技术领域technical field
本发明涉及自动化机械设备技术领域，尤其是一种智能车间用室内导航机器人。The invention relates to the technical field of automation machinery and equipment, in particular to an indoor navigation robot for an intelligent workshop.
背景技术Background technique
在公知的技术领域，随着社会经济的发展和转型升级，在工业制造的领域越来越依赖自动化设备，尤其是近年来热门的智能车间改造，本质上就是将原有的生产工艺形成完整的全自动流水线，能够实现智能化、无人化生产，尤为依赖非标自动化设备的改造。在生产工艺的各个工序中，为了在车间内实现工序的自动运转衔接，一般会采用整体式设计的设备，但是在一些复杂的机加工或化工物料的生产中，整体式的设计难以适应复杂的需求，一般需要将各道工序打散，这就需要运用到各道工序之间能够相互衔接的搬运装置。In the known technical field, with the development and transformation and upgrading of the social economy, automation equipment is increasingly relied on in the field of industrial manufacturing, especially the popular smart workshop transformation in recent years, which essentially forms the original production process into a complete The fully automatic assembly line can realize intelligent and unmanned production, especially relying on the transformation of non-standard automation equipment. In each process of the production process, in order to realize the automatic operation of the process in the workshop, the overall design equipment is generally used, but in some complicated machining or production of chemical materials, the integral design is difficult to adapt to complex Generally speaking, it is necessary to break up the various processes, which requires the use of a handling device that can be connected to each other.
在目前的自动化厂房的设计中，一般会运用室内导航的技术，通过各类传感器以及预定铺设的线路，使得搬运机器人能够进行寻迹至不同的指定位置。但现有的采用该种设计思路的寻迹机器人结构不仅不复杂，操作检修麻烦，同时其功能单一，只能进行简单的引导，载重能力也不行，针对不同的工艺还需要单独设置不同的结构，同时还存在其他很多的问题需要进一步探索和改进，上述存在的种种问题，是急需要解决的，才能适应非标自动化改造的需要和进一步降低智能车间的改造的成本。In the current design of automated workshops, indoor navigation technology is generally used to enable the handling robot to trace to different designated locations through various sensors and predetermined laid lines. However, the structure of the existing tracking robot adopting this design idea is not only uncomplicated, but also troublesome to operate and maintain. At the same time, its function is single, it can only perform simple guidance, and its load capacity is not good. Different structures need to be set up separately for different processes. At the same time, there are many other problems that need to be further explored and improved. The above-mentioned problems need to be solved urgently in order to meet the needs of non-standard automation transformation and further reduce the cost of transformation of intelligent workshops.
发明内容Contents of the invention
本发明要解决的技术问题是：克服上述问题，提供一种智能车间用室内导航机器人，不仅能够实现载重大、结构简单、检修方便，同时还能够适应不同工况的改造，降低使用的成本。The technical problem to be solved by the present invention is to overcome the above problems and provide an indoor navigation robot for intelligent workshops, which can not only achieve heavy load, simple structure, and convenient maintenance, but also adapt to the transformation of different working conditions and reduce the cost of use.
本发明解决其技术问题所采用的技术方案是：一种智能车间用室内导航机器人，包括矩形车身框架和电控系统，在所述矩形车身框架的左、右两侧设置分别设有驱动轮组件，且所述的两组驱动轮组件为对称设置，所述驱动轮组件具有两组前、后设置的滚动轮装置以及上、下分别设置的主动力驱动装置、转向力驱动装置，所述主动力驱动装置、转向力驱动装置均与滚动轮装置传动连接，The technical solution adopted by the present invention to solve the technical problem is: an indoor navigation robot for intelligent workshops, including a rectangular body frame and an electric control system, and drive wheel assemblies are respectively arranged on the left and right sides of the rectangular body frame , and the two sets of driving wheel assemblies are arranged symmetrically, and the driving wheel assembly has two sets of rolling wheel devices arranged at the front and rear, and an active power drive device and a steering force drive device respectively arranged at the top and bottom. Both the power drive device and the steering force drive device are connected with the rolling wheel device.
所述滚动轮装置具有由上至下顺次设置的转向连接轴套、隔离紧固机构、行走轮安装支架，The rolling wheel device has a steering connection bushing, an isolation fastening mechanism, and a traveling wheel mounting bracket arranged in sequence from top to bottom.
在所述转向连接轴套内设有驱动轴，在所述转向连接轴套与驱动轴之间间隔设有两个滚针轴承，A drive shaft is arranged inside the steering connection sleeve, and two needle bearings are arranged at intervals between the steering connection sleeve and the drive shaft,
所述隔离紧固机构具有安装罩体，所述安装罩体的开口朝下并紧固在行走轮安装支架的上部，且所述安装罩体与行走轮安装支架之间形成安装腔室，以所述转向连接轴套的中心轴线为旋转中心、在所述安装腔室内设有至少三个球头螺母，在所述安装罩体的上侧表面设有连接法兰盘，在所述连接法兰盘上设有与球头螺母一一对应的紧固螺栓安装孔位，The isolation fastening mechanism has an installation cover, the opening of the installation cover faces downward and is fastened on the upper part of the road wheel installation bracket, and an installation chamber is formed between the installation cover and the road wheel installation bracket, so as to The central axis of the steering connection bushing is the center of rotation, at least three ball nuts are provided in the installation chamber, and a connection flange is provided on the upper surface of the installation cover. There are fastening bolt installation holes corresponding to the ball nuts one by one on the blue plate.
在所述行走轮安装支架的上、下两侧分别设有水平传动轴、行走轮，所述驱动轴竖直向下依次贯穿转向连接轴套、安装罩体、行走轮安装支架并与水平传动轴的一端通过锥齿轮啮合，所述水平传动轴的另一端与行走轮之间通过皮带轮连接，在所述驱动轴与行走轮安装支架的顶部之间设有中置隔离法兰，所述中置隔离法兰的下部设有限位凸台并抵住行走轮安装支架的顶部的内表面，所述中置隔离法兰的上部伸入于安装腔室内，且所述中置隔离法兰的上部边缘设有圆弧倒角并与所有球头螺母紧密接触，且所述中置隔离法兰与驱动轴之间为间隙配合，The upper and lower sides of the road wheel installation bracket are respectively provided with a horizontal transmission shaft and a road wheel. One end of the shaft is meshed with a bevel gear, the other end of the horizontal transmission shaft is connected to the road wheel through a pulley, and a middle isolation flange is provided between the drive shaft and the top of the road wheel mounting bracket. The lower part of the isolation flange is provided with a limit boss and is against the inner surface of the top of the road wheel mounting bracket, the upper part of the isolation flange is extended into the installation chamber, and the upper part of the isolation flange is The edge is provided with arc chamfering and is in close contact with all ball nuts, and the intermediate isolation flange and the drive shaft are clearance fit,
所述主动力驱动装置与驱动轴传动连接，所述转向力驱动装置与转向连接轴套传动连接，The main power drive device is in transmission connection with the drive shaft, the steering force drive device is in transmission connection with the steering connection bushing,
所述矩形车身框架内还设有用于电控系统冷却的风道系统。An air duct system for cooling the electronic control system is also arranged in the rectangular body frame.
进一步的，作为一种具体的实施方式，本发明中所述主动力驱动装置、转向力驱动装置在水平方向上分别位于矩形车身框架的前、后侧，Further, as a specific implementation, the main power drive device and the steering force drive device in the present invention are respectively located on the front and rear sides of the rectangular body frame in the horizontal direction,
所述主动力驱动装置具有双驱动电机装置，所述双驱动电机装置由两个并排设置的驱动电机构成，所述驱动电机的输出轴竖直向上伸出且在输出轴的位置设有冷却润滑盒，所述驱动电机的输出轴贯穿冷却润滑盒，且在所述驱动电机的输出轴之间设有中置输出轴，所述中置输出轴的下端位于冷却润滑盒内并均与驱动电机的输出轴啮合，其上端竖直向上延展并与驱动轴通过在水平方向上的投影面呈三角形状的第一皮带轮传动连接，The main power drive device has a double drive motor device, the double drive motor device is composed of two drive motors arranged side by side, the output shaft of the drive motor protrudes vertically upwards and is provided with a cooling lubricator at the position of the output shaft box, the output shaft of the driving motor runs through the cooling and lubricating box, and an intermediate output shaft is provided between the output shafts of the driving motor, and the lower end of the intermediate output shaft is located in the cooling and lubricating box and is connected to the driving motor The output shaft meshes with the output shaft, and its upper end extends vertically upwards and is connected with the drive shaft through the first pulley that is triangular in the projection plane in the horizontal direction.
所述转向力驱动装置具有扁平力矩电机，且所述扁平力矩电机通过在水平方向上的投影面呈三角形状的第二皮带轮传动连接The steering force driving device has a flat torque motor, and the flat torque motor is connected through a second belt pulley whose projection plane in the horizontal direction is triangular in shape.
进一步的，作为一种具体的实施方式，本发明中所述风道系统具有横截面呈等腰梯形的开口框支架，在所述开口框支架的表面上设有贯穿的镂空孔，所述开口框支架上的开口朝下并与矩形车身框架的底部焊接固定并构成横截面为等腰梯形的、可用于容纳蓄电池组以及传感器装置的冷却风道，所述电控系统安装在开口框支架的顶部，在所述开口框支架的侧壁上并排设有若干个散热风扇。Further, as a specific embodiment, the air duct system in the present invention has an open frame support with an isosceles trapezoidal cross section, and hollow holes are provided on the surface of the open frame support, and the opening The opening on the frame support faces downward and is welded and fixed with the bottom of the rectangular body frame to form a cooling air duct with an isosceles trapezoidal cross section that can accommodate battery packs and sensor devices. The electronic control system is installed on the opening of the frame support. At the top, several cooling fans are arranged side by side on the side wall of the open frame support.
进一步的，作为一种具体的应用方式，本发明中在所述的矩形车身框架上设有拖拽式顶升系统，所述拖拽式顶升系统具有可拆卸支架，所述可拆卸支架通过挂钩安装在矩形车身框架的侧壁上，且所述拖拽式顶升系统具有对称设置的两个浮动升降装置，在两个浮动升降装置之间设有增压储油桶，Further, as a specific application method, the present invention is provided with a drag-type jacking system on the rectangular body frame, and the drag-type jacking system has a detachable bracket, and the detachable bracket passes through The hook is installed on the side wall of the rectangular body frame, and the tow-type jacking system has two floating lifting devices symmetrically arranged, and a pressurized oil storage barrel is arranged between the two floating lifting devices,
所述浮动升降装置具有两端开口且中空的安装筒，在所述安装筒的上、下两端分别设有顶升柱、支撑柱，在所述顶升柱的顶端、支撑柱的底端均设有T字型限位凸台，且在所述顶升柱与安装筒的上端之间、支撑柱与安装筒的下端之间均设有缓冲垫圈，所述顶升柱的下端与支撑柱的顶端均插入于安装筒内并构成密闭的液压油容纳空间，在所述安装筒的侧壁上设有能够使得液压油容纳空间与增压储油桶相连通的连接唧嘴，在所述安装筒位于顶升柱一侧的内壁上设有若干个沿竖直方向延展的限位键槽，在所述限位键槽内设有长度短于限位键槽长度的限位块，The floating lifting device has a hollow installation cylinder with openings at both ends, a jacking column and a supporting column are respectively arranged at the upper and lower ends of the installing cylinder, and the top of the lifting column and the bottom of the supporting column All are provided with T-shaped limit bosses, and buffer washers are provided between the lifting column and the upper end of the installation cylinder, between the support column and the lower end of the installation cylinder, and the lower end of the lifting column and the support The top ends of the columns are all inserted into the installation cylinder to form a closed hydraulic oil storage space. A connecting nozzle that enables the hydraulic oil storage space to communicate with the pressurized oil storage barrel is provided on the side wall of the installation cylinder. The inner wall of the installation cylinder located on one side of the jacking column is provided with several limit key slots extending in the vertical direction, and a limit block with a length shorter than the length of the limit key slot is arranged in the limit key slot.
在所述支撑柱上通过限位压盘安装有至少3个导向顶柱，所述导向顶柱以支撑柱的中心轴线为中心旋转分布，且所述导向顶柱均插入于顶升柱内，且每根导向顶柱与顶升柱之间均设有用于油液流动的间隙，在所述支撑柱的底部设有万向轮。At least 3 guide jacks are installed on the support column through the limit pressure plate, the guide jacks are distributed around the central axis of the support column, and the guide jacks are all inserted into the jacking column, In addition, a gap for oil flow is provided between each guide column and the lifting column, and a universal wheel is provided at the bottom of the support column.
进一步的，作为一种具体的实施方式，本发明在所述矩形车身框架的前、后两侧均设有拖拽式顶升系统。Furthermore, as a specific implementation, the present invention is provided with a drag-type jacking system on both the front and rear sides of the rectangular body frame.
进一步的，作为一种具体的应用方式，本发明在所述矩形车身框架的左、右两侧分别设有枕木定位装置，Further, as a specific application mode, the present invention is respectively equipped with sleeper positioning devices on the left and right sides of the rectangular body frame,
所述枕木定位装置具有两个浮动滚轮，所述浮动滚轮的中心轴线平行且其中心轴线构成的平面不垂直、也不水平，在所述浮动滚轮的之间设有连接杆，所述连接杆的两端分别与对应的浮动滚轮的中心轴铰接，且在所述连接杆的中部设有调节轴销，在所述矩形车身框架的侧壁上设有可与调节轴销滑动连接且呈长条状的水平调节槽，The sleeper positioning device has two floating rollers, the central axes of the floating rollers are parallel and the plane formed by the central axes is neither vertical nor horizontal, and a connecting rod is arranged between the floating rollers, and the connecting rod The two ends of the two ends are respectively hinged with the central shafts of the corresponding floating rollers, and an adjustment pivot pin is provided in the middle of the connecting rod, and a long shaft pin that can be slidably connected with the adjustment pivot pin is provided on the side wall of the rectangular body frame. Strip-shaped horizontal adjustment slots,
所述枕木定位装置还具有与之相配套的专用枕木，在所述专用枕木的水平两端均设有调节开口，在两个调节开口之间设有顺接滑槽，所述调节开口由外至内依次设有锥形引入段、第一引导圆弧段、第二引导圆弧段。The sleeper positioning device also has a matching special sleeper, adjustment openings are arranged at both horizontal ends of the special sleeper, and a connecting chute is provided between the two adjustment openings, and the adjustment opening is formed from the outside. A tapered lead-in section, a first guiding arc segment, and a second guiding arc segment are sequentially arranged inside.
进一步的，作为一种具体的实施方式，本发明中所述第一引导圆弧段与第二引导圆弧段的半径不小于浮动滚轮的半径，且所述第一引导圆弧段在竖直方向上横截面的圆弧中心位于调节开口的内腔中，所述第二引导圆弧段在竖直方向上横截面的圆弧中心位于调节开口的内腔外部。Further, as a specific implementation, the radius of the first guiding arc segment and the second guiding arc segment in the present invention is not less than the radius of the floating roller, and the first guiding arc segment is vertically The arc center of the cross section in the direction is located in the inner cavity of the adjustment opening, and the arc center of the cross section of the second guiding arc segment in the vertical direction is located outside the inner cavity of the adjustment opening.
进一步的，作为一种具体的实施方式，本发明中所述第一引导圆弧段的半径小于第二引导圆弧段的半径。Further, as a specific implementation manner, in the present invention, the radius of the first guiding arc segment is smaller than the radius of the second guiding arc segment.
进一步的，作为一种具体的应用方式，本发明在所述矩形车身框架的后侧设有密闭运输组件，所述密闭运输组件具有可拆卸地安装在矩形车身框架上的主拖拽挂板，在所述主拖拽挂板的尾部通过呈X型分布的两根连接杆连接有从拖拽挂板，所述从拖拽挂板通过沿竖直方向上延展的滑槽安装有升降小车，在所述升降小车上设有可升降的滚轮组件，Further, as a specific application mode, the present invention is provided with an airtight transport assembly on the rear side of the rectangular body frame, and the airtight transport assembly has a main drag hanger detachably installed on the rectangular body frame, The tail of the main drag hanging plate is connected to the slave drag hanging plate through two connecting rods distributed in an X shape, and the lifting trolley is installed on the slave drag hanging plate through a chute extending in the vertical direction, A liftable roller assembly is provided on the lifting trolley,
在所述升降小车的底部设有由电控系统控制的出料口门，围绕所述出料口门的横截面形状、在所述升降小车的底部设有呈凸起状的密封定块体。A discharge port door controlled by an electronic control system is provided at the bottom of the lifting trolley, and a protruding sealing fixed block is provided at the bottom of the lifting trolley around the cross-sectional shape of the discharge port door. .
进一步的，作为一种具体的实施方式，本发明在所述从拖拽挂板的左、右两侧与升降小车之间均设有限位卡块，所述限位卡块与升降小车之间一起合围成沿竖直方向延展、横截面呈T型的滑槽，且在所述从拖拽挂板的左、右两侧均设有与滑槽滑动连接的T型端部，Further, as a specific embodiment, the present invention is provided with limiting blocks between the left and right sides of the dragging hanging plate and the lifting trolley, and between the limiting blocks and the lifting trolley Together, they form a chute that extends vertically and has a T-shaped cross-section, and the left and right sides of the drag hanging plate are provided with T-shaped ends that are slidably connected to the chute.
所述滚轮组件具有前、后两侧分布且通过转动轴销安装在升降小车上的橡胶滚轮，在所述橡胶滚轮之间设有由电动油缸驱动的伸缩杆，在所述伸缩杆的端部设有连接轴套，在所述连接轴套与转动轴销之间均设有驱动连杆，且在所述升降小车上设有与转动轴销相适应的圆弧滑槽。The roller assembly has rubber rollers distributed on the front and rear sides and installed on the lifting trolley through rotating pivot pins. A telescopic rod driven by an electric cylinder is arranged between the rubber rollers. At the end of the telescopic rod A connecting shaft sleeve is provided, and a driving link is arranged between the connecting shaft sleeve and the rotating shaft pin, and an arc chute suitable for the rotating shaft pin is arranged on the lifting trolley.
本发明的有益效果是：本发明精简了传统的驱动力、转向力的结构形式，在整个结构保持配重合理的情况下，能够提升机器人的拖拽能力，同时进一步的拓展结构，可增设与主结构分离的拖拽式顶升系统，避免重力施加于车身框架上，再进一步的设置拖拽式顶升系统、枕木定位装置，通过多种的组合，实现适应不同工况的需求，能够大幅提高机器人的适应性，降低整个项目实施的成本。The beneficial effects of the present invention are: the present invention simplifies the traditional structure of driving force and steering force, and can improve the dragging ability of the robot under the condition that the whole structure maintains a reasonable counterweight. The drag-type jacking system separated from the main structure avoids gravity from being applied to the body frame, and the drag-type jacking system and sleeper positioning device are further set up to meet the needs of different working conditions through a variety of combinations. Improve the adaptability of the robot and reduce the cost of the entire project implementation.
附图说明Description of drawings
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1是本发明的实施例一中矩形车身框架的结构示意图一；Fig. 1 is a structural schematic diagram 1 of a rectangular body frame in Embodiment 1 of the present invention;
图2是本发明的实施例一中矩形车身框架的结构示意图二；Fig. 2 is the structural schematic diagram II of the rectangular body frame in Embodiment 1 of the present invention;
图3是本发明的实施例一中驱动轮组件的结构示意图一；Fig. 3 is a structural schematic diagram 1 of the driving wheel assembly in Embodiment 1 of the present invention;
图4是本发明的实施例一中驱动轮组件的结构示意图二；Fig. 4 is the second structural schematic diagram of the driving wheel assembly in the first embodiment of the present invention;
图5是本发明的实施例一中驱动轮组件的剖视图；Fig. 5 is a sectional view of the drive wheel assembly in Embodiment 1 of the present invention;
图6是本发明的实施例一中双驱动电机装置的结构示意图；Fig. 6 is a schematic structural view of a dual drive motor device in Embodiment 1 of the present invention;
图7是本发明的实施例一中风道系统处的结构示意图；Fig. 7 is a schematic structural view of the air duct system in Embodiment 1 of the present invention;
图8是本发明的实施例二的底视图；Fig. 8 is a bottom view of Embodiment 2 of the present invention;
图9是本发明的实施例二的侧视图；Fig. 9 is a side view of Embodiment 2 of the present invention;
图10是图9中A处的局部放大剖视图；Fig. 10 is a partially enlarged cross-sectional view at A in Fig. 9;
图11是本发明的实施例二在导向顶柱处的剖视图；Fig. 11 is a sectional view of the second embodiment of the present invention at the guide post;
图12是本发明的实施例三的侧视图一；Fig. 12 is a side view 1 of Embodiment 3 of the present invention;
图13是本发明的实施例三的侧视图二；Fig. 13 is the second side view of the third embodiment of the present invention;
图14是本发明的实施例三中枕木定位装置的运动原理图一；Fig. 14 is the movement schematic diagram 1 of the sleeper positioning device in the third embodiment of the present invention;
图15是本发明的实施例三中枕木定位装置的运动原理图二；Fig. 15 is the second schematic diagram of the movement of the sleeper positioning device in the third embodiment of the present invention;
图16是本发明的实施例四的结构示意图；Fig. 16 is a schematic structural diagram of Embodiment 4 of the present invention;
图17是图16中B处的局部放大示意图；Fig. 17 is a partially enlarged schematic diagram of place B in Fig. 16;
图18是图16中C处的局部放大示意图；Fig. 18 is a partially enlarged schematic diagram at position C in Fig. 16;
图19是本发明的实施例四的运动原理图；Fig. 19 is a motion schematic diagram of Embodiment 4 of the present invention;
图20是本发明的实施例四中升降小车的底部结构示意图。Fig. 20 is a schematic diagram of the bottom structure of the lifting trolley in Embodiment 4 of the present invention.
具体实施方式Detailed ways
现在结合附图对本发明作进一步详细的说明。这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.
如图1～图7所示的本发明一种智能车间用室内导航机器人的实施例一，包括矩形车身框架1和电控系统3，在矩形车身框架1的左、右两侧设置分别设有驱动轮组件2，且的两组驱动轮组件2为对称设置，驱动轮组件2具有两组前、后设置的滚动轮装置21以及上、下分别设置的主动力驱动装置22、转向力驱动装置23，所述主动力驱动装置22、转向力驱动装置23均与滚动轮装置21传动连接，通过该种的结构布局，能够解决在传统的滚轮驱动移动的方式中，实现四轮同步驱动要么借鉴汽车四驱的复杂结构，要么单纯通过电机的控制改变以实现驱动力和转向动力，但其稳定性低等缺陷，该种布局根据所需要元件的重量和在运动时的惯量，采用上、下、前、后、左、右错落式的布局，能够使得机器人的移动更为稳定，也能够规避传统结构的堆叠式的设计，显著降低矩形车身框架1的厚度，扩展移动的范围，Embodiment 1 of an indoor navigation robot for an intelligent workshop of the present invention as shown in FIGS. Drive wheel assembly 2, and the two groups of drive wheel assemblies 2 are arranged symmetrically, and the drive wheel assembly 2 has two sets of rolling wheel devices 21 arranged at the front and rear, and active power drive devices 22 and steering force drive devices respectively arranged at the top and bottom. 23. The main power drive device 22 and the steering force drive device 23 are all in transmission connection with the rolling wheel device 21. Through this kind of structural layout, it is possible to solve the problem of realizing four-wheel synchronous drive in the traditional rolling wheel driving method or drawing lessons from The complex structure of the four-wheel drive of the car, or simply change the driving force and steering power through the control of the motor, but its stability is low. , front, rear, left, and right staggered layout can make the movement of the robot more stable, and can also avoid the stacked design of the traditional structure, significantly reduce the thickness of the rectangular body frame 1, and expand the range of movement.
所述滚动轮装置21具有由上至下顺次设置的转向连接轴套211、隔离紧固机构212、行走轮安装支架213，在转向连接轴套211内设有驱动轴215，在转向连接轴套211与驱动轴215之间间隔设有两个滚针轴承214，The rolling wheel device 21 has a steering connecting shaft sleeve 211, an isolation fastening mechanism 212, and a running wheel mounting bracket 213 arranged in sequence from top to bottom, and a driving shaft 215 is arranged in the steering connecting shaft sleeve 211, and a driving shaft 215 is arranged in the steering connecting shaft. There are two needle bearings 214 spaced between the sleeve 211 and the drive shaft 215,
所述隔离紧固机构212具有安装罩体2121，所述安装罩体2121的开口朝下并紧固在行走轮安装支架213的上部，且安装罩体2121与行走轮安装支架213之间形成安装腔室，以转向连接轴套211的中心轴线为旋转中心、在安装腔室内设有至少三个球头螺母2122，在安装罩体2121的上侧表面设有连接法兰盘2123，在连接法兰盘2123上设有与球头螺母2122一一对应的紧固螺栓安装孔位，通过隔离紧固机构212的作用，既能够发挥采用双套设计的转向连接轴套211、驱动轴215各自发挥作用不干涉，又能解决在载重时车身刚性的问题，大幅提升抗压能力而在轴向上不破坏转动力矩，The isolation fastening mechanism 212 has an installation cover body 2121, the opening of the installation cover body 2121 faces downward and is fastened on the top of the road wheel installation bracket 213, and an installation is formed between the installation cover body 2121 and the road wheel installation bracket 213. The chamber takes the central axis of the steering connection bushing 211 as the center of rotation, at least three ball nuts 2122 are arranged in the installation chamber, and a connecting flange 2123 is arranged on the upper surface of the installation cover 2121. In the connection method The blue plate 2123 is provided with fastening bolt mounting holes corresponding to the ball nuts 2122 one-to-one. By isolating the effect of the fastening mechanism 212, the double-set design of the steering connection bushing 211 and the drive shaft 215 can be used separately. The function does not interfere, and it can solve the problem of the rigidity of the car body under load, greatly improving the compressive capacity without destroying the rotational moment in the axial direction,
在行走轮安装支架213的上、下两侧分别设有水平传动轴216、行走轮218，所述驱动轴215竖直向下依次贯穿转向连接轴套211、安装罩体2121、行走轮安装支架213并与水平传动轴216的一端通过锥齿轮啮合，水平传动轴216的另一端与行走轮218之间通过皮带轮连接，在驱动轴215与行走轮安装支架213的顶部之间设有中置隔离法兰217，所述中置隔离法兰217的下部设有限位凸台并抵住行走轮安装支架213的顶部的内表面，所述中置隔离法兰217的上部伸入于安装腔室内，且中置隔离法兰217的上部边缘设有圆弧倒角并与所有球头螺母2122紧密接触，在承载时通过球头螺母2122与中置隔离法兰217的接触保证刚性，且中置隔离法兰217与驱动轴215之间为间隙配合，避免中置隔离法兰217的变形影响驱动轴215，The upper and lower sides of the road wheel mounting bracket 213 are respectively provided with a horizontal drive shaft 216 and a road wheel 218, and the drive shaft 215 runs through the steering connection shaft sleeve 211, the installation cover 2121, and the road wheel mounting bracket vertically downward in turn. 213 and one end of the horizontal transmission shaft 216 is meshed by a bevel gear, the other end of the horizontal transmission shaft 216 is connected with the road wheel 218 by a pulley, and a middle isolation is provided between the drive shaft 215 and the top of the road wheel mounting bracket 213 Flange 217, the lower part of the middle isolation flange 217 is provided with a limit boss and against the inner surface of the top of the road wheel installation bracket 213, the upper part of the middle isolation flange 217 extends into the installation chamber, In addition, the upper edge of the central isolation flange 217 is provided with arc chamfers and is in close contact with all ball nuts 2122. During loading, the contact between the ball nuts 2122 and the central isolation flange 217 ensures rigidity, and the central isolation There is clearance fit between the flange 217 and the drive shaft 215 to prevent the deformation of the middle isolation flange 217 from affecting the drive shaft 215,
在实际的运动中，驱动轴215可将动力传动至水平传动轴216，通过锥齿轮的啮合、皮带轮的传动实现行走轮218的转动，使得整个矩形车身框架1移动位置，而转向连接轴套211由于并不和驱动轴215干涉，而又能够通过隔离紧固机构212与行走轮安装支架213固定连接，使得在转向连接轴套211转动时，行走轮218能够发生转向的效果，在上述运动的控制中，均需要通过电控系统3发出相对应的电信号至主动力驱动装置22、转向力驱动装置23上的相关电机上，In actual motion, the driving shaft 215 can transmit power to the horizontal transmission shaft 216, and the rotation of the running wheel 218 is realized through the engagement of the bevel gears and the transmission of the pulley, so that the entire rectangular body frame 1 moves and turns to the connecting shaft sleeve 211 Owing to not interfering with drive shaft 215, and can be fixedly connected with road wheel installation bracket 213 by isolating fastening mechanism 212, make when turning to connecting axle sleeve 211, the effect that road wheel 218 can turn, in above-mentioned motion During the control, it is necessary to send corresponding electrical signals to the relevant motors on the main power drive device 22 and the steering force drive device 23 through the electronic control system 3,
所述主动力驱动装置22与驱动轴215传动连接，所述转向力驱动装置23与转向连接轴套211传动连接，作为一种具体的结构布局，所述主动力驱动装置22、转向力驱动装置23在水平方向上分别位于矩形车身框架1的前、后侧，The main power driving device 22 is in transmission connection with the drive shaft 215, and the steering force driving device 23 is in transmission connection with the steering connection bushing 211. As a specific structural layout, the main power driving device 22, the steering force driving device 23 are respectively located at the front and rear sides of the rectangular body frame 1 in the horizontal direction,
所述主动力驱动装置22具有双驱动电机装置221，所述双驱动电机装置221由两个并排设置的驱动电机构成，所述驱动电机的输出轴竖直向上伸出且在输出轴的位置设有冷却润滑盒222，所述驱动电机的输出轴贯穿冷却润滑盒222，且在驱动电机的输出轴之间设有中置输出轴223，所述中置输出轴223的下端位于冷却润滑盒222内并均与驱动电机的输出轴啮合，其上端竖直向上延展并与驱动轴215通过在水平方向上的投影面呈三角形状的第一皮带轮224传动连接，所述转向力驱动装置23具有扁平力矩电机231，且扁平力矩电机231通过在水平方向上的投影面呈三角形状的第二皮带轮232传动连接。能够实现四轮的同步启停、转向动作，使得寻迹的过程更为精准，也降低了电控系统3的控制复杂程度。Described active driving device 22 has double drive motor device 221, and described double drive motor device 221 is made up of two drive motors arranged side by side, and the output shaft of described drive motor stretches out vertically upwards and is set at the position of output shaft. There is a cooling and lubricating box 222, the output shaft of the driving motor runs through the cooling and lubricating box 222, and an intermediate output shaft 223 is arranged between the output shafts of the driving motor, and the lower end of the intermediate output shaft 223 is located in the cooling and lubricating box 222 Both are engaged with the output shaft of the drive motor, and its upper end extends vertically upwards and is connected with the drive shaft 215 through the first pulley 224 that is triangular in the horizontal projection plane. The steering force drive device 23 has a flat The torque motor 231 , and the flat torque motor 231 is connected by transmission through the second pulley 232 whose projection plane in the horizontal direction is triangular. The four-wheel synchronous start-stop and steering actions can be realized, making the tracking process more precise and reducing the control complexity of the electronic control system 3 .
所述矩形车身框架1内还设有用于电控系统3冷却的风道系统4。所述风道系统4具有横截面呈等腰梯形的开口框支架41，在开口框支架41的表面上设有贯穿的镂空孔，所述开口框支架41上的开口朝下并与矩形车身框架1的底部焊接固定并构成横截面为等腰梯形的、可用于容纳蓄电池组以及传感器装置的冷却风道42，所述电控系统3安装在开口框支架41的顶部，在开口框支架41的侧壁上并排设有若干个散热风扇43。考虑到具体的散热，增设风道系统4，通过散热风扇43将开口框支架41外侧的热量引入冷却风道42内，通过冷却风道42周边的散热孔将热量散发出去，同时可将发热量最大的蓄电池组以及传感器装置于电控系统隔离开来，置入冷却风道42中，提升整个系统的稳定性，也能够充分利用扁平式车身结构的空间。An air duct system 4 for cooling the electronic control system 3 is also provided in the rectangular body frame 1 . The air duct system 4 has an isosceles trapezoidal open frame support 41 with a cross section, and a through hollow hole is provided on the surface of the open frame support 41. The opening on the open frame support 41 faces downward and is aligned with the rectangular body frame The bottom of 1 is welded and fixed to form a cooling air passage 42 with an isosceles trapezoidal cross-section that can accommodate battery packs and sensor devices. The electronic control system 3 is installed on the top of the open frame support 41, Several cooling fans 43 are arranged side by side on the side wall. Considering the specific heat dissipation, an air duct system 4 is added, and the heat outside the open frame support 41 is introduced into the cooling air duct 42 through the cooling fan 43, and the heat is dissipated through the cooling holes around the cooling air duct 42, and the heat generation can be dissipated at the same time. The largest battery pack and sensor device are isolated from the electronic control system and placed in the cooling air duct 42 to improve the stability of the entire system and make full use of the space of the flat body structure.
如图8～图11所示的本发明的实施例二，实际上是在实施例一的基础上增设可用于搬运动作的拖拽式顶升系统5，具体的，在矩形车身框架1上设有拖拽式顶升系统5，所述拖拽式顶升系统5具有可拆卸支架51，所述可拆卸支架51通过挂钩安装在矩形车身框架1的侧壁上，便于适应不同的需求进行组装，且拖拽式顶升系统5具有对称设置的两个浮动升降装置52，在两个浮动升降装置52之间设有增压储油桶53，Embodiment 2 of the present invention as shown in FIGS. 8 to 11 actually adds a drag-type jacking system 5 that can be used for carrying operations on the basis of Embodiment 1. Specifically, a rectangular body frame 1 is provided with a There is a drag-type jacking system 5, and the drag-type jacking system 5 has a detachable bracket 51, and the detachable bracket 51 is installed on the side wall of the rectangular body frame 1 through a hook, which is convenient for assembling according to different requirements , and the drag-type jacking system 5 has two symmetrically arranged floating lifting devices 52, and a pressurized oil storage barrel 53 is arranged between the two floating lifting devices 52,
所述浮动升降装置52具有两端开口且中空的安装筒521，在安装筒521的上、下两端分别设有顶升柱522、支撑柱523，在顶升柱522的顶端、支撑柱523的底端均设有T字型限位凸台，且在顶升柱522与安装筒521的上端之间、支撑柱523与安装筒521的下端之间均设有缓冲垫圈524，所述顶升柱522的下端与支撑柱523的顶端均插入于安装筒521内并构成密闭的液压油容纳空间，在安装筒521的侧壁上设有能够使得液压油容纳空间与增压储油桶53相连通的连接唧嘴525，在安装筒521位于顶升柱522一侧的内壁上设有若干个沿竖直方向延展的限位键槽526，在限位键槽526内设有长度短于限位键槽526长度的限位块527，The floating lifting device 52 has a hollow installation tube 521 with openings at both ends, and a jacking column 522 and a supporting column 523 are respectively provided at the upper and lower ends of the installing tube 521. At the top of the lifting column 522, the supporting column 523 The bottom ends of each are provided with T-shaped limit bosses, and between the lifting column 522 and the upper end of the installation cylinder 521, between the support column 523 and the lower end of the installation cylinder 521, buffer washers 524 are provided. Both the lower end of the lifting column 522 and the top end of the supporting column 523 are inserted into the installation cylinder 521 to form a closed hydraulic oil storage space. The connecting nozzle 525 connected to each other is provided with a plurality of limit key grooves 526 extending in the vertical direction on the inner wall of the installation tube 521 located on one side of the jacking column 522, and the limit key grooves 526 are provided with lengths shorter than the limit key grooves. The limit block 527 of the length of the keyway 526,
在支撑柱523上通过限位压盘528安装有至少3个导向顶柱529，导向顶柱529以支撑柱523的中心轴线为中心旋转分布，且导向顶柱529均插入于顶升柱522内，且每根导向顶柱529与顶升柱522之间均设有用于油液流动的间隙，在支撑柱523的底部设有万向轮。At least three guide pillars 529 are installed on the support pillar 523 through the limit pressure plate 528. The guide pillars 529 are rotated and distributed around the central axis of the support pillar 523, and the guide pillars 529 are all inserted into the lifting pillar 522. , and each guide post 529 and the lifting post 522 are provided with a gap for oil flow, and a universal wheel is provided at the bottom of the support post 523 .
在拖拽式顶升系统5实际的工作中，当矩形车身框架1移动至指定位置的下方后，如移动至两个枕木之间的下方，电控系统3发出信号，使得增压储油桶53向连接唧嘴525输入增压油液，使得液压油容纳空间膨胀，在膨胀力的作用下，支撑柱523向下运动使得万向轮着地，起到支撑作用，而顶升柱522向上移动，由于导向顶柱529与顶升柱522之间的间隙，由于油液也可窜入间隙内，在导向顶柱529与顶升柱522之间的油液将会产生一定的粘度附着力，减缓顶升柱522的移动，使得其移动更为平缓可靠，还能够大幅简化顶升的结构，以替代传统的液压顶升装置复杂的轴向结构不利于精简体积的问题，在顶升柱522向上移动的过程中，所需移动的物体从枕木上离开一定间隙，导向顶柱529在此过程中还可起到稳定和导向的作用，在达到需要的离地间隙时，即可锁紧油液的压力，进行下一步的移动，通过分离式的设计，使得拖拽式顶升系统5在不使用时可挂载在矩形车身框架1上，也不影响其运动，在需要时，才发挥作用，同时为了适应扁平的结构，解决不能采用传统油缸的问题，采用双向顶出的设计，既能够解决所需要解决的问题，又能够避免载荷施加于矩形车身框架1，延长其使用寿命，同时还能够有浮动弹性的调整范围，使得顶升的动作同步、稳定、可控。In the actual work of the dragging jacking system 5, when the rectangular body frame 1 moves below the designated position, such as between two sleepers, the electronic control system 3 sends out a signal to make the pressurized oil storage barrel 53 input pressurized oil to the connecting nozzle 525, so that the hydraulic oil storage space expands, and under the action of the expansion force, the supporting column 523 moves downward to make the universal wheel touch the ground, playing a supporting role, while the jacking column 522 moves upward , due to the gap between the guiding pin 529 and the jacking pin 522, since the oil can also escape into the gap, the oil between the guiding pin 529 and the jacking pin 522 will have a certain viscosity adhesion, Slowing down the movement of the jacking column 522 makes its movement more gentle and reliable, and can greatly simplify the lifting structure to replace the problem that the complex axial structure of the traditional hydraulic jacking device is not conducive to reducing the volume. The lifting column 522 In the process of upward movement, the object to be moved leaves a certain gap from the sleeper, and the guide column 529 can also play a role in stabilizing and guiding in the process, and when the required ground clearance is reached, the oil can be locked. The pressure of the hydraulic fluid is used to move to the next step. Through the separate design, the tow-type jacking system 5 can be mounted on the rectangular body frame 1 when not in use, and its movement will not be affected. It can only be used when needed. At the same time, in order to adapt to the flat structure and solve the problem that the traditional oil cylinder cannot be used, the two-way ejection design can not only solve the problem to be solved, but also avoid the load being applied to the rectangular body frame 1, prolong its service life, and at the same time It can also have a floating and elastic adjustment range, making the lifting action synchronous, stable and controllable.
在矩形车身框架1的前、后两侧均设有拖拽式顶升系统5，可以为矩形车身框架1的左、右两侧挂载其他装置留出空间。Both front and rear sides of the rectangular body frame 1 are provided with a drag-type jacking system 5, which can reserve space for mounting other devices on the left and right sides of the rectangular body frame 1.
如图12～图15所示的本发明的实施例三，实际上是为了解决在搬运移动的过程中，如果精准的插入用于放置物品的枕木之间，这样才能够充分发挥自动搬运的功能，而传统的方式一般在枕木之间放置的物品只能通过类似于铲车改造的移动装置进行取拿，在码垛机器人中运用很多，但是在一些需要精密控制运动过程，物品重量并不大时，传统的方式就显得不甚可靠。故本实施例利用上述两个实施例的优点，进一步在矩形车身框架1的左、右两侧分别设有枕木定位装置6，所述枕木定位装置6具有两个浮动滚轮61，巧妙的通过杠杆配重的调节，可以使得所述浮动滚轮61的中心轴线平行且其中心轴线构成的平面不垂直、也不水平，即使得两个浮动滚轮61能够呈现前后分布状，在浮动滚轮61的之间设有连接杆62，所述连接杆62的两端分别与对应的浮动滚轮61的中心轴铰接，且在连接杆62的中部设有调节轴销63，在矩形车身框架1的侧壁上设有可与调节轴销63滑动连接且呈长条状的水平调节槽64，使得浮动滚轮61在与调节开口66接触的过程中能够有一段缓冲的过程，The third embodiment of the present invention shown in Figures 12 to 15 is actually to solve the problem of accurately inserting between the sleepers used to place items during the process of transporting and moving, so that the function of automatic transport can be fully exerted , and the traditional method generally places items between the sleepers and can only be picked up by a mobile device similar to a forklift transformation. It is widely used in palletizing robots, but in some cases that require precise control of the movement process, the weight of the items is not large. , the traditional methods appear to be unreliable. Therefore, the present embodiment utilizes the advantages of the above two embodiments, and is further provided with a sleeper positioning device 6 on the left and right sides of the rectangular body frame 1 respectively. The adjustment of the counterweight can make the central axes of the floating rollers 61 parallel and the plane formed by the central axes is neither vertical nor horizontal, so that the two floating rollers 61 can be distributed forward and backward, between the floating rollers 61 A connecting rod 62 is provided, the two ends of the connecting rod 62 are respectively hinged with the central axis of the corresponding floating roller 61, and an adjusting shaft pin 63 is arranged at the middle part of the connecting rod 62, and an adjusting shaft pin 63 is arranged on the side wall of the rectangular body frame 1. There is a long strip-shaped horizontal adjustment groove 64 that can be slidably connected with the adjustment shaft pin 63, so that the floating roller 61 can have a buffering process in the process of contacting the adjustment opening 66,
所述枕木定位装置6还具有与之相配套的专用枕木65，在专用枕木65的水平两端均设有调节开口66，在两个调节开口66之间设有顺接滑槽67，所述调节开口66由外至内依次设有锥形引入段661、第一引导圆弧段662、第二引导圆弧段663。The sleeper positioning device 6 also has a matching special sleeper 65, and adjustment openings 66 are arranged at both horizontal ends of the special sleeper 65, and a connecting chute 67 is provided between the two adjustment openings 66. The adjustment opening 66 is sequentially provided with a tapered introduction section 661 , a first guiding arc section 662 , and a second guiding arc section 663 from outside to inside.
所述第一引导圆弧段662与第二引导圆弧段663的半径不小于浮动滚轮61的半径，且第一引导圆弧段662在竖直方向上横截面的圆弧中心位于调节开口66的内腔中，所述第二引导圆弧段663在竖直方向上横截面的圆弧中心位于调节开口66的内腔外部，所述第一引导圆弧段662的半径小于第二引导圆弧段663的半径。The radii of the first guiding arc segment 662 and the second guiding arc segment 663 are not smaller than the radius of the floating roller 61 , and the arc center of the cross section of the first guiding arc segment 662 in the vertical direction is located at the adjustment opening 66 In the inner cavity of the second guide arc segment 663, the arc center of the cross section in the vertical direction is located outside the inner cavity of the adjustment opening 66, and the radius of the first guide arc segment 662 is smaller than the second guide circle Radius of arc segment 663 .
如图14和图15所示的运动原理图，保证浮动滚轮61呈现一前一后状，通过专用的枕木，不管是从枕木两端的哪一个方向进入，先接触专用枕木65的浮动滚轮61将会被迫转动调整至，两个浮动滚轮61呈现一条直线分布状，最终两个浮动滚轮61先后进入顺接滑槽67内，实现机器人在移动搬运时，精准位置的确定。显而易见的，实施例三可充分利用实施例二中的拖拽式顶升系统5，在浮动滚轮61进入顺接滑槽67内至指定位置后，通过拖拽式顶升系统5实现其余的动作。As shown in Fig. 14 and Fig. 15, it is guaranteed that the floating roller 61 presents a front and back shape. No matter which direction enters from the two ends of the sleeper through the special sleeper, the floating roller 61 of the special sleeper 65 will first contact Will be forced to rotate and adjust until the two floating rollers 61 are distributed in a straight line, and finally the two floating rollers 61 enter the sequential chute 67 one after another, so as to determine the precise position of the robot when it is moving and transporting. Obviously, the third embodiment can make full use of the drag-type jacking system 5 in the second embodiment. After the floating roller 61 enters the sequential chute 67 to the designated position, the rest of the actions can be realized through the drag-type jacking system 5 .
如图16～图20所示的本发明的实施例四，在矩形车身框架1的后侧设有密闭运输组件7，所述密闭运输组件7具有可拆卸地安装在矩形车身框架1上的主拖拽挂板71，在主拖拽挂板71的尾部通过呈X型分布的两根连接杆72连接有从拖拽挂板73，传统的拖钩连接挂车，其之间的间隙和松垮将会导致控制移动的范围、稳定性不可靠，不能实现位置的精度控制，尤其是在化工物料的生产中，需要对物料移动的位置能够精准控制，而传统的单连杆的稳定性并不高，故本实施例采用错落式的双连杆设计，如果要实现所述从拖拽挂板73通过沿竖直方向上延展的滑槽77安装有升降小车74，在升降小车74上设有可升降的滚轮组件75，In Embodiment 4 of the present invention shown in FIGS. 16 to 20 , an airtight transportation assembly 7 is provided on the rear side of the rectangular body frame 1 , and the airtight transportation assembly 7 has a main The towing hanging plate 71 is connected with the secondary towing hanging plate 73 through two connecting rods 72 distributed in an X shape at the tail of the main towing hanging plate 71. The traditional tow hook is connected to the trailer, and the gap and looseness between them It will lead to unreliable control of the moving range and stability, and the inability to achieve precise control of the position, especially in the production of chemical materials, which require precise control of the moving position of the material, while the stability of the traditional single-link is not sufficient. High, so this embodiment adopts the double-link design of staggered type. If it is to be realized that the lifting trolley 74 is installed on the lifting trolley 74 through the chute 77 extending vertically from the drag hanging plate 73, Liftable roller assembly 75,
在从拖拽挂板73的左、右两侧与升降小车74之间均设有限位卡块76，所述限位卡块76与升降小车74之间一起合围成沿竖直方向延展、横截面呈T型的滑槽77，且在从拖拽挂板73的左、右两侧均设有与滑槽77滑动连接的T型端部，所述滚轮组件75具有前、后两侧分布且通过转动轴销751安装在升降小车74上的橡胶滚轮752，在橡胶滚轮752之间设有由电动油缸753驱动的伸缩杆754，在伸缩杆754的端部设有连接轴套755，在连接轴套755与转动轴销751之间均设有驱动连杆756，且在升降小车74上设有与转动轴销751相适应的圆弧滑槽757。Between the left and right sides of the dragging hanging plate 73 and the lift trolley 74, a limit block 76 is arranged, and the limit block 76 and the lift trolley 74 are enclosed together to extend vertically and horizontally. The cross-section is a T-shaped chute 77, and the left and right sides of the drag hanging plate 73 are provided with T-shaped ends that are slidably connected to the chute 77, and the roller assembly 75 has front and rear sides. And be installed on the rubber roller 752 on the lifting trolley 74 by rotating shaft pin 751, be provided with the telescoping link 754 driven by electric oil cylinder 753 between the rubber roller 752, be provided with connecting axle sleeve 755 at the end of telescoping link 754, in A driving link 756 is provided between the connecting bush 755 and the rotating shaft pin 751 , and an arc chute 757 compatible with the rotating shaft pin 751 is provided on the lifting trolley 74 .
在升降小车74的底部设有由电控系统3控制的出料口门741，围绕所述出料口门741的横截面形状、在升降小车74的底部设有呈凸起状的密封定块体742。The bottom of the lift trolley 74 is provided with a discharge port door 741 controlled by the electric control system 3, and a protruding sealing fixed block is provided at the bottom of the lift trolley 74 around the cross-sectional shape of the discharge port door 741 Body 742.
在实际的运动中，当矩形车身框架1移动至指定位置后，可通过电控系统3发出电信号，使得电动油缸753驱动的伸缩杆754收缩，间接带动驱动连杆756斜向上运动，从而迫使转动轴销751沿着圆弧滑槽757斜向上移动，从而使得转动轴销751上的滚轮变向的在竖直方向上向上移动，与此同时，由于限位卡块76的存在，使得升降小车74沿着滑槽77下降，最终使得升降小车74底部完全与地面接触，密封定块体742插入指定的地面上的凹槽，即可实现定位和密封，随后出料口门741可控制打开，在升降小车74中的物料即可通过出料口门741离开升降小车74，显然可在地面上设有与出料口门741、限位卡块76相对应的埋入于地面的物料入口，可以避免产生扬尘和泄露，实现整体工艺环节的全密封环保效果。In actual movement, when the rectangular body frame 1 moves to a designated position, an electric signal can be sent through the electric control system 3, so that the telescopic rod 754 driven by the electric cylinder 753 contracts, and indirectly drives the driving link 756 to move obliquely upwards, thereby forcing The rotating shaft pin 751 moves obliquely upward along the circular arc chute 757, so that the roller on the rotating shaft pin 751 changes direction and moves upward in the vertical direction. The trolley 74 descends along the chute 77, and finally the bottom of the lifting trolley 74 is completely in contact with the ground, and the sealing fixed block 742 is inserted into the designated groove on the ground to realize positioning and sealing, and then the discharge port door 741 can be controlled to open , the material in the lifting trolley 74 can leave the lifting trolley 74 through the discharge port door 741, obviously, a material inlet buried in the ground corresponding to the discharge port door 741 and the limit block 76 can be provided on the ground , can avoid dust and leakage, and realize the effect of full sealing and environmental protection of the whole process link.
当然本领域技术人员可以将实施例一、二、三、四结合或者部分结合，得出适用于不同场景的技术方案。Of course, those skilled in the art may combine or partially combine Embodiments 1, 2, 3, and 4 to obtain technical solutions applicable to different scenarios.
以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。Inspired by the above-mentioned ideal embodiment according to the present invention, through the above-mentioned description content, relevant workers can make various changes and modifications within the scope of not departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, but must be determined according to the scope of the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910671564.0ACN110294046B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation robot for intelligent workshop |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105275.1ACN107878594B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot for intelligent workshop |
| CN201910671564.0ACN110294046B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation robot for intelligent workshop |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711105275.1ADivisionCN107878594B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot for intelligent workshop |
| Publication Number | Publication Date |
|---|---|
| CN110294046Atrue CN110294046A (en) | 2019-10-01 |
| CN110294046B CN110294046B (en) | 2020-11-03 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910671567.4AActiveCN110294047B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot |
| CN201910672167.5AActiveCN110294051B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot |
| CN201711105275.1AActiveCN107878594B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot for intelligent workshop |
| CN201910672170.7AActiveCN110294052B (en) | 2017-11-10 | 2017-11-10 | An indoor navigation and tracking robot for intelligent workshop with closed transport components |
| CN201910671575.9AActiveCN110294049B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation and tracking robot for intelligent workshop with drag-type jacking system |
| CN201910671564.0AActiveCN110294046B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation robot for intelligent workshop |
| CN201910671568.9APendingCN110294048A (en) | 2017-11-10 | 2017-11-10 | Intelligent workshop with sleeper positioning device is tracked robot with indoor navigation |
| CN201910672166.0AActiveCN110294050B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot for intelligent workshop |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910671567.4AActiveCN110294047B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot |
| CN201910672167.5AActiveCN110294051B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot |
| CN201711105275.1AActiveCN107878594B (en) | 2017-11-10 | 2017-11-10 | Multifunctional indoor navigation tracing robot for intelligent workshop |
| CN201910672170.7AActiveCN110294052B (en) | 2017-11-10 | 2017-11-10 | An indoor navigation and tracking robot for intelligent workshop with closed transport components |
| CN201910671575.9AActiveCN110294049B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation and tracking robot for intelligent workshop with drag-type jacking system |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910671568.9APendingCN110294048A (en) | 2017-11-10 | 2017-11-10 | Intelligent workshop with sleeper positioning device is tracked robot with indoor navigation |
| CN201910672166.0AActiveCN110294050B (en) | 2017-11-10 | 2017-11-10 | Indoor navigation tracing robot for intelligent workshop |
| Country | Link |
|---|---|
| CN (8) | CN110294047B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422809A (en)* | 2018-04-08 | 2018-08-21 | 高亚贵 | A kind of universal wheel unit for carrier |
| CZ2019185A3 (en)* | 2019-03-27 | 2019-12-27 | Dvořák - Svahové Sekačky S.R.O. | Axle, especially for a universal carrier chassis |
| CN110673226A (en)* | 2019-11-07 | 2020-01-10 | 安徽现勘信息科技有限公司 | Multispectral all-angle biological footprint searching device |
| NO20191445A1 (en)* | 2019-12-06 | 2021-04-26 | Wheel Me As | Releasable wheel element |
| CN110843712B (en)* | 2019-12-19 | 2024-08-30 | 广州极飞科技股份有限公司 | Multifunctional unmanned vehicle |
| CN111301944B (en)* | 2020-02-25 | 2021-09-28 | 李云 | Separating mechanism for efficiently removing impurities from seeds subjected to tedding/drying dehydration |
| CN111302083B (en)* | 2020-02-25 | 2021-09-24 | 宣城智芬信息技术有限公司 | Centralized rapid collecting machine beneficial to seed collection and storage |
| CN111285026A (en)* | 2020-02-25 | 2020-06-16 | 六安正辉优产机电科技有限公司 | Quick collection assembly convenient for seed storage |
| CN111305771B (en)* | 2020-04-08 | 2024-12-10 | 三一集团有限公司湖南分公司 | Root box |
| CN114715282B (en)* | 2022-04-11 | 2024-04-12 | 运来智能装备(无锡)有限公司 | AGV chassis of self-adaptation ground and can initiative leveling |
| FR3141155A1 (en)* | 2022-10-21 | 2024-04-26 | Exotec | ORDER PREPARATION PROCESS |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2596838A (en)* | 1950-06-30 | 1952-05-13 | George P Carver | Bulk delivery system for drop delivery bins |
| US5782524A (en)* | 1995-06-30 | 1998-07-21 | Heider; Merle J. | Curved wall trailer construction |
| CN106515889A (en)* | 2016-10-19 | 2017-03-22 | 东莞理工学院 | An unmanned feeding trolley that can turn conveniently |
| CN206049478U (en)* | 2016-08-22 | 2017-03-29 | 辽阳康达塑胶树脂有限公司 | Material transfer car |
| CN206086818U (en)* | 2016-08-27 | 2017-04-12 | 北京京卫瑞源科技有限公司 | Portable powder receiver |
| CN206249099U (en)* | 2016-12-19 | 2017-06-13 | 郑州大河智信科技股份公司 | A kind of new laser navigation AGV cart transport line auxiliary locators |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4147581B2 (en)* | 2003-01-30 | 2008-09-10 | 株式会社安川電機 | Omnidirectional vehicle |
| CN102458962B (en)* | 2009-06-19 | 2014-10-29 | 国立大学法人丰桥技术科学大学 | Steerable drive mechanism and omnidirectional moving vehicle |
| CN101698418A (en)* | 2009-11-11 | 2010-04-28 | 孙玉生 | Steering wheel driving device of vehicle |
| JP5767270B2 (en)* | 2013-04-08 | 2015-08-19 | 株式会社ケーイーアール | Steerable drive transmission device |
| CN103407517B (en)* | 2013-08-16 | 2015-06-17 | 成都四威高科技产业园有限公司 | Automatic guided vehicle (AGV) chassis travelling mechanism |
| CN103448832B (en)* | 2013-09-18 | 2015-09-09 | 贵州中鼎博时教育信息咨询有限责任公司 | The horizontal longitudinal moving device of automobile |
| CN104309718B (en)* | 2014-10-20 | 2017-01-18 | 哈尔滨工业大学 | Lever lateral mobile damping four-wheel type manned lunar rover folding system |
| CN206031560U (en)* | 2016-08-17 | 2017-03-22 | 哈尔滨歌瑞得莱机器人制造有限公司 | Huge steel pipe of three magnetic wheel work platform that crawls |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2596838A (en)* | 1950-06-30 | 1952-05-13 | George P Carver | Bulk delivery system for drop delivery bins |
| US5782524A (en)* | 1995-06-30 | 1998-07-21 | Heider; Merle J. | Curved wall trailer construction |
| CN206049478U (en)* | 2016-08-22 | 2017-03-29 | 辽阳康达塑胶树脂有限公司 | Material transfer car |
| CN206086818U (en)* | 2016-08-27 | 2017-04-12 | 北京京卫瑞源科技有限公司 | Portable powder receiver |
| CN106515889A (en)* | 2016-10-19 | 2017-03-22 | 东莞理工学院 | An unmanned feeding trolley that can turn conveniently |
| CN206249099U (en)* | 2016-12-19 | 2017-06-13 | 郑州大河智信科技股份公司 | A kind of new laser navigation AGV cart transport line auxiliary locators |
| Publication number | Publication date |
|---|---|
| CN110294049A (en) | 2019-10-01 |
| CN110294051A (en) | 2019-10-01 |
| CN110294049B (en) | 2020-11-06 |
| CN110294050B (en) | 2020-11-03 |
| CN110294052A (en) | 2019-10-01 |
| CN110294050A (en) | 2019-10-01 |
| CN110294048A (en) | 2019-10-01 |
| CN110294046B (en) | 2020-11-03 |
| CN110294052B (en) | 2020-10-27 |
| CN110294047A (en) | 2019-10-01 |
| CN107878594A (en) | 2018-04-06 |
| CN110294051B (en) | 2020-10-13 |
| CN110294047B (en) | 2020-10-13 |
| CN107878594B (en) | 2020-03-31 |
| Publication | Publication Date | Title |
|---|---|---|
| CN110294046A (en) | A kind of intelligence workshop indoor navigation robot | |
| CN108583733B (en) | AGV transport vehicle for carrying heavy tubular materials | |
| CN105417434B (en) | A kind of floor truck with lifting device | |
| CN102840375B (en) | Double orientation shifting fork transmission case | |
| CN105946548A (en) | Automatic guiding type carrying device | |
| WO2015161614A1 (en) | Single-engine power-driven device, method and crane | |
| CN205220637U (en) | Novel rotatory climbing mechanism suitable for AGV robot | |
| CN106744506A (en) | AGV dollies | |
| CN103129926A (en) | Rotatable self-walking delivery wagon | |
| CN115520557A (en) | Lead screw cam linkage lifting type ultrathin four-way shuttle | |
| CN204383627U (en) | AGV intelligence charge car travel driving system | |
| CN106882040B (en) | A traction type AGV trolley | |
| CN104373509A (en) | Angle drive device, power drive system and a single-engine hoist | |
| CN213707636U (en) | Four-way shuttle type carrying robot for storage and logistics | |
| CN113978981A (en) | Heavy-load primary-secondary vehicle | |
| CN206416844U (en) | A kind of towed AGV dollies | |
| CN219687001U (en) | Walking wheel installation device and robot | |
| CN101955140B (en) | High-efficiency energy-saving forklift hoisting mechanism | |
| CN115742707A (en) | Differential driving mechanism applied to ultra-low heavy-load AGV and application method thereof | |
| CN202812413U (en) | Shifting-fork drive actuator with dual guide shafts | |
| CN202746734U (en) | Double-guidance shifting fork transmission box | |
| CN111332980B (en) | Transporter and its lifting mechanism | |
| CN207361680U (en) | Integrated hydraulic jacking device and homing device | |
| CN201595120U (en) | Oven entering and tray driving device | |
| CN204020847U (en) | A kind of hydraulic ram structure and movable crusher |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right | Effective date of registration:20201016 Address after:215400 A, building 88, Beijing East Road, Taicang Development Zone, Suzhou, Jiangsu Applicant after:Suzhou Desmir Intelligent Technology Co.,Ltd. Address before:213100 Tianan Digital City, No. 588, Changwu South Road, Wujin District, Changzhou, Jiangsu Province, 16 8 floors 806 Applicant before:CHANGZHOU ZHIDOU INFORMATION TECHNOLOGY Co.,Ltd. | |
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | Effective date of registration:20210705 Address after:215400 Guizhuang Changfu Development Zone, Shaxi Town, Taicang City, Suzhou City, Jiangsu Province Patentee after:TAICANG CHENG LIAN PLASTIC Co.,Ltd. Address before:215400 A building, No. 88 Beijing East Road, Taicang Development Zone, Suzhou, Jiangsu. Patentee before:Suzhou Desmir Intelligent Technology Co.,Ltd. | |
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | Effective date of registration:20211027 Address after:215400 A building, No. 88 Beijing East Road, Taicang Development Zone, Suzhou, Jiangsu. Patentee after:Suzhou Desmir Intelligent Technology Co.,Ltd. Address before:215400 Guizhuang Changfu Development Zone, Shaxi Town, Taicang City, Suzhou City, Jiangsu Province Patentee before:TAICANG CHENG LIAN PLASTIC CO.,LTD. | |
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | Effective date of registration:20250414 Address after:Room A414, 4th Floor, Building 1, No. 12 Shangdi Information Road, Haidian District, Beijing 100080 Patentee after:Huaxing Energy Engineering Management (Beijing) Co.,Ltd. Country or region after:China Address before:215400 A building, No. 88 Beijing East Road, Taicang Development Zone, Suzhou, Jiangsu. Patentee before:Suzhou Desmir Intelligent Technology Co.,Ltd. Country or region before:China |