CN115432633B - Carrying device capable of adjusting pose - Google Patents

Carrying device capable of adjusting pose Download PDF

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Publication number
CN115432633B
CN115432633B CN202211126220.XA CN202211126220A CN115432633B CN 115432633 B CN115432633 B CN 115432633B CN 202211126220 A CN202211126220 A CN 202211126220A CN 115432633 B CN115432633 B CN 115432633B
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CN
China
Prior art keywords
hydraulic
oil
valve
communicated
horizontal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202211126220.XA
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Chinese (zh)
Other versions
CN115432633A (en
Inventor
汪立平
时鑫
刘凯磊
边锐
康绍鹏
王正磊
强红宾
孙炳玉
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Jiangsu Hengli Hydraulic Technology Co Ltd
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Jiangsu Hengli Hydraulic Technology Co Ltd
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Priority to CN202211126220.XA priority Critical patent/CN115432633B/en
Publication of CN115432633A publication Critical patent/CN115432633A/en
Application granted granted Critical
Publication of CN115432633B publication Critical patent/CN115432633B/en
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Classifications

    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07586—Suspension or mounting of wheels on chassis
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/01—Locking-valves or other detent i.e. load-holding devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/027—Check valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F15B2013/0448—Actuation by solenoid and permanent magnet
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
    • F15B2211/31594—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having multiple pressure sources and multiple output members

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention relates to the technical field of installation and control, in particular to a carrying device capable of adjusting pose, which comprises a plurality of carrying devices, wherein the carrying devices are arranged along the peripheral edges of large-scale plate parts, and the carrying devices comprise: the device comprises a carrying base, a horizontal X-axis hydraulic cylinder, a horizontal Y-axis hydraulic cylinder, a lifting hydraulic cylinder, a mounting bracket, a hydraulic station and a control valve group; the plurality of handling devices can translate the large-scale plate parts along the horizontal direction, the plurality of handling devices can adjust the height of the large-scale plate parts, and can adjust the height of one side of the large-scale plate parts and adjust the rotation of the large-scale plate parts in the horizontal direction. The carrying device capable of adjusting the pose has the advantages of convenience in installation, flexibility in operation and control, easiness in adjustment, high automation degree and the like, and is high in safety and simple and convenient to operate.

Description

Carrying device capable of adjusting pose
Technical Field
The invention relates to the technical field of installation and control, in particular to a carrying device capable of adjusting pose.
Background
The large-scale plate-shaped parts mainly play roles in supporting, positioning, transporting and the like in the processes of large building construction, large machinery assembly, large track laying and the like and comprise a concrete flat plate, a supporting plate, a conveying plate, a track plate and the like.
At present, in the assembly and installation process of large-scale plate parts, because of the factors of heavy weight, large volume, wide occupied area and the like, great difficulty is brought to the aspects of part movement and pose adjustment. For example, in the construction of large buildings, large concrete slabs formed by concrete pouring need to be accurately moved to a designated position, which puts high demands on the accuracy of the moving position of the concrete slab; in the assembly of the large transport vehicle, for example, the vehicle surface supporting plate not only needs to be accurately moved to a designated position, but also needs to be accurately assembled with other parts in the moving process, so that not only is the requirement on the position accuracy of the vehicle surface supporting plate provided, but also the higher requirement on the speed accuracy in the moving process is provided; for another example, in the construction process of a large bridge, the track slab serving as a main supporting function of the bridge needs to be ensured in position accuracy and attitude accuracy in the installation process, otherwise, bad consequences such as instability, noise and shaking of the bridge can be brought. In the processes of moving a large concrete flat plate, assembling a car surface supporting plate, installing a track plate and the like, a large crane is mainly adopted for hoisting at present, manual adjustment is carried out according to required position precision, assembly precision, attitude precision and the like, and the method has the advantages of large manpower demand, long operation time, high risk coefficient, large adjustment difficulty and difficulty in ensuring the required precision requirement.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the existing method for adjusting the pose of the large-scale plate part mainly adopts a large crane for hoisting, and the method has the disadvantages of large manpower demand, long operation time, high risk coefficient and large adjustment difficulty.
In order to solve one of the technical problems, the invention provides a carrying device capable of adjusting the pose, which comprises a plurality of carrying devices, wherein the carrying devices are arranged along the peripheral edges of large-scale plate parts and are connected with the large-scale plate parts;
The carrying device includes:
The conveying base is provided with a plurality of universal wheels below;
The first base is fixedly connected with the carrying base;
the horizontal X-axis hydraulic cylinder is fixedly connected with the first base and is arranged along the X-axis direction;
the second base is in sliding connection with the first base, a piston rod of the horizontal X-axis hydraulic cylinder is connected with the second base, and the second base slides along the X-axis direction;
the horizontal Y-axis hydraulic cylinder is fixedly connected with the second base and is arranged along the Y-axis direction;
the third base is in sliding connection with the second base, the third base slides along the Y-axis direction, and a piston rod of the horizontal Y-axis hydraulic cylinder is connected with the third base;
the lifting hydraulic cylinder is fixedly connected with the third base, and the lifting hydraulic cylinder is arranged along the Z direction;
The mounting bracket is connected with the large-scale plate part, and a piston rod of the lifting hydraulic cylinder is connected with the mounting bracket;
a hydraulic station mounted on the handling base;
The control valve bank is communicated with an oil outlet of the hydraulic station, oil cavities of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the lifting hydraulic cylinder are connected with the control valve bank so as to respectively control piston rod actions of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the lifting hydraulic cylinder through the control valve bank, and a controller is arranged on the carrying base and is electrically connected with the control valve bank to control the opening and closing of the control valve bank;
The carrying devices can translate the large-scale plate parts along the horizontal direction, and when the pose is adjusted, the carrying devices can adjust the height of the large-scale plate parts, the height of one side of the large-scale plate parts can be adjusted, and the large-scale plate parts are adjusted to rotate in the horizontal direction.
According to the carrying device capable of adjusting the position and the posture, disclosed by the invention, the large-scale plate parts are carried through the plurality of carrying devices, after the large-scale plate parts are carried to the required assembly positions, the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the piston rods of the lifting hydraulic cylinders are accurately controlled to move through the control valve group, the position and the posture of the large-scale plate parts are adjusted, the overall height of the large-scale plate parts can be adjusted, the height of one side of the large-scale plate parts can also be adjusted, the large-scale plate parts can be horizontally rotated on the horizontal plane, and the carrying device capable of adjusting the position and the posture has the advantages of convenience in installation, flexibility in control, easiness in adjustment, high automation degree and the like, and is high in safety and simplicity and convenience in operation compared with the carrying device capable of adjusting the position and the posture of the large-scale plate parts through lifting and the like.
Further, the control valve group includes:
The oil inlets of the three electromagnetic directional valves are communicated with the oil outlet of the hydraulic station, and the three electromagnetic directional valves are respectively an electromagnetic directional valve I, an electromagnetic directional valve II and an electromagnetic directional valve III;
The three hydraulic locks are a first hydraulic lock, a second hydraulic lock and a third hydraulic lock respectively, the first hydraulic lock is connected with the first electromagnetic directional valve, the second hydraulic lock is connected with the second electromagnetic directional valve, the third hydraulic lock is connected with the third electromagnetic directional valve, the first hydraulic lock can lock oil in the horizontal X-axis hydraulic cylinder into two oil cavities respectively, the second hydraulic lock can lock oil in the horizontal Y-axis hydraulic cylinder into two oil cavities respectively, and the third hydraulic lock can lock oil in the lifting hydraulic cylinder into two oil cavities respectively.
Through three solenoid directional valves, can control hydraulic oil and get into respectively and flow out in horizontal X axle pneumatic cylinder, horizontal Y axle pneumatic cylinder and the pole chamber that has pole chamber and the no pole chamber of lifting the pneumatic cylinder, thereby control horizontal X axle pneumatic cylinder, horizontal Y axle pneumatic cylinder and lifting the piston rod stationary pressure maintaining of pneumatic cylinder respectively, thereby make whole handling device carry out three orientation's adjustment to big template class part flexibility, arbitrary handling device can all carry out three orientation's adjustment to big template class part, a plurality of handling devices cooperate can make the flexibility to big template class part position adjustment further improve, in addition, through three hydraulic locks, can lock hydraulic oil in horizontal X axle pneumatic cylinder, horizontal Y axle pneumatic cylinder and lifting the pole chamber that has pole chamber and the no pole chamber of pneumatic cylinder, can keep horizontal X axle pneumatic cylinder, horizontal Y axle pneumatic cylinder and lifting the piston rod stationary pressure maintaining of pneumatic cylinder, thereby keep the piston rod not to carry out the action, thereby in the in-process of carrying big template class part, can keep the position of big template part, avoid big template to receive external force to take place skew or shake the big template to take place, can not guarantee that position can only adjust the stability in the process can also improve.
Further, the first hydraulic lock comprises a first hydraulic control check valve and a second hydraulic control check valve, the second hydraulic lock comprises a third hydraulic control check valve and a fourth hydraulic control check valve, and the third hydraulic lock comprises a fifth hydraulic control check valve and a sixth hydraulic control check valve;
the oil inlet of the first hydraulic control check valve and the oil inlet of the second hydraulic control check valve are both communicated with the first electromagnetic reversing valve, the oil outlet of the first hydraulic control check valve is communicated with the rodless cavity of the horizontal X-axis hydraulic cylinder, the oil outlet of the second hydraulic control check valve is communicated with the rod cavity of the horizontal X-axis hydraulic cylinder, and the control oil port of the first hydraulic control check valve and the control oil port of the second hydraulic control check valve are both communicated with the oil outlet of the first electromagnetic reversing valve;
The oil inlet of the hydraulic control one-way valve III and the oil inlet of the hydraulic control one-way valve IV are both communicated with the two electromagnetic directional valves, the oil outlet of the hydraulic control one-way valve III is communicated with the rodless cavity of the horizontal Y-axis hydraulic cylinder, the oil outlet of the hydraulic control one-way valve IV is communicated with the rod cavity of the horizontal Y-axis hydraulic cylinder, and the control oil port of the hydraulic control one-way valve III and the control oil port of the hydraulic control one-way valve IV are both communicated with the oil outlet of the electromagnetic directional valve II;
The oil inlet of the hydraulic control one-way valve five and the oil inlet of the hydraulic control one-way valve six are communicated with the electromagnetic directional valve in three phases, the oil outlet of the hydraulic control one-way valve five is communicated with the rodless cavity of the lifting hydraulic cylinder, the oil outlet of the hydraulic control one-way valve six is communicated with the rod cavity of the lifting hydraulic cylinder, and the control oil port of the hydraulic control one-way valve five and the control oil port of the hydraulic control one-way valve six are communicated with the oil outlet of the electromagnetic directional valve three.
Further, the first electromagnetic directional valve, the second electromagnetic directional valve and the third electromagnetic directional valve are three-position four-way Y-shaped electromagnetic directional valves, the first electromagnetic directional valve comprises an A1 oil port, a B1 oil port, a P1 oil port and a T1 oil port, the second electromagnetic directional valve comprises an A2 oil port, a B2 oil port, a P2 oil port and a T2 oil port, the third electromagnetic directional valve comprises an A3 oil port, a B3 oil port, a P3 oil port and a T3 oil port, the T1 oil port, the T2 oil port and the T3 oil port are communicated with an oil return port of the hydraulic station, and the P1 oil port, the P2 oil port and the P3 oil port are communicated with an oil outlet of the hydraulic station;
the hydraulic control check valve comprises a first hydraulic control check valve, a second hydraulic control check valve, a first hydraulic control check valve, a second hydraulic control check valve and a third hydraulic control check valve, wherein the first hydraulic control check valve is communicated with the first hydraulic control check valve;
The oil inlet of the hydraulic control one-way valve A2 is communicated with the oil inlet of the hydraulic control one-way valve B2, the oil inlet of the hydraulic control one-way valve B2 is communicated with the oil inlet of the hydraulic control one-way valve B2, and the oil inlet of the hydraulic control one-way valve B2 is communicated with the oil inlet of the hydraulic control one-way valve A2;
the hydraulic control check valve is characterized in that the A3 oil port is communicated with the oil inlet of the hydraulic control check valve five, the B3 oil port is communicated with the oil inlet of the hydraulic control check valve six, the control oil port of the hydraulic control check valve five is communicated with the B3 oil port, and the control oil port of the hydraulic control check valve six is communicated with the A3 oil port.
The first electromagnetic reversing valve controls the first hydraulic lock to switch between a locking state and an unlocking state, hydraulic oil can be locked in a rod cavity and a rodless cavity of the horizontal X-axis hydraulic cylinder when the first hydraulic lock is in the locking state, hydraulic oil can enter or flow out of the rod cavity and the rodless cavity of the horizontal X-axis hydraulic cylinder when the first hydraulic lock is in the unlocking state, the second electromagnetic reversing valve controls the second hydraulic lock to switch between the locking state and the unlocking state, and the third electromagnetic reversing valve controls the third hydraulic lock to switch between the locking state and the unlocking state.
Further, the hydraulic station includes:
An oil tank;
the oil inlet of the electromagnetic directional valve I, the oil inlet of the electromagnetic directional valve II and the oil inlet of the electromagnetic directional valve III are connected with the oil outlet of the hydraulic pump group I;
the oil outlet of the second hydraulic pump set is connected with the oil outlet of the first hydraulic pump set;
The oil inlet of the overflow valve is connected with the oil outlet of the first hydraulic pump set and the oil outlet of the second hydraulic pump set, and the oil outlet of the overflow valve is connected with the oil tank;
The first check valve is arranged at an oil outlet of the first hydraulic pump set;
and the second check valve is arranged at an oil outlet of the second hydraulic pump set.
Further, a double-shaft inclination sensor is arranged on the mounting support, two measuring shafts of the double-shaft inclination sensor are respectively arranged along the X-axis direction and the Y-axis direction, and the double-shaft inclination sensor detects inclination angles of the horizontal X-axis and the horizontal Y-axis direction of the large-scale plate part.
Further, an X-axis guide piece is arranged on the first base, the second base is in sliding connection or sliding fit with the X-axis guide piece, a Y-axis guide piece is arranged on the second base, and the third base is in sliding connection with the Y-axis guide piece.
Further, the transport base below is provided with flexible universal wheelset, left steering wheelset and right steering wheelset, flexible universal wheelset, left steering wheelset and right steering wheelset all with transport base swing joint, flexible universal wheelset, left steering wheelset and right steering wheelset all can the upper and lower activity in order to adjust from top to bottom.
Further, the telescopic universal wheel set includes:
one end of the first connecting rod is movably connected with the carrying base;
one end of the second connecting rod is hinged or rotationally connected with the first connecting rod;
one end of the first telescopic driving piece is movably connected with the second connecting rod, and one end of the first telescopic driving piece is movably connected with the carrying base so as to drive the first connecting rod and the second connecting rod to rotate;
And the first telescopic universal wheel is connected with the second connecting rod.
Further, the left steering wheel set and the right steering wheel set each include:
one end of the connecting rod III is movably connected with the carrying base;
one end of the connecting rod IV is hinged or rotationally connected with the connecting rod III;
One end of the second telescopic driving piece is movably connected with the fourth connecting rod, and one end of the second telescopic driving piece is movably connected with the carrying base so as to drive the third connecting rod and the fourth connecting rod to rotate;
the telescopic universal wheel II is connected with the connecting rod IV, a universal wheel driving piece is arranged on the telescopic universal wheel II, and the universal wheel driving piece is in transmission connection with the telescopic universal wheel II to drive the telescopic universal wheel II to rotate.
Through flexible universal wheel group, left side steering wheel group and right steering wheel group, can adjust the height of flexible universal wheel one and two flexible universal wheels two, rotate through two flexible universal wheels of universal wheel driving piece drive, can drive handling device and carry out automatic movement, thereby carry out automatic handling to large-scale board class part, under the state that the universal wheel driving piece loses electricity, can adjust the height of flexible universal wheel one and two flexible universal wheels two, make flexible universal wheel one and two flexible universal wheels two not with ground contact, and a plurality of universal wheels and ground contact of transport base below, thereby can promote handling device through the hand wheel and remove, thereby handling device can't normally remove under the state of avoiding losing electricity.
The carrying device capable of adjusting the position and the posture has the advantages that the carrying device can carry large-scale plate parts through a plurality of carrying devices, after carrying the large-scale plate parts to required assembly positions, the control valve group is used for accurately controlling the piston rods of the horizontal X-axis hydraulic cylinder, the horizontal Y-axis hydraulic cylinder and the lifting hydraulic cylinder to move, the position and the posture of the large-scale plate parts are adjusted, the overall height of the large-scale plate parts can be adjusted, the height of one side of the large-scale plate parts can also be adjusted, the large-scale plate parts can be horizontally rotated on the horizontal plane, the carrying device capable of adjusting the position and the posture has the advantages of being convenient to install, flexible to operate, easy to adjust, high in automation degree and the like, and compared with the carrying device capable of adjusting the position and the posture of the large-scale plate parts through lifting and the like, the carrying device capable of adjusting the position and the posture is high in safety and simple and convenient to operate.
Through three solenoid directional valves, can control hydraulic oil and get into respectively and flow out in horizontal X axle pneumatic cylinder, horizontal Y axle pneumatic cylinder and the pole chamber that has pole chamber and the no pole chamber of lifting the pneumatic cylinder, thereby control horizontal X axle pneumatic cylinder, horizontal Y axle pneumatic cylinder and lifting the piston rod stationary pressure maintaining of pneumatic cylinder respectively, thereby make whole handling device carry out three orientation's adjustment to big template class part flexibility, arbitrary handling device can all carry out three orientation's adjustment to big template class part, a plurality of handling devices cooperate can make the flexibility to big template class part position adjustment further improve, in addition, through three hydraulic locks, can lock hydraulic oil in horizontal X axle pneumatic cylinder, horizontal Y axle pneumatic cylinder and lifting the pole chamber that has pole chamber and the no pole chamber of pneumatic cylinder, can keep horizontal X axle pneumatic cylinder, horizontal Y axle pneumatic cylinder and lifting the piston rod stationary pressure maintaining of pneumatic cylinder, thereby keep the piston rod not to carry out the action, thereby in the in-process of carrying big template class part, can keep the position of big template part, avoid big template to receive external force to take place skew or shake the big template to take place, can not guarantee that position can only adjust the stability in the process can also improve.
The first electromagnetic reversing valve controls the first hydraulic lock to switch between a locking state and an unlocking state, hydraulic oil can be locked in a rod cavity and a rodless cavity of the horizontal X-axis hydraulic cylinder when the first hydraulic lock is in the locking state, hydraulic oil can enter or flow out of the rod cavity and the rodless cavity of the horizontal X-axis hydraulic cylinder when the first hydraulic lock is in the unlocking state, the second electromagnetic reversing valve controls the second hydraulic lock to switch between the locking state and the unlocking state, and the third electromagnetic reversing valve controls the third hydraulic lock to switch between the locking state and the unlocking state.
Through flexible universal wheel group, left side steering wheel group and right steering wheel group, can adjust the height of flexible universal wheel one and two flexible universal wheels two, rotate through two flexible universal wheels of universal wheel driving piece drive, can drive handling device and carry out automatic movement, thereby carry out automatic handling to large-scale board class part, under the state that the universal wheel driving piece loses electricity, can adjust the height of flexible universal wheel one and two flexible universal wheels two, make flexible universal wheel one and two flexible universal wheels two not with ground contact, and a plurality of universal wheels and ground contact of transport base below, thereby can promote handling device through the hand wheel and remove, thereby handling device can't normally remove under the state of avoiding losing electricity.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a schematic structural view of a posture-adjustable carrying device according to a preferred embodiment of the present invention.
Fig. 2 is a schematic view of the left and right steering wheel sets in a retracted state in a preferred embodiment of the present invention.
Fig. 3 is a schematic view showing the left and right steering wheel sets in an extended state in the preferred embodiment of the present invention.
Fig. 4 is a schematic structural view of a carrying device according to a preferred embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a carrying device according to a preferred embodiment of the present invention.
Fig. 6 is a schematic view of a part of the structure of the carrying device according to the preferred embodiment of the present invention.
Fig. 7 is a schematic structural view of a second base according to a preferred embodiment of the present invention.
Fig. 8 is a schematic structural view of a first base according to a preferred embodiment of the present invention.
Fig. 9 is a schematic structural view of a telescopic universal wheel set according to a preferred embodiment of the present invention.
Fig. 10 is a schematic structural view of a right steering wheel set according to a preferred embodiment of the present invention.
Fig. 11 is a hydraulic schematic of the hydraulic station and control valve block of the present invention.
Fig. 12 is a hydraulic schematic of the control valve block of the present invention.
In the figure: 100. a carrying device; 200. large plate type parts;
11. Carrying a base; 12. a first base; 13. a horizontal X-axis hydraulic cylinder; 14. a second base; 15. a horizontal Y-axis hydraulic cylinder; 16. a third base; 17. lifting a hydraulic cylinder; 18. a mounting bracket;
19. a hydraulic station; 191. an oil tank; 192. a first hydraulic pump group; 193. a second hydraulic pump group; 194. an overflow valve; 195. a first check valve; 196. a second check valve;
20. A control valve group; 201. an electromagnetic reversing valve I; 202. an electromagnetic reversing valve II; 203. an electromagnetic reversing valve III; 204. a first hydraulic lock; 205. a second hydraulic lock; 206. a third hydraulic lock; 2041. a first hydraulic control one-way valve; 2042. a second hydraulic control check valve; 2043. a hydraulic control one-way valve III; 2044. a hydraulic control one-way valve IV; 2045. fifth, a hydraulic control one-way valve; 2046. a hydraulic control one-way valve six;
21. a telescopic universal wheel set; 211. a first connecting rod; 212. a second connecting rod; 213. a first telescopic driving piece; 214. a telescopic universal wheel I;
22. A left steering wheel group;
23. a right steering wheel group; 231. a connecting rod III; 232. a connecting rod IV; 233. a second telescopic driving piece; 234. a telescopic universal wheel II; 235. a universal wheel drive; 24. and a universal wheel.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more. In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 to 12, in a preferred embodiment of the present invention, a carrying device capable of adjusting a pose includes a plurality of carrying devices 100, the plurality of carrying devices 100 are arranged along the peripheral edge of a large-sized plate part 200, and the plurality of carrying devices 100 are connected with the large-sized plate part 200;
The carrying device 100 includes: the device comprises a carrying base 11, a first base 12, a horizontal X-axis hydraulic cylinder 13, a second base 14, a horizontal Y-axis hydraulic cylinder 15, a third base 16, a lifting hydraulic cylinder 17, a mounting bracket 18, a hydraulic station 19 and a control valve group 20, wherein a plurality of universal wheels 24 are arranged below the carrying base 11; the first base 12 is fixedly connected with the carrying base 11; the horizontal X-axis hydraulic cylinder 13 is fixedly connected with the first base 12, and the horizontal X-axis hydraulic cylinder 13 is arranged along the X-axis direction; the second base 14 is in sliding connection with the first base 12, a piston rod of the horizontal X-axis hydraulic cylinder 13 is connected with the second base 14, and the second base 14 slides along the X-axis direction; the horizontal Y-axis hydraulic cylinder 15 is fixedly connected with the second base 14, and the horizontal Y-axis hydraulic cylinder 15 is arranged along the Y-axis direction; the third base 16 is in sliding connection with the second base 14, the third base 16 slides along the Y-axis direction, and a piston rod of the horizontal Y-axis hydraulic cylinder 15 is connected with the third base 16; the lifting hydraulic cylinder 17 is fixedly connected with the third base 16, and the lifting hydraulic cylinder 17 is arranged along the Z direction; the mounting bracket 18 is connected with the large-scale plate part 200, and a piston rod of the lifting hydraulic cylinder 17 is connected with the mounting bracket 18.
The hydraulic station 19 is mounted on the carrying base 11; the control valve group 20 is communicated with oil outlets of the hydraulic station 19, oil cavities of the horizontal X-axis hydraulic cylinder 13, the horizontal Y-axis hydraulic cylinder 15 and the lifting hydraulic cylinder 17 are all connected with the control valve group 20 so as to respectively control piston rod actions of the horizontal X-axis hydraulic cylinder 13, the horizontal Y-axis hydraulic cylinder 15 and the lifting hydraulic cylinder 17 through the control valve group 20, a controller is arranged on the carrying base 11, and the controller is electrically connected with the control valve group 20 so as to control the opening and closing of the control valve group 20;
The plurality of carrying devices 100 can translate the large-sized plate-like part 200 in the horizontal direction, and when the pose adjustment is performed, the plurality of carrying devices 100 can adjust the height of the large-sized plate-like part 200, and can adjust the height of one side of the large-sized plate-like part 200, and adjust the rotation of the large-sized plate-like part 200 in the horizontal direction.
The control valve group 20 comprises three electromagnetic directional valves and three hydraulic locks, wherein oil inlets of the three electromagnetic directional valves are communicated with oil outlets of the hydraulic station 19, and the three electromagnetic directional valves are an electromagnetic directional valve I201, an electromagnetic directional valve II 202 and an electromagnetic directional valve III 203 respectively; the three hydraulic locks are a first hydraulic lock 204, a second hydraulic lock 205 and a third hydraulic lock 206 respectively, the first hydraulic lock 204 is connected with the first electromagnetic directional valve 201, the second hydraulic lock 205 is connected with the second electromagnetic directional valve 202, the third hydraulic lock 206 is connected with the third electromagnetic directional valve 203, the first hydraulic lock 204 can lock the oil in the horizontal X-axis hydraulic cylinder 13 into two oil chambers respectively, the second hydraulic lock 205 can lock the oil in the horizontal Y-axis hydraulic cylinder 15 into two oil chambers respectively, and the third hydraulic lock 206 can lock the oil in the lifting hydraulic cylinder 17 into two oil chambers respectively.
Through three solenoid directional valves, can control hydraulic oil and get into respectively and flow out in horizontal X axle pneumatic cylinder 13, horizontal Y axle pneumatic cylinder 15 and the pole chamber that has pole chamber and the no pole chamber of lifting hydraulic cylinder 17, thereby control horizontal X axle pneumatic cylinder 13 respectively, horizontal Y axle pneumatic cylinder 15 and lifting hydraulic cylinder 17 independent action, thereby make whole handling device 100 to the flexibility of big type plate part 200 position appearance adjustment higher, any handling device 100 can all carry out three orientation's adjustment to big type plate part 200, a plurality of handling devices 100 cooperate can make the flexibility of adjusting big type plate part 200 position appearance further improve, in addition, through three hydraulic locks, the pneumatic lock is arranged in pinning the pneumatic cylinder when being in rest state in the pneumatic cylinder that has pole chamber and no pole chamber, can realize the purpose of pneumatic cylinder piston rod, thereby can lock hydraulic oil in horizontal X axle pneumatic cylinder 13, horizontal Y axle pneumatic cylinder 15 and lifting hydraulic cylinder 17's pole chamber and no pole chamber in can keep horizontal X axle pneumatic cylinder 13, can keep the big type plate part 200 position appearance adjustment to the flexibility of carrying out side of three orientation adjustment, can also keep the big type plate part 200 position appearance adjustment, can not be disturbed in the process of the stability of the installation, and can be kept the piston rod can be carried out to the big type plate part 200, in addition, the stability is avoided in the course of moving the piston rod is greatly to the piston rod is not carried out.
The first hydraulic lock 204 comprises a first hydraulic control check valve 2041 and a second hydraulic control check valve 2042, the second hydraulic lock 205 comprises a third hydraulic control check valve 2043 and a fourth hydraulic control check valve 2044, and the third hydraulic lock 206 comprises a fifth hydraulic control check valve 2045 and a sixth hydraulic control check valve 2046; the oil inlet of the first hydraulic control check valve 2041 and the oil inlet of the second hydraulic control check valve 2042 are both communicated with the first electromagnetic directional valve 201, the oil outlet of the first hydraulic control check valve 2041 is communicated with the rodless cavity of the horizontal X-axis hydraulic cylinder 13, the oil outlet of the second hydraulic control check valve 2042 is communicated with the rod cavity of the horizontal X-axis hydraulic cylinder 13, and the control oil port of the first hydraulic control check valve 2041 and the control oil port of the second hydraulic control check valve 2042 are both communicated with the oil outlet of the first electromagnetic directional valve 201.
The oil inlet of the hydraulic control one-way valve III 2043 and the oil inlet of the hydraulic control one-way valve IV 2044 are both communicated with the electromagnetic directional valve II 202, the oil outlet of the hydraulic control one-way valve III 2043 is communicated with the rodless cavity of the horizontal Y-axis hydraulic cylinder 15, the oil outlet of the hydraulic control one-way valve IV 2044 is communicated with the rod cavity of the horizontal Y-axis hydraulic cylinder 15, and the control oil port of the hydraulic control one-way valve III 2043 and the control oil port of the hydraulic control one-way valve IV 2044 are both communicated with the oil outlet of the electromagnetic directional valve II 201.
The oil inlet of the hydraulic control one-way valve five 2045 and the oil inlet of the hydraulic control one-way valve six 2046 are both communicated with the electromagnetic directional valve three 203, the oil outlet of the hydraulic control one-way valve five 2045 is communicated with the rodless cavity of the lifting hydraulic cylinder 17, the oil outlet of the hydraulic control one-way valve six 2046 is communicated with the rod cavity of the lifting hydraulic cylinder 17, and the control oil port of the hydraulic control one-way valve five 2045 and the control oil port of the hydraulic control one-way valve six 2046 are both communicated with the oil outlet of the electromagnetic directional valve three 203.
The electromagnetic directional valve I201, the electromagnetic directional valve II 202 and the electromagnetic directional valve III 203 are three-position four-way Y-shaped electromagnetic directional valves, the electromagnetic directional valve I201 comprises an A1 oil port, a B1 oil port, a P1 oil port and a T1 oil port, the electromagnetic directional valve II 202 comprises an A2 oil port, a B2 oil port, a P2 oil port and a T2 oil port, the electromagnetic directional valve III 203 comprises an A3 oil port, a B3 oil port, a P3 oil port and a T3 oil port, the T1 oil port, the T2 oil port and the T3 oil port are all communicated with an oil return port of the hydraulic station 19, and the P1 oil port, the P2 oil port and the P3 oil port are all communicated with an oil outlet of the hydraulic station 19.
The hydraulic control check valve A1 is communicated with the oil inlet of the hydraulic control check valve A2041, the hydraulic control check valve B1 is communicated with the oil inlet of the hydraulic control check valve B2042, the control oil inlet of the hydraulic control check valve A2041 is communicated with the hydraulic control check valve B2042, and the hydraulic control check valve A1 is communicated with the hydraulic control check valve B2042.
The oil inlet A2 is communicated with the oil inlet of the hydraulic control check valve III 2043, the oil inlet B2 is communicated with the oil inlet of the hydraulic control check valve IV 2044, the control oil inlet of the hydraulic control check valve III 2043 is communicated with the oil inlet B2, and the control oil inlet of the hydraulic control check valve IV 2044 is communicated with the oil inlet A2.
The oil inlet of the A3 oil port is communicated with the oil inlet of the hydraulic control check valve five 2045, the oil inlet of the B3 oil port is communicated with the oil inlet of the hydraulic control check valve six 2046, the control oil port of the hydraulic control check valve five 2045 is communicated with the oil inlet of the B3 oil port, and the control oil port of the hydraulic control check valve six 2046 is communicated with the A3 oil port.
The first electromagnetic directional valve 201 controls the first hydraulic lock 204 to switch between a locking state and an unlocking state, the first hydraulic lock 204 can lock hydraulic oil in a rod cavity and a rodless cavity of the horizontal X-axis hydraulic cylinder 13 when in the locking state, the first hydraulic lock 204 can enter or flow out of the rod cavity and the rodless cavity of the horizontal X-axis hydraulic cylinder 13 when in the unlocking state, the second electromagnetic directional valve 202 controls the second hydraulic lock 205 to switch between the locking state and the unlocking state, and the third electromagnetic directional valve 203 controls the third hydraulic lock 206 to switch between the locking state and the unlocking state.
The hydraulic station 19 comprises an oil tank 191, a first hydraulic pump unit 192, a second hydraulic pump unit 193, an overflow valve 194, a first check valve 195 and a second check valve 196, wherein an oil inlet of the first electromagnetic directional valve 201, an oil inlet of the second electromagnetic directional valve 202 and an oil inlet of the third electromagnetic directional valve 203 are connected with an oil outlet of the first hydraulic pump unit 192; the oil outlet of the second hydraulic pump unit 193 is connected with the oil outlet of the first hydraulic pump unit 192; an oil inlet of the overflow valve 194 is connected with an oil outlet of the first hydraulic pump set 192 and an oil outlet of the second hydraulic pump set 193, and an oil outlet of the overflow valve 194 is connected with an oil tank 191; the first check valve 195 is arranged at the oil outlet of the first hydraulic pump set 192; the second check valve 196 is arranged at the oil outlet of the second hydraulic pump unit 193.
The first hydraulic pump set 192 comprises a main servo motor and a main pump, the second hydraulic pump set 193 comprises an auxiliary servo motor and an auxiliary pump, the main servo motor adopts a high-power servo motor with the power of 5-10kW, and the auxiliary servo motor adopts a low-power servo motor with the power of 0.2-0.8 kW; an output shaft of the main servo motor is connected with an input shaft of the main pump through a first coupler, so that the main servo motor is driven to rotate by the rotary motion of the main servo motor, and the mechanical energy of the main servo motor is converted into the hydraulic energy of the main pump; an output shaft of the auxiliary servo motor is connected with an input shaft of the auxiliary pump through a second coupling, so that the rotary motion of the auxiliary servo motor drives the auxiliary pump to rotate, mechanical energy of the auxiliary servo motor is converted into hydraulic energy of the auxiliary pump, an oil suction port of the main pump and an oil suction port of the auxiliary pump are connected with an oil tank 191 through a hydraulic connector, a pipeline and the like, and a certain amount of hydraulic oil is filled in the oil tank 191, so that the main pump and the auxiliary pump can absorb oil from the oil tank 191; an oil outlet of the main pump is connected with an oil inlet of the first check valve 195 through a hydraulic joint, a pipeline and the like; an oil outlet of the auxiliary pump is connected with an oil inlet of the second check valve 196 through a hydraulic joint, a pipeline and the like; an oil outlet of the first check valve 195, an oil outlet of the second check valve 196, an oil inlet of the control valve group 20 and an oil inlet of the overflow valve 194 are connected with a pipeline through a hydraulic joint; the oil outlet T of the overflow valve 194 is connected with the oil tank 191 through a hydraulic connector and a pipeline, the hydraulic control valve bank 20 comprises an oil inlet and an oil return port, the oil inlet of the hydraulic control valve bank 20 is connected with the first hydraulic pump set 192 and the second hydraulic pump set 193, the oil return port of the hydraulic control valve bank 20 is connected with the oil tank 191, and oil in the oil tank 191 flows to the oil inlet of the hydraulic control valve bank 20 through a main pump and an auxiliary pump and then flows to the first electromagnetic directional valve 201, the second electromagnetic directional valve 202 and the third electromagnetic directional valve 203.
An oil return filter is arranged at an oil return port of the oil tank 191, oil flowing from the oil return port of the control valve bank 20 to the oil return port of the oil tank 191 is filtered through the oil return filter, and the oil return port of the control valve bank 20 is connected with an oil inlet of the oil return filter through a hydraulic joint and a pipeline; the oil tank 191 is also provided with an air filter, the air filter is arranged at the upper part of the oil tank 191 and is used for adding hydraulic oil and filtering air, and an oil outlet of the air filter is connected with the oil tank 191 through a hydraulic joint and a pipeline; the oil tank 191 is also provided with a liquid level liquid thermometer, the liquid level liquid thermometer is arranged on the side surface of the oil tank 191 and used for displaying the liquid level height and the temperature of the oil tank 191, and an oil outlet T of the liquid level liquid thermometer is connected with the oil tank 191 through a hydraulic joint and a pipeline.
The mounting bracket 18 is provided with a double-shaft inclination sensor, two measuring shafts of the double-shaft inclination sensor are respectively arranged along the X-axis direction and the Y-axis direction, and the double-shaft inclination sensor detects inclination angles of the horizontal X-axis direction and the horizontal Y-axis direction of the large-scale plate part 200.
In the initial stage of the installation process of the large-scale plate part 200, firstly, carrying out rough adjustment working conditions, namely, when the installation position precision requirement is 0% -80%, converting the installation position precision requirement into the piston rod target position control precision requirement of the lifting hydraulic cylinder 17, the horizontal X-axis hydraulic cylinder 13 and the horizontal Y-axis hydraulic cylinder 15, controlling the piston rod movement precision of the lifting hydraulic cylinder 17, the horizontal X-axis hydraulic cylinder 13 and the horizontal Y-axis hydraulic cylinder 15 to be 0% -80%, and adopting a main servo motor and a control valve group 20 to carry out rough adjustment at the stage, controlling the rotating speed of the main servo motor, thereby driving a main pump to work, realizing the rapid movement of the piston rods of the lifting hydraulic cylinder 17, the horizontal X-axis hydraulic cylinder 13 and the horizontal Y-axis hydraulic cylinder 15, and further accelerating the whole installation adjustment process, and realizing high-efficiency and rapid adjustment;
Then fine adjustment working conditions are carried out, when the large-scale plate part 200 is about to finish the installation process, namely 80% -100% of the installation position precision requirement, the final installation position precision requirement is converted into the final target position control precision requirement of the lifting hydraulic cylinder 17, the horizontal X-axis hydraulic cylinder 13 and the piston rod of the horizontal axis hydraulic cylinder, the auxiliary servo motor and the control valve group 20 are adopted for fine adjustment at the stage, the rotating speed of the auxiliary servo motor is controlled, and the auxiliary pump is driven to work, so that the lifting hydraulic cylinder 17, the horizontal X-axis hydraulic cylinder 13 and the horizontal Y-axis hydraulic cylinder 15 are enabled to move slowly and with high precision, the accuracy of the installation process is improved, the installation precision of the large-scale plate part 200 is improved, and the installation quality is guaranteed.
The first base 12 is provided with an X-axis guide member, the second base 14 is slidably connected or slidably matched with the X-axis guide member, the second base 14 is provided with a Y-axis guide member, the third base 16 is slidably connected with the Y-axis guide member, specifically, the X-axis guide member comprises an X-direction guide rail, the X-direction guide rail is preferably a dovetail-shaped slide rail, an X-direction slide groove matched with the X-direction guide rail, preferably a dovetail groove, is formed in the lower surface of the second base 14, the Y-axis guide member comprises a Y-direction guide rail, preferably a dovetail-shaped slide rail, and a Y-direction slide groove matched with the Y-direction guide rail, preferably a dovetail groove, is formed in the lower surface of the third base 16.
The telescopic universal wheel set 21, the left steering wheel set 22 and the right steering wheel set 23 are arranged below the carrying base 11, the telescopic universal wheel set 21, the left steering wheel set 22 and the right steering wheel set 23 are movably connected with the carrying base 11, and the telescopic universal wheel set 21, the left steering wheel set 22 and the right steering wheel set 23 can move up and down to be adjusted up and down.
The telescopic universal wheel set 21 comprises a first connecting rod 211, a second connecting rod 212, a first telescopic driving piece 213 and a first telescopic universal wheel 214, wherein one end of the first connecting rod 211 is movably connected with the carrying base 11; one end of the second connecting rod 212 is hinged or rotationally connected with the first connecting rod 211; one end of the first telescopic driving piece 213 is movably connected with the second connecting rod 212, and one end of the first telescopic driving piece 213 is movably connected with the carrying base 11 so as to drive the first connecting rod 211 and the second connecting rod 212 to rotate; the first telescopic universal wheel 214 is connected with the second connecting rod 212.
The left steering wheel set 22 and the right steering wheel set 23 respectively comprise a third connecting rod 231, a fourth connecting rod 232, a second telescopic driving piece 233 and a second telescopic universal wheel 234, and one end of the third connecting rod 231 is movably connected with the carrying base 11; one end of the fourth connecting rod 232 is hinged or rotationally connected with the third connecting rod 231; one end of the second telescopic driving piece 233 is movably connected with the fourth connecting rod 232, and one end of the second telescopic driving piece 233 is movably connected with the carrying base 11 so as to drive the third connecting rod 231 and the fourth connecting rod 232 to rotate; the second telescopic universal wheel 234 is connected with the fourth connecting rod 232, the second telescopic universal wheel 234 is provided with a universal wheel driving piece 235, and the universal wheel driving piece 235 is in transmission connection with the second telescopic universal wheel 234 to drive the second telescopic universal wheel 234 to rotate.
The telescopic universal wheel set 21, the left steering wheel set 22 and the right steering wheel set 23 are in two states of extension and retraction, when the telescopic universal wheel set 21, the left steering wheel set 22 and the right steering wheel set 23 extend, the carrying device 100 automatically drives and walks through the telescopic universal wheel set 21, the left steering wheel set 22 and the right steering wheel set 23, and when the telescopic universal wheel set 21, the left steering wheel set 22 and the right steering wheel set 23 are in the retraction state, the carrying device 100 is manually pushed to move through a plurality of universal wheels 24 below the carrying base 11; through flexible universal wheel group 21, left steering wheel group 22 and right steering wheel group 23, can adjust the height of flexible universal wheel one 214 and two flexible universal wheels two 234, rotate through two flexible universal wheels two 234 of universal wheel drive 235 drive, can drive handling device 100 and carry out automatic movement, thereby carry out automatic handling to large-scale plate type part 200, under the state that universal wheel drive 235 loses electricity, can adjust the height of flexible universal wheel one 214 and two flexible universal wheels two 234, make flexible universal wheel one 214 and two flexible universal wheels two 234 not contact with ground, and a plurality of universal wheels 24 and ground contact of handling base 11 below, thereby can promote handling device 100 through the hand wheel and remove, thereby handling device 100 can't normally remove under the state of avoiding losing electricity.
The first telescopic driving piece 213 in the telescopic universal wheel set 21 is an electric push rod, the second telescopic driving piece 233 in the left steering wheel set 22 and the right steering wheel set 23 is also an electric push rod, the universal wheel driving pieces 235 in the left steering wheel set 22 and the right steering wheel set 23 are servo motors, when the electric push rods in the telescopic universal wheel set 21, the electric push rods of the left steering wheel set 22 and the electric push rods of the right steering wheel set 23 are simultaneously electrified, the piston rods of the three electric push rods start to do stretching movement, so that the telescopic universal wheel set 21, the left steering wheel set 22 and the right steering wheel set 23 are pushed to simultaneously present stretching states, and the carrying device 100 is supported upwards under the joint supporting effect of the telescopic universal wheel set 21, the left steering wheel set 22 and the right steering wheel set 23, so that the walking state can be controlled by the servo motors in the left steering wheel set 22 and the right steering wheel set 23.
Four automatic walking states can be realized when the telescopic universal wheel set 21, the left steering wheel set 22 and the right steering wheel set 23 are in an extending state: in the forward state, the servo motor of the left steering wheel set 22 and the servo motor of the right steering wheel set 23 rotate forward simultaneously, so that the telescopic universal wheels 234 in the left steering wheel set 22 and the right steering wheel set 23 are driven to rotate forward simultaneously, and the whole vehicle realizes forward movement under the common driving of the two telescopic universal wheels 234, and at the moment, the telescopic universal wheel set 21 plays a role in universal support;
In a retreating state, the servo motor of the left steering wheel set 22 and the servo motor of the right steering wheel set 23 are reversed at the same time, so that the telescopic universal wheels 234 in the left steering wheel set 22 and the right steering wheel set 23 are driven to be reversed at the same time, and the whole vehicle realizes retreating movement under the common driving of the two telescopic universal wheels 234, and at the moment, the telescopic universal wheel set 21 also plays a role in universal support;
In a left turning state, the servo motor in the left steering wheel set 22 is regulated to be in a standby stop state, and the servo motor in the right steering wheel set 23 is regulated to perform forward rotation, so that the left steering wheel set 22 is forced to be motionless, the right steering wheel set 23 is simultaneously rotated forward, and further, in a differential state of two wheel sets, left turning is realized, and when the rotating speed of the servo motor in the left steering wheel set 22 is regulated, the left turning speed can be regulated;
in a right turning state, the servo motor in the right steering wheel group 23 is regulated to be in a standby stop state, and the servo motor in the left steering wheel group 22 is regulated to perform forward rotation, so that the right steering wheel group 23 is forced to be motionless, the left steering wheel group 22 is simultaneously rotated forward, and further, in a differential state of the two wheel groups, the right turning is realized, and when the rotating speed of the left steering wheel servo motor is regulated, the right turning speed can be regulated.
When the large-scale flat plate automatic accurate adjusting device is in the state of transferring, power-off, failure and the like, after the electric push rods in the telescopic universal wheel set 21, the electric push rods of the left steering wheel set 22 and the electric push rods of the right steering wheel set 23 are simultaneously electrified, the piston rods of the three electric push rods start to do retraction movement, so that the telescopic universal wheel set 21, the left steering wheel set 22 and the right steering wheel set 23 are pulled to simultaneously present a retraction state, and the whole machine is in a passive walking state under the joint supporting action of a plurality of universal wheels 24 below the carrying base 11, and can be manually pushed.
When the large-scale plate part 200 is carried by the plurality of carrying devices 100, four, six or eight carrying devices 100 can be arranged below the large-scale plate part 200, the number of the carrying devices 100 can be adaptively set according to the size and the body parameters of the large-scale plate part 200, the number is not limited, when the body parameters of the large-scale plate part 200 are suitable for the four carrying devices 100 to carry out coordinated control, the four edge angles of the large-scale plate part 200 are respectively installed and fixed by the installation brackets 18, and the four carrying devices 100 are coordinated controlled, so that the requirements of speed, installation position and the like of the large-scale plate part 200 are met in the installation process; when the body parameters of the large plate part 200 are suitable for the coordination control of the six carrying devices 100, the six carrying devices 100 are respectively installed on the long edge side of the large plate part 200 through the installation brackets 18, so that the requirements of speed, installation position and the like are met in the installation process of the large plate part 200 through the coordination control of the six carrying devices 100; the number of the mounting devices 100, the mounting positions, and the like are not limited, and the number may be increased or decreased according to the mounting requirements of the large-sized plate-like parts 200.
The carrying device capable of adjusting the pose has the advantages that the carrying device capable of adjusting the pose of the large-scale plate part 200 can be used for carrying the large-scale plate part 200 through the plurality of carrying devices 100, after the large-scale plate part 200 is carried to a required assembly position, the horizontal X-axis hydraulic cylinder 13, the horizontal Y-axis hydraulic cylinder 15 and the piston rod of the lifting hydraulic cylinder 17 are accurately controlled to move through the control valve group 20, the pose of the large-scale plate part 200 can be adjusted, the overall height of the large-scale plate part 200 can be adjusted, the height of one side of the large-scale plate part 200 can be also adjusted, the large-scale plate part 200 can be horizontally rotated, the carrying device capable of adjusting the pose has the advantages of being convenient to install, flexible to operate, easy to adjust, high in automation degree and the like, and compared with the carrying device capable of adjusting the pose of the large-scale plate part 200 through lifting and the like.
Through three solenoid directional valves, can control hydraulic oil and get into respectively and flow out in horizontal X axle pneumatic cylinder 13, horizontal Y axle pneumatic cylinder 15 and the pole chamber and the no pole chamber of lifting hydraulic cylinder 17, thereby control horizontal X axle pneumatic cylinder 13, horizontal Y axle pneumatic cylinder 15 and lifting hydraulic cylinder 17 independent action respectively, thereby make whole handling device 100 to the flexibility of big type plate part 200 position appearance adjustment higher, arbitrary handling device 100 can all carry out three orientation's adjustment to big type plate part 200, a plurality of handling devices 100 cooperate and can make the flexibility of adjusting big type plate part 200 position appearance further improve, in addition, through three hydraulic locks, can lock hydraulic oil in horizontal X axle pneumatic cylinder 13, horizontal Y axle pneumatic cylinder 15 and lifting hydraulic cylinder 17's pole chamber and no pole chamber, can keep horizontal X axle pneumatic cylinder 13, horizontal Y axle pneumatic cylinder 15 and lifting hydraulic cylinder 17's piston rod static, keep the piston rod not to do not move, thereby in the in-process of carrying big type plate part 200, can keep big type plate part 200 position appearance adjustment, can keep big type plate part 200 position appearance to take place after can not be disturbed by the stability, can also keep the stability of carrying in-type plate part 200 position appearance adjustment.
The first electromagnetic directional valve 201 controls the first hydraulic lock 204 to switch between a locking state and an unlocking state, the first hydraulic lock 204 can lock hydraulic oil in a rod cavity and a rodless cavity of the horizontal X-axis hydraulic cylinder 13 when in the locking state, the first hydraulic lock 204 can enter or flow out of the rod cavity and the rodless cavity of the horizontal X-axis hydraulic cylinder 13 when in the unlocking state, the second electromagnetic directional valve 202 controls the second hydraulic lock 205 to switch between the locking state and the unlocking state, and the third electromagnetic directional valve 203 controls the third hydraulic lock 206 to switch between the locking state and the unlocking state.
Through flexible universal wheel group 21, left steering wheel group 22 and right steering wheel group 23, can adjust the height of flexible universal wheel one 214 and two flexible universal wheels two 234, rotate through two flexible universal wheels two 234 of universal wheel drive 235 drive, can drive handling device 100 and carry out automatic movement, thereby carry out automatic handling to large-scale plate type part 200, under the state that universal wheel drive 235 loses electricity, can adjust the height of flexible universal wheel one 214 and two flexible universal wheels two 234, make flexible universal wheel one 214 and two flexible universal wheels two 234 not contact with ground, and a plurality of universal wheels 24 and ground contact of handling base 11 below, thereby can promote handling device 100 through the hand wheel and remove, thereby handling device 100 can't normally remove under the state of avoiding losing electricity.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined as the scope of the claims.

Claims (10)

1. The utility model provides a but handling device of position appearance adjustment which characterized in that: the device comprises a plurality of carrying devices (100), wherein the carrying devices (100) are arranged along the peripheral edges of large-scale plate parts (200), and the carrying devices (100) are connected with the large-scale plate parts (200);
the carrying device (100) comprises:
A carrying base (11), wherein a plurality of universal wheels (24) are arranged below the carrying base (11);
the first base (12) is fixedly connected with the carrying base (11);
the horizontal X-axis hydraulic cylinder (13), the horizontal X-axis hydraulic cylinder (13) is fixedly connected with the first base (12), and the horizontal X-axis hydraulic cylinder (13) is arranged along the X-axis direction;
The second base (14) is in sliding connection with the first base (12), a piston rod of the horizontal X-axis hydraulic cylinder (13) is connected with the second base (14), and the second base (14) slides along the X-axis direction;
The horizontal Y-axis hydraulic cylinder (15), the horizontal Y-axis hydraulic cylinder (15) is fixedly connected with the second base (14), and the horizontal Y-axis hydraulic cylinder (15) is arranged along the Y-axis direction;
the third base (16), the said third base (16) is connected with said second base (14) slidably, the said third base (16) slides along Y-axis direction, the piston rod of the said horizontal Y-axis hydraulic cylinder (15) is connected with said third base (16);
The lifting hydraulic cylinder (17), the lifting hydraulic cylinder (17) is fixedly connected with the third base (16), and the lifting hydraulic cylinder (17) is arranged along the Z direction;
The mounting bracket (18), the mounting bracket (18) is connected with the large-scale plate part (200), and a piston rod of the lifting hydraulic cylinder (17) is connected with the mounting bracket (18);
-a hydraulic station (19), said hydraulic station (19) being mounted on said handling base (11);
The control valve group (20), the control valve group (20) is communicated with an oil outlet of the hydraulic station (19), oil cavities of the horizontal X-axis hydraulic cylinder (13), the horizontal Y-axis hydraulic cylinder (15) and the lifting hydraulic cylinder (17) are all connected with the control valve group (20) so as to respectively control piston rod actions of the horizontal X-axis hydraulic cylinder (13), the horizontal Y-axis hydraulic cylinder (15) and the lifting hydraulic cylinder (17) through the control valve group (20), and a controller is arranged on the carrying base (11), and the controller is electrically connected with the control valve group (20) so as to control the opening and closing of the control valve group (20);
The plurality of carrying devices (100) can translate the large-scale plate parts (200) along the horizontal direction, and when the pose adjustment is carried out, the plurality of carrying devices (100) can adjust the height of the large-scale plate parts (200), can adjust the height of one side of the large-scale plate parts (200), and can adjust the rotation of the large-scale plate parts (200) in the horizontal direction.
2. The pose adjustable handling device of claim 1, wherein: the control valve group (20) includes:
The oil inlets of the three electromagnetic directional valves are communicated with the oil outlet of the hydraulic station (19), and the three electromagnetic directional valves are respectively an electromagnetic directional valve I (201), an electromagnetic directional valve II (202) and an electromagnetic directional valve III (203);
The three hydraulic locks are respectively a first hydraulic lock (204), a second hydraulic lock (205) and a third hydraulic lock (206), the first hydraulic lock (204) is connected with the first electromagnetic directional valve (201), the second hydraulic lock (205) is connected with the second electromagnetic directional valve (202), the third hydraulic lock (206) is connected with the third electromagnetic directional valve (203), the first hydraulic lock (204) can respectively lock oil in the horizontal X-axis hydraulic cylinder (13) into two oil cavities, the second hydraulic lock (205) can respectively lock oil in the horizontal Y-axis hydraulic cylinder (15) into two oil cavities, and the third hydraulic lock (206) can respectively lock oil in the lifting hydraulic cylinder (17) into two oil cavities.
3. The pose adjustable handling device of claim 2, wherein: the hydraulic lock I (204) comprises a hydraulic control one-way valve I (2041) and a hydraulic control one-way valve II (2042), the hydraulic lock II (205) comprises a hydraulic control one-way valve III (2043) and a hydraulic control one-way valve IV (2044), and the hydraulic lock III (206) comprises a hydraulic control one-way valve V (2045) and a hydraulic control one-way valve V (2046);
The oil inlet of the first hydraulic control check valve (2041) and the oil inlet of the second hydraulic control check valve (2042) are both communicated with the first electromagnetic directional valve (201), the oil outlet of the first hydraulic control check valve (2041) is communicated with the rodless cavity of the horizontal X-axis hydraulic cylinder (13), the oil outlet of the second hydraulic control check valve (2042) is communicated with the rod cavity of the horizontal X-axis hydraulic cylinder (13), and the control oil port of the first hydraulic control check valve (2041) and the control oil port of the second hydraulic control check valve (2042) are both communicated with the oil outlet of the first electromagnetic directional valve (201);
the oil inlet of the third hydraulic control check valve (2043) and the oil inlet of the fourth hydraulic control check valve (2044) are both communicated with the second electromagnetic directional valve (202), the oil outlet of the third hydraulic control check valve (2043) is communicated with the rodless cavity of the horizontal Y-axis hydraulic cylinder (15), the oil outlet of the fourth hydraulic control check valve (2044) is communicated with the rod cavity of the horizontal Y-axis hydraulic cylinder (15), and the control oil port of the third hydraulic control check valve (2043) and the control oil port of the fourth hydraulic control check valve (2044) are both communicated with the oil outlet of the second electromagnetic directional valve (202);
The oil inlet of the hydraulic control check valve five (2045) and the oil inlet of the hydraulic control check valve six (2046) are both communicated with the electromagnetic directional valve three (203), the oil outlet of the hydraulic control check valve five (2045) is communicated with the rodless cavity of the lifting hydraulic cylinder (17), the oil outlet of the hydraulic control check valve six (2046) is communicated with the rod cavity of the lifting hydraulic cylinder (17), and the control oil port of the hydraulic control check valve five (2045) and the control oil port of the hydraulic control check valve six (2046) are both communicated with the oil outlet of the electromagnetic directional valve three (203).
4. A pose adjustable handling device according to claim 3, characterized in that: the electromagnetic directional valve I (201), the electromagnetic directional valve II (202) and the electromagnetic directional valve III (203) are three-position four-way Y-shaped electromagnetic directional valves, the electromagnetic directional valve I (201) comprises an A1 oil port, a B1 oil port, a P1 oil port and a T1 oil port, the electromagnetic directional valve II (202) comprises an A2 oil port, a B2 oil port, a P2 oil port and a T2 oil port, the electromagnetic directional valve III (203) comprises an A3 oil port, a B3 oil port, a P3 oil port and a T3 oil port, the T1 oil port, the T2 oil port and the T3 oil port are all communicated with an oil return port of the hydraulic station (19), and the P1 oil port, the P2 oil port and the P3 oil port are all communicated with an oil outlet of the hydraulic station (19);
The hydraulic control check valve A1 is characterized in that an oil port A1 is communicated with an oil inlet of a hydraulic control check valve I (2041), an oil port B1 is communicated with an oil inlet of a hydraulic control check valve II (2042), a control oil port of the hydraulic control check valve I (2041) is communicated with the oil port B1, and a control oil port of the hydraulic control check valve II (2042) is communicated with the oil port A1;
The oil port A2 is communicated with the oil inlet of the hydraulic control one-way valve III (2043), the oil port B2 is communicated with the oil inlet of the hydraulic control one-way valve IV (2044), the control oil port of the hydraulic control one-way valve III (2043) is communicated with the oil port B2, and the control oil port of the hydraulic control one-way valve IV (2044) is communicated with the oil port A2;
The hydraulic control check valve is characterized in that the A3 oil port is communicated with oil inlet of the hydraulic control check valve five (2045), the B3 oil port is communicated with oil inlet of the hydraulic control check valve six (2046), the control oil port of the hydraulic control check valve five (2045) is communicated with the B3 oil port, and the control oil port of the hydraulic control check valve six (2046) is communicated with the A3 oil port.
5. A pose adjustable handling device according to claim 3, characterized in that: the hydraulic station (19) comprises:
An oil tank (191);
The hydraulic pump set I (192), the oil inlet of the electromagnetic directional valve I (201), the oil inlet of the electromagnetic directional valve II (202) and the oil inlet of the electromagnetic directional valve III (203) are all connected with the oil outlet of the hydraulic pump set I (192);
The oil outlet of the second hydraulic pump set (193) is connected with the oil outlet of the first hydraulic pump set (192);
The oil inlet of the overflow valve (194) is connected with the oil outlet of the first hydraulic pump unit (192) and the oil outlet of the second hydraulic pump unit (193), and the oil outlet of the overflow valve (194) is connected with the oil tank (191);
A first check valve (195), the first check valve (195) being arranged at an oil outlet of the first hydraulic pump unit (192);
and the second check valve (196) is arranged at the oil outlet of the second hydraulic pump set (193).
6. The pose adjustable handling device of claim 1, wherein: the installation support (18) is provided with a double-shaft inclination angle sensor, two measuring shafts of the double-shaft inclination angle sensor are respectively arranged along the X-axis direction and the Y-axis direction, and the double-shaft inclination angle sensor detects inclination angles of the horizontal X-axis direction and the horizontal Y-axis direction of the large-scale plate part (200).
7. The pose adjustable handling device of claim 1, wherein: the X-axis guide piece is arranged on the first base (12), the second base (14) is in sliding connection or sliding fit with the X-axis guide piece, the Y-axis guide piece is arranged on the second base (14), and the third base (16) is in sliding connection with the Y-axis guide piece.
8. The pose adjustable handling device of claim 1, wherein: the utility model discloses a flexible universal wheel group (21), left steering wheel group (22) and right steering wheel group (23) are provided with to transport base (11) below, flexible universal wheel group (21), left steering wheel group (22) and right steering wheel group (23) all with transport base (11) swing joint, flexible universal wheel group (21), left steering wheel group (22) and right steering wheel group (23) all can reciprocate in order to carry out the regulation from top to bottom.
9. The pose adjustable handling device of claim 8, wherein: the telescopic universal wheel set (21) comprises:
One end of the first connecting rod (211) is movably connected with the carrying base (11);
One end of the connecting rod II (212) is hinged or rotationally connected with the connecting rod I (211);
One end of the first telescopic driving piece (213) is movably connected with the second connecting rod (212), and one end of the first telescopic driving piece (213) is movably connected with the carrying base (11) so as to drive the first connecting rod (211) and the second connecting rod (212) to rotate;
And the first telescopic universal wheel (214) is connected with the second connecting rod (212).
10. The pose adjustable handling device of claim 8, wherein: the left steering wheel set (22) and the right steering wheel set (23) each include:
A third connecting rod (231), wherein one end of the third connecting rod (231) is movably connected with the carrying base (11);
A connecting rod IV (232), wherein one end of the connecting rod IV (232) is hinged or rotationally connected with the connecting rod III (231);
The second telescopic driving piece (233), one end of the second telescopic driving piece (233) is movably connected with the fourth connecting rod (232), and one end of the second telescopic driving piece (233) is movably connected with the carrying base (11) so as to drive the third connecting rod (231) and the fourth connecting rod (232) to rotate;
The telescopic universal wheel II (234), telescopic universal wheel II (234) with connecting rod IV (232) are connected, install universal wheel driving piece (235) on telescopic universal wheel II (234), universal wheel driving piece (235) with telescopic universal wheel II (234) transmission is connected in order to drive telescopic universal wheel II (234) rotation.
CN202211126220.XA 2022-09-16 2022-09-16 Carrying device capable of adjusting pose Active CN115432633B (en)

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Application Number Priority Date Filing Date Title
CN202211126220.XA CN115432633B (en) 2022-09-16 2022-09-16 Carrying device capable of adjusting pose

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CN115432633B true CN115432633B (en) 2024-09-20

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101659289A (en) * 2009-09-23 2010-03-03 宁波大学 Carrier with antiskid function
CN111731860A (en) * 2020-05-29 2020-10-02 南京阿兹曼电子科技有限公司 Auxiliary arm set for carrying plates and continuous carrying working method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2990072A (en) * 1956-06-08 1961-06-27 Clark Equipment Co Material handling mechanism
CN206447520U (en) * 2016-11-27 2017-08-29 徐孝思 A kind of plate type part lift
CN112194051B (en) * 2020-10-31 2021-10-08 龙合智能装备制造有限公司 High-adaptability container carrying equipment and using method thereof

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101659289A (en) * 2009-09-23 2010-03-03 宁波大学 Carrier with antiskid function
CN111731860A (en) * 2020-05-29 2020-10-02 南京阿兹曼电子科技有限公司 Auxiliary arm set for carrying plates and continuous carrying working method

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