CN106183671A - Wheel track dual-purpose all-around mobile carrying platform - Google Patents

Abstract

The invention provides a dual-purpose omni-directional mobile transport platform for wheels and rails, which includes an omni-directional mobile chassis, a liftable track running part, a lifting platform and a lateral pushing device; the liftable track running part is connected with the main car body of the omni-directional mobile chassis , by changing the angle between the two pendulums driven by the lead screw, changing the relative position between the track wheel assembly and the omnidirectional mobile chassis, and realizing the transformation between the omnidirectional mobile mode and the track wheel mobile mode; under the track wheel mobile mode, the present invention The transport platform can move at high speed and efficiently on the track. In the omnidirectional movement mode, the transport platform of the present invention can realize omnidirectional movement and is suitable for places with small spaces; the lifting platform is connected with the main vehicle body of the omnidirectional mobile chassis; The lateral pushing device is fixed on the upper end of the lifting platform. The transport platform of the present invention can realize the pick-and-place of goods on shelves of different heights and the transport of long and short distances.

Description

Wheel-rail dual-purpose omni-directional mobile handling platform

The invention relates to a transport platform, in particular to a wheel-rail dual-purpose omni-directional mobile transport platform, which belongs to the field of transport machinery and equipment.

Background technique

At present, the omni-directional mobile platform using Mecanum wheels has been applied in warehouses and factories with narrow spaces. The omni-directional mobile platform has the characteristics of flexible movement, compact structure and high control precision. But some warehouses also require goods to be picked and placed from the shelves, which requires lifting and picking devices. In other places, it is necessary to transfer the goods from the transshipment point to the warehouse, or to carry out long-distance transfer between multiple warehouses, and some places have steel rails; and in the process of such long-distance cargo transportation, it is often not necessary to carry out complex all-round Mobile; while the efficiency of using mecanum wheels is low, if it can be transported by means of steel rails, the transport efficiency will definitely be improved. If there is a mobile platform that can work for the Mecanum wheel mobile platform when picking up and placing goods, it can work efficiently in a small space at this time, and can switch to other walking mechanisms that are conducive to long-distance transportation during the process of moving goods, such as The orbital mobile platform can make up for the shortcomings of the Mecanum wheel mobile platform to a certain extent.

Contents of the invention

The purpose of the present invention is to solve the technical problems existing in the prior art. For this reason, the present invention proposes a dual-purpose omni-directional mobile transport platform for wheels and rails. The mobile mode is suitable for different working conditions. At the same time, the handling platform also includes a lifting platform and a lateral pushing device to facilitate the picking and placing of goods.

The spinous process technical solution of the present invention is: a wheel-rail dual-purpose omnidirectional mobile handling platform, including: an omnidirectional mobile chassis, a liftable track running part, a lifting platform and a lateral pushing device; the omnidirectional mobile chassis includes: a main frame ; Mecolum wheel assembly, the number of Mecolum wheel assemblies is four, and the Mecolum wheel assembly is connected with the main car body; the liftable track running part includes: an upper fixing seat, The fixed seat is fixed on the main vehicle frame of the omni-directional mobile chassis; there are two swing frames, and the upper end of the swing frame is provided with a gear, and the gear is pivotable with the upper fixed seat. Rotatingly connected, and the gears at the upper ends of the two swing frames are meshed; the nut block, the nut block is pivotally connected with the other end of the first swing frame; the shaft block, the The shaft seat block is pivotally connected with the other end of the second pendulum frame; the lead screw is connected with the nut block by a thread pair, and the lead screw is connected with the shaft seat block by a screw thread pair. The rotating pair is connected; the lead screw drive part is connected with the lead screw and drives the lead screw to rotate; the track wheel assembly, the track wheel assembly is two, and the two tracks The wheel assemblies are respectively connected with the two swing frames; the lifting platform is connected with the main vehicle body of the omni-directional mobile chassis; the lateral pushing device is fixed on the upper end of the lifting platform.

Optionally, in the wheel-rail dual-purpose omni-directional mobile handling platform of the present invention, the mecanum wheel assembly: a mecanum wheel, the side of the mecanum wheel and the main frame can be pivoted The ground is connected; the mecanum wheel driving part is connected with the mecanum wheel and drives the mecanum wheel to rotate.

Optionally, in the wheel-rail dual-purpose omni-directional mobile transport platform of the present invention, each of the track wheel assemblies includes: a track wheel frame, the track wheel frame is fixedly connected with the swing frame; the track wheel, the There are two track wheels, and the two track wheels are respectively connected to the two sides of the track wheel frame; the track wheel driving part is connected to the track wheel and drives the track wheel to rotate.

The track wheel driving part is a motor or a decelerated motor; the mecanum wheel driving part is a motor or a decelerated motor.

Optionally, according to an embodiment of the present invention, the lifting platform adopts a scissor lifting platform, and the scissor lifting platform includes: a lower fixing seat, the lower fixing seat is fixedly connected with the main frame; The chute is fixedly connected with the main frame; the lower guide wheel assembly, the lower guide wheel assembly and the chute form a moving pair; the upper platform; the upper fixing seat, the upper fixing seat is fixedly connected with the upper platform; The upper chute, the upper chute is fixedly connected with the upper platform; the upper guide wheel assembly, the upper guide wheel assembly and the upper chute form a moving pair; the scissor linkage assembly, the scissor linkage There is no less than one set of rod assemblies, and multiple sets of said continuous scissor linkage assemblies are connected sequentially, and said continuous scissor linkage assemblies include two connecting rods connected in the middle, the lower ends of the two connecting rods are respectively connected to the The lower fixed seat and the lower guide wheel assembly are pivotally connected; the upper ends of the two connecting rods are pivotally connected with the upper guide wheel assembly and the upper fixed seat respectively; the hinged seat, the There are two hinged seats, one of which is connected with the main frame, and one of the hinged seats is connected with the connecting rod; seat hinge.

Further, the lateral pushing device includes: a fixed base, the fixed base is fixed on the upper end of the lifting platform; a screw, the screw is pivotally arranged on the fixed base; a slider, the slider is connected with the The fixed seat is connected to form a moving pair, and the slider is connected to the screw with a threaded pair; the driving part; the driving part is connected to the screw and can drive the screw to rotate; the bracket, the bracket The frame is fixedly connected with the slider.

Further, the omni-directional mobile chassis also includes: a power module, the power module is fixed on the main frame; a control module, the control module is fixed on the main frame; a sensing module, the The sensing module is connected with the main frame.

Through the above technical solution, the omnidirectional mobile chassis can realize the omnidirectional movement of the transport platform. The main car body of the omni-directional mobile chassis is fixed with the lifting track running part; under the action of the screw driving part, the screw rotates to drive the lifting track running part. The relative distance between the nut block and the shaft seat block changes, thus causing the two swing frames to rotate in opposite directions, and because the swing frames are symmetrically arranged front and back, the two swing frames occur Rotation is reversed and synchronous. The two track wheel assemblies are respectively fixedly connected to the two swing frames and arranged symmetrically front and back, so the two track wheel assemblies can rotate in reverse synchronously with the swing frames, thus adjusting The included angle between the two track wheel assemblies changes the distance between the track wheels and the omni-directional mobile chassis. In this way, the height of the track wheel can be adjusted by controlling the forward and reverse rotation of the screw drive member, and the switching between the wheel-type and rail-type operation modes of the transport platform in the embodiment of the present invention can be realized. Specifically, under the action of the lead screw drive, the angle between the two track wheel assemblies can be increased, and the track wheels can be lifted upward until the track wheels are higher than the omni-directional mobile chassis The mecanum wheel, that is, the mecanum wheel is in a grounded state, and the track wheel is in a suspended state. At this time, the transport platform in the embodiment of the present invention is an omnidirectional transport platform, and the track wheel assembly does not kick in. In the omni-directional movement mode, the present invention is moved above the track, and the moving part of the liftable track is aligned with the track. Under the action of the lead screw drive, the clips of the two track wheel assemblies can also be Angle decreases, the track wheel swings downward until the track wheel supports the track surface, the omni-directional mobile chassis is lifted, and the mecanum wheel is separated from the ground. At this time, the transport platform of the embodiment of the present invention It is a track-type transportation mode, which can walk on the corresponding track.

Optionally, in the wheel-rail dual-purpose all-round mobile transport platform of the present invention, the lifting platform adopts a scissor lifting platform, and the scissor connecting rod assembly is driven to expand and contract by the linear drive, thereby driving the upper part The platform moves up and down to play the function of lifting. The bracket of the lateral pushing device can be stretched laterally under the action of the lead screw and the slider. Therefore, the transport platform of the embodiment of the present invention can realize the autonomous vertical lifting and horizontal movement of the transported object within a certain range. When the transport platform according to the embodiment of the present invention transports goods, the goods are placed on the horizontal pushing device, and when transported to the pick-and-place position, the lifting platform lifts up and down in the vertical direction, and when the goods need to be placed sideways, the horizontal The pushing device drives the goods to move sideways.

Adopting the technical solution of the present invention will be able to obtain the following beneficial effects: (1) the use of the track-type running part with adjustable included angle realizes the adjustment of the included angle of the two track wheel assemblies, thereby realizing omni-directional movement (3) due to the adoption of the scissor lift platform and the lateral pushing device, the handling platform can independently carry goods vertically and horizontally within a certain range, and can realize picking up, transporting, Delivery automation.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of a wheel-rail dual-purpose omnidirectional mobile transport platform in a rail walking mode according to an embodiment of the present invention;

Fig. 2 is an exploded view of the Mecolum wheel assembly in the embodiment shown in Fig. 1;

Fig. 3 is a partial cross-sectional view of the embodiment shown in Fig. 1 after removing the Maxum wheel assembly and some other structures;

Fig. 4 is the three-dimensional schematic view of the liftable track running part in the embodiment of Fig. 1;

Fig. 5 is a three-dimensional schematic diagram of the embodiment shown in Fig. 1 when the lifting platform is raised and the lateral pushing device is pushed out;

Fig. 6 is a schematic diagram of the embodiment shown in Fig. 1 taking the items in the lower position on the shelf;

Fig. 7 is a schematic diagram of the embodiment shown in Fig. 1 after the completion of picking;

Fig. 8 is a schematic diagram of the process of placing goods at a higher position on the shelf in the embodiment shown in Fig. 1 .

reference sign

100 wheel-rail dual-purpose all-round mobile handling platform

1 All-round mobile chassis;

11 main frame;

12 Mecolum wheel assemblies;

121 mecanum round;

1211 small roller; 1212 hub; 1213 nut;

122 mecanum wheel drive parts;

1221 motor; 1222 reducer; 12221 drive shaft; 1223 connecting plate;

13 power module;

14 control modules;

141 control panel;

2 Liftable track running part;

21 upper fixing seat; 22 pendulum frame; 23 nut block; 24 shaft seat block; 25 lead screw; 26 lead screw driver; 27 track wheel assembly;

271 track wheel frame; 272 track wheel;

2721 track wheel driver;

221 gears;

2201 the first rack; 2202 the second rack;

3 lifting platform;

31 lower fixed seat; 32 lower groove; 33 lower guide wheel assembly; 34 upper fixed seat; 35 upper chute; 36 upper guide wheel assembly; platform;

371 connecting rod one; 372 connecting rod two;

4 horizontal moving device;

41 fixed seat; 42 screw rod; 43 slider; 44 driver; 45 bracket;

5 tracks;

6 goods;

7 shelves.

detailed description

The following is a detailed description of the wheel-rail dual-purpose omnidirectional mobile handling platform according to the embodiment of the present invention in conjunction with Fig. 1 to Fig. 8, and further explains the present invention. The embodiments described by referring to the accompanying drawings are exemplary and are only used to explain the present invention , and should not be construed as a limitation of the present invention.

As shown in Figure 1, Figure 3, and Figure 5, a wheel-rail dual-purpose omnidirectional mobile handling platform includes: an omnidirectional mobile chassis 1, a liftable track running part 2, a lifting platform 3 and a lateral pushing device 4; an omnidirectional mobile chassis 1 includes: main frame 11; Mecolum wheel assembly 12, four Mecolum wheel assemblies 12, and Mecolum wheel assembly 12 is connected with the main car body 11; liftable track running part 2 includes: upper fixing seat 21, the upper fixed seat 21 is fixed on the main frame 11 of the omnidirectional mobile chassis 1; the swing frame 22, there are two swing frames 22, the upper end of the swing frame 22 is provided with a gear 221, and the gear 221 and the upper fixed seat 21 are pivotable Connected in turn, and the gears 221 at the upper ends of the two swing frames 22 are meshed; the nut piece 23, the nut block 23 is pivotally connected with the other end of the first swing frame 2201; the shaft block 24, the shaft block 24 is pivotally connected with the other end of the second pendulum 2202; leading screw 25, leading screw 25 is connected with screw nut block 23 with screw thread pair, and leading screw 25 is connected with axle seat block 24 with rotating pair; Lead screw drive Part 26, the lead screw driving part 26 is connected with the lead screw 25, and drives the lead screw 25 to rotate; the track wheel assembly 27, the track wheel assembly 27 is two, and the two track wheel assemblies 27 are connected with the two swing frames 22 respectively; The platform 3 is connected to the main vehicle body 11 of the all-round mobile chassis 1; the lateral pushing device 4 is fixed on the upper end of the lifting platform 3.

In some embodiments of the present invention, as shown in Fig. 1 and Fig. 3, the omni-directional mobile chassis 1 also includes: a power supply module 13, the power supply module 13 is fixed on the main frame 11; a control module 14, a control module 14 fixed on the main frame 11; a sensing module, the sensing module is connected with the main frame 11. The control module 14 also includes a control panel 141 , specifically, the control panel 141 is connected to the side of the main vehicle body 11 as shown in FIG. 1 and FIG. 3 . The sensing module is mainly used for positioning, navigation, and status monitoring of the wheel-rail dual-purpose omnidirectional mobile handling platform 100 of the present invention, and is composed of various sensors. The sensing module is not shown in the accompanying drawings. The above-mentioned power module 13, control module 14, and sensor module are conventional technologies of the intelligent mobile platform, which are not the technical focus of this patent, and will not be introduced in detail in the specification.

In some embodiments of the present invention, the wheel-rail dual-purpose omnidirectional mobile handling platform, as shown in Figure 1 and Figure 2, the Mecanum wheel assembly 12 includes: Mecanum wheels 121, Mecanum wheels 121 and the main vehicle The sides of the frame 11 are pivotally connected; the mecanum wheel driving part 122, the mecanum wheel driving part 122 is connected with the mecanum wheel 121, and drives the mecanum wheel 121 to rotate. Optionally, the mecanum wheel driving member 122 is a motor or a decelerated motor.

Further, specifically, as shown in Fig. 1 and Fig. 2, the Mecanum wheel driving member 122 has adopted a reduction motor, including a motor 1221 and a speed reducer 1222, and the speed reducer 1222 is provided with a connecting plate 1223, which is connected to the main The frame 11 is connected. The drive shaft 12221 of the speed reducer 1222 is keyed to the hub 1212 of the mecanum wheel 121 , and is connected to the shaft end of the drive shaft 12221 through a nut 1213 for axial positioning. In order to realize the detection of the rotating speed of Mecanum wheel 121, be provided with encoder at the rear end of motor 1221, in the embodiment shown in Fig. 2, described encoder is arranged in motor tail cover and is connected with motor rotor (Fig. 2 Encoder not shown). There are four Mecanum wheel driving parts 122, which are located at the four bottom corners of the main frame 11 respectively. In order to realize omni-directional movement, the small rollers 1211 of the diagonal Mecanum wheels 121 have the same direction of rotation. The arrangement of the mecanum wheel 121 is a conventional technology, and will not be described in detail. According to other embodiments, the Meccom wheel assembly 12 is connected to the main frame 11 through a shock absorbing buffer device.

In some embodiments of the present invention, the wheel-rail dual-purpose omni-directional mobile handling platform, as shown in Figure 3 and Figure 4, each liftable track running part 2 includes two track wheel assemblies 27; each track wheel assembly 27 Including: track wheel frame 271, track wheel frame 271 is fixedly connected with pendulum frame 22; The track wheel driving part 2721 is included, and the track wheel driving part 2721 is connected with the track wheel 272 and drives the track wheel 272 to rotate. Optionally, the track wheel 272 of one of the two track wheel assemblies 27 includes the track wheel driving member 2721 , and the track wheel 272 of the other track wheel assembly 27 does not include the track wheel driving member 2721 . According to other embodiments, the four track wheels 272 of the two track wheel assemblies 27 each include a track wheel drive 2721 .

Optionally, the rail wheel driving part 2721 is a motor or a decelerated motor; further optionally, as shown in FIG. 4 , the rail wheel driving part 2721 uses a hub motor, which can make the rail wheel 272 compact in structure.

Below in conjunction with Fig. 3, Fig. 5 specifically illustrate the structure of lift platform 3, lift platform 3 adopts scissor lift platform, and described scissor lift platform comprises: lower fixed seat 31, and lower fixed seat 31 is fixedly connected with main vehicle frame 11; Groove 32, sliding groove 32 is fixedly connected with main vehicle frame 11; Lower guide wheel assembly 33, lower guiding wheel assembly 33 and sliding groove 32 constitute mobile pairs; Upper platform 310; Upper fixing seat 34, upper fixing seat 31 and upper platform 310 Fixed connection; upper chute 35, upper chute 35 is fixedly connected with upper platform 310; upper guide wheel assembly 36, upper guide wheel assembly 36 and upper chute 35 constitute a moving pair; scissor linkage assembly 37, continuous scissor linkage The rod assembly 37 is not less than one group, and multiple sets of scissor-type connecting rod assemblies 37 are connected successively. The continuous scissor-type connecting rod assembly 37 includes two connecting rods in the middle, which are respectively recorded as connecting rod one 371 and connecting rod two 372, The lower ends of connecting rod one 371 and connecting rod two 372 are pivotably connected with lower fixed seat 31 and lower guide wheel assembly 33 respectively; Seat 34 is pivotally connected; hinged seat 38, two hinged seats 38, one hinged seat 38 is connected with main vehicle frame 11, one hinged seat 38 is connected with one described connecting rod; linear drive 39, linear drive The two ends of 39 are respectively hinged with two hinge seats 38; specifically, the linear drive part 39 adopts an electric push rod. During specific implementation, the continuous scissor link assembly 37 of the scissor lift platform 3 in the embodiment of the present invention is designed as a double-layer structure, the lower fixed seat 31, the sliding groove 32, the upper fixed seat 31, the upper platform 310, the upper chute 35 are two symmetrically arranged. The embodiment shown in Fig. 3 has adopted three groups of continuous scissors type linkage assemblies 37, and these three groups of continuous scissors type linkage assemblies 37 are connected successively; The lowermost group is connected with the main vehicle body 11, and the uppermost group is connected with the upper platform 310 are connected; the lifting platform 3 adopts a scissor lifting platform, adopts the above-mentioned technical scheme, and the linear drive 39 drives the continuous scissor linkage assembly 37 to expand and contract, so that the upper platform 310 vertically lifts up and down.

According to the embodiment of the present invention, as shown in Figure 5, the lateral pushing device 4 includes: a fixed seat 41, which is fixed on the upper end of the lifting platform; a screw rod 42, which is pivotally arranged on the fixed seat 41; Block 43, slide block 43 is connected with fixed seat 41 and constitutes mobile pair, and slide block 43 is connected with screw rod 42 with screw thread pair; Drive part 44; Drive part 44 links to each other with screw rod 42 and can drive screw rod 42 to rotate; Bracket 45, The bracket 45 is fixedly connected with the slider 43 .

Through the above technical solution, the omnidirectional mobile chassis can realize the omnidirectional movement of the transport platform. 2 liftable track running parts are fixed on the main car body 11 of the omnidirectional mobile chassis 1; 2 liftable track running parts are under the action of the lead screw driver 26, and the lead screw 25 rotates to drive the screw nut block 23 and the axle seat The relative distance of the blocks 24 changes, thereby causing the two swing frames 22 to rotate in opposite directions, and because the swing frames 22 are symmetrically arranged front and back, the rotations of the two swing frames 22 are reversed and synchronous. And two track wheel assemblies 27 are fixedly connected with two pendulum frames 22 respectively and are symmetrically arranged front and back, so the two track wheel assemblies 27 can rotate inversely synchronously with the pendulum frames 22, thus adjusting the two tracks The included angle between the wheel assemblies 27 changes the distance between the track wheels 272 and the omnidirectional mobile chassis 1 . In this way, the height of the track wheel 272 can be adjusted by controlling the forward and reverse rotation of the screw drive member, so as to realize the switching between the wheel-type and rail-type operation modes of the transport platform in the embodiment of the present invention. Specifically, under the action of the lead screw driver 26, the angle between the two track wheel assemblies 27 can be increased, so that the track wheel 272 can be lifted upwards until the track wheel 272 is higher than the McKenna of the omni-directional mobile chassis 1. The Mecanum wheel 121, that is, the Mecanum wheel 121 is in a grounded state, and the track wheel 272 is in a suspended state. At this time, the transport platform in the embodiment of the present invention is an omnidirectional transport platform, and the track wheel assembly 27 does not work, as shown in Figure 5, Figure 6 shows. In the omni-directional mobile mode, the present invention is moved to the top of the track 5, and the 2 liftable track running parts are aligned with the track, and under the action of the lead screw driver, the clamping of the two track wheels 272 assembly 27 can also be made Angle decreases, so that the track wheel 272 swings downward until the track wheel 272 supports the track surface, the omni-directional mobile chassis 1 is lifted, and the mecanum wheel 121 is separated from the ground. mode, can walk on the corresponding track 5, as shown in Figure 1.

Through the above technical solution, when the linear drive member 39 is extended or shortened, the relative distance between the two hinged seats 38 changes, so that the height of the scissor lift platform 3 is raised or lowered, as shown in Fig. 1 and Fig. 6 . The height is less, and the height of the scissor lift platform 3 among Fig. 5 and Fig. 8 is relatively large. The driving part 44 of the lateral pushing device 4 can drive the screw rod 42 to rotate, so that the slide block 43 that is matched with the screw rod 42 with a thread pair drives the bracket to produce a linear horizontal displacement, so that the vertical movement of the goods placed on the bracket 45 is realized. Elevation and horizontal displacement. In Fig. 1 and Fig. 7, the bracket 45 is in a retracted state, and in Fig. 5 and Fig. 6, the bracket 45 is in a pushed out state.

The following is a schematic illustration of the working process of picking and placing goods 6 of the wheel-rail dual-purpose omni-directional mobile transport platform 100 in the omni-directional mobile mode according to the embodiment of the present invention through FIG. 6 to FIG. 8 . 6 is a schematic diagram of the process of the wheel-rail dual-purpose omni-directional mobile handling platform 100 of the embodiment of the present invention automatically taking the goods 6 at a lower position on the shelf 7. At this time, the scissor lift platform 3 is adjusted by the linear drive 39. In the lower state, the bracket 45 is flush with the bottom end of the cargo 6, and then the bracket 45 of the lateral pushing device 4 is adjusted by the driving part 44, so that the bracket 45 stretches to the bottom of the cargo 6 to be picked; further, as shown in Figure 7 As shown, by adjusting the scissor lift platform 3 and the lateral pushing device 4, the bracket 45 lifts the cargo 6 and moves it to the top of the carrying platform of the embodiment of the present invention. At this time, the cargo 6 can follow the wheels of the embodiment of the present invention Rail dual-purpose all-round mobile handling platform 100; after the goods 6 are transported to the destination, similar to the process of picking up goods, by adjusting the scissor lift platform 3 and the lateral pushing device 4, the goods 6 are placed on another shelf 7, FIG. 8 is a schematic diagram of the process of placing the goods 6 at a higher position on the shelf 7 by the wheel-rail dual-purpose omnidirectional mobile handling platform according to the embodiment of the present invention. The goods 6 in the figure include the pallets holding the goods, and the bracket 45 actually directly interacts with the pallets.

Optionally, in the process of moving goods, if the distance is relatively short, the wheel-rail dual-purpose omnidirectional mobile handling platform of the embodiment of the invention adopts a wheeled running state to realize the transportation of goods, as shown in the operation in the embodiment in Figure 5 state; if the transport distance is far away, the rail-type operation state can be used to realize the transportation of goods. , avoiding the disadvantages of the mecanum wheel being easy to vibrate and noisy during transportation.

The technical solution of the present invention can also be extended to non-track transportation, and the liftable rail running part 2 in the present invention can also be replaced with a liftable common wheel running part, so that after adopting common wheels instead of track wheels 272, walking on common wheels In the mode, the mobile platform of the present invention can be transported over a long distance on the ground, so that ordinary wheels can be driven by four belts or four hub motor wheels.

Other components of the transport platform of the present invention are already in the prior art and are well known to those skilled in the art, so they will not be described in detail.

While the embodiments of the present invention have been shown and described, various changes, modifications, substitutions and variations can be made to those embodiments by those skilled in the art, the scope of the present invention being defined by the claims and their equivalents.

Claims (7)

1. a wheel track dual-purpose all-around mobile carrying platform, it is characterised in that including:

All-around mobile chassis, described all-around mobile chassis includes:

Main car frame；

Mike's nurse wheel assembly, described Mike's nurse wheel assembly is four, and described Mike's nurse wheel assembly and described main car body It is connected；

Liftable rail running part, described Liftable rail running part includes:

Upper fixed seat, fixed seat is fixed on the described main car frame on described all-around mobile chassis；

Rocker, described rocker has two, and the upper end of described rocker is provided with gear, and described gear is with fixed seat pivotly It is connected, and the described gear of two described rocker upper ends is meshed；

Screw block, the other end of described screw block and first described rocker is connected pivotly；

Axle bed block, the other end of described axle bed block and second described rocker is connected pivotly；

Leading screw, described leading screw is connected with screw thread pair with described screw block, and described leading screw is connected with revolute pair with described axle bed block；

Leading screw actuator, described leading screw actuator is connected with described leading screw, and drives described screw turns；

Rail wheel assembly, described rail wheel assembly is two, and two described rail wheel assemblies are connected with two described rockers respectively；

Hoistable platform, described hoistable platform is connected with the described main car body on described all-around mobile chassis；

Laterally push unit, described horizontal push unit is fixed on the upper end of described hoistable platform.

Wheel track the most according to claim 1 dual-purpose all-around mobile carrying platform, it is characterised in that described all-around mobile Chassis also includes:

Power module, described power module is fixed on described main car frame；

Control module, described control module is fixed on described main car frame；

Sensing module, described sensing module is connected with described main car frame.

Wheel track the most according to claim 1 dual-purpose all-around mobile carrying platform, it is characterised in that described Mike's nurse is taken turns Assembly:

Mecanum wheel, described Mecanum wheel is connected pivotly with the side of described main car frame；

Mecanum wheel actuator, described Mecanum wheel actuator is connected with described Mecanum wheel, and drives described Mike Na Mu takes turns rotation.

Wheel track the most according to claim 1 dual-purpose all-around mobile carrying platform, it is characterised in that each described rail wheel Assembly includes:

Track wheel carrier, described track wheel carrier is fixing with described rocker to be connected；

Rail wheel, described rail wheel is two, and two described rail wheels both sides with described track wheel carrier respectively are connected；

Rail wheel actuator, described rail wheel actuator is connected with described rail wheel and drives described rail wheel to rotate.

Wheel track the most according to claim 1 dual-purpose all-around mobile carrying platform, it is characterised in that described hoistable platform is adopted With scissors type lifting platform, described scissors type lifting platform includes:

Lower fixed seat, described lower fixed seat is fixing with described main car frame to be connected；

Gliding groove, described gliding groove is fixing with described main car frame to be connected；

Lower guide wheel assemblies, described lower guide wheel assemblies constitutes moving sets with gliding groove；

Upper mounting plate；

Upper fixed seat, fixed seat is fixing with described upper mounting plate to be connected；

Upper hopper chute, described upper hopper chute is fixing with described upper mounting plate to be connected；

Upper guide wheel assemblies, described upper guide wheel assemblies constitutes moving sets with described upper hopper chute；

Scissors link assembly, connected scissors link assembly is no less than one group, and the connected scissors link assembly of many groups is sequentially connected, and institute Even scissors link assembly includes two a sequence of connecting rods in middle part, the lower end of two described connecting rods respectively with described lower fixed seat, institute State lower guide wheel assemblies to be connected pivotly；The upper end of two described connecting rods respectively with described upper guide wheel assemblies, described solid Reservation is connected pivotly；

Hinged seat, described hinged seat is two, and a described hinged seat is connected with described main car frame, a described hinged seat and institute State connecting rod to be connected；

Linear drives part, the two ends of described linear drives part respectively with two described hinged seat hinges.

Wheel track the most according to claim 2 dual-purpose all-around mobile carrying platform, it is characterised in that:

Described rail wheel actuator is motor or the motor through deceleration；

Described Mecanum wheel actuator is motor or the motor through deceleration.

7. according to the arbitrary described wheel track dual-purpose all-around mobile carrying platform of claim 1-6, it is characterised in that described laterally Push unit includes:

Fixing seat, described fixing seat is fixed on described hoistable platform upper end；

Screw rod, described screw rod is located on described fixing seat pivotly；

Slide block, described slide block is connected with described fixing seat and constitutes moving sets, and described slide block and described screw rod are with screw thread parafacies Even；

Driver part；Described driver part is connected with described screw rod and described screw rod can be driven to rotate；

Bracket, described bracket is fixing with described slide block to be connected.