screw B207 are in extreme positions away from the jaw a210 and the jaw B205. And a servo motor C212 is started in a reverse direction, the speed reducer C211, the jaw clamping screw 209 and the jaw clamping nut 222 drive the jaws A210 and B205 to be opened to the limit positions, namely when the jaws A210 and B205 are respectively contacted with the limit plate A201 and the limit plate B206, the servo motor C212 brakes. And starting the servo motor D301, and driving the lifting frame system 500, the swing frame system 400 and the double-gripper system 200 to ascend or descend together through the lifting screw rod 304 and the lifting nut 505 so that the height from the axis of the rotating shaft 213 of the double-gripper system 200 to the ground is equal to the height from the axis of the pre-assembled tire to the ground. The front transmission axle of the light mine car has a pitch angle of about 2 degrees, so when a front tire of the light mine car is installed, an electric cylinder A405 with double trunnions and an electric cylinder B409 with double trunnions need to be started at the same speed simultaneously, so that the swing frame system 400 and the double-jaw system 200 rotate together to generate an inclination angle corresponding to the pitch angle of the front transmission axle of the light mine car.

Starting the integral moving and rotating functions of the forklift-shaped light-duty mine tire mounting vehicle, enabling the jaws A210 and the jaws B205 to reach a clamping position, starting the servo motor C212 in a forward direction, driving the jaws A210 and the jaws B205 to approach each other through the speed reducer C211, the jaw clamping screw 209 and the jaw clamping nut 222, when one jaw (such as the jaw B205) contacts with the surface of a tire, stopping the motion of the jaw (such as the jaw B205), continuing to move the other jaw (such as the jaw A210) until the jaw also contacts with the surface of the tire, enabling the two jaws to approach each other simultaneously until the two jaws clamp the tire, and braking and locking the servo motor C212. D301 is started, the lifting frame system 500, the swing frame system 400 and the double-jaw system 200 are driven to ascend or descend together through the lifting screw rod 304 and the lifting nut 505, the axis of the rotating shaft 213 of the double-jaw system 200 is approximately equal to the axis of the light-duty mine car transmission axle, at the moment, the axis of the tire does not coincide with the axis of the rotating shaft 213, the magnetic scale 223, the magnetic head A225 and the magnetic head B224 automatically detect the eccentricity between the symmetrical surfaces of the jaw A210 and the jaw B205 and the axis of the rotating shaft 213, one of the spiral elevator A202 and the spiral elevator B207 is started to push the jaw A210 and the jaw B205 to move together with the tire, when the detection system formed by the magnetic scale 223, the magnetic head A225 and the magnetic head B224 detects that the symmetrical surfaces of the jaw A210 and the jaw B205 coincide with the axis of the rotating shaft 213, one of the spiral elevator A202 and the spiral elevator B207 pushes the jaw A210 and the jaw B205 to move together with, while the other screw elevator is activated until its end face of the lead screw comes into contact with the dog, the screw elevator is braked, at which point dog a210 and dog B205 have been locked to the rectangular rotating table 204. And starting the servo motor E415, driving the double-jaw system 200 to rotate together to the position where the double jaws do not interfere with the light mine car body through the reducer E416, and braking and locking the servo motor E416.

Starting the overall movement and rotation functions of the forklift-shaped light mine tire mounting vehicle, enabling the tire to reach the position near the mounting position, and starting to accurately adjust the tire position: the tire reaches the correct installation position through the integral rotation and transverse movement of the forklift-shaped light mine vehicle tire installation vehicle and the lifting and rotating of the double-clamping-claw system 200, the tire is sent into the installation position, after a plurality of connecting nuts are screwed manually, the forklift-shaped light mine vehicle tire installation vehicle is withdrawn integrally, and the tire installation process is finished.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a light-duty mining vehicle tire installation car of fork truck shape which characterized in that includes: the device comprises a driving wheel system, a double-clamping-claw system, a vehicle body system, a swing frame system, a lifting frame system and an electric control system;

2. The forklift-shaped light weight mineral vehicle tire mounting vehicle according to claim 1, wherein the servo motor a, the servo motor B, the servo motor C, the servo motor D, the servo motor E, the screw lifter a, the screw lifter B, the electric cylinder a with trunnions, and the electric cylinder B with trunnions are all electrically connected to the electric control system.

3. The forklift-shaped light mineral vehicle tire mounting vehicle according to claim 1 or 2, wherein the servo motor a, the servo motor B, the servo motor C, the servo motor D, and the servo motor E each have a built-in encoder and a band-type brake.

4. The forklift-shaped lightweight mineral vehicle tire mounting vehicle according to claim 1, wherein the magnetic scale, the magnetic head a, and the magnetic head B constitute a relative position detection system between a plane of symmetry of the claw a and the claw B and the axis of the rotation axis.