CN113232572A - Heavy posture-adjusting multidirectional transferring and installing vehicle - Google Patents
Heavy posture-adjusting multidirectional transferring and installing vehicle Download PDFInfo
- Publication number
- CN113232572A CN113232572A CN202110377012.6A CN202110377012A CN113232572A CN 113232572 A CN113232572 A CN 113232572A CN 202110377012 A CN202110377012 A CN 202110377012A CN 113232572 A CN113232572 A CN 113232572A
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- Prior art keywords
- adjusting
- lifting
- posture
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- heavy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a heavy posture-adjusting multidirectional transferring and installing vehicle which comprises a vehicle frame chassis structure (1), a differential omnidirectional driving wheel set (2), a lifting shear arm (3), a goods shelf support (4), a hydraulic suspension lifting system (5) and an electric control system (6); the differential omnidirectional driving wheel set (2) is fixedly arranged on the frame chassis structure (1); the lifting shear arms (3) are connected in parallel and symmetrically arranged at the front end and the rear end of the installation vehicle, and the lifting shear arms (3) are connected with the chassis structure (1) of the vehicle frame and the goods shelf support (4); the hydraulic suspension lifting system (5) and the electric control system (6) are arranged on the frame chassis structure (1) and are installed on the left side and the right side of the installation vehicle through integrated design. The invention solves the difficult problems of transportation, attitude adjustment and installation of large-scale precise heavy-load components in a laboratory environment, improves the installation efficiency of large-scale structural equipment and reduces the labor intensity of equipment installers.
Description
Technical Field
The invention relates to an installation vehicle, in particular to a heavy posture-adjusting multidirectional transferring installation vehicle.
Background
At present, the heavy structural member equipment transportation and installation vehicle in a narrow test site is still blank, the heavy structural member is often transported and assembled through a series of traditional manual auxiliary machines such as a crane, a trailer and a lifting machine in the installation of the test site, the operation is complex, the time consumption is long, the time and the energy of site constructors are wasted, and the installation efficiency is also low. Mention an automatic control AGV chassis of taking omni wheel in patent application file that application number is CN201921605620.2, can detect the running state on chassis through detecting system, and upload to control system, control system is according to the positional information that detects, control servo motor moves, and then control Mecanum wheel and rotate, utilize Mecanum wheel walking, thereby accurate control AGV chassis walking, the work efficiency of transportation has been improved, reduce the error of manual operation, but this kind of automatic control AGV chassis of taking omni wheel can not accomplish elevating movement. Therefore, in order to solve the problem, a more intelligent heavy-duty posture-adjusting multidirectional transferring and installing vehicle is needed.
Disclosure of Invention
The invention aims to solve the problems of low efficiency and long consumed time of transferring, assembling and installing of the traditional manual auxiliary machinery in the prior art, and provides a heavy posture-adjusting multidirectional transferring and installing vehicle.
The purpose of the invention is realized by the following technical scheme: the heavy posture-adjusting multidirectional transferring and installing vehicle comprises a frame chassis structure, a differential omnidirectional driving wheel set, a lifting shear arm, a goods shelf support, a hydraulic suspension lifting system and an electrical control system; the differential omnidirectional driving wheel set is connected with a turntable bearing through a hydraulic suspension posture adjusting actuating cylinder and fixedly arranged on the frame chassis structure; the lifting shear arms are connected in parallel and symmetrically arranged at the front end and the rear end of the installation vehicle, and are connected with a chassis structure of the vehicle frame and a shelf support through a support fixing seat and a movable sliding block; the hydraulic suspension lifting system and the electrical control system are arranged on the frame chassis structure and are installed on the left side and the right side of the installation vehicle through an integrated design.
The support fixing seat comprises an upper support shearing arm fixing seat and a lower support shearing arm fixing seat, and the movable sliding block comprises an upper support shearing arm movable sliding block and a lower support shearing arm movable sliding block.
The hydraulic suspension lifting system comprises an internal hydraulic pipeline, the electric control system comprises an electric control line, and the internal hydraulic pipeline and the electric control line are arranged through the inner space of the frame section.
Eight differential omnidirectional driving wheel sets are symmetrically arranged at the bottom of the frame.
And the hydraulic suspension posture-adjusting actuator cylinder is provided with a suspension displacement sensor and a suspension pressure sensor and is used for actively adjusting the length of the hydraulic suspension posture-adjusting actuator cylinder and the bearing pressure of the differential omnidirectional driving wheel set.
And an omnidirectional wheel angle sensor is arranged on the turntable bearing and used for controlling the direction of the differential omnidirectional driving wheel set in real time.
The lifting shear arm is provided with a lifting actuating cylinder, and the lifting actuating cylinder is provided with a lifting displacement sensor and a lifting pressure sensor.
The middle part of the frame of the heavy posture-adjusting multidirectional transferring and installing vehicle is provided with a horizontal posture-adjusting gyroscope sensor, and the horizontal posture-adjusting gyroscope sensor is connected with a hydraulic suspension lifting system.
The invention has the following advantages: the invention can easily install large structural member equipment through the omnidirectional movement positioning function, the heavy-duty lifting function and the suspension posture-adjusting function of the heavy posture-adjusting multidirectional transfer vehicle without other auxiliary equipment or high-intensity work of operators, solves the problem of transportation posture-adjusting installation of large precise heavy-duty members in a laboratory environment, improves the installation efficiency of the large structural equipment and reduces the labor intensity of equipment installers.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of a lift scissor arm of the present invention;
FIG. 3 is a top view of the installation vehicle of the present invention;
FIG. 4 is a bottom view of the mounting cart of the present invention;
FIG. 5 is an isometric view of the present invention;
in the figure: the system comprises a frame chassis structure 1, a differential omnidirectional drive wheel set 2, a lifting shear arm 3, a goods shelf support 4, a hydraulic suspension lifting system 5, an electrical control system 6, a hydraulic suspension attitude adjusting actuator cylinder 7, a lifting actuator cylinder 8, a suspension displacement sensor 9, a suspension pressure sensor 10, a lifting displacement sensor 11, a lifting pressure sensor 12, an omnidirectional wheel angle sensor 13, a horizontal attitude adjusting gyroscope sensor 14, a turntable bearing 15, a lower supporting shear arm fixing seat 16, a lower supporting shear arm moving slide block 17, an upper supporting shear arm fixing seat 18 and an upper supporting shear arm moving slide block 19.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following.
As shown in fig. 1, a heavy-duty posture-adjusting multidirectional transferring and installing vehicle comprises a frame chassis structure 1, a differential omnidirectional driving wheel set 2, a lifting shear arm 3, a shelf support 4, a hydraulic suspension lifting system 5 and an electric control system 6; the differential omnidirectional driving wheel set 2 is connected with a turntable bearing 15 through a hydraulic suspension posture adjusting actuator cylinder 7 and is fixedly arranged on the frame chassis structure 1.
Specifically, as shown in fig. 3 and 4, the motion states of eight sets of differential omnidirectional driving wheel sets 2 are adjusted through the vehicle control calculation of the electrical control system 6 to realize the omnidirectional movement functions of forward transportation, backward transportation, transverse transportation, oblique transportation, in-situ rotation and the like of the vehicle and the precise adjustment of the posture direction of the vehicle body, the suspension of the eight sets of differential omnidirectional driving wheel sets 2 is controlled by the hydraulic power system to finish the posture adjustment and walking obstacle avoidance of the vehicle body, and the large-stroke heavy load lifting of the double lifting scissor arms 3 is controlled to realize the posture adjustment installation function.
As shown in fig. 2, the lifting scissor arms 3 are divided into two groups, the two groups of lifting scissor arms 3 are connected in parallel and symmetrically arranged at the front end and the rear end of the installation vehicle, and the lifting scissor arms 3 are connected with the chassis structure 1 of the vehicle frame and the goods shelf support 4 through the support fixing seat and the movable sliding block; the hydraulic suspension lifting system 5 and the electric control system 6 are arranged on the frame chassis structure 1 and are installed on the left side and the right side of the installation vehicle through integrated design.
The support fixing seat comprises an upper support shearing arm fixing seat 18 and a lower support shearing arm fixing seat 16, and the moving slide block comprises an upper support shearing arm moving slide block 19 and a lower support shearing arm moving slide block 17.
The hydraulic suspension lifting system 5 comprises internal hydraulic lines and the electrical control system 6 comprises electrical control lines, which are arranged by mounting through the frame profile interior space.
Eight groups of differential omnidirectional driving wheel sets 2 are arranged, and the eight groups of differential omnidirectional driving wheel sets 2 are symmetrically arranged at the bottom of the frame.
The hydraulic suspension posture-adjusting actuator cylinder 7 is provided with a suspension displacement sensor 9 and a suspension pressure sensor 10, and the suspension displacement sensor and the suspension pressure sensor are used for actively adjusting the length of the hydraulic suspension posture-adjusting actuator cylinder 7 and the bearing pressure of the differential omnidirectional driving wheel set (2).
The turntable bearing 15 is provided with an omnidirectional wheel angle sensor 13 for controlling the direction of the differential omnidirectional driving wheel set 2 in real time.
The lifting shear arm 3 is provided with a lifting actuating cylinder 8, and the lifting actuating cylinder 8 is provided with a lifting displacement sensor 11 and a lifting pressure sensor 12.
The middle part of the frame of the heavy posture-adjusting multidirectional transferring and installing vehicle is provided with a horizontal posture-adjusting gyroscope sensor 14, and the horizontal posture-adjusting gyroscope sensor 14 is connected with the hydraulic suspension lifting system 5.
Specifically, as shown in fig. 5, the hydraulic suspension lifting system 5 and the electrical control system 6 are arranged on two sides of the high-precision heavy transport and installation vehicle through an integrated design, and the internal hydraulic pipelines and the electrical control lines are arranged through the internal space of the frame section.
The differential omnidirectional driving wheel sets 2 are designed into eight groups, the eight groups are symmetrically distributed on a frame chassis structure part, the hydraulic suspension posture-adjusting actuating cylinder 7 is connected with a turntable bearing 15 and fixed on a frame chassis vehicle body, wherein a displacement sensor and a pressure sensor are arranged on the hydraulic suspension posture-adjusting actuating cylinder 7, the length of the suspension actuating cylinder and the bearing pressure of the wheel sets can be actively adjusted in real time, the adjustment of the vehicle body flatness is completed, an angle sensor is arranged on the turntable bearing 15, and the adjustment of the vehicle body walking posture can be realized by controlling the direction of the omnidirectional wheel sets in real time.
The lifting shear arms 3 are designed into two groups which are connected in parallel and connected to a chassis of the frame through a fixed support seat and a movable slide block, the two groups of shear arms are symmetrically arranged and are lifted through a lifting actuating cylinder 8, and a displacement sensor and a pressure sensor are arranged on the actuating cylinder, so that the lifting stroke and the synchronous lifting capacity of the double shear arms can be controlled in real time, and the load balance can be monitored.
The goods shelves support and connect in two arms of cutting that lift through fixed bolster and removal slider for the large-scale part is supported in the delivery, and the gyroscope sensor has been arranged at the frame middle part, and accessible sensor data feedback control hydraulic suspension system carries out the regulation of goods shelves face levelness, satisfies the installation and transfers the appearance requirement.
The hydraulic suspension posture-adjusting actuator cylinder 7 and the lifting actuator cylinder 8 are both provided with a displacement sensor and a pressure sensor.
The differential omnidirectional driving wheel sets 2 are totally 8 groups and are symmetrically arranged at the bottom of the frame.
While the invention has been described with respect to a preferred embodiment, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (8)
1. The heavy posture-adjusting multidirectional transferring and installing vehicle is characterized by comprising a frame chassis structure (1), a differential omnidirectional driving wheel set (2), a lifting shear arm (3), a goods shelf support (4), a hydraulic suspension lifting system (5) and an electric control system (6); the differential omnidirectional driving wheel set (2) is connected with a turntable bearing (15) through a hydraulic suspension posture-adjusting actuating cylinder (7) and is fixedly arranged on the frame chassis structure (1); the lifting shear arms (3) are connected in parallel and symmetrically arranged at the front end and the rear end of the installation vehicle, and the lifting shear arms (3) are connected with the chassis structure (1) of the vehicle frame and the shelf supports (4) through a supporting fixed seat and a movable sliding block; the hydraulic suspension lifting system (5) and the electric control system (6) are arranged on the frame chassis structure (1) and are installed on the left side and the right side of the installation vehicle through integrated design.
2. The heavy posture-adjusting multidirectional transferring and mounting vehicle as claimed in claim 1, wherein the supporting and fixing seats comprise an upper supporting shear arm fixing seat (18) and a lower supporting shear arm fixing seat (16), and the moving sliders comprise an upper supporting shear arm moving slider (19) and a lower supporting shear arm moving slider (17).
3. A heavy-duty gesture-adjusting multidirectional transfer installation vehicle according to claim 1, characterized in that said hydraulic suspension lifting system (5) comprises internal hydraulic lines and said electrical control system (6) comprises electrical control lines, said internal hydraulic lines and electrical control lines being arranged installed through the frame profile interior space.
4. The heavy posture-adjusting multidirectional transferring and mounting vehicle as claimed in claim 1, wherein the eight differential omnidirectional driving wheel sets (2) are symmetrically mounted at the bottom of the vehicle frame.
5. The heavy type posture-adjusting multidirectional transferring and installing vehicle as claimed in claim 1, wherein a suspension displacement sensor (9) and a suspension pressure sensor (10) are arranged on the hydraulic suspension posture-adjusting actuator cylinder (7) and are used for actively adjusting the length of the hydraulic suspension posture-adjusting actuator cylinder (7) and the bearing pressure of the differential omnidirectional driving wheel set (2).
6. A heavy duty multi-directional transferring and mounting vehicle according to claim 1, wherein said slewing bearing (15) is provided with an omni-wheel angle sensor (13) for real-time controlling the direction of the differential omni-directional driving wheel set (2).
7. A heavy duty posture-adjusting multidirectional transferring and mounting vehicle as defined in claim 1, wherein said lifting shear arm (3) is provided with a lifting actuator cylinder (8), and said lifting actuator cylinder (8) is provided with a lifting displacement sensor (11) and a lifting pressure sensor (12).
8. The heavy type posture-adjusting multidirectional transferring and mounting vehicle as claimed in claim 1, wherein a horizontal posture-adjusting gyroscope sensor (14) is arranged in the middle of the frame of the heavy type posture-adjusting multidirectional transferring and mounting vehicle, and the horizontal posture-adjusting gyroscope sensor (14) is connected with the hydraulic suspension lifting system (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110377012.6A CN113232572A (en) | 2021-04-08 | 2021-04-08 | Heavy posture-adjusting multidirectional transferring and installing vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110377012.6A CN113232572A (en) | 2021-04-08 | 2021-04-08 | Heavy posture-adjusting multidirectional transferring and installing vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113232572A true CN113232572A (en) | 2021-08-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110377012.6A Pending CN113232572A (en) | 2021-04-08 | 2021-04-08 | Heavy posture-adjusting multidirectional transferring and installing vehicle |
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| Country | Link |
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| CN (1) | CN113232572A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114012403A (en) * | 2021-11-10 | 2022-02-08 | 四川航天长征装备制造有限公司 | Novel automatic horizontal assembly butt joint system |
-
2021
- 2021-04-08 CN CN202110377012.6A patent/CN113232572A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114012403A (en) * | 2021-11-10 | 2022-02-08 | 四川航天长征装备制造有限公司 | Novel automatic horizontal assembly butt joint system |
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