CN203681698U - Vertical transfer platform for satellite subassembly - Google Patents
Vertical transfer platform for satellite subassembly Download PDFInfo
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- CN203681698U CN203681698U CN201320728083.7U CN201320728083U CN203681698U CN 203681698 U CN203681698 U CN 203681698U CN 201320728083 U CN201320728083 U CN 201320728083U CN 203681698 U CN203681698 U CN 203681698U
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- 238000012546 transfer Methods 0.000 title abstract description 5
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000012856 packing Methods 0.000 claims description 13
- 230000000694 effects Effects 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 9
- 238000007789 sealing Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
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Abstract
The utility model relates to a vertical transfer platform for satellite subassembly, belongs to the technical field of transferring of satellite subassembly, and is suitable for quickly and flexibly transferring satellites in a plant. The vertical transfer platform has the advantages that an all-directional movement module is adopted, the movement is flexible, the movement in any direction in a two-dimensional plane is realized, and the zero-steering radius is realized through remote control; the platform can effectively pass through one part of slit area of the plant, and the transfer process is quicker and more flexible.
Description
Technical field
The utility model relates to the vertical transferring platform of a kind of portion of being applicable to dress celestial body, the portion's of belonging to dress celestial body transhipment technical field, can be used for the inner celestial body of factory building fast, transhipment flexibly.
Background technology
Existing satellite portion dress transport process, the general transporting mode that adopts packing chest to add tractor truck, transport is wasted time and energy, inefficiency, and under present mode, transport adopts celestial body horizontal positioned, when portion fills, celestial body is vertically placed, portion dress and transport process need celestial body repeatedly to turn round, and because now to grind celestial body whole height too high, cannot adopt traditional horizontal transporting mode, need the transporting mode of development of new badly, to meet the demand of satellite factory building internal forwarding under current condition.
Utility model content
The purpose of this utility model is the deficiency in order to overcome existing transmission transportation mode, the vertical transferring platform of a kind of portion of being applicable to dress celestial body is provided, this transferring platform intelligence, efficient, degree of automation is high, and can realize the vertical transhipment of celestial body, alleviate the labour intensity of operating personal, also reduce human element impact simultaneously, improved convenience and the reliability of Product transport, effectively solved the problem of heavy parts factory building internal forwarding.
The purpose of this utility model is achieved through the following technical solutions.
The vertical transferring platform of a kind of portion of being applicable to of the present utility model dress celestial body, comprises car body module, transhipment module, leveling module and electronic control module.
Leveling module is arranged in car body module, and the lower part of transhipment module is fixedly connected with leveling module; Electronic control module and car body module, transhipment module and leveling module are passed through connection.
Described car body module comprises four Omni-mobile wheels, car body main body frame and hangs driving system; Omni-mobile wheels are fixedly connected with hanging driving system, hang driving system and are arranged on below car body main body frame.
Described Omni-mobile wheels comprise eight rollers, two wheel hubs and axle sleeve; Roller is installed on wheel hub as an assembly, the axle of roller becomes a ° angle with the axis of Omni-mobile wheels, the projection on the axis vertical surface of wheel hub of the outline of eight rollers forms a full circle, and two wheel hubs connect together by axle sleeve, and forms wheels with eight rollers.
Described suspension driving system comprises guide rail slide block assembly, transmission shaft, four springs, two dampers, servomotor, retarder, erecting frame; Transmission shaft is fixedly connected with retarder; Servomotor is fixedly connected with retarder; Guide rail slide block assembly is fixedly connected with transmission shaft; Spring is all fixedly connected with guide rail slide block assembly with two dampers; Guide rail slide block assembly is arranged on erecting frame, and erecting frame is arranged on car body main body frame.
Hang driving system and be fixedly connected with Omni-mobile wheels by transmission shaft, the moment of servomotor is passed to Omni-mobile wheels through retarder and transmission shaft, thereby controls moving direction and the moving velocity of transferring platform; In the time of certain Omni-mobile wheels protruding obstacle of process or pit, single Omni-mobile wheels are under the effect of self gravitation and four springs and two dampers, realize effectively landing of four Omni-mobile wheels, guide rail slide block assembly ensures that Omni-mobile wheels are in the time slightly moving up and down, moving direction is all the time at vertical direction, can not bring the component velocity of other directions, thereby at utmost ensure the control accuracy of transferring platform operation.
Described leveling module comprises two fixing Zhi Duan and an adjustment Zhi Duan, as shown in the figure, two mono-of fixing Zhi Duanyu adjust Zhi Duan and are arranged in two end faces transporting module along transferring platform direct of travel, and two fixing Zhi Duan are arranged symmetrically with respect to transferring platform length direction; Fixing Zhi Duan is fixedly connected with car body module by car body connecting element, and fixing Zhi Duan is connected by connecting element and the end face of transhipment module.
Fixing Zhi Duan comprises connecting element, bearing pin and car body connecting element; Adjust Zhi Duan comprise leading screw mounting assembly, packing chest attaching parts, elevator assembly, adjustment prop up end main frame, guidance set and support.
Leading screw mounting assembly is fixedly connected on support; Elevator assembly is fixedly connected with leading screw mounting assembly, and guidance set is fixedly connected with support, and packing chest attaching parts is fixedly connected with an adjustment end main frame; Adjusting an end main frame is fixedly connected with support.
At fixing Zhi Duanzhong, connecting element is realized and being connected by bearing pin with car body connecting element; Connecting element is fixedly connected with transhipment module; Car body connecting element is fixedly connected with car body module; Adjusting under the effect of Zhi Duan, transhipment module drives connecting element to do gyroscopic movement around bearing pin, to meet the demand of leveling process.
Adjusting Zhi Duan is fixedly connected with car body module by car body connecting element, adjusting Zhi Duan is fixedly connected with transhipment module by packing chest attaching parts, when the levelness that records transhipment module when the levelness measurer of transhipment in module exceedes °, control program in electronic control module sends adjustment signal, under the moment loading of elevator assembly, through the guiding of guidance set, drive transhipment module to do levelness around the rotating shaft of fixing Zhi Duan by leading screw mounting assembly through packing chest attaching parts and regulate.
Described transhipment module comprises top box cover, nowel cover and case underframe; Top box cover and nowel cover pass through hasp fixed seal connection, and are arranged on case underframe by hasp together.
Case underframe is fixedly connected with leveling module, and taking car body module as basic platform, realizes the effective protection in transferring platform transport process.
Top box cover, nowel cover all have lifting suspension ring, can independently lift, between top box cover and nowel cover and nowel cover and case underframe, all adopt hasp to be connected, the sealing functions such as structure rain-proof dust-proof are mainly sealed and are installed between structure that sealing band realizes by construction joint.Guide ring is all arranged at top box cover, nowel cover bottom, ensures that top box cover and nowel cover on installation process and slowly pack into along pilot bar, avoids colliding with celestial body.
Described electronic control module comprises walking electronic control module, leveling electronic control module, electric supply system and brake system; Traveling control system is mainly realized the Omni-mobile function of equipment; Levelling control system, can automatic leveling mainly in the time that transferring platform is climbed, and then can be adjusted in real time ± ° level attitude of packing chest; Electric supply system is mainly walking electronic control module and leveling electronic control module provides the energy; Brake system is mainly used in emergency situation and stops, and is made up of four scram buttons.
Car body module has self-powered Omni-mobile function, and there is shockproof suspension system, can ensure that, in ground injustice or uphill/downhill process, four Omni-mobile wheels land all the time, the safety of protection transhipment module, and provide shoring of foundation and fixing for leveling module, transhipment module and electronic control module; Leveling module, is arranged in car body module, realizes transhipment module and remains relative level state, ensures the safety of uphill/downhill process; Under transhipment module, part is connected with leveling module, for satellite provides protection, plays the effect of crashproof, vibration damping, sealing; Electronic control module is that equipment is for distribution management, Omni-mobile control and leveling control.
The utility model beneficial effect is compared with prior art:
The utility model adopts Omni-mobile module, flexibly mobile, can in two dimensional surface, do the movement of any direction, can reach zero turn radius by remote control control, effectively, by factory building part narrow zone, makes transport process fast and flexible more.
The difficult problem that the utility model can overcome traditional approach cannot transport superelevation part, the minimum terrain clearance of car body upper table surface can reach 280mm, be far smaller than the corresponding size height of Traditional Transportation vehicle, can actv. solve the internal forwarding problem of superelevation, super large part.
The utility model is furnished with leveling module; in the situation that the upper and lower gradient of car body exceedes 1 °, start leveling module, make transported piece all the time in relative level state; reduce the harmful effect that transportation causes because of undue inclination in transport process, can accomplish actv. protection to transportation.
When conventional truck transhipment, because of the limitation in height on the chassis of transport vehicle own, can only take the horizontal transporting mode of celestial body, need repeatedly be exchanged by horizontality and plumbness at transport process celestial body, increase the danger of satellite transfer process, adopt vertical transhipment, can effectively reduce and repeatedly exchange the danger factor of bringing because of celestial body modes of emplacement.
Brief description of the drawings
Fig. 1 is vertical transferring platform overall schematic;
Fig. 2 is car body module diagram;
Fig. 3 is Omni-mobile wheels schematic diagrams;
Fig. 4 hangs driving system schematic diagram;
Fig. 5 is fixing end schematic diagram of levelling gear;
Fig. 6 is that end schematic diagram is propped up in levelling gear adjustment;
Fig. 7 is transhipment module diagram.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is done to further detailed description:
Fig. 2 is that car body module 1,6 is car body main body frame, is main load-carrying and basic platform, as shown in the figure, does the processing of spill according to the vehicle body frame of practical application, to reduce transferring platform whole height, 5 is Omni-mobile wheels, car body module 1 comprises altogether four groups of Omni-mobile wheels 5, taking our factory, existing Omni-mobile wheel is basis to Omni-mobile wheels 5, according to the product of the demand customization of transhipment mobile platform, Fig. 3 is Omni-mobile wheels 5 structural representations, roller 8 is installed on wheel hub 9 as an assembly, the wheel axis of the axle of roller 8 and Omni-mobile wheels 5 in angle of 45 degrees, eight roller 8 outlines projections on hub axis vertical surface form a full circle, outside diameter is 570mm, two wheel hubs 9 connect together by axle sleeve 10, and form Omni-mobile wheels 5 with 8 rollers 8.Fig. 4 is for hanging driving system 7, hanging driving system and vehicle body frame 8 is directly connected, and be connected by transmission shaft 12 and Omni-mobile wheels 5, the moment of servomotor 15 is passed to Omni-mobile wheels 5 through retarder 16 and transmission shaft 12, thereby control moving direction and the moving velocity of transferring platform, in the time of certain wheels protruding obstacle of process or pit, single Omni-mobile wheels 5 are under the effect of self gravitation and four springs 13 and two dampers 14, realize effectively landing of Omni-mobile wheels 5, guide rail slide block assembly 11 ensures that Omni-mobile wheels 5 are in the time slightly moving up and down, moving direction is all the time at vertical direction, can not bring the component velocity of other directions, thereby at utmost ensure the control accuracy of car body operation.
Fig. 5 is fixing end schematic diagram of levelling gear, Fig. 6 is that end schematic diagram is propped up in levelling gear adjustment, as shown in Figure 1, two mono-of fixing Zhi Duanyu adjust Zhi Duan and are arranged in two end faces transporting module 2 along transferring platform direct of travel, and two fixing Zhi Duan are arranged symmetrically with respect to transferring platform length direction.
Fixing Zhi Duan is realized and being connected with car body module 1 by connecting element 18; Be fixedly connected with transhipment module 2 by connecting element 18; Adjusting under the effect of Zhi Duan, transhipment module 2 drives connecting element 18 to do gyroscopic movement around bearing pin 19, to meet the demand of leveling process.
Adjusting Zhi Duan is fixedly connected with car body module 1 by car body connecting element 20, be fixedly connected with transhipment module 2 by packing chest attaching parts 22, when the levelness that records transhipment module 2 when the levelness measurer of transhipment in module 2 exceedes 1 °, control program in electronic control module 4 sends adjustment signal, under the moment loading of elevator assembly 23, through the guiding of guidance set 25, drive transhipment module 2 to do levelness around the rotating shaft of fixing Zhi Duan by leading screw mounting assembly 21 through packing chest attaching parts 22 and regulate.
Fig. 7 is the schematic diagram of transhipment module 2.Its bottom is connected with leveling module 3, and taking car body module 1 as basic platform, realizes the effective protection in celestial body transport process.Transhipment module 2 adopts the structure of split, i.e. case underframe 29, top box cover 27 and nowel cover 28 3 parts.Top box cover 27, nowel cover 28 all have lifting suspension ring, can independently lift, between top box cover 27 and nowel cover 28 and nowel cover 28 and case underframe 29, all adopt hasp to be connected, the sealing functions such as structure rain-proof dust-proof are mainly sealed and are installed between structure that sealing band realizes by construction joint.Guide ring is all arranged at top box cover 27, nowel cover 28 bottoms, ensures that top box cover 27 and nowel cover 28 slowly pack into along pilot bar in installation process, avoid colliding with celestial body.
The utility model not detailed description is known to the skilled person technology.
Claims (7)
1. a vertical transferring platform for the portion's of being applicable to dress celestial body, is characterized in that: comprise car body module (1), transhipment module (2), leveling module (3) and electronic control module (4);
It is upper that leveling module (3) is arranged on car body module (1), and the lower part of transhipment module (2) is fixedly connected with leveling module (3); Electronic control module (4) is passed through connection with car body module (1), transhipment module (2) and leveling module (3).
2. the vertical transferring platform of a kind of portion of being applicable to according to claim 1 dress celestial body, is characterized in that: car body module (1) comprises four Omni-mobile wheels (5), car body main body frame (6) and hangs driving system (7); Omni-mobile wheels (5) are fixedly connected with hanging driving system (7), hang driving system (7) and are arranged on below car body main body frame (6).
3. the vertical transferring platform of a kind of portion of being applicable to according to claim 2 dress celestial body, is characterized in that: Omni-mobile wheels (5) comprise eight rollers (8), two wheel hubs (9) and axle sleeve (10); Roller (8) is installed on wheel hub (9) as an assembly, the axis angle at 45 ° of the axle of roller (8) and Omni-mobile wheels (5), the projection on the axis vertical surface of wheel hub (9) of eight rollers (8) outline forms a full circle, outside diameter is 570mm, two wheel hubs (9) connect together by axle sleeve (10), and form wheels with eight rollers (8).
4. the vertical transferring platform of a kind of portion of being applicable to according to claim 2 dress celestial body, is characterized in that: hang driving system (7) and comprise guide rail slide block assembly (11), transmission shaft (12), four springs (13), two dampers (14), servomotor (15), retarder (16), erecting frame (17);
Transmission shaft (12) is fixedly connected with retarder (16); Servomotor (15) is fixedly connected with retarder (16); Guide rail slide block assembly (11) is fixedly connected with transmission shaft (12); Four springs (13) are all fixedly connected with guide rail slide block assembly (11) with two dampers (14); It is upper that guide rail slide block assembly (11) is arranged on erecting frame (17), and erecting frame (17) is arranged on car body main body frame (6);
Guide rail slide block assembly (11) is fixedly connected with car body main body frame (6) through erecting frame (17); Hanging driving system (7) is fixedly connected with Omni-mobile wheels (5) by transmission shaft (12), the moment of servomotor (15) is passed to Omni-mobile wheels (5) through retarder (16) and transmission shaft (12), thereby controls moving direction and the moving velocity of transferring platform.
5. the vertical transferring platform of a kind of portion of being applicable to according to claim 1 dress celestial body, is characterized in that: leveling module (3) comprises fixing Zhi Duan and adjusts Zhi Duan; Fixing Zhi Duan comprises connecting element (18), bearing pin (19) and car body connecting element (20); Adjusting Zhi Duan comprises leading screw mounting assembly (21), packing chest attaching parts (22), elevator assembly (23), adjusts an end main frame (24), guidance set (25) and support (26);
Leading screw mounting assembly (21) is fixedly connected on support (26); Elevator assembly (23) is fixedly connected with leading screw mounting assembly (21), and guidance set (25) is fixedly connected with support (26), and packing chest attaching parts (22) is fixedly connected with an adjustment end main frame (24); Adjusting an end main frame (24) is fixedly connected with support (26);
At fixing Zhi Duanzhong, connecting element (18) is realized and being connected by bearing pin (19) with car body connecting element (20); Connecting element (18) is fixedly connected with transhipment module (2); Car body connecting element (20) is fixedly connected with car body module (1); Adjusting under the effect of Zhi Duan, transhipment module (2) drives connecting element (18) to do gyroscopic movement around bearing pin (19), to meet the demand of leveling process;
Fixing Zhi Duanyu adjusts Zhi Duan and is arranged in two end faces transporting module (2) along transferring platform direct of travel, and the two ends of fixing Zhi Duan are arranged symmetrically with respect to transferring platform length direction; Fixing Zhi Duan is fixedly connected with car body module (1) by car body connecting element (20), and fixing Zhi Duan is connected by connecting element (18) and the end face of transhipment module (2);
Adjust Zhi Duan and be fixedly connected with car body module (1) by car body connecting element (20), adjust Zhi Duan and be fixedly connected with transhipment module (2) by packing chest attaching parts (22).
6. the vertical transferring platform of a kind of portion of being applicable to according to claim 1 dress celestial body, is characterized in that: transhipment module (2) comprises top box cover (27), nowel cover (28) and case underframe (29); Top box cover (27) and nowel cover (28) pass through hasp fixed seal connection, and are arranged on case underframe (29) by hasp together; Case underframe (29) is fixedly connected with leveling module (3); And top box cover (27) and nowel cover (28) all have lifting suspension ring.
7. the vertical transferring platform of a kind of portion of being applicable to according to claim 1 dress celestial body, is characterized in that: electronic control module (4) comprises walking electronic control module, leveling electronic control module, electric supply system and brake system; Traveling control system is mainly realized the Omni-mobile function of equipment; Levelling control system, can automatic leveling mainly in the time that transferring platform is climbed, and then can be adjusted in real time ± 1 ° of level attitude of packing chest; Electric supply system is mainly walking electronic control module and leveling electronic control module provides the energy; Brake system is mainly used in emergency situation and stops, and is made up of four scram buttons.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320728083.7U CN203681698U (en) | 2013-11-18 | 2013-11-18 | Vertical transfer platform for satellite subassembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320728083.7U CN203681698U (en) | 2013-11-18 | 2013-11-18 | Vertical transfer platform for satellite subassembly |
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| Publication Number | Publication Date |
|---|---|
| CN203681698U true CN203681698U (en) | 2014-07-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320728083.7U Expired - Lifetime CN203681698U (en) | 2013-11-18 | 2013-11-18 | Vertical transfer platform for satellite subassembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203681698U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106125739A (en) * | 2016-08-29 | 2016-11-16 | 深圳市劲拓自动化设备股份有限公司 | A kind of coordinated control system based on many Omni-mobile platforms and control method |
| CN107161238A (en) * | 2016-03-08 | 2017-09-15 | 深圳先进技术研究院 | Electric platforms |
| CN111776108A (en) * | 2020-07-27 | 2020-10-16 | 中国民航大学 | Omnidirectional mobile platform based on planet wheel |
-
2013
- 2013-11-18 CN CN201320728083.7U patent/CN203681698U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161238A (en) * | 2016-03-08 | 2017-09-15 | 深圳先进技术研究院 | Electric platforms |
| CN106125739A (en) * | 2016-08-29 | 2016-11-16 | 深圳市劲拓自动化设备股份有限公司 | A kind of coordinated control system based on many Omni-mobile platforms and control method |
| CN111776108A (en) * | 2020-07-27 | 2020-10-16 | 中国民航大学 | Omnidirectional mobile platform based on planet wheel |
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