CN101734302B

CN101734302B - Unmanned remote control transfer cart

Info

Publication number: CN101734302B
Application number: CN2009102623044A
Authority: CN
Inventors: 孟华林; 陈洪宾; 刘勇
Original assignee: Chengdu Aircraft Industrial Group Co Ltd
Current assignee: Chengdu Aircraft Industrial Group Co Ltd
Priority date: 2009-12-19
Filing date: 2009-12-19
Publication date: 2012-01-11
Anticipated expiration: 2029-12-19
Also published as: CN101734302A

Abstract

The invention discloses an unmanned remote control transfer cart and aims to provide a transfer cart which is convenient to operate, high in transfer efficiency, small in turn radius, low in requirement on space and flexible in movement, can perform in-place transverse, longitudinal, slant movement and rotation around any rotating shaft, is flexile in regulation and adaptable to complex road conditions, and has obvious advantages under the conditions of high product weight, large product size and small spatial environment. The unmanned remote control transfer cart comprises a carriage with travelling wheels. The front and rear side ends of the carriage are provided with self-adaptive suspension gears (5) connected with a spindle-type universal wheel (8) through wheel brackets (6); through a universal wheel rotating shaft (24) in the center of the spindle-type universal wheel (8), the spindle-type universal wheel (8) is coaxially connected with a reducer (31) with a servo motor (32) and arranged in fork ear connecting holes in the wheel brackets (6); and a control system connected with a servo motor driver instructs the direction of advancing motion.

Description

Unmanned remote control transfer cart

Technical field

The present invention relates to a kind of transfer cart that transports parts among a small circle.

Background technology

The manufacture transfer cart mainly relies on manpower cardan wheel transfer cart at present.The manpower transfer cart only needs the operating personal just can complete operation when transporting small size, lightweight product component, and can grasp under the promotion of operating personal, according to the route arrival assigned address of anticipation; But when transportation large scale, heavier product component; Need a plurality of operating personals to promote simultaneously; And the sense of motion of transfer cart is also wayward, needs repeatedly to adjust to arrive assigned address, and need take bigger space in the adjustment process; Efficient is lower, has prolonged the execution cycle of production task.Along with more and more faster rhythm of production, also increasingly high to the logistics requirements on transport, the above-mentioned shortcoming of manpower transfer cart will cause serious consequence to producing chain.

Adopt the present invention unmanned remote control transfer cart to be carried out seriation, parametrization, universalization according to transporting different demands such as product structure, size, weight, the simple pallet for transporting of arranging in pairs or groups can be accomplished the transportation to product.And the entire mechanism assembly is easy, and is easy to maintenance, and transport efficiency is high; Operability and economy are all very good; Be worthy to be popularized, can be widely used in the transportation of various product parts, under the situation especially big, that product size is long, space environment is less very remarkable advantages is arranged at product weight.

Summary of the invention

Task of the present invention provides a kind of easy to operate; Transport efficiency is high; Turn radius is little, low to space requirement, motion is flexible; Can realize that original place adjustment horizontal, vertical, oblique and that rotate around any rotating shaft is flexible, can adapt to the more complicated road conditions, the transfer cart that has a clear superiority under the situation especially big at product weight, that size is long, space environment is less.

The technical solution adopted for the present invention to solve the technical problems is: a kind of unmanned remote control transfer cart; Comprise a compartment that has road wheel; It is characterized in that two side ends is equipped with the self adaptation suspension gear (5) that connects spindle formula cardan wheel (8) through wheel stand (6) before and after the compartment, said spindle formula cardan wheel (8) is through the cardan wheel rotating shaft (24) at its center; With coaxial linking to each other of the retarder that has servomotor (32) (31); And the cardan wheel rotating shaft (24) through its center is installed in wheel stand (6) the fork ear connecting bore, instructs the sense of motion that moves ahead by the control system that links to each other with motor servo driver, and said self adaptation suspension gear comprises; Be connected the rotating shaft on wheel stand (6) and the two fork ears (10); Connect firmly on compartment 1 side plate and wheel stand (6) two two ear (10) and single tine ear (20), two fork ears (10) and single tine ears (20) pitched of involutory bonded assembly respectively at spring damper in this rotating shaft (9) and bottom through shaft set; Said control system comprises; Be stacked in the UPS main frame (29) and the UPS storage battery (30) of bottom, compartment, compartment (1); Also comprise the electrical connection servomotor, be fixed on the motor servo driver (33) on the UPS storage battery (30) and be fixed on the compartment 1 relay (34) that is electrically connected each other, circuit breaker (35), PLC (36), to the power supply (38) of control system power supply.

The present invention has following beneficial effect than prior art.

The present invention is through being distributed in the vehicle body frame both sides, the kinematic mechanism of forming by four spindle formula cardan wheels and wheel stand, during motion and retarder rotate synchronously.And the PLC module controls through the control system that is electrically connected with the retarder motor.Send movement instruction through the hand-held Digiplex, edit the movement instruction that receives, pass to servomotor, drive transfer cart and carry out the motion of all directions through control system PLC.Under commanding behind the scenes, can prolong any predetermined paths and arrive assigned address more accurately; Realize that the original place is horizontal, vertical, oblique and around any appointment rotating shaft rotation, adjustment flexibly, kinematic accuracy is higher, can adapt to the road conditions of more complicated; And the transfer cart lower to space requirement; Replace workshop available man-power transfer cart between each operation of parts erecting yard, to carry out the conveying of product component, solved that product weight is big, size is long, space environment is less, transport inconvenient problem.Reduce hand labor intensity, practiced thrift human cost, improved the logistics transport efficiency.

Body construction is opened wide, and is prone to processing, and manufacturing cost is lower, and the manufacturing cycle is short; Have simple to operation, turn radius is little, low, safe and efficient to space requirement, advantage such as it is flexible to move,

Description of drawings

Fig. 1 is the organigram of hammer cardan wheel individual drive transfer cart of the present invention.

Fig. 2 is that Fig. 1 is the organigram of car body lower end.

The scheme drawing of vehicle frame locating module among Fig. 3 Fig. 2.

Fig. 4 is the scheme drawing of suspension gear of the present invention.

Fig. 5 is two fork ears and the involutory scheme drawing that is connected of single tine ear among Fig. 4.

Fig. 6 is the axial cutaway view of spindle formula cardan wheel of the present invention.

Among the figure: 1 compartment, 2 vehicle body frames, 3 bottom fixation steel plates, 4 vehicle frame locating modules, 5 suspension gears, 6 wheel stands, 7 control system; 8 spindle formula cardan wheels, 9 spring dampers, 10 pairs of fork ears, 20 single tine ears, 21 rank shape bolts, 23 nuts, 24 cardan wheel rotating shafts; 25 linings, 26 bearings, 27 end caps, 29UPS main frame, 30UPS storage battery, 31 retarders, 32 servomotors; 33 motor servo drivers, 34 relays, 35 circuit breakers, 36PLC, 37 man-machine interfaces, 38 power supplys.

The specific embodiment

Consult Fig. 1, Fig. 2.Car body is made up of compartment 1 and kinematic mechanism.The compartment is made up of steel vehicle body frame and cover panel.The control system component of isolating and protecting with cover panel is equipped with in the bottom, compartment.Control system 7 comprises; Be stacked in the UPS main frame 29 and UPS storage battery 30 of bottom, 1 compartment, compartment; Also comprise the electrical connection servomotor, be fixed on the UPS storage battery 30 motor servo driver 33 be fixed on the relay 34 that is electrically connected each other on the compartment 1, circuit breaker 35, PLC36, to the power supply 38 of control system power supply.On compartment 1 side locating support, man-machine interface 37 is housed also.

Servomotor 32 is fixed on the front and back side plate in compartment, compartment, with 31 coaxial linking to each other of retarder.The output shaft of retarder 31 links to each other with the cardan wheel rotating shaft 24 at spindle formula cardan wheel 8 centers.The PLC of control system through being provided with in it; Sending movement instruction through the hand-held Digiplex; Editor receives, and passes to motor servo driver 33, drives servomotor 32 by motor servo driver 33; Drive and the retarder 31 coaxial spindle formula cardan wheels 8 that link to each other, the sense of motion that moves ahead by the instruction of the control system that links to each other with motor servo driver.Realize the motion of transfer cart all directions.

Spindle formula cardan wheel 8 is positioned at two side ends before and after the compartment, and they are fastened on the self adaptation suspension gear 5 on the side plate of both sides, compartment through wheel stand 6.Be connected with wheel stand 6 through the self adaptation suspension gear.Be positioned at the cardan wheel rotating shaft 24 coaxial continuous retarders 31 of spindle formula cardan wheel 8 axial centre, and, be screwed onto the wheel stand side through the fork ear connecting bore on the wheel stand 6.Spindle formula cardan wheel and retarder rotate synchronously during motion, rotate freely around the bearing 26 of its assembling.

Top, compartment, compartment is fixed with the carriage of conveying objects and carriage locating module 4 as shown in Figure 3.Carriage locating module 4 is by permanent seat with along the upwardly extending pipe bracket support 15 of permanent seat, and connects firmly pipe one middle side part position, forms with the housing screw 16 that makes things convenient for fitting operation.

Consult Fig. 4 figure, 5.Self adaptation suspension gear 5 comprises; Be connected wheel stand 6 and two rotating shafts of pitching on the ears 10; Connect firmly respectively on compartment 1 side plate and wheel stand 6 in spring damper in this rotating shaft 9 and bottom through shaft set; Two two ear 10 and single tine ears 20 pitched of involutory bonded assembly, two fork ears 10 are connected by rank shape bolt 21, spring washer 22 and nut 23 shown in Figure 5 with single tine ear 20.When wheel stand 6 runs into the power that makes progress perhaps downward of burst; Spring damper 9 compressions or elongation on the self adaptation suspension gear 5; And around two fork ears 10 rotations, the single tine ear 20 of while bottom rotates around rank shape bolt 21, to reduce owing to ground-surface unfairness shakes compartment 1.

Consult Fig. 6.In described wheel stand 6 and spindle formula cardan wheel 8; Spindle formula cardan wheel 8 adopts key 28 to fixedly mount with cardan wheel rotating shaft 24; And the cardan wheel rotating shaft 24 through the center is installed between two fork ears of wheel stand 6; Two ends are fixed on the center of wheel stand 6 through lining 25, and can rotate freely around bearing 26, and whole wheel stand 6 and spindle formula cardan wheel 8 rely on the end cap 27 that is installed in fork ear both sides and be strained and fixed by the screw of the retarder 31 of control system 7 controls.

Claims

1. unmanned remote control transfer cart; Comprise a compartment that has road wheel; It is characterized in that two side ends is equipped with the self adaptation suspension gear (5) that connects spindle formula cardan wheel (8) through wheel stand (6) before and after the compartment, said spindle formula cardan wheel (8) is through the cardan wheel rotating shaft (24) at its center; With coaxial linking to each other of the retarder that has servomotor (32) (31); And the cardan wheel rotating shaft (24) through its center is installed in wheel stand (6) the fork ear connecting bore, instructs the sense of motion that moves ahead by the control system that links to each other with motor servo driver, and said self adaptation suspension gear comprises; Be connected the rotating shaft on wheel stand (6) and the two fork ears (10); Connect firmly on compartment 1 side plate and wheel stand (6) two two ear (10) and single tine ear (20), two fork ears (10) and single tine ears (20) pitched of involutory bonded assembly respectively at spring damper in this rotating shaft (9) and bottom through shaft set; Said control system comprises; Be stacked in the UPS main frame (29) and the UPS storage battery (30) of bottom, compartment, compartment (1); Also comprise the electrical connection servomotor, be fixed on the motor servo driver (33) on the UPS storage battery (30) and be fixed on the compartment 1 relay (34) that is electrically connected each other, circuit breaker (35), PLC (36), to the power supply (38) of control system power supply.

2. unmanned remote control transfer cart as claimed in claim 1 is characterized in that, said control system is edited through the PLC that is provided with in it and received the movement instruction that sends through the hand-held Digiplex, and editor receives, and passes to motor servo driver (33).

3. unmanned remote control transfer cart as claimed in claim 1 is characterized in that, top, compartment, said compartment is fixed with the carriage and the carriage locating module (4) of conveying objects.

4. unmanned remote control transfer cart as claimed in claim 3 is characterized in that, described carriage locating module (4) is by permanent seat with along the upwardly extending pipe bracket support of permanent seat (15), and the housing screw (16) that connects firmly pipe one middle side part position is formed.