CN208249802U - It is a kind of can 360 ° steering handling devices - Google Patents

Abstract

The utility model relates to it is a kind of can 360 ° of steerings handling devices, including vehicle frame and the multiple walking mechanisms being arranged on vehicle frame, multiple steering mechanism, damping, clamping device, operation handle, controller, controller is electrically connected with multiple walking mechanisms, multiple steering mechanism, clamping device, operation handle respectively, the utility model not only realizes that handling device can 360 ° of steerings by walking mechanism and steering mechanism, so that back-and-forth motion, oblique translation, oblique steering and original place spinning motion may be implemented in handling device, mobile flexibility is improved；Handling device is additionally provided with damping, moves floor truck steadily, mitigates bad road conditions bring impact, greatly improves the diversity that handling device transports goods, further improve the scope of application of device；In addition, accurately controlling the traveling of handling device by operation handle, turning to, the operability of handling device is further improved, handling efficiency is further improved, reduces landed cost.

Description

It is a kind of can 360 ° steering handling devices

Technical field

The utility model relates to a kind of handling device technical field, especially one kind can 360 ° of handling devices turned to.

Background technique

Currently, common wheeled warehouse logistics handling device, mainly four-wheel fork truck, two-wheeled fork truck, four-wheel carrier etc., The function of not having original place rotation or translated to any direction.Therefore, the movement of general warehouse logistics haulage equipment is flexible Property is somewhat limited.In addition, common wheeled handling device is needed when controlling it and turning to speed using trick Cooperation, this control mode limits activity of the people in driving procedure to a certain extent, and mode of operation is complicated；Separately Outside, the position of wheel cannot be arranged in existing warehouse logistics haulage equipment and mobile platform in conjunction with auxiliary wheel according to actual needs And quantity, single design is not able to satisfy the mobile demand of different field, therefore there is an urgent need for a kind of novel logistics handling devices.

Utility model content

In view of the deficiencies of the prior art, what the utility model provided a kind of four-wheel practical, easy to operate can be 360 degree The handling device of steering, the handling device have the function of original place rotation and can be mobile to any direction.

The technical solution of the utility model are as follows: it is a kind of can 360 ° of steerings handling devices, including vehicle frame and be arranged in vehicle Multiple walking mechanisms, multiple steering mechanism on frame, damping, clamping device, operation handle, controller, the control Device is electrically connected with multiple walking mechanisms, multiple steering mechanism, clamping device, operation handle respectively, multiple traveling machines The lower end of vehicle frame is arranged in structure and steering mechanism, and the steering mechanism and walking mechanism are sequentially connected, thus control into Row mechanism turns to, and the damping is arranged between vehicle frame and steering mechanism.

Further, the walking mechanism includes wheel, conducting slip ring and the traveling motor being built in wheel, The conducting slip ring is arranged on vehicle frame and is electrically connected with motor is carried out, to be turned by control traveling motor driven wheel It is dynamic.

Further, the steering mechanism includes connecting plate, steering motor, fork, tooth sector, motor gear, turns To axis, the lower end of connecting plate is arranged in the steering motor, and the motor shaft of the steering motor is upward through connecting plate simultaneously It is sequentially connected with motor gear, the motor gear and the tooth sector being arranged in steering shaft are ratcheting, the steering shaft Lower end is passed down through connecting plate and is fixedly connected with fork, and the lower end of the fork is provided with wheel, the lower end of the connecting plate It is additionally provided with angular encoder, the angular encoder is ratcheting with tooth sector by encoder gear, passes through angular coding The steering angle and rotation direction of device real-time detection wheel.

Further, the damping includes vibration damper plate, multiple damping connecting rods, damping spring, the vibration damper plate patch It closes in the lower end of vehicle frame, vibration damper plate and vehicle frame are run through in the upper end of multiple damping connecting rods, and connecting plate is run through in lower end, and described subtracts Damping spring is arranged on shake connecting rod.

Further, the quantity of the clamping device is that clamping device described in 2,2 is symmetricly set on vehicle frame And cooperate, to realize the clamping of cargo；

The clamping device include gripping and fixed plate, clamping cylinder a, clamping cylinder b, elastic clamp hand, lifting cylinder a, Lifting cylinder b, the lifting cylinder a and lifting cylinder b are arranged on vehicle frame, and the lifting cylinder a and lifting cylinder b's is upper End is provided with gripping and fixed plate, and clamping cylinder a, clamping cylinder b, the elasticity clamp hand difference are provided in the gripping and fixed plate It is connect with the piston rod of clamping cylinder a, clamping cylinder b, to drive elastic clamp hand to move by clamping cylinder a, clamping cylinder b It is dynamic, and elastic clip hand is controlled by lifting cylinder a and lifting cylinder b and is moved up and down.

Further, the operation handle includes turntable, rocking bar, encoder a, encoder b, encoder c, multi-directional ball turn Motivation structure, arcuate rotation folder a, arcuate rotation press from both sides b, and the encoder a, encoder b, encoder c electrically connect with controller It connects, and the lower end of the turntable has been wholely set turntable connecting rod, the lower end of the turntable connecting rod is connect with encoder a, institute It states encoder a to be arranged in the encoder fixing seat being set on the outside of turntable connecting rod, also be covered on the outside of the encoder fixing seat Equipped with a bearing, the outer sheath of the bearing and turntable is equipped with a housing, when realizing rotary sleeve by bearing, reaches rotation The effect of turntable, reset spring a is also arranged on the turntable connecting rod, and the encoder a is connected by connector sleeve and rocking bar It connects, the lower end of the rocking bar is connect with setting in the intracorporal multi-directional ball rotating mechanism of shell, is arranged on the right side wall of the shell There are encoder b, the encoder b to connect with one end of arcuate rotation folder a, the other end of the arcuate rotation folder a is by turning Lever a is arranged on the left side wall of shell, is provided with reset spring b on the rotating bar a；

One end that encoder c, the encoder c and arcuate rotation folder b are provided on the front side wall of the shell connects It connects, the other end of the arcuate rotation folder b is arranged on the front side wall of shell by rotating bar b, is arranged in the rotating bar There is reset spring c, and the rocking bar passes through arcuate rotation folder a, arcuate rotation presss from both sides b, outer put on is additionally provided with tightly Anxious switch and switching switch, the emergency switch are switched for controlling handling device emergency braking, the switching for changing The mutual switching from rotary-die type and normal mode of handling device；

When normal mode, when by stirring rocking bar forward or backward, controller passes through the rotation for reading encoder c detection Angle, and then by control walking mechanism and steering mechanism, it realizes that handling device is moved forward or moved backward, passes through The speed for stirring angle control handling device of rocking bar；When by stirring rocking bar to the left or to the right, controller is by reading coding The rotational angle of device b detection, and then by control walking mechanism and steering mechanism realizes handling device to the left or to the right It is mobile, and reset spring b or bullet are passed through when unclamping rocking bar by the speed of rocking bar stirred angle and control handling device Spring c resets rocking bar；

When from rotary-die type, the tilting action of rocking bar does not work, by rotating clockwise or counterclockwise turntable, controller By read encoder a detection rotational angle, and then by control steering mechanism, realize handling device clockwise or the inverse time Needle rotation, the rotational angle that dress is carried in the rotational angle control by controlling turntable are made after unclamping turntable by reset spring a Turntable is obtained to reset.

Further, the utility model also provides another clamping device, the clamping device include cup one hand in the other before the chest, two elevators Structure, described cupping one hand in the other before the chest are fixedly connected with 2 elevating mechanisms respectively, so that lifting of cupping one hand in the other before the chest is driven by two elevating mechanisms, it is described Elevating mechanism include crane, lifting cylinder c, lifting sprocket, elevating chain, the crane is arranged on vehicle frame, institute The lifting cylinder c stated is arranged on crane, and the piston rod upper end of lifting cylinder c, the liter is arranged in the lifting sprocket Elevating chain is provided on descending chain wheel, described cupping one hand in the other before the chest is moved up and down in the guide groove of crane by elevating chain, thus real The lifting now cupped one hand in the other before the chest.

Further, the utility model also provides another operation handle, the operation handle include control-rod, sensor, Shell, the control-rod are connect with sensor, and the sensor is arranged in shell, and the control-rod outer sheath is equipped with outer Set, outer put on are provided with emergency switch and switching switch, and the emergency switch is promptly made for controlling handling device Dynamic, the switching switchs the mutual switching from rotary-die type and normal mode for changing handling device；

When normal mode, the size and Impact direction that controller is applied to power on control-rod by reading sensor detection, And then by control walking mechanism and steering mechanism, traveling and the go to action of handling device are realized；

When from rotary-die type, controller detects the torque of control-rod rotated about the z axis by reading sensor, to pass through control Steering mechanism processed realizes the rotation of handling device.

Further, the controller also with conducting slip ring, steering motor, angular encoder, clamping cylinder a, clamp Cylinder b, lifting cylinder a, lifting cylinder b, lifting cylinder c are electrically connected, to control walking mechanism, turning machine by controller Structure, clamp system work.

Further, steering correction mechanism is additionally provided on the connecting plate, the steering correction mechanism includes peace It shelves, optoelectronic switch, limit plate, the mounting rack is arranged on connecting plate, it is provided with optoelectronic switch on the mounting rack, The limit plate is arranged on tooth sector, and limit plate triggers optoelectronic switch and sends to controller when tooth sector rotates It rises along signal, which is the initial position of tooth sector, which is also the initial position of steering angle of wheel, turns to tooth Angular encoder rotation is driven by encoder gear when wheel rotation, angular encoder is incremental encoder, angular encoder The pulse signal that A, B two-way timing are intersected is issued, controller receives the reality that tooth sector can be calculated after this two paths of signals Border steering angle, so that the steering as caused by the error accumulation of angular encoder be avoided to detect inaccurate problem.

The utility model has the following beneficial effects: by tooth sector, realize handling device can 360 ° of steerings, and pass through row Into mechanism and steering mechanism, realize that the independent of wheel is advanced and turned to, direction, angle and the speed of vehicle wheel rotation can be controlled freely System greatly improves so that back-and-forth motion, oblique translation, oblique steering and original place spinning motion may be implemented in handling device Mobile flexibility；And handling device is additionally provided with damping, moves floor truck steadily, mitigates bad road conditions and brings Impact greatly improve the diversity that handling device transports goods, further improve dress while by different clamping devices The scope of application set；In addition, accurately controlling the traveling of handling device by operation handle, turning to, carrying dress is further improved The operability set reduces landed cost to further improve handling efficiency.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of embodiment of the utility model；

Fig. 2 is the structural schematic diagram of the another embodiment of the utility model；

Fig. 3 is the structural schematic diagram of the utility model walking mechanism；

Fig. 4 is the structural schematic diagram of the steering mechanism of the utility model；

Fig. 5 is the top view of the utility model steering mechanism；

Fig. 6 is the structural schematic diagram of the first clamping device of the utility model；

Fig. 7 is the structural schematic diagram of another clamping device of the utility model；

Fig. 8 is the structural schematic diagram one of the first operation handle of the utility model；

Fig. 9 is the structural schematic diagram two of the first operation handle of the utility model；

Figure 10 is the structural schematic diagram one of the utility model another kind operation handle；

Figure 11 is the structural schematic diagram two of the utility model another kind operation handle；

In figure, 1- vehicle frame, 2- walking mechanism, 3- steering mechanism, 4- clamping device, 5- operation handle, 6- damping, 21- wheel, 22- traveling motor, 23- conducting slip ring, 31- connecting plate, 32- steering motor, 33- fork, 34- tooth sector, 35- Motor gear, 36- steering shaft, 37- angular encoder, 38- encoder gear, 39- steering correction mechanism, 40- gripping and fixed plate, 41- clamping cylinder a, 42- clamping cylinder b, 43- elasticity clamp hand, 44- lifting cylinder a, 45- lifting cylinder b, 46- cup one hand in the other before the chest, 47- liter Drop frame, 48- lifting cylinder c, 49- lifting sprocket, 490- elevating chain, 50- shell, 51- housing, 52- turntable, 53- rocking bar, 54- encoder a, 55 encoder b, 56- encoder c, 57- multi-directional ball rotating mechanisms, 58- arcuate rotation press from both sides a, 59- arcuate rotation Press from both sides b, 510- emergency switch, 511- switching switch, 520- turntable connecting rod, 530- control-rod, 540- reset spring a, 541- coding Device fixing seat, 542- bearing, 543- connector sleeve, 550- reset spring b, 560- reset spring c, 570- sensor, 580- rotation Bar a, 590- rotating bar b, 61- vibration damper plate, 62- damping connecting rod, 63- damping spring, 71- mounting rack, 72- optoelectronic switch, 73- limit Position plate.

Specific embodiment

Specific embodiment of the present utility model is described further with reference to the accompanying drawing:

As shown in Figure 1 and Figure 2, it is a kind of can 360 ° steering handling devices, including vehicle frame 1 and be arranged on vehicle frame 1 Multiple walking mechanisms 2, multiple steering mechanism 3, damping 6, clamping device 4, operation handle 5, controller, the controller It is electrically connected respectively with multiple walking mechanisms 2, multiple steering mechanism 3, clamping device 4, operation handle 5, multiple travelings The lower end of vehicle frame is arranged in mechanism 2 and steering mechanism 3, and the steering mechanism 3 and walking mechanism 2 are sequentially connected, thus Control carries out mechanism 2 and turns to, wherein the quantity of the walking mechanism 2 of the utility model is 4, the quantity and traveling of steering mechanism 3 The quantity of mechanism 2 corresponds, and turns to control corresponding walking mechanism 3 respectively and realize, the setting of damping 6 exists Between vehicle frame 1 and steering mechanism 3, the cargo for needing to carry is clamped by clamping device 4, and advance by the control of operation handle 5 Mechanism 2, steering mechanism 3, clamping device 4, and then realize the carrying of cargo.

Further, as shown in figure 3, the walking mechanism 2 includes wheel 21, conducting slip ring 23 and is built in vehicle Traveling motor 22 in wheel 21, the conducting slip ring 23 is arranged on vehicle frame 2 and is electrically connected with motor 22 is carried out, to pass through Controlling traveling motor 22 drives wheel 21 to rotate.

Further, shown in Fig. 4, Fig. 5, the steering mechanism 3 includes connecting plate 31, steering motor 32, fork 33, turns To gear 34, motor gear 35, steering shaft 36, the lower end of connecting plate 31, the steering is arranged in the steering motor 32 The motor shaft of motor 32 is upward through connecting plate 31 and is sequentially connected with the motor gear 35 being arranged on connecting plate 31, described Motor gear 35 and the tooth sector 34 being arranged in steering shaft 36 are ratcheting, wherein the tooth of tooth sector 34 and motor gear 35 Number is than being 3:1, and the lower end of the steering shaft 36 is passed down through connecting plate 31 and is fixedly connected with fork 33, under the fork 33 End is provided with wheel 21, and steering motor 32 drives tooth sector 34 to rotate by motor gear 35, so that steering shaft 36 be driven to revolve Turn, and then fork 33 is driven to turn at any angle with the realization of motor car wheel 21, the lower end of the connecting plate 31 is additionally provided with angle Encoder 37, the angular encoder 37 pass through the encoder gear 38 and 34 tooth of tooth sector that 31 upper end of connecting plate is arranged in It closes, to pass through the steering angle and rotation direction of 37 real-time detection wheel 21 of angular encoder.

Further, as shown in figure 3, figure 4 and figure 5, the damping 6 includes vibration damper plate 61, multiple damping connecting rods 62, damping spring 63, the vibration damper plate 61 are fitted in the lower end of vehicle frame 1, and damping is run through in the upper end of multiple damping connecting rods 62 Plate 61 and vehicle frame 1, lower end run through connecting plate 31, are arranged with damping spring 63 on the damping connecting rod 62, wherein damping connecting rod 62 quantity is preferably 4, and the quantity of the damping spring 63 and damping connecting rod 62 correspond, by damping 6 into One step improves the stability of handling device.

Further, as shown in fig. 6, the quantity of the clamping device 4 is that clamping device 4 described in 2,2 is symmetrical It is arranged on vehicle frame 1 and cooperates, realizes the clamping transported goods；

The clamping device 4 includes gripping and fixed plate 40, clamping cylinder a41, clamping cylinder b42, elastic clamp hand 43, rises Sending down abnormally ascending cylinder a44, lifting cylinder b45, the lifting cylinder a44 and lifting cylinder b45 are arranged on vehicle frame 1, the lifting air The upper end of cylinder a44 and lifting cylinder b45 are provided with gripping and fixed plate 40, are provided with clamping cylinder in the gripping and fixed plate 40 A41, clamping cylinder b42, the elasticity clamp hand 43 are connect with the piston rod of clamping cylinder a41, clamping cylinder b42 respectively, thus It drives elastic clamp hand 43 mobile by clamping cylinder a41, clamping cylinder b42, and passes through lifting cylinder a44 and lifting cylinder b45 It controls elastic clamp hand 43 to move up and down, to realize the clamping of cargo.

As shown in fig. 7, the utility model also provides another clamping device 4, which includes cupping one hand in the other before the chest 46, two to rise Descending mechanism, described cup one hand in the other before the chest 46 is fixedly connected with 2 elevating mechanisms respectively, to be cupped one hand in the other before the chest 46 liters by two elevating mechanisms drivings Drop, the elevating mechanism includes crane 47, lifting cylinder c48, lifting sprocket 49, elevating chain 490, the crane 47 are arranged on vehicle frame 1, and the lifting cylinder c48 is arranged on crane 47, and the setting of lifting sprocket 49 is being gone up and down The piston rod upper end of cylinder c48, is provided with elevating chain 490 in the lifting sprocket 49, and described cup one hand in the other before the chest 46 passes through lift chain Item 490, which is arranged in the guide groove of crane 47, to be moved up and down, 46 lifting so that realization is cupped one hand in the other before the chest.

Further, as shown in Figure 8, Figure 9, the operation handle 5 includes turntable 52, rocking bar 53, encoder a54, compiles Code device b55, encoder c56, multi-directional ball rotating mechanism 57, arcuate rotation folder a58, arcuate rotation press from both sides b59, the encoder A54, encoder b55, encoder c56 are electrically connected with controller, and the outer sheath of the turntable 52 is equipped with a housing 51, and The lower end of the turntable 52 has been wholely set turntable connecting rod 520, and the lower end of the turntable connecting rod 520 is connect with encoder a54, The encoder a54 is mounted in encoder fixing seat 541, and the encoder fixing seat 541 is set in turntable connecting rod 520 On, 541 outside of encoder fixing seat is also arranged with a bearing 542, is also arranged with reset on the turntable connecting rod 520 Spring a540, the encoder a54 are connect by connector sleeve 543 with rocking bar 53, and the lower end of the rocking bar 53 and setting are in shell Multi-directional ball rotating mechanism 57 in body 50 connects, and is provided with encoder b55, the coding on the right side wall of the shell 50 Device b55 is connect with one end of arcuate rotation folder a58, and the other end of the arcuate rotation folder a58 is arranged by rotating bar a580 On the left side wall of shell 50, reset spring b550 is provided on the rotating bar a580；

Encoder c56 is provided on the front side wall of the shell 50, the encoder c56 and arcuate rotation press from both sides b59 One end connection, the other end of arcuate rotation folder b59 is arranged on the front side wall of shell 50 by rotating bar b590, described Rotating bar b590 on be provided with reset spring c560, and the rocking bar 53 passes through arcuate rotation folder a58, arcuate rotation folder B59, emergency switch 510 and switching switch 511 are additionally provided on the housing 51, and the emergency switch 510 is used to control Handling device emergency braking, the switching switch 511 are used for the mutual switching from rotary-die type and normal mode of handling device；

When normal mode, when by stirring rocking bar 53 forward or backward, controller is by reading encoder c56 detection Rotational angle, and then by control walking mechanism 2 and steering mechanism 3, realize that handling device is moved forward or moved back It is dynamic, pass through the speed of rocking bar 53 stirred angle and control handling device；When by stirring rocking bar to the left or to the right, controller passes through The rotational angle of encoder b55 detection is read, and then by control walking mechanism 2 and steering mechanism 3, realizes handling device It to the left or moves right, and is passed through when unclamping rocking bar 53 by the speed of rocking bar 53 stirred angle and control handling device Reset spring b550 or spring c560 resets rocking bar 53；

When from rotary-die type, the tilting action of rocking bar 53 does not work, and by rotating clockwise or counterclockwise turntable 52, controls Device processed passes through control steering mechanism 3 by reading the rotational angle of encoder a54 detection, realizes that handling device is clockwise Or rotate counterclockwise, the rotational angle that dress is carried in the rotational angle control by controlling turntable 53 passes through after unclamping turntable 53 Reset spring a540 resets turntable.

Further, as shown in Figure 10, Figure 11, the utility model also provides another operation handle 5, the operation handle 5 Including control-rod 530, sensor 570, shell 50, the control-rod 530 is connect with sensor 570, the sensor 570 It is arranged in shell 50, x, y, z axis data-out port, 530 outer sheath of control-rod is provided on the sensor 570 Equipped with housing 51, emergency switch 510 and switching switch 511 are provided on the housing 51, the emergency switch 510 is used for Handling device emergency braking is controlled, the switching switch 511 is used to change the phase from rotary-die type and normal mode of handling device Mutually switching；

When normal mode, controller by read sensor 570 detect the size of power being applied on control-rod 530 and by Power direction, and then by control walking mechanism 2 and steering mechanism 3, realize traveling and the go to action of handling device；

When from rotary-die type, controller detects the torque of control-rod 530 rotated about the z axis by reading sensor 570, thus By controlling steering mechanism 3, the rotation of handling device is realized.

Further, steering correction mechanism 39, the steering correction mechanism 39 are additionally provided on the connecting plate 31 Including mounting rack 71, optoelectronic switch 72, limit plate 73, the mounting rack 71 is arranged on connecting plate 31, the mounting rack Optoelectronic switch 72 is provided on 71, the limit plate 73 is arranged on tooth sector 34, when the tooth sector 34 rotates Limit plate 73 triggers optoelectronic switch 72, and sends rising edge signal to controller, which is the start bit of tooth sector 34 It sets, which is also the initial position of 21 steering angle of wheel, drives angle by encoder gear 38 when tooth sector 34 rotates It spends encoder 37 to rotate, angular encoder is 37 incremental encoders, and angular encoder 37 issues the arteries and veins that A, B two-way timing are intersected Rush signal, controller can calculate the actual steering angle of tooth sector 34 after receiving this two paths of signals, thus avoid by The steering caused by the error accumulation of angular encoder 37 detects inaccurate problem.

Further, the controller also with conducting slip ring 23, steering motor 32, angular encoder 37, clamping cylinder A41, clamping cylinder b42, lifting cylinder a44, lifting cylinder b45, lifting cylinder c48 are electrically connected, to pass through controller control Walking mechanism 2 processed, steering mechanism 3, clamp system 4 work.

The description of the embodiments and the specification only illustrate the principle of the present utility model and most preferred embodiment, is not taking off Under the premise of from the spirit and scope of the utility model, the utility model also has various changes and improvements, these changes and improvements It falls within the scope of the claimed invention.

Claims (10)

1. one kind can 360 ° steering handling devices, it is characterised in that: including vehicle frame and the multiple travelings being arranged on vehicle frame Mechanism, multiple steering mechanism, damping, clamping device, operation handle, controller, the controller respectively with multiple rows It is electrically connected into mechanism, multiple steering mechanism, clamping device, operation handle, multiple walking mechanisms are set with steering mechanism It sets in the lower end of vehicle frame, and the steering mechanism and walking mechanism are sequentially connected, carries out mechanism steering to control, it is described Damping be arranged between vehicle frame and steering mechanism.

2. one kind according to claim 1 can 360 ° steering handling devices, it is characterised in that: the walking mechanism packet Include wheel, conducting slip ring and the traveling motor being built in wheel, the conducting slip ring be arranged on vehicle frame and with progress Motor electrical connection.

3. one kind according to claim 1 can 360 ° of steerings handling devices, it is characterised in that: described steering mechanism's packet Connecting plate, steering motor, fork, tooth sector, motor gear, steering shaft are included, connecting plate is arranged in the steering motor Lower end, the motor shaft of the steering motor are upward through connecting plate and are sequentially connected with motor gear, the motor gear It is ratcheting with the tooth sector that is arranged in steering shaft, the lower end of the steering shaft be passed down through connecting plate and with fork is fixed connects It connects, the lower end of the fork is provided with wheel, and the lower end of the connecting plate is additionally provided with angular encoder, the angular coding Device is ratcheting by encoder gear and tooth sector.

4. one kind according to claim 1 can 360 ° steering handling devices, it is characterised in that: the clamping device Quantity is that clamping device described in 2,2 is symmetricly set on vehicle frame and cooperates；

The clamping device includes gripping and fixed plate, clamping cylinder a, clamping cylinder b, elastic clamp hand, lifting cylinder a, lifting Cylinder b, the lifting cylinder a and lifting cylinder b are arranged on vehicle frame, and the upper end of the lifting cylinder a and lifting cylinder b are set Be equipped with gripping and fixed plate, be provided with clamping cylinder a, clamping cylinder b in the gripping and fixed plate, the elasticity clamp hand respectively with folder The piston rod connection of tight cylinder a, clamping cylinder b.

5. one kind according to claim 1 can 360 ° steering handling devices, it is characterised in that: the operation handle packet Include turntable, rocking bar, encoder a, encoder b, encoder c, multi-directional ball rotating mechanism, arcuate rotation folder a, arcuate rotation folder b, institute Encoder a, encoder b, the encoder c stated is electrically connected with controller, and the lower end of the turntable has been wholely set and has turned The lower end of disk connecting rod, the turntable connecting rod is connect with encoder a, and the coding on the outside of turntable connecting rod is arranged in the encoder a In device fixing seat, it is also arranged with a bearing on the outside of the described encoder fixing seat, the outer sheath of the bearing and turntable is equipped with One housing is also arranged with reset spring a on the turntable connecting rod, and the encoder a is connect by connector sleeve with rocking bar, institute The lower end for stating rocking bar is connect with setting in the intracorporal multi-directional ball rotating mechanism of shell, and coding is provided on the right side wall of the shell Device b, the encoder b are connect with one end of arcuate rotation folder a, and the other end of the arcuate rotation folder a is set by rotating bar a It sets on the left side wall of shell, is provided with reset spring b on the rotating bar a；

Encoder c is provided on the front side wall of the shell, the encoder c is connect with one end of arcuate rotation folder b, institute The other end for stating arcuate rotation folder b is arranged on the front side wall of shell by rotating bar b, and reset is provided in the rotating bar Spring c, and the rocking bar passes through arcuate rotation folder a, arcuate rotation presss from both sides b, and outer put on is additionally provided with emergency switch It is switched with switching, the emergency switch carries dress for changing for controlling handling device emergency braking, the switching switch The mutual switching from rotary-die type and normal mode set.

6. one kind according to claim 1 can 360 ° steering handling devices, it is characterised in that: the damping packet Vibration damper plate, multiple damping connecting rods, damping spring are included, the vibration damper plate is fitted in the lower end of vehicle frame, multiple damping connecting rods Vibration damper plate and vehicle frame are run through in upper end, and lower end runs through connecting plate, is arranged with damping spring on the damping connecting rod.

7. one kind according to claim 1 can 360 ° steering handling devices, it is characterised in that: the clamping device packet Include cup one hand in the other before the chest, two elevating mechanisms, described cupping one hand in the other before the chest be fixedly connected with 2 elevating mechanisms respectively, and the elevating mechanism includes rising Frame, lifting cylinder c, lifting sprocket, elevating chain drop, and the crane is arranged on vehicle frame, the lifting cylinder c setting On crane, the piston rod upper end of lifting cylinder c is arranged in the lifting sprocket, is provided with lifting in the lifting sprocket Chain, described cupping one hand in the other before the chest are fastened in the guide groove of crane by elevating chain, and can be moved up and down in guide groove.

8. one kind according to claim 1 can 360 ° steering handling devices, it is characterised in that: the operation handle packet Control-rod, sensor, shell are included, the control-rod is connect with sensor, and the sensor is arranged in shell, the control Bar outer sheath processed is equipped with housing, and outer put on is provided with emergency switch and switching switch, and the emergency switch is for controlling Handling device emergency braking processed, the described switching switch is for changing mutually the cutting from rotary-die type and normal mode of handling device It changes.

9. one kind according to claim 1 can 360 ° steering handling devices, it is characterised in that: the controller also with Conducting slip ring, steering motor, angular encoder, clamping cylinder a, clamping cylinder b, lifting cylinder a, lifting cylinder b, lifting cylinder C is electrically connected.

10. one kind according to claim 3 can 360 ° steering handling devices, it is characterised in that: on the connecting plate It is additionally provided with steering correction mechanism, the steering correction mechanism includes mounting rack, optoelectronic switch, limit plate, the installation Frame is arranged on connecting plate, and optoelectronic switch is provided on the mounting rack, and the limit plate is arranged on tooth sector.