The invention provides a full-automatic tracking lifting carrying trolley, relates to novel tracking obstacle-avoiding carrying lifting equipment, and is suitable for working conditions of narrow space, complex working conditions and automatic carrying. The tracking lifting carrying trolley is provided with four driving systems, namely an electric push rod, a lifting motor, a steering engine and a chassis stepping motor. The structural frame is built by adopting European standard aluminum materials, and the double lifting cross beams are symmetrically provided with lifting clamps end to end, so that the material carrying quantity is increased. Front-back and left-right translation and clockwise and anticlockwise rotation are achieved through the two pairs of Mecanum wheels, and the flexibility of the trolley is improved. The double lifting beams adopt pulley and sliding rail structures to ensure the real-time stability of the trolley, and steering engines are assembled inside and outside the manipulator to realize opening, closing and rotation. An ultrasonic distance measuring sensor is assembled on a chassis frame, transverse and vertical placement of materials is recognized according to the distance, a tracking sensor is matched with a black tracking belt to achieve accurate positioning and route switching of the trolley, and full-automatic carrying of the materials is achieved in combination with an Arduino main control board, a closed-loop program and a motor driving chip.

    本发明提出一种全自动循迹起重搬运小车,涉及一种新型循迹避障搬运的起重装备,适用于空间狭隘,工况复杂,自动搬运的工作条件当中。本循迹起重搬运小车配备电动推杆、升降电机、舵机、底盘步进电机四大驱动系统。结构框架采用欧标标准铝材搭建,双升降横梁首尾对称配备起吊夹具,增加物料搬运数量。依托两对麦克纳姆轮实现前后左右平移和顺、逆时针旋转,提高小车灵活度。双升降横梁采用滑轮滑轨结构保证小车的实时稳定性,机械手内外装配舵机实现开闭和旋转。底盘车架装配超声波测距传感器,依据距离识别物料横竖摆放,循迹传感器配合黑色循迹带实现小车的精准定位和路线切换,结合Arduino主控板、闭环程序和电机驱动芯片实现物料的全自动搬运。


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    Title :

    Full-automatic tracking lifting carrying trolley


    Additional title:

    一种全自动循迹起重搬运小车


    Contributors:
    NAN FANGLEI (author) / DONG QING (author) / SHEN SHUJIE (author) / CHANG YIBIN (author) / QI QISONG (author) / ZHAO KEYUAN (author)

    Publication date :

    2023-02-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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