CN112172961B - Dolly that no elastic element can realize switching between hard and soft state - Google Patents
Dolly that no elastic element can realize switching between hard and soft state Download PDFInfo
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- CN112172961B CN112172961B CN202011116833.6A CN202011116833A CN112172961B CN 112172961 B CN112172961 B CN 112172961B CN 202011116833 A CN202011116833 A CN 202011116833A CN 112172961 B CN112172961 B CN 112172961B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
- B60T1/062—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels acting on transmission parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The invention discloses a trolley without an elastic element and capable of realizing rigid-flexible state switching, which relates to the technical field of moving trolleys and comprises a frame, a rigid-flexible switching module and two groups of wheels, wherein each group of wheels comprises an axle and two groups of wheels, and the two groups of wheels are respectively arranged at two ends of the axle; the rigid-flexible switching module comprises two groups of gear sets, a brake shaft, a brake gear and an electromagnetic brake, wherein one end of the brake shaft is in transmission connection with the electromagnetic brake, and the other end of the brake shaft penetrates through the frame and is fixedly connected to the wheel center of the brake gear; the gear set comprises a half shaft and a half shaft gear, one end of the half shaft is fixedly connected to the wheel center of the half shaft gear, the other end of the half shaft penetrates through the frame and is fixedly connected to the middle part of the axle, and the half shaft gear is meshed with the brake gear; the invention realizes the purpose that the chassis of the trolley becomes flexible when the trolley moves, can pass through the ditch ridge and keep the balance of the upper operation mechanism to the maximum extent, and the chassis becomes rigid when the trolley stops, so that the upper operation mechanism realizes high-precision operation.
Description
Technical Field
The invention relates to the technical field of moving trolleys, in particular to a trolley capable of realizing rigid-flexible state switching without an elastic element.
Background
Along with the development of science and technology, some mills adopt and load the composite robot that the operating device (for example arm) combination formed on the AGV dolly and carry out the operation, present AGV dolly is for the road surface of adaptation injustice, most all is provided with the suspension of spring, though the ground nature of grabbing of wheel has been solved to this kind of structure, and the AGV dolly has the adaptability of bank to ground, but also brought the fatal defect to composite robot, when composite robot arrives the station operation promptly, the suspension atress on chassis can produce great rocking, seriously influence the operation precision of upper end arm.
Disclosure of Invention
The invention aims to realize that the chassis of the trolley becomes flexible when the trolley moves, can pass through a ditch ridge and keep the balance of the upper operation mechanism to the maximum extent, and the chassis becomes rigid when the trolley stops, so that the upper operation mechanism can realize high-precision operation.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a trolley without elastic elements for realizing rigid-flexible state switching comprises a frame, a rigid-flexible switching module and two sets of wheel sets,
the wheel set comprises an axle and two groups of wheels, and the two groups of wheels are respectively arranged at two ends of the axle;
the rigid-flexible switching module comprises two groups of gear sets, a braking shaft, a braking gear and an electromagnetic brake, wherein the gear sets, the braking shaft, the braking gear and the electromagnetic brake are symmetrically arranged with one another, the electromagnetic brake is fixedly arranged on the frame, one end of the braking shaft is in transmission connection with the electromagnetic brake, and the other end of the braking shaft penetrates through the frame and is fixedly connected to the wheel center of the braking gear;
the two sets of gear sets respectively correspond to the two sets of wheels, the gear sets comprise half shafts and half shaft gears, one ends of the half shafts are fixedly connected to wheel centers of the half shaft gears, the other ends of the half shafts penetrate through the frame and are fixedly connected to the middle portions of the axles, and the half shaft gears are meshed with the brake gears.
Further, the wheel set further comprises a swing limiting pin, a limiting groove is formed in the axle, one end of the swing limiting pin penetrates through the limiting groove and is fixedly arranged on the frame.
Furthermore, each wheel set comprises two swing limiting pins, two limiting grooves are symmetrically formed in each axle, and the two swing limiting pins are respectively matched with the two limiting grooves.
Further, the wheel group still includes turns to the module, turn to the module and include motor and steering gear, the motor passes through steering gear drive wheel and turns to.
Furthermore, every group wheel group includes two sets of turn to the module, and two sets of turn to the module and match with two sets of wheels respectively.
Further, the wheel group still includes the stroke subassembly, the stroke subassembly includes stroke dish and the photoelectric sensing ware that turns to along with the wheel, the edge of stroke dish is provided with the semi-annular breach, and the stroke dish is fixed in the wheel upper end, the photoelectric sensing ware is fixed to be set up on the axle, photoelectric sensing ware and semi-annular breach are mutually supported.
Further, each wheel group comprises two sets of stroke components, and the two sets of stroke components are respectively matched with the two sets of wheels.
Further, the rigid-flexible switching module further comprises a mounting frame, the mounting frame is fixedly arranged on the frame, the electromagnetic brake is fixedly arranged on the mounting frame, and the half axle gear and the brake gear are both located in the mounting frame.
The invention has the beneficial effects that: the vehicle frame is supported by the half shafts and the brake shaft, and the half shaft gears are meshed with the brake gear, so that linkage is realized between the two half shafts, and further linkage is realized between the two sets of wheel sets; on the other hand, when the invention stops moving, the electromagnetic brake locks the brake shaft, simultaneously locks the two half shafts synchronously through the engagement between the half shaft gear and the brake gear, rigidly fixes the two axles and the frame, and leads the upper-mounted operating mechanism to realize high-precision operation.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the frame and the rigid-flexible switching module of the present invention;
FIG. 3 is a top plan view of the overall structure of the present invention;
FIG. 4 is a schematic structural diagram of the rigid-flexible switching module and the wheel set of the present invention;
FIG. 5 is an enlarged view taken at A in FIG. 4;
FIG. 6 is a side view of the rigid-flexible switching module and wheel set of the present invention;
FIG. 7 is an enlarged view at B in FIG. 6;
FIG. 8 is a schematic structural view of the wheel assembly of the present invention;
fig. 9 is a schematic structural view of the stroke assembly of the present invention.
The reference signs are:
the frame of the bicycle comprises a frame 1,
the rigid-flexible switching module 2, the mounting bracket 21, the gear set 22, the half shaft 221, the side gear 222, the brake shaft 23, the brake gear 24, the electromagnetic brake 25,
wheel set 3, axle 31, restraint slot 310,
a wheel 32, a pivoting plate 321, a rotating wheel 322, a swing limiting pin 33,
a steering module 34, a motor 341, a steering gear 342,
the stroke assembly 35, a stroke disc 351, a semi-annular notch 350 and a photoelectric sensor 352.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The trolley which can realize rigid-flexible state switching without elastic elements as shown in fig. 1 to 9 comprises a frame 1, a rigid-flexible switching module 2 and two sets of wheel sets 3.
The wheel set 3 includes an axle 31, two sets of wheels 32, a swing limit pin 33, a steering module 34 and a stroke assembly 35, the wheels 32 include a pivot plate 321 and a rotating wheel 322, the pivot plate 321 is in an inverted U shape, the rotating wheel 322 is pivoted on the pivot plate 321, and the two sets of wheels 32 are respectively disposed at two ends of the axle 31 through the pivot plate 321.
Each set of wheel set 3 includes two swing limit pins 33, two limit grooves 310 have been seted up to the symmetry on every axle 31, and two swing limit pins 33 match the correspondence with two limit grooves 310 one-to-one respectively, the corresponding limit groove 310 is passed through to the one end of every swing limit pin 33, and fixed the setting on frame 1, the effect that sets up swing limit pin 33 lies in the amplitude of oscillation of restriction axle 31, on the other hand, when the amplitude of oscillation of axle 31 reached the biggest, the accessible swing limit pin 33 shared the weight of frame 1 to axle 31.
Each wheel set 3 comprises two steering modules 34, the two steering modules 34 are respectively matched and corresponding to the two wheels 32 one by one, each steering module 34 comprises a motor 341 and a steering gear 342, the motor 341 drives the wheels 32 to steer through the steering gear 342, the motor 341 drives the steering gear 342 to work, the steering gear 342 drives the pivoting plate 321 to steer, and the pivoting plate 321 drives the rotating wheels 322 to steer.
Each set of wheel sets 3 comprises two sets of stroke assemblies 35, the two sets of stroke assemblies 35 are respectively matched and corresponding to the two sets of wheels 32 one by one, each stroke assembly 35 comprises a stroke disc 351 and a photoelectric sensor 352, the stroke disc 351 and the photoelectric sensor 352 are turned along with the wheels 32, a semi-annular gap 350 is formed in the edge of the stroke disc 351, the stroke disc 351 is fixed at the upper end of each wheel 32, the photoelectric sensor 352 is fixedly arranged on the axle 31, the photoelectric sensor 352 is matched with the semi-annular gap 350, namely the sensing end of the photoelectric sensor 352 faces the stroke disc 351, the stroke assemblies 35 are arranged to act on the condition that the turning angle of the wheels 32 can be known through the stroke assemblies 35, the central angle of the semi-annular gap 350 is one hundred eighty degrees, and the stroke discs 351 are driven to rotate together when the wheels 32 rotate; when the invention is started, the wheels 32 automatically turn left and right once to the maximum extent, when the stroke disc 351 is blocked at the sensing end of the photoelectric sensor 352, the photoelectric sensor 352 senses the stroke disc, and the photoelectric sensor 352 transmits a sensing signal to the control system, so that the control system calculates the turning angle position of the wheels 32.
The rigid-flexible switching module 2 comprises an installation frame 21, two sets of gear sets 22, a brake shaft 23, a brake gear 24 and an electromagnetic brake 25, wherein the two sets of gear sets are symmetrically arranged, the installation frame 21 is fixedly arranged at the middle position of the frame 1, the electromagnetic brake 25 is fixedly arranged on the installation frame 21, and the side gear 222 and the brake gear 24 are both located in the installation frame 21.
One end of the brake shaft 23 is in transmission connection with an electromagnetic brake 25, namely, the electromagnetic brake 25 can perform locking or releasing operation on the brake shaft 23, the other end of the brake shaft 23 simultaneously penetrates through the mounting frame 21 and the frame 1 and is fixedly connected to the wheel center of the brake gear 24, and the brake shaft 23 can freely rotate at the position penetrating through the mounting frame 21 and the frame 1.
The two sets of gear sets 22 are respectively matched and corresponding to the two sets of wheel sets 3 one by one, the gear sets 22 include half shafts 221 and half shaft gears 222, one ends of the half shafts 221 are fixedly connected to the wheel centers of the half shaft gears 222, the other ends of the half shafts 221 simultaneously penetrate through the mounting frame 21 and the vehicle frame 1 and are fixedly connected to the middle portions of the vehicle axles 31, the half shafts 221 can freely rotate at the positions penetrating through the mounting frame 21 and the vehicle frame 1, the half shaft gears 222 are meshed with the brake gears 24, when one of the vehicle axles 31 deflects, the half shafts 221 drive the half shaft gears 222 to rotate, the half shaft gears 222 drive the brake gears 24 to rotate, the brake gears 24 drive the other half shaft gears 222 to rotate, and further drive the other vehicle axle 31 to reversely deflect, so that the balance of the upper end of the vehicle frame 1 is maintained to the maximum extent.
The working principle of the invention is as follows: when the trolley moves, the electromagnetic brake 25 releases the brake shaft 23 to enable the brake shaft to rotate freely, when one group of wheel sets 3 inclines through a bumpy road surface, the other group of wheel sets 3 simultaneously carry out linkage and incline to the opposite direction, so that the chassis of the trolley is flexible when the trolley moves, can pass through a ditch bank and furthest keep the balance of the upper-mounted operating mechanism; when the invention stops moving, the electromagnetic brake 25 locks the brake shaft 23, simultaneously locks the two half shafts 221 synchronously through the engagement between the half shaft gear 222 and the brake gear 24, rigidly fixes the two axles 31 and the frame 1, and enables the upper assembly operation mechanism to realize high-precision operation.
The technical scope of the present invention is not limited to the above embodiments, and any modifications, equivalent variations and modifications made to the above embodiments according to the technical spirit of the present invention still fall within the technical scope of the present invention.
Claims (6)
1. The utility model provides a dolly that no elastic element can realize switching between hard and soft state, includes the frame, its characterized in that: also comprises a rigid-flexible switching module and two wheel sets,
the wheel set comprises an axle and two groups of wheels, and the two groups of wheels are respectively arranged at two ends of the axle;
the rigid-flexible switching module comprises two groups of gear sets, a braking shaft, a braking gear and an electromagnetic brake, wherein the gear sets, the braking shaft, the braking gear and the electromagnetic brake are symmetrically arranged with one another, the electromagnetic brake is fixedly arranged on the frame, one end of the braking shaft is in transmission connection with the electromagnetic brake, and the other end of the braking shaft penetrates through the frame and is fixedly connected to the wheel center of the braking gear;
the two groups of gear sets respectively correspond to the two groups of wheels, each gear set comprises a half shaft and a half shaft gear, one end of each half shaft is fixedly connected to the wheel center of the corresponding half shaft gear, the other end of each half shaft penetrates through the frame and is fixedly connected to the middle of the corresponding axle, and the half shaft gears are meshed with the brake gears;
the wheel set further comprises a swing limiting pin, a limiting groove is formed in the axle, and one end of the swing limiting pin penetrates through the limiting groove and is fixedly arranged on the frame;
each wheel set comprises two swing limiting pins, two limiting grooves are symmetrically formed in each axle, and the two swing limiting pins are respectively matched with the two limiting grooves.
2. The trolley with the inelastic element for realizing rigid-flexible state switching according to claim 1, wherein: the wheel group still includes turns to the module, turn to the module and include motor and steering gear, the motor turns to through steering gear drive wheel.
3. The trolley with the inelastic element for realizing rigid-flexible state switching according to claim 2, wherein: each set of wheels includes two sets of steering modules, and the two sets of steering modules are respectively matched with the two sets of wheels.
4. The trolley with the inelastic element for realizing rigid-flexible state switching according to claim 1, wherein: the wheel group still includes the stroke subassembly, the stroke subassembly includes stroke dish and the photoelectric sensing ware that turns to along with the wheel, the edge of stroke dish is provided with the semi-annular breach, and the stroke dish is fixed in the wheel upper end, the photoelectric sensing ware is fixed to be set up on the axle, photoelectric sensing ware and semi-annular breach are mutually supported.
5. The trolley with the inelastic element capable of realizing rigid-flexible state switching according to claim 4, wherein: each set of wheels comprises two sets of stroke components which are respectively matched with the two sets of wheels.
6. The rigid-flexible switching trolley with the inelastic element as claimed in any one of claims 1 to 5, wherein: the rigid-flexible switching module further comprises a mounting frame, the mounting frame is fixedly arranged on the frame, the electromagnetic brake is fixedly arranged on the mounting frame, and the half axle gear and the brake gear are both located in the mounting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011116833.6A CN112172961B (en) | 2020-10-19 | 2020-10-19 | Dolly that no elastic element can realize switching between hard and soft state |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011116833.6A CN112172961B (en) | 2020-10-19 | 2020-10-19 | Dolly that no elastic element can realize switching between hard and soft state |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112172961A CN112172961A (en) | 2021-01-05 |
| CN112172961B true CN112172961B (en) | 2021-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011116833.6A Active CN112172961B (en) | 2020-10-19 | 2020-10-19 | Dolly that no elastic element can realize switching between hard and soft state |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112987738B (en) * | 2021-02-26 | 2022-11-18 | 深圳易行机器人有限公司 | Physical parameter checking method for AGV motion navigation core controller |
| CN114044466A (en) * | 2021-12-14 | 2022-02-15 | 合肥搬易通科技发展有限公司 | Independent electronic steering axle and four-fulcrum counterweight type forklift |
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| CN112172961A (en) | 2021-01-05 |
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Denomination of invention: A kind of trolley without elastic elements that can realize rigid flexible state switching Effective date of registration: 20221026 Granted publication date: 20211214 Pledgee: Dongguan branch of Bank of Dongguan Co.,Ltd. Pledgor: Song Wenxia Registration number: Y2022440000281 |