CN111703556B - Obstacle crossing trolley in cabin and working method - Google Patents
Obstacle crossing trolley in cabin and working method Download PDFInfo
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- CN111703556B CN111703556B CN202010435916.5A CN202010435916A CN111703556B CN 111703556 B CN111703556 B CN 111703556B CN 202010435916 A CN202010435916 A CN 202010435916A CN 111703556 B CN111703556 B CN 111703556B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
- B63B73/60—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by the use of specific tools or equipment; characterised by automation, e.g. use of robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Architecture (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention provides an obstacle crossing trolley in a cabin and a working method, and the obstacle crossing trolley comprises a sliding platform and a chassis, wherein the sliding platform comprises a sliding platform frame, a cover plate and a guide wheel set; the chassis comprises a chassis frame, a sliding table guide rail module, a lead screw module, a lifting support leg module and a driving module, wherein the sliding platform frame is positioned outside the chassis frame, the sliding table guide rail module is arranged between the chassis frame and the sliding platform frame, the lead screw module is arranged on the chassis frame, and the lead screw module is used for enabling the sliding platform frame to move along the sliding table guide rail module; the lifting support leg module is arranged at the bottom of the chassis frame and used for lifting the chassis; the driving module is used for driving the chassis to move. The invention can realize the crossing of the trolley among the T-shaped steel in the cabin.
Description
Technical Field
The invention relates to the field of processing in a cabin, in particular to an obstacle crossing trolley in the cabin and a working method.
Background
At present in shipbuilding, because cabin inside ground all is equipped with T shaped steel, general machinery removes the difficulty in large-scale cabin, is difficult to the operation, because the person is high limited, in order to accomplish the process at cabin top, need build the scaffold frame, still need demolish the scaffold frame during the completion and just can carry out next process, inefficiency. In addition, some procedures, such as sand blasting and paint spraying, when workers carry out sand blasting and paint spraying operations in the closed cabin, some automatic machines cannot be used, so that the procedures in the cabins are all finished manually, and sometimes, some sand dust and paint mist are inevitably sucked, so that the health of the workers is adversely affected. A cart that can provide obstacle surmounting inside the cabin and that has a certain load capacity to carry automated machinery such as manipulators has become a great need in the shipbuilding industry.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an obstacle crossing trolley in a cabin and a working method thereof, which can realize the crossing of the trolley.
The present invention achieves the above-described object by the following technical means.
A cabin interior obstacle crossing trolley comprises a sliding platform and a chassis, wherein the sliding platform comprises a sliding platform frame, a cover plate and a guide wheel set, the cover plate is installed on the upper portion of the sliding platform frame, and the guide wheel set is installed at the bottom of an aluminum profile frame of the sliding platform; the chassis comprises a chassis frame, a sliding table guide rail module, a lead screw module, a lifting support leg module and a driving module, wherein the sliding platform frame is positioned outside the chassis frame, the sliding table guide rail module is arranged between the chassis frame and the sliding platform frame, the lead screw module is arranged on the chassis frame, and the lead screw module is used for enabling the sliding platform frame to move along the sliding table guide rail module; the lifting support leg module is arranged at the bottom of the chassis frame and used for lifting the chassis; the driving module is used for driving the chassis to move.
Further, the direction wheelset includes wheel seat, center pin, axle sleeve and leading wheel, the wheel seat is installed to sliding platform frame bottom, the center pin passes the wheel seat, the axle sleeve installation leading wheel is passed through at the center pin both ends.
Further, the sliding table guide rail module comprises a sliding table, a sliding block, a guide rail and a limit switch; the guide rail is arranged on the chassis frame, the guide rail is connected with the sliding block moving pair, the sliding block is provided with a sliding table, the sliding table is connected with the cover plate, and the sliding table is connected with the lead screw module; and the chassis frame is provided with a limit switch for limiting the moving position of the sliding table.
Further, the lead screw module comprises a direct current motor, a lead screw, an elastic connecting block, a nut seat and a first bearing seat, the direct current motor is installed on the chassis frame, the direct current motor is connected with one end of the lead screw, the other end of the lead screw is connected with the chassis frame through the first bearing seat, the nut seat is installed on the lead screw, and the nut seat is connected with the sliding table guide rail module through the elastic connecting block.
Furthermore, the lifting support leg module comprises an electromagnet, an electric control lifting device and a mounting component, the electric control lifting device is connected with the chassis frame through the mounting component, and the extending end of the electric control lifting device is provided with the electromagnet.
Further, the driving module comprises a stepping motor, a second bearing seat and a wheel, the second bearing seat is mounted on the chassis frame, the wheel is supported on the second bearing seat, and the stepping motor is used for driving the wheel;
the damping module comprises a top plate, a damping device and a bottom plate, the damping device is located between the top plate and the bottom plate, the bottom plate is installed on the chassis frame, and the top plate is provided with a driving module.
A working method of an obstacle crossing trolley in a cabin comprises the following steps:
the chassis is lifted up through the electric control lifting device, and the T-shaped steel at the bottom of the chassis is tightly sucked through electrification of the electromagnet;
the sliding platform is enabled to translate through positive rotation of the lead screw module;
the chassis is descended through the electric control lifting device, and the guide wheel set of the sliding platform is placed on the other pair of T-shaped steel;
after the electromagnet is powered off, the base plate is moved to another pair of T-shaped steel through the reverse rotation of the screw rod module.
The invention has the beneficial effects that:
the invention relates to a cabin interior obstacle crossing trolley and a working method thereof.A four groups of guide wheel sets are symmetrically arranged at four corners of the bottom of a sliding platform frame, each two guide wheels are in an I shape, the space between the guide wheels is slightly wider than that of T-shaped steel in a cabin, and the space can be adjusted according to the widths of the different T-shaped steel so as to limit the position of the T-shaped steel in the cabin and walk along the T-shaped steel. The base sliding table is connected with the trolley sliding platform, and the sliding table is driven to move left and right on the guide rail through the screw rod module, so that the trolley sliding platform can horizontally span the groove between the trapezoidal steels, and further the trolley chassis is driven to span the groove. Two pairs of lifting support legs are symmetrically arranged at the bottom of the aluminum profile frame, and the T-shaped steel is tightly absorbed when the trolley sliding platform crosses the obstacle, so that the trolley is prevented from overturning. A pair of drive module symmetrical arrangement is between two pairs of lift supporting legs, for the dolly goes on T shaped steel and provides power. Two shock attenuation modules are arranged respectively on drive module, have reduced the impulsive force that the dolly received when the dolly goes on the T shaped steel of unevenness, guarantee dolly sliding platform's stability.
Drawings
Fig. 1 is a schematic structural view of the obstacle crossing trolley in the cabin.
FIG. 2 is a schematic view of the construction of a guide wheel set according to the present invention;
FIG. 3 is a schematic view of the structure of the sliding table guide rail module and the chassis aluminum profile frame according to the present invention;
FIG. 4 is a schematic view of a lead screw module according to the present invention;
FIG. 5 is a schematic view of the construction of the lifting support leg module according to the present invention;
FIG. 6 is a schematic view of the shock absorbing module according to the present invention;
FIG. 7 is a schematic view of a driving module according to the present invention;
FIG. 8 is a schematic diagram of a first operating state;
FIG. 9 is a diagram illustrating a second operating state;
FIG. 10 is a schematic view of the third operating state;
fig. 11 is a schematic diagram of the fourth operating state.
In the figure:
1-a sliding platform; 110-a sliding platform frame; 120-a cover plate; 130-a guide wheel set; 131-wheel seat; 132-a central axis; 133-shaft sleeve; 134-a guide wheel; 2-a chassis; 210-a chassis frame; 220-a sliding table guide rail module; 221-a slide table; 222-a slider; 223-a guide rail; 224-limit switches; 230-a lead screw module; 231-a direct current motor; 232-lead screw; 233-elastic connecting block; 234-nut seat; 235-a first bearing seat; 240-lifting support leg module; 241-an electromagnet; 242-an electrically controlled lifting device; 243-mounting means; 250-a shock-absorbing module; 251-a top plate; 252-a shock absorbing device; 253-a bottom plate; 260-a driving module; 261-a stepper motor; 262-a second bearing block; 263-wheel.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, the obstacle crossing trolley in the cabin of the invention comprises a sliding platform 1 and a chassis 2, wherein the sliding platform 1 comprises a sliding platform frame 110, a cover plate 120 and a guide wheel set 130, the cover plate 120 is installed on the upper part of the sliding platform frame 110, and the guide wheel set 130 is installed on the bottom of the sliding platform aluminum profile frame 110; as shown in fig. 2, the guide wheel set 130 includes a wheel seat 131, a central shaft 132, a shaft sleeve 133 and a guide wheel 134, the wheel seat 131 is mounted at the bottom of the sliding platform frame 110, the central shaft 132 passes through the wheel seat 131, and the guide wheel 134 is mounted at both ends of the central shaft 132 through the shaft sleeve 133. The guide wheel 134 is a single-side wheel, and the single-side wheels at two ends of the central shaft 132 are symmetrically arranged. Two leading wheels 134 are a set of, and its interval is slightly wider than the inside T shaped steel in cabin, and the interval can be according to different T shaped steel width adjustment to spacing and walking along T shaped steel on the inside T shaped steel of cabin.
As shown in fig. 3, the chassis includes a chassis frame 210, a sliding table guide rail module 220, a lead screw module 230, a lifting support leg module 240 and a driving module 260, the sliding platform frame 110 is located outside the chassis frame 210, the sliding table guide rail module 220 is installed between the chassis frame 210 and the sliding platform frame 110, the lead screw module 230 is installed on the chassis frame 210, and the lead screw module 230 is used for enabling the sliding platform frame 110 to move along the sliding table guide rail module 220; the lifting support leg module 240 is arranged at the bottom of the chassis frame 210 and used for lifting the chassis 2; the driving module 260 is used for driving the chassis 2 to move. The sliding table guide rail module 220 comprises a sliding table 221, a sliding block 222, a guide rail 223 and a limit switch 224; the guide rail 223 is installed on the chassis frame 210, the guide rail 223 is connected with the sliding pair of the sliding block 222, the sliding block 222 is provided with the sliding table 221, the sliding table 221 is connected with the cover plate 120, and the sliding table 221 is connected with the lead screw module 230; the chassis frame 210 is provided with a limit switch 224 for limiting the moving position of the sliding table 221. The sliding table 221 is driven to horizontally move left and right by the forward and reverse rotation of the lead screw module 230. The sliding platform frame 110 and the chassis frame 210 are frame-type structures and are constructed by aluminum alloy sections.
As shown in fig. 4, the lead screw module 230 includes a dc motor 231, a lead screw 232, an elastic connection block 233, a nut seat 234 and a first bearing seat 235, the dc motor 231 is mounted on the chassis frame 210, the dc motor 231 is connected to one end of the lead screw 232, the other end of the lead screw 232 is connected to the chassis frame 210 through the first bearing seat 235, the nut seat 234 is mounted on the lead screw 232, and the nut seat 234 is connected to the sliding table rail module 220 through the elastic connection block 233. The direct current motor can control positive/negative rotation to drive the screw rod to rotate clockwise/anticlockwise so as to drive the upper sliding table and the sliding platform connected with the sliding table to move horizontally, and obstacle crossing is realized. Because T shaped steel surface has unevenness, can vibrate when the dolly walks on T shaped steel, the elastic connection piece has certain shock attenuation effect, prevents that upper portion load equipment's sliding platform from vibrating too greatly.
As shown in fig. 5, the lifting support leg module 240 includes an electromagnet 241, an electrically controlled lifting device 242 and a mounting member 243, the electrically controlled lifting device 242 is connected with the chassis frame 210 through the mounting member 243, and the electromagnet 241 is mounted on the extending end of the electrically controlled lifting device 242. The electric control lifting device drives the electromagnet to put down and retract. When the obstacle crossing needs to be carried out, the electromagnet is put down, the sliding platform is lifted by 0.5-0.8 mm, the electromagnet is electrified to generate magnetism and is tightly attracted to the T-shaped steel, when the lead screw module sends the sliding platform to the T-shaped steel at the other parallel position, the electromagnet is retracted, the sliding platform is put down, the electromagnet is powered off to lose magnetism, the lead screw module motor drives the lead screw at the moment, the chassis is moved to the other T-shaped steel, and the obstacle crossing of the trolley is realized.
As shown in fig. 7, the driving module 260 includes a stepping motor 261, a second bearing seat 262 and a wheel 263, the second bearing seat 262 is mounted on the chassis frame 210, the wheel 263 is supported on the second bearing seat 262, and the stepping motor 261 is used for driving the wheel 263;
as shown in fig. 6, the shock absorbing module 250 is further included, the shock absorbing module 250 includes a top plate 251, a shock absorbing device 252 and a bottom plate 253, the shock absorbing device 252 is located between the top plate 251 and the bottom plate 253, the bottom plate 253 is mounted on the chassis frame 210, and the top plate 251 is mounted with the driving module 260. The influence of the vibration of the driving module on the upper trolley structure of the damping module due to the uneven surface of the T-shaped steel can be effectively reduced.
In the embodiment of the present invention, the dc motor, the electrically controlled lifting device, the electromagnet, the limit switch, and the stepping motor are all electrically connected to a controller, and the sequence coordination control of the controller on each device can be completed by the existing control circuit and method.
The working method of the obstacle crossing trolley in the cabin comprises the following steps: when the trolley needs to be conveyed to another T-shaped steel by crossing the bilge groove as shown in FIG. 8, the electromagnet 241 is put down, the trolley sliding platform 1 is lifted up through the chassis frame 210, the guide wheel 134 is higher than the T-shaped steel, and the electromagnet 241 generates magnetism and is tightly attracted to the T-shaped steel by electrifying; a motor in the screw module drives a screw to rotate forward, and the sliding platform 1 connected with the sliding table 221 moves horizontally to the right until a sliding sheet of a limit switch reaches the limit switch at the right end, and the process is shown in fig. 9; the electromagnet 241 is retracted and the sliding platform 1 is placed on another pair of T-bars, as shown in fig. 10; the electromagnet 241 is de-energized and the motor of the screw module drives the screw to rotate backwards, bringing the trolley chassis 2 to another pair of T-sections, as shown in fig. 11. And the obstacle crossing of the whole trolley is completed.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (5)
1. The obstacle crossing trolley in the cabin is characterized by comprising a sliding platform (1) and a chassis (2), wherein the sliding platform (1) comprises a sliding platform frame (110), a cover plate (120) and a guide wheel set (130), the cover plate (120) is installed on the upper portion of the sliding platform frame (110), and the guide wheel set (130) is installed at the bottom of the sliding platform frame (110); the chassis comprises a chassis frame (210), a sliding table guide rail module (220), a lead screw module (230), a lifting support leg module (240) and a driving module (260), wherein the sliding platform frame (110) is positioned outside the chassis frame (210), the sliding table guide rail module (220) is arranged between the chassis frame (210) and the sliding platform frame (110), the lead screw module (230) is arranged on the chassis frame (210), and the lead screw module (230) is used for enabling the sliding platform frame (110) to move along the sliding table guide rail module (220); the lifting support leg module (240) is arranged at the bottom of the chassis frame (210) and is used for lifting the chassis (2); the driving module (260) is used for driving the chassis (2) to move; the sliding table guide rail module (220) comprises a sliding table (221), a sliding block (222), a guide rail (223) and a limit switch (224); the guide rail (223) is installed on the chassis frame (210), the guide rail (223) is connected with the sliding block (222) in a sliding pair mode, the sliding block (222) is provided with a sliding table (221), the sliding table (221) is connected with the cover plate (120), and the sliding table (221) is connected with the lead screw module (230); the chassis frame (210) is provided with a limit switch (224) for limiting the moving position of the sliding table (221); the lead screw module (230) comprises a direct current motor (231), a lead screw (232), an elastic connecting block (233), a nut seat (234) and a first bearing seat (235), the direct current motor (231) is installed on the chassis frame (210), the direct current motor (231) is connected with one end of the lead screw (232), the other end of the lead screw (232) is connected with the chassis frame (210) through the first bearing seat (235), the nut seat (234) is installed on the lead screw (232), and the nut seat (234) is connected with the sliding table guide rail module (220) through the elastic connecting block (233); the lifting support leg module (240) comprises an electromagnet (241), an electric control lifting device (242) and a mounting component (243), the electric control lifting device (242) is connected with the chassis frame (210) through the mounting component (243), and the extending end of the electric control lifting device (242) is provided with the electromagnet (241).
2. The cabin interior obstacle crossing trolley according to claim 1, wherein the guide wheel set (130) comprises a wheel seat (131), a central shaft (132), a shaft sleeve (133) and a guide wheel (134), the wheel seat (131) is installed at the bottom of the sliding platform frame (110), the central shaft (132) penetrates through the wheel seat (131), and the guide wheel (134) is installed at two ends of the central shaft (132) through the shaft sleeve (133).
3. The cabin interior obstacle crossing trolley according to claim 1, wherein the driving module (260) comprises a stepping motor (261), a second bearing seat (262) and a wheel (263), the second bearing seat (262) is mounted on the chassis frame (210), the wheel (263) is supported on the second bearing seat (262), and the stepping motor (261) is used for driving the wheel (263).
4. The cabin interior obstacle crossing trolley according to claim 1, further comprising a shock absorption module (250), wherein the shock absorption module (250) comprises a top plate (251), a shock absorption device (252) and a bottom plate (253), the shock absorption device (252) is located between the top plate (251) and the bottom plate (253), the bottom plate (253) is installed on the chassis frame (210), and the top plate (251) is provided with a driving module (260).
5. The method for operating the obstacle crossing trolley inside the cabin of the ship as claimed in claim 1, wherein the method comprises the following steps:
the chassis (2) is lifted up through the electric control lifting device (242), and the T-shaped steel at the bottom of the chassis (2) is tightly sucked through the electrification of the electromagnet (241);
the sliding platform (1) is enabled to move horizontally through positive rotation of the lead screw module;
the chassis (2) is descended through an electric control lifting device (242), and a guide wheel set (130) of the sliding platform (1) is placed on the other pair of T-shaped steel;
after the electromagnet (241) is powered off, the chassis (2) is moved to the other pair of T-shaped steel through the reverse rotation of the screw rod module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010435916.5A CN111703556B (en) | 2020-05-21 | 2020-05-21 | Obstacle crossing trolley in cabin and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010435916.5A CN111703556B (en) | 2020-05-21 | 2020-05-21 | Obstacle crossing trolley in cabin and working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111703556A CN111703556A (en) | 2020-09-25 |
| CN111703556B true CN111703556B (en) | 2022-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010435916.5A Active CN111703556B (en) | 2020-05-21 | 2020-05-21 | Obstacle crossing trolley in cabin and working method |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2673583Y (en) * | 2004-02-16 | 2005-01-26 | 中国科学技术大学 | High power passive obstacle crossing robot |
| CN203032789U (en) * | 2012-12-12 | 2013-07-03 | 西安理工大学 | Self-leveling five-wheel survey vehicle |
| CN204184489U (en) * | 2014-08-04 | 2015-03-04 | 江苏大学 | A kind of chassis structure of Small Ground Mobile Robot |
| CN107323551A (en) * | 2017-06-26 | 2017-11-07 | 徐州乐泰机电科技有限公司 | A kind of wheel leg type obstacle-surmounting travelling gear |
| CN209683365U (en) * | 2019-01-16 | 2019-11-26 | 中铁上海工程局集团有限公司 | A kind of longitudinal movement trolley of changeable walking system |
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2020
- 2020-05-21 CN CN202010435916.5A patent/CN111703556B/en active Active
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