CN2222156Y

CN2222156Y - Lifting and conveying vehicle capable of all-position running

Info

Publication number: CN2222156Y
Application number: CN 95212208
Authority: CN
Inventors: 黄善均; 王苏潭; 彭万铁; 林志强; 李林; 陈春义; 陈小杭
Original assignee: STAR COMPUTER CO Ltd FUJIAN
Current assignee: Fujie Electromechanical Tech. Co., Ltd., Fujian Prov.
Priority date: 1995-05-16
Filing date: 1995-05-16
Publication date: 1996-03-13
Anticipated expiration: 2005-05-16

Abstract

The utility model relates to a lifting conveying vehicle capable of running in all directions, which is characterized in that each of four vehicle wheels is composed of a roller which can flexibly rotate around the self-axial line; the operation of the lifting conveying vehicle is realized by the changes of the movement back and forth and side to side, the direction of rotation, and the displacement of an operating rod capable of controlling in all directions; a main control computer respectively controls four servo motors on the vehicle wheels, and a decelerator drives the rotation speed and the turning of the vehicle wheels, so that the lifting conveying vehicle can ambulate and run in all directions along the direction and the speed required by a user. The utility model overcomes the disadvantages of inflexible operation, big radius of gyration, etc. existing in the current lifting conveying vehicles. The utility model is very suitable for the application in narrow and small fields.

Description

Derrick car that can comprehensive operation

The utility model belongs to handling machinery, particularly a kind of derrick car that can comprehensive operation.

Existing handling machinery, for example: two driving wheels and two flower wheels that batter fork lift truck, the realization of its operation function mainly are provided with by the car body bottom, driving wheel is realized displacement, flower wheel realizes that direction changes.Owing to be subjected to as above wheel structure restriction,, can not make the original place rotational action so the existing mechanical radius of turn is big.Certain big working space need be provided, could guarantee its displacement and turn to the best realization of function.Than places such as higher warehouse, goods yard, harbour and workshops, the effect of existing machinery just can not fully play to some intensification degree for this.

The utility model purpose is to provide a kind of derrick car that can comprehensive operation, and it can do vertically (advance, retreat), laterally three motion vectors of (left lateral, right lateral) and hand of rotation (original place rotation) and three operations that motion vector superposes along ground.Microcomputerized control by being provided with realizes infinite speed variation simultaneously.

The technical scheme that realizes the utility model purpose is: by improving car wheel structure, make four wheels of car body bottom be drive wheel, every wheel is dolioform roller by several and forms, the axis of roller becomes α angle of intersection fork with wheel axis, this α angle is greater than zero degree, less than 90 degree, each roller all can rotate flexibly around self axis; Do the combination of various handling maneuvers by four wheels, derrick car can comprehensively be moved; By be provided with three potential devices can comprehensive swing or the joystick of rotation cooperate micro-computer controlling apparatus, realize the service direction of derrick car and the control of speed; By improving body construction, be provided with the case structure of placing clump weight, make the utility model both can work as transport trolley, can work as crane-car again and use.

Compared with prior art, the utlity model has rational in infrastructure, easy to use, light and handy, flexible, as long as the user is the swaying direction of control joystick and the anglec of rotation or variation swing and spinning movement stack amount, and, can realize the control of all around, different rotary direction and the different running velocitys of the utility model derrick car by microcomputerized control.Simultaneously, it is little that the utility model also has a radius of turn, but characteristics such as speed step-less adjustment are very suitable for using on narrow place.

Describe the utility model in detail below by embodiment and accompanying drawing.

Fig. 1 is the utility model structure assembly drawing.

Fig. 2 is the utility model microcomputerized control schematic diagram.

With reference to Fig. 1, the utility model is by hoisting device 1, car body 2, and vehicle frame 3, wheel 4, control setup 5 is formed with waiting member.It is characterized in that:

Above-mentioned wheel 4 is provided with four, every wheel 4 all is dolioform roller 41 by 24 and forms, roller 41 axis are 45 degree angles with the wheel body S. A. and intersect, roller 41 is fixed in turning cylinder on the outer rim of hub in the supported at two edges mode, as shown in Figure 1, wheel 4 is fixed on the bottom of vehicle frame 3 by recoil spring 42 and guide rod 43.

Above-mentioned control setup 5 comprises joystick 51, power supply 52, and drive motor 53, retarder is formed with the code-disc that tests the speed that is contained in the retarder 54, primary control box 55 members such as grade.In the present embodiment, to be to use name that the applicant applies for to be called " joystick that can realize comprehensive control ", application number be 952030101 utility model patent to joystick 51.Four groups of above-mentioned drive motor 53, the retarder 54 and the code-disc that tests the speed are installed in the inner side of every wheel 4 respectively, and power supply 52 is installed under the seat of car body 2.Above-mentioned primary control box 55 is made up of microprocessor CPU, No. three voltage controlled oscillator (VCO)s, three tunnel frequency meters, four road rotating speed producers, four road speed-stabilizing circuits, four road motor-drive circuits and velocity-measuring system; The whole control device 5 principle of work as shown in Figure 2.When user's swing or swivel lever 51, swing on the joystick 51 or rotating mechanism then can move, make in the mechanism be provided with in order to detect three potential device generation potential change that vector changes, send voltage change signal output, this voltage signal produces and the linear frequency of voltage through No. three voltage controlled oscillator (VCO)s, meter takes place and will send microprocessor CPU to handle after this frequency detecting in three tunnel frequencies, CPU judges the size and the direction of voltage signal according to software instruction, promptly detect joystick 51 swing or rotating vector size and directions, thereby calculate turning to and rotating speed of four drive motor 53, the feedback signal that is produced the velocity-measuring system of forming with the cooresponding frequency of motor 53 rotating speeds with by the code-disc 54 that tests the speed by four road rotating speed producers programmings is sent into four road speed-stabilizing circuits in the lump, speed-stabilizing circuit through frequency ratio, determine to power up or do not power up according to rotating speed and the actual speed set to drive motor 53, be just to change or reverse, finish by H type four road motor-drive circuits of forming by high-power FET at last the speed stabilizing of four motors 53 is controlled, thereby realize the user as long as by joystick 51 swings or rotation or swing and rotating vector stack, can control four servomotors 53 respectively by master control computer 55 and drive turning to and rotating speed of four wheels 4 through retarder 54, make derrick car need direction to do comprehensive operation, not only flexibly but also convenient the use along the user.The box position that car body 2 is designed to place clump weight is in order to place clump weight when the lifting car body uses.

Claims

1, a kind of derrick car that can comprehensive operation, comprise hoisting device (1), car body (2), vehicle frame (3), wheel (4), control setup (5), it is characterized in that (4) four of wheels are drive wheel, every wheel is formed by some dried dolioform rollers (41) that are, be the α angle of intersection between roller (41) axis and the wheel body S. A., this α angle is greater than 0 degree, less than 90 degree, each roller (41) all can rotate flexibly around self axis, wheel (4) is fixed on the bottom of vehicle frame (3) by recoil spring (42) and guide rod (43), above-mentioned control setup (5) is by joystick (51), power supply (52), drive motor (53), the retarder (54) and the code-disc that tests the speed, primary control box (55) is formed, primary control box (55) is by microprocessor CPU, No. three voltage controlled oscillator (VCO)s, three tunnel frequency meters, four road rotating speed producers, four road speed-stabilizing circuits, four road motor-drive circuits and velocity-measuring system are formed, primary control box (55), joystick (51) is installed on the car body (2), and above-mentioned power supply (52) is installed under the seat of car body (2), above-mentioned drive motor (53), the retarder (54) and the code-disc that tests the speed are installed in the inboard of every wheel (4).

2, derrick car according to claim 1 is characterized in that above-mentioned wheel (4) all has 24 dolioform rollers (41) to form, and is 45 degree angles between roller (41) axis and the wheel body S. A. and intersects.

3, derrick car according to claim 1 is characterized in that above-mentioned joystick (51) is to adopt the joystick be provided with the comprehensive control that can detect three potential devices that vector (front and back to, about to, hand of rotation) changes.