RU2291811C2 - Chassis of mobile transport equipment - Google Patents

Abstract

FIELD: transport engineering.

SUBSTANCE: invention relates to running gear of mobile transport equipment. Proposed chassis of mobile transport equipment contains running gear, traction drives, units of motor-in-wheels, units of steerable wheels, suspension and storage batteries mounted on frame. Chassis is furnished with system of outriggers, movable platform with crosswise displacement relative to longitudinal axis of running gear and system for but-joining of chassis with technological equipment. Running gear of chassis is made on base of four-wheel propulsor with three-axle rhomboid arrangement of wheels, two of which are coaxial relative to each other to play part of traction motor-in-wheels and two other wheels are steerable, one steerable wheel is driving, being connected with traction drive, and the other is driven, being connected with driving steerrable wheel by cable synchronizer. Outriggers of chassis with mechanism are secured in corners of frame. Outriggers are spring-loaded in pairs through connecting shafts, and extensible grips are arranged in slots of platform.

EFFECT: provision of maneuverability and stability of chassis.

12 dwg

Description

The invention relates to the field of transport, in particular to the chassis of mobile technological equipment.

Rail transport trolleys perform the functions of inter-section and inter-station (inter-operation) communications, as well as loading and unloading devices. To do this, the trolleys are equipped with various lifting, rotary and extendable tables, automatic manipulators or industrial robots, forming in the latter case transport robots.

A known design of the chassis of a mobile robot (see European patent publication No. 0165627 MKI B 25 J 5/02 from 12/27/85 Bulletin 85/52). The invention relates to the design of the chassis of a mobile robot moving on rails, with two pairs of support wheels, one of which is the leading and the other driven.

Rail trolleys require significant costs for the re-equipment of rail tracks when changing the technological cycle.

Therefore, widespread transport trolleys on wheels. A known design of a movable robot (JP 2870102 B2 from 27/03/90 MKI 6 B 15 J 19/06, application No. 2075705 published 03/10/99), in which a wheeled transport trolley is used as a chassis.

The closest in its technical essence is the design of the chassis of the transport robot "Electronics NTSTM-25" (see http://grigor.vilnet.ru/rtk).

A feature of the trackless transport trolley - the NTsTM-25 Electronics transport robot - is to equip it with an autonomous power supply, a microprocessor control device that provides tracking of the track in the form of a reflective strip, and a loading and unloading table on which containers and removable satellite tables with workpieces, parts, tools or tooling. The transport robot is designed to automatically move products between the warehouse-rack, picking areas and a flexible production module or robotic complex as part of flexible production systems for machining.

The trolley is made in the form of a chassis with two drive wheels mounted on the transverse axis in the center of the chassis, and four support wheels on the longitudinal axes front and rear. The cart drives are mounted on both sides of the chassis in its central part and connected to each of the drive wheels. The table drive with hoisting mechanisms is also located here.

When turning, especially turning in place and when reversing the movement, the support wheels rotate relative to their own axis of rotation. Because the support reactions on the support wheels can have different meanings, and the more the conditions for the interaction of supports with the surface at different points of the support surface are different, then the resistance forces from the support reactions on these wheels (both circumferential and transverse) have a variable value and a variable different amount of shoulders relative to the geometric center of the pivot.

In this situation, when the transition process occurs, until the chassis supports take a trajectory position, for example, for “turn in place” movement, or turn around 180 degrees with rectilinear movement reversal, certainty and accuracy of holding the motion path is provided only by force factors and their exact quantities that exactly correspond at each moment to external power disturbing factors. This imposes additional requirements on the control system of power traction drives and on its dynamic stability and rigidity.

This chassis layout does not provide a geometrically defined kinematic rotation of the chassis along a given path. In addition, such a scheme is structurally and structurally more complex. The suspension system of four individual supports complicates the chassis and, together with the sweeping zones of the support wheels, takes large volumes from the useful volumes of the chassis.

The classic chassis scheme (2 × 4) with two swivel and two traction wheels is known with a more structurally complex mechanism for turning the steered wheels (for example, the steering trapezoid) in conjunction with the wheel suspension. This scheme does not provide a turn in place, which significantly limits the maneuverability of the chassis in confined spaces.

The essence of the invention is the chassis of mobile transport equipment, which contains a running gear, traction drives, power electric motor-wheel assemblies, rotary wheel assemblies, a suspension bracket and storage batteries mounted on a frame, the distinguishing features of which are that it is equipped with an outrigger system, movable the platform and the system for docking the chassis with technological equipment, while the chassis of the chassis is made on the basis of a four-wheel propulsion with a triaxial diamond-shaped arrangement burning wheels. Two wheels, coaxial to each other, are traction electric motor wheels, the other two wheels are swivel. The synchronization mechanism provides the rotation of the swivel wheels at equal angles in opposite directions. Because Since the steering wheels are located symmetrically at equal distances relative to the middle axis (the axis of the traction wheels), such a chassis chassis scheme can provide kinematic rotation of the chassis with rotation centers located on a line passing through the points (projections) of the support reactions on the traction wheels.

Moreover, with the constructive provision of the possibility of turning the swivel wheels at an angle from zero degrees to plus or minus ninety degrees, the possibility of moving the chassis with any value of the turning radius is realized: from infinity to turning in place.

One of the wheels of the four-wheel propeller is sprung with the possibility of better adaptation to the supporting surface. The suspension provides chassis movement inseparable from the supporting surface:

on a supporting surface having a non-flatness within 40 mm;

on a slope (from a slope) with an inflection angle of up to 5 degrees;

through single obstacles (height or depth) up to plus 30 mm.

The invention is illustrated by drawings, where

Figure 1 - structural diagram of the chassis. Side view.

Figure 2 - structural diagram of the chassis. View from above.

Figure 3 - view of the chassis in transport position.

Figure 4 - view of the chassis at the stage of movement in the docking zone with the technological equipment of the complex with conditionally extended grips.

5 is a view of the chassis in a stationary position with extended outriggers.

6 is a longitudinal side section of the chassis.

7 is a longitudinal section of the chassis from above.

Fig. 8 is a clutch of the synchronization mechanism (view A of Fig. 7).

Fig.9 - fastening the cable to the pulley (section BB of Fig.7).

Figure 10 - fastening the cable to the pulley (section BB of Fig.7).

11 - the interaction of the main mechanisms of the chassis.

Fig - remote support chassis.

Figure 1 shows a structural diagram, a side view, and figure 2 is a top view where the chassis of the chassis of the mobile technological equipment is made on the basis of a four-wheel propulsion device with a triaxial diamond-shaped wheel arrangement. Two wheels 1 and 2, coaxial to each other, are traction (electric motor wheels) and are mounted on frame 3 with a stiffer suspension. The other two wheels 4 and 5 are swivel. Their rotation axes are perpendicular to the supporting plane, intersected with the axes of their rotation and are located in the same plane with the average longitudinal vertical plane of the chassis. One swivel wheel 4 is a drive wheel, i.e. connected to the traction drive 6, the other - the slave 5 is connected to the driving rotary wheel 4 with a cable synchronization mechanism 7, made according to the antiparallelogram scheme. For better adaptation to the supporting surface, the wheel 5 of the four-wheel propulsion device is sprung by a spring device 8.

Figure 3 shows the chassis in the transport position, without technological equipment, in which the grippers 9 of the movable platform 10 are recessed in the sockets 11.

Figure 4 shows the chassis at the stage of movement in the docking zone with the technological equipment of the complex. The grips 9 of the movable platform 10 are extended from their sockets 11.

Figure 5 shows the chassis in a stationary position, when the outriggers 12 are extended, the chassis is hung out, i.e. the chassis is mounted with support on the support surface only through the outriggers 12. The chassis chassis assemblies are mounted on a single frame 3. The outriggers 12 with an electromechanical translational drive 13 are located and fixed in the corners of the chassis frame 3 with the maximum possible size of the supporting platform, t. e. maximum statistical stability of the chassis.

The battery 14 (Fig.6) is fixed in the niches 15 of the frame 3, located symmetrically with respect to the average longitudinal and middle transverse plane of the chassis.

The nodes of the chassis, all the batteries 14, the nodes of the outrigger system 12 and their drive are as close as possible to the supporting surface of the chassis in order to reduce the height of the center of mass and increase the static stability of the chassis.

Traction drives 16 (Fig.7) are designed to create torque on the drive wheels 1 and 2 of the chassis.

In the blocks of the nodes of the rotary wheels 4 and 5, double-strand pulleys 17 of the synchronization mechanism 7 are installed. The drive 6 is designed to rotate the controlled rotary wheels 4 and 5. The synchronization mechanism 7 is installed to ensure the rotation of the rotary wheels 4 and 5 at equal angles in opposite directions. Because the rotary wheels 4 and 5 are located symmetrically with respect to the middle axis (axis of the traction wheels) at equal distances, then such a chassis chassis scheme is installed with the possibility of providing a theoretically high-precision kinematic rotation of the chassis with turning centers located on the line of points (projections) of the support reactions on the traction wheels , i.e. projection of the common axis on the reference plane.

Moreover, with the structural possibility of turning the turning wheels 4 and 5 through an angle from zero degrees to plus or minus ninety degrees, the chassis can be moved with any value of the turning radius.

The synchronization mechanism 7 of the swivel wheels is made in the form of a cable antiparallelogram mechanism and is composed of two swivel links - pulleys 17 (Fig. 7), which are attached to the nodes of the swivel wheels with two slots, and two crossing cable rods 18. Each cable rod is made of two cable ropes nodes, the ends of which are fixed on the pulleys 17, and between themselves the cable nodes are connected by a special coupling, Fig. 8. In the coupling connection, the nut 19 is installed with the possibility of pressing through the spring 20 of the housing of one cable assembly 21 to another 22 and thereby provides a certain tension force in each line of cable rods 18.

When installing the synchronization mechanism 7, the coupling (Fig. 8) is set to size G, while the cable assemblies 18 are installed with their bodies 22 and 21 abutting against each other, which means that the spring 20 is crimped to the minimum force required to tension the cable rods .

When fixing the cable nodes 18 on the pulleys 17, tension is created through the dynamometer. The value of the cable tension is also equal to the force minimally necessary for the rotation and synchronization mechanism of the 7 wheels 4 and 5 and is 150 ⁺²⁰ N.

Cable rods under such tension are securely fixed to the pulleys 17 using prisms 23 and 24 (Fig.9 and 10, respectively). When installing the cables with the specified tension force, the requirement for parallelism of the exhibition of the turning wheels 4 and 5 in the initial tension is fulfilled.

One of the four wheels of the chassis (driven rotary wheel 5) is resiliently suspended (Fig.6) with the possibility of adapting the chassis to the supporting surface. The suspension is made in the form of two parallel levers of balancers, mounted, on the one hand, on the bracket 27 mounted on the frame 3, and on the other hand, on the node of the rotary wheel 28.

A parallelogram balancing suspension is installed with the possibility of plane-parallel movement, which, together with a sufficiently large leverage equal to the chassis half base, ensures a minimum change in the length of the half-base of the sprung wheel, and therefore, a change in the length of the cable rods. Spring 20 (Fig. 8) is installed with the ability to compensate for the magnitude of the change in the length of the rods of the coupling.

The system of outriggers is made of two identical on-board sets of outriggers 12 (11), which are located inside the chassis symmetrically relative to the geometric center of the chassis. Each of the sets (Fig. 12) is made of the following main parts: an electromechanical translational drive 13, a connecting shaft 29, which is configured to synchronously rotate the levers of the support 30 and 31 with one drive and the simultaneous removal of the supports 12.

The geometrical parameters of the shaft 29 are selected so that when the bearings are removed, they are mutually spring-loaded relative to each other. The uniformity of the support reactions in the bearings, taking into account the suspension, is ensured by the spline connection of the shaft with the lever 30.

In the middle upper part of the chassis frame, a movable platform 10 for installing technological equipment and ensuring its docking with a stationary (passive) docking device located at the technological position is fixed.

The chassis of mobile technological equipment operates as follows.

When applying power to the traction drives 16, the traction wheels 1 and 2 begin to rotate and the chassis is set in motion.

When installing cables with the specified tension force, the requirement for parallelism of the exhibition of swivel wheels in the initial tension must be observed.

In this case, when the drive rotates the driving rotary wheel 4 by an angle (+ α), the anti-parallelogram cable links rotate the driven rotary wheel 5 by an angle (-α) and the necessary accuracy of the rotation geometry is ensured.

The synchronization mechanism 7 provides the rotation of the turning wheels 4 and 5 at equal angles in opposite directions. Because the rotary wheels 4 and 5 are located symmetrically relative to the middle axis (the axis of the traction wheels): at equal distances (half-base L / 2), then such a chassis chassis scheme can provide a theoretically perfect kinematic rotation of the chassis with rotation centers located on the O-O line "passing through points (projections) of support reactions on traction wheels, i.e. projection of the common axis on the reference plane.

The suspension provides chassis movement that is inseparable from the supporting surface.

The spring device 8 creates an elastic suspension of the upper arm 25 with the frame 3 of the chassis.

The system of outriggers synchronously rotates the side mechanisms with one drive and simultaneously carries out the supports 12.

All four supports 12 are exposed after removal in such a way that they provide approximately the same support reactions and the chassis is hung over the support surface by 3-5 mm. The sprung driven rotary wheel 5 is supported on the surface by the residual elastic reaction of the support.

When the drive 6 of the driving rotary wheel 4 is rotated by an angle (+ α), the anti-parallelogram cable links rotate the driven rotary wheel 5 by an angle (-α) and the necessary accuracy of the rotation geometry will be ensured.

The accuracy of the exhibition of swivel wheels can be ensured not only by changing the forces on different branches of the cable assemblies 18 (dynamometers) when fastening the cables, but also after fixing with the help of nuts 19, compressing springs 20.

To adapt the chassis to the supporting surface, one of the four wheels of the chassis (driven rotary wheel 5) is resiliently suspended. This allows you to distribute the load on the support of the mover (wheel) according to a given law and to maintain continuous motion of the chassis along the supporting surface when hitting obstacles with a height (depth) of 35 mm and a slope of up to ± 5 °.

The parallelogram balancing suspension allows the node of the driven rotary wheel 5 to perform plane-parallel movement, which, together with a sufficiently large leverage equal to half base, ensures a minimum change in the length of the half base of the sprung driven rotary wheel 5, and hence the change in the length of the cable rods (i.e. base chassis) does not exceed 2 mm. This amount of change in rod length (± 1 mm) is compensated by spring 20 of the rod coupler. Suspension of the suspension is provided by a spring device - spring 8, pivotally connecting the upper arm of the suspension 25 with the frame 3 of the chassis.

The full suspension travel (sprung wheel travel) is 80 mm and is limited to a spring travel of 54 mm. The static stroke was selected from the conditions of the full load of the robot chassis (i.e., with a mass equal to 400 kg). Here it is equal to 40 mm.

All four supports 15 are exposed after removal in such a way that approximately the same support reactions are provided and the chassis is hung above the supporting surface by 3-5 mm. The sprung wheel 2 will rest on the surface using the residual elastic reaction of the support.

Using the chassis allows kinematic rotation with any turning radius, stability of movement due to contact by all wheels with the supporting surface, as well as high stability on outriggers when working with technological equipment mounted on a moving platform. The combination of high maneuvering characteristics, including in limited volumes, allows remote control of the chassis with high accuracy and control quality.

Claims (1)

A chassis of mobile transport equipment comprising a running gear, traction drives, power electric motor-wheel assemblies, swivel wheel assemblies, a suspension bracket and storage batteries mounted on a frame, while it is equipped with an outrigger system, a movable platform with lateral movement relative to the longitudinal axis of the running gear and system for docking the chassis with technological equipment, the chassis of the chassis is made on the basis of a four-wheel propulsion with a triaxial diamond-shaped arrangement of wheels, two of which are coaxial a friend with the other with the possibility of performing the function of traction electric motor wheels mounted on the frame with a rigid suspension, and the other two wheels are swivel, while one swivel wheel is the drive wheel and connected to the traction drive, the other swivel wheel is driven and connected to the drive swivel wheel synchronization mechanism, and the axis of rotation of the support wheels is perpendicular to the support plane and made in intersection with the axes of rotation in the same plane, coinciding with the average longitudinal vertical plane of the chassis, different The fact is that the outboard supports of the chassis with mechanisms are fixed in the corners of the frame, the supports are mutually spring-loaded through the connecting shafts, and retractable grips are placed in the grooves of the platform.

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