CN107585595A - Primary and secondary motorized translation stage system - Google Patents

Abstract

The invention discloses a mother-child electric transmission platform system. The mother-child electric transmission platform system includes a mother car platform, a sub-car platform and a retractable conveyor belt; the mother car platform includes a mother car body, a mother car controller, a control component connected to the The car intelligent industrial mechanical arm; the sub-car platform includes the sub-car body, the sub-car controller, the sub-car driving device connected with the sub-car controller and the sub-car intelligent industrial robot arm; the sub-car controller is connected with the parent car controller; The car platform is mounted on the mother car platform, and the sub-car body is smaller than the mother car body; one end of the telescopic conveyor belt is connected to the mother car body, and the other end is connected to the sub-car body. The mother car platform and the sub-car platform in the mother-child electric transmission platform system can complete the operation independently or cooperate with each other; and the sub-car platform can realize the purpose of working in a small space; and convey goods through a retractable conveyor belt, which is beneficial Save labor costs and improve efficiency.

Description

Mother-to-child electric transmission platform system

technical field

The invention relates to the field of conveying equipment for logistics transportation, in particular to a mother-child electric conveying platform system.

Background technique

In the field of traditional logistics and transportation, cargo loading and unloading, transshipment and other operations are mainly carried by human shoulders and camelbacks, which is labor intensive, long working time and low transmission efficiency. Moreover, my country's labor costs are increasing year by year, and continuing to use the traditional way of manpower to move goods will increase the production costs of enterprises. Therefore, it is inevitable that intelligent mechanized and electric handling methods will gradually replace manual handling.

With the development of social economy and the advancement of science and technology, in the fields of logistics and transportation, in order to reduce the work intensity of the handling personnel and improve efficiency and reliability, people have developed a large number of auxiliary and autonomous handling transmission platforms, including transmission platforms for The robot that realizes autonomous handling and the platform vehicle moving mechanism used to realize the movement of the transmission platform; the platform vehicle movement mechanism has attracted much attention as the foundation of the transmission platform movement. At present, the mobile mechanism of the platform vehicle has various forms such as wheel type, crawler type, and leg type. Among them, compared with other mobile mechanisms, the wheeled mobile mechanism has the characteristics of high motion efficiency, strong carrying capacity, rich mechanical structure, relatively simple drive control, flexible and flexible movement mode, and relatively high speed, making the wheeled mobile mechanism Most reliable and widely used in delivery platforms.

The existing wheeled platform vehicle mobile mechanism cannot work in a narrow space according to the site terrain or actual conditions, so that the transmission platform loaded with the wheeled mobile mechanism cannot enter the narrow space such as the truck compartment to work, resulting in industrial robots mounted on the transmission platform. Such equipment has a very limited operating range. Moreover, the height of the existing wheeled platform vehicle moving mechanism is fixed and non-adjustable, and cannot adapt to work platforms and occasions of different heights, which greatly limits the application range and field of the wheeled moving mechanism. In addition, the existing wheeled platform vehicle moving mechanism cannot realize free steering or lateral movement, which greatly limits the application range of the wheeled moving mechanism.

Contents of the invention

The technical problem to be solved by the present invention is to provide a mother-to-female electric transmission platform system for the disadvantage that the existing wheeled platform vehicle moving mechanism cannot work in a narrow space.

The technical solution adopted by the present invention to solve the technical problems is: a mother-child electric transmission platform system, including a mother car platform, a child car platform and a retractable conveyor belt;

The mother car platform includes a mother car body, a mother car controller arranged on the mother car body, a control assembly connected to the mother car controller, arranged on the mother car body and connected to the The mother car driving device connected to the mother car controller and the mother car intelligent industrial mechanical arm, and the mother car battery pack arranged on the mother car body for supplying power to the mother car platform;

The sub-car platform includes a sub-car body, a sub-car controller disposed on the sub-car body, and a sub-car driving device arranged on the sub-car body and connected to the sub-car controller and the sub-vehicle intelligent industrial mechanical arm, and the sub-vehicle battery pack arranged on the sub-vehicle body for supplying power to the sub-vehicle platform; the sub-vehicle controller is connected to the parent vehicle controller;

The sub-car platform is mounted on the mother car platform, and the sub-car body is smaller than the mother car body; one end of the telescopic conveyor belt is connected to the mother car body, and the other end is connected to the On the car body.

Preferably, the driving device of the mother car includes a support plate connected to the body of the mother car, a telescopic assembly arranged under the support plate, and a telescopic assembly arranged under the telescopic assembly for controlling the body of the mother car The moving mother car drive assembly, the mother car steering assembly arranged on the support plate and connected with the telescopic assembly for controlling the steering of the mother car body.

Preferably, the telescopic assembly includes an upper telescopic bracket, a lower telescopic bracket and a buffer; the lower telescopic bracket is installed with the mother car driving assembly; one end of the upper telescopic bracket is installed on the support plate, and the other end It is telescopically installed on the cavity of the lower telescopic bracket; the buffer element is sheathed on the upper telescopic bracket.

Preferably, the mother car drive assembly includes a mother wheel hub motor arranged on the lower telescopic bracket, a mother wheel hub arranged on the mother wheel hub motor, and a mother wheel hub motor arranged on one side of the mother wheel hub motor. a car brake pad and a parent car brake caliper arranged on one side of the lower telescopic bracket and connected to the parent car brake pad;

The steering assembly of the mother car includes the steering motor of the mother car installed on the support plate, the worm screw of the mother car installed on the output shaft of the steering motor of the mother car, and the worm gear of the mother car installed on the upper telescopic bracket ; The mother car worm gear meshes with the mother car worm.

Preferably, the mother car platform further includes a gyroscope arranged on the body of the mother car and connected to the controller of the mother car, arranged on the body of the mother car and connected to the controller of the mother car hydraulic lifting device.

Preferably, a limiting boss is provided at the edge of the body of the mother car; the limiting boss is arranged parallel to and opposite to the telescopic conveyor belt.

Preferably, the sub-car driving device includes a mounting bracket arranged on the sub-car body, a sub-car driving assembly arranged on the mounting bracket for controlling the movement of the sub-car body, and a sub-car driving assembly arranged on the sub-car body. A sub-car steering assembly on the sub-car body and connected to the sub-car driving assembly for controlling the steering of the sub-car body.

Preferably, the sub-car driving assembly includes a sub-wheel hub motor arranged on the mounting bracket, a sub-wheel hub arranged on the sub-wheel hub motor, and a sub-wheel hub motor arranged on one side of the sub-wheel hub motor. a brake pad and a sub-car brake caliper arranged on one side of the mounting bracket and connected to the sub-car brake pad;

The sub-car steering assembly includes a sub-car steering motor installed on the sub-car body, a sub-car worm installed on the output shaft of the sub-car steering motor, a sub-car worm wheel installed on the mounting bracket ; The mother car worm gear meshes with the mother car worm.

Preferably, it also includes a protective cover arranged on the body of the sub-car, and the protective cover is arranged above the steering assembly of the sub-car.

Preferably, the sub-car platform further includes a distance sensor arranged on the body of the sub-car and connected to the controller of the sub-car.

Compared with the prior art, the present invention has the following advantages: In the mother-child electric transmission platform system provided by the present invention, the mother car platform is provided with a mother car controller and a mother car drive device and a mother car connected to the mother car controller Intelligent industrial mechanical arm; the sub-car platform is equipped with a sub-car controller, a sub-car driving device connected to the sub-car controller and a sub-car intelligent industrial robot arm; the mother car controller of the mother car platform and the sub-car controller of the sub-car platform The communication is connected; the mother car platform and the sub-car platform can complete the work independently, and the mother car controller and the sub-car controller are connected by communication, which can realize the cooperative operation of the mother car platform and the sub-car platform to complete the handling and transmission of objects. The mother car platform and the sub-car platform are connected by a telescopic conveyor belt, and the goods are transferred through the telescopic conveyor belt, which is conducive to reducing manual handling, saving labor costs and improving operating efficiency. The sub-car platform is mounted on the mother car platform, and the volume of the sub-car platform is smaller than that of the mother car platform, so that the mother-child electric transmission platform system can achieve the purpose of operating in a narrow space through the sub-car platform.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

Fig. 1 is a schematic structural diagram of a parent-child electric transfer platform system in an embodiment of the present invention.

Fig. 2 is a schematic structural view of the mother car platform in the mother-child electric transfer platform system in an embodiment of the present invention.

Fig. 3 is another structural schematic diagram of the mother car platform in the mother-child electric transfer platform system in an embodiment of the present invention.

Fig. 4 is a schematic structural view of the driving device of the mother car in the mother-child electric transfer platform system according to an embodiment of the present invention.

Fig. 5 is a sectional view of the driving device of the mother car shown in Fig. 4 .

Fig. 6 is a schematic structural view of the sub-vehicle platform in the sub-mother electric transfer platform system in an embodiment of the present invention.

Fig. 7 is another schematic structural view of the driving device of the child car in the mother-child electric transfer platform system according to an embodiment of the present invention.

In the figure: 1. Mother car platform; 11. Mother car body; 12. Mother car controller; 13. Control component; 131. Remote control handle; 132. Control touch screen; 14. Mother car driving device; 141. Support plate; 142. Telescopic component; 1421. Upper telescopic bracket; 1422. Lower telescopic bracket; 1423. Buffer; 143. Mother car drive assembly; 1431. Mother wheel hub motor; 1432. Mother wheel hub; 1433. Mother car brake pad; 1434 1. Mother car brake caliper; 144. Mother car steering assembly; 1441. Mother car steering motor; 1442. Mother car worm; 1443. Mother car worm wheel; 1444. Motor fixing bracket; Industrial mechanical arm; 16. Hydraulic lifting device; 17. Mother car battery pack; 18. Gyroscope; 19. Limiting boss; 2. Sub-car platform; 21. Sub-car body; 22. Sub-car controller; 23 , sub-car driving device; 231, mounting bracket; 232, sub-car drive assembly; 2321, sub-car hub motor; 2322, sub-car hub; 2323, sub-car brake pad; 2324, sub-car brake caliper; 233, sub-car steering Components; 2331, sub-car steering motor; 2332, sub-car worm; 2333, sub-car worm gear; 2334, sub-car fixing parts; 24, sub-car intelligent industrial mechanical arm; 25, distance sensor; 26, sub-car battery pack; 27 , protective cover; 3, retractable conveyor belt; 4, tray; 5, goods.

detailed description

In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

Fig. 1 shows the parent-child electric transfer platform system in this embodiment. The parent-child electric transfer platform system includes a mother car platform 1 , a child car platform 2 and a retractable conveyor belt 3 .

As shown in Figures 2 and 3, the mother car platform 1 includes a mother car body 11, a mother car controller 12 arranged on the mother car body 11, a control assembly 13 connected to the mother car controller 12, a The mother car battery pack 17 used to supply power to the mother car platform 1 of the car body 11, and the mother car intelligent industrial mechanical arm 15 and the mother car driving device that are arranged on the mother car body 11 and are connected to the mother car controller 12 14. Gyroscope 18 and hydraulic lifting device 16.

Specifically, the mother car controller 12 is arranged on the bottom of the mother car body 11 for realizing intelligent control of the mother car platform 1 . The control component 13 is connected with the mother car controller 12, and is used for inputting control instructions to the mother car controller 12, so that the mother car controller 12 controls the mother car platform 1 to work. The control assembly 13 includes, but is not limited to, a remote control handle 131 or a control touch screen 132 installed on one side of the parent vehicle body 11 . The mother car battery pack 17 is arranged on the bottom of the mother car body 11 and is used to supply power to the whole mother car platform 1 . The intelligent industrial robot arm 15 of the mother car is arranged on the body 11 of the mother car and connected with the controller 12 of the mother car, and is used for carrying the goods 5 according to the control signal output by the controller 12 of the mother car. Understandably, in the mother car platform 1 , the mother car controller 12 can independently control the work of the mother car intelligent industrial robot arm 15 on the mother car platform 1 .

The mother car driving device 14 is arranged on the bottom of the mother car body 11 and is connected with the mother car controller 12, and is used to control the mother car platform 1 to move and/or turn according to the control command output by the mother car controller 12, so that the mother car The platform 1 can be moved to a logistics container truck or other operating sites. In this embodiment, there are four driving devices 14 of the mother car, which are respectively arranged on the four corners of the bottom of the body 11 of the mother car.

The hydraulic lifting device 16 is arranged on the bottom of the mother car body 11 and is connected with the mother car controller 12, and is used to adjust the height of the mother car platform 1 according to the control signal output by the mother car controller 12, so that the mother car electric transmission The platform system can be applied to a variety of environments, improving the utilization rate of the mother-to-child electric transmission platform system. In this embodiment, there are four hydraulic lifting devices 16 , which are respectively arranged on the four corners of the bottom of the mother car body 11 .

The gyroscope 18 is arranged on the bottom of the mother car body 11 and is connected with the mother car controller 12, and is used to sense the level state of the mother car platform 1 and output level state information to the mother car controller 12, so that the mother car controller 12 The hydraulic lifting device 16 is controlled to adjust the height, so that the mother car platform 1 is maintained in a horizontal state, and the stability of the mother-child electric transmission platform system is improved.

Further, the edges of both sides of the mother car body 11 are provided with limiting bosses 19, and the limiting bosses 19 are arranged in parallel with the telescopic conveyor belt 3 arranged on the mother car body 11, so as to prevent the subcar platform 2 from Accidental drop during operation is beneficial to improve the safety and reliability of the mother-to-child electric transfer platform system.

As shown in Figure 6, the sub-car platform 2 includes a sub-car body 21, a sub-car controller 22 arranged on the sub-car body 21, and a power supply for the sub-car platform 2 arranged on the sub-car body 21. The sub-car battery pack 26 , and the sub-car intelligent industrial mechanical arm 24 , the sub-car driving device 23 and the distance sensor 25 arranged on the sub-car body 21 and connected to the sub-car controller 22 .

Specifically, the sub-car controllers 22 are arranged on both sides of the sub-car body 21 for realizing intelligent control of the sub-car platform 2 . In this embodiment, wherein, the sub-car controller 22 on the sub-car platform 2 communicates with the parent car controller 12 on the parent car platform 1, and is used to receive the control signal of the parent car controller 12 to realize the control of the sub-car platform. The intelligent control of 2 makes the mother car platform 1 and the sub-car platform 2 work together. The sub-vehicle intelligent industrial robot arm 24 is arranged on the sub-vehicle body 21 and is connected with the sub-vehicle controller 22, and is used to carry the goods 5 according to the control signal output by the sub-vehicle controller 22. The sub-car battery packs 26 are arranged on both sides of the sub-car body 21 for supplying power to the sub-car platform 2 .

The sub-car driving device 23 is arranged on the bottom of the sub-car body 21 and is connected with the sub-car controller 22, and is used to control the movement and/or steering of the sub-car platform 2 according to the control command output by the sub-car controller 22, so that the vehicle mounted on the The sub-car platform 2 on the mother car body 11 can be moved to a platform other than the mother car body 11 for operation, especially in a narrow space environment. In this embodiment, four sub-car driving devices 23 are provided, which are respectively arranged on four corners of the bottom of the sub-car body 21 .

The distance sensors 25 are respectively installed on the front, rear, left, and right sides of the sub-car body 21, and are connected to the sub-car controller 22; when the sub-car platform 2 is working in a narrow space, the distance sensor 25 can monitor the sub-car platform in real time 2. The distance from the front, rear, left, and right sides of obstacles can avoid collision accidents caused by misjudgment of the sub-vehicle platform 2, thereby improving the safety of the sub-mother electric transmission platform system.

Understandably, the mother car platform 1 is provided with a mother car controller 12, a mother car driving device 14 connected to the mother car controller 12, and a mother car intelligent industrial mechanical arm 15, and the mother car drive can be controlled by the mother car controller 12. The device 14 and the mother car intelligent industrial mechanical arm 15 work independently to complete the handling and transmission of objects. The sub-car platform 2 is provided with a sub-car controller 22 and a sub-car driving device 23 connected to the sub-car controller 22 and a sub-car intelligent industrial mechanical arm 24, which can control the sub-car driving device 23 and the sub-car intelligent industrial robot arm 24 through the sub-car controller 22. The industrial mechanical arm 24 works independently to complete the handling and transmission of objects. The mother car controller 12 of the mother car platform 1 and the child car controller 22 of the child car platform 2 are connected in communication, and can control the mother car platform 1 and the child car platform 2 to work together to complete the handling and transmission of objects. The sub-car platform 2 is mounted on the mother car platform 1, and the volume of the sub-car platform 2 is smaller than that of the mother car platform 1. It can drive the sub-car platform 2 to work on a platform other than the mother car platform 1, such as entering a narrow space such as a truck compartment. . One end of the telescopic conveyor belt 3 is connected to the mother car body 11 of the mother car platform 1, and the other end is connected to the sub-car body 21 of the sub-car platform 2, and is used to transfer between the sub-car body 21 and the mother car body 11. Send goods between 5.

When the logistics container truck needs to be loaded or unloaded, the mother-child electric transmission platform system is driven to the door of the logistics container truck and aligned. Adjust the height of the mother car platform 1 so that the height of the mother car body 11 of the mother car platform 1 is consistent with the floor height of the logistics container truck. Control the sub-vehicle platform 2 to enter the compartment of the logistics container truck, control the sub-vehicle intelligent industrial mechanical arm 24 on the sub-vehicle platform 2 to carry and stack the goods 5 neatly, and place them on the retractable conveyor belt 3, so that the goods 5 can pass through. The telescopic conveyor belt is passed between the sub-car platform 2 and the parent car platform 1. The pallet 4 for stacking the goods 5 can also be placed on the mother car platform 1, so that the cargo 5 on the pallet 4 can be loaded or unloaded by the porter with a forklift. The sub-vehicle electric transmission platform system is applied to the loading, unloading, handling and diversion of goods in the fields of logistics and transportation. The whole loading or unloading process is simple and fast, which reduces the labor intensity of the handling personnel and improves the efficiency and reliability of the operation. , saving production cost.

As shown in Fig. 4 and Fig. 5, the mother car driving device 14 includes a support plate 141 connected to the mother car body 11, a telescopic assembly 142 arranged under the support plate 141, and a telescopic assembly 142 arranged below the telescopic assembly 142 for controlling the mother car. The mother car driving assembly 143 that moves the car body 11 , and the mother car steering assembly 144 that is arranged on the support plate 141 and connected with the telescopic assembly 142 is used to control the steering of the mother car body 11 . It can be understood that during the movement of the mother car platform 1, the mother car body 11 is controlled to move forward and backward by the mother car driving assembly 143, and the steering of the mother car body 11 is controlled by the mother car steering assembly 144, so that the mother car platform 1 can Rotation in any direction is realized, so that the application range and field of the mother car platform 1 are not limited.

As shown in FIG. 4 and FIG. 5 , the telescopic assembly 142 includes an upper telescopic bracket 1421 , a lower telescopic bracket 1422 and a buffer member 1423 . The mother car driving assembly 143 is installed on the lower telescopic support 1422 . One end of the upper telescopic bracket 1421 is installed on the support plate 141 through a bearing, and the other end is telescopically installed on the cavity of the lower telescopic bracket 1422 . The buffer member 1423 is sleeved on the upper telescopic bracket 1421, and plays a buffer role when the mother car driving device 14 controls the movement and/or steering of the mother car platform 1, so as to improve the stability of the mother-child electric transmission platform system. The buffer member 1423 includes but not limited to the spring in this embodiment.

As shown in Figure 4 and Figure 5, the mother car drive assembly 143 includes the mother wheel hub motor 1431 arranged on the lower telescopic bracket 1422, the mother wheel hub 1432 arranged on the mother wheel hub motor 1431, the mother wheel hub motor 1431- The mother car brake pad 1433 on the side and the mother car brake caliper 1434 that is arranged on one side of the lower telescopic bracket 1422 and is connected with the mother car brake pad 1433. When the mother car drive assembly 143 is working, the mother car controller 12 controls the mother wheel hub motor 1431 to rotate, thereby driving the mother car hub 1432 to rotate to drive the entire mother car platform 1 to move forward and backward; when it is necessary to control the mother car platform 1 to brake, The parent car controller 12 controls the parent car brake calipers 1434 to brake the parent car brake pads 1433 to play a braking role. In this embodiment, the lower telescopic bracket 1422 is arranged in an inverted U shape, and the mother wheel hub motor 1431 is arranged at both ends of the lower telescopic bracket 1422 in an inverted U shape, and the mother wheel hub 1432 installed on the mother wheel hub motor 1431 is arranged on the lower The telescopic bracket 1422 rotates in the U-shaped space.

In this embodiment, when the mother-to-child electric transfer platform system travels on a flat road, the four upper telescopic brackets 1421 are at the bottom of the cavity of the lower telescopic bracket 1422, and the buffer member 1423 (that is, the spring) is pressed tightly, and the four upper telescopic brackets 1421 are at the bottom of the cavity. The bracket 1421 supports the weight of the entire mother car platform 1 . When the mother-to-child electric transmission platform system is running on an uneven road, if the mother wheel hub 1432 of the mother-to-son electric transmission platform system falls into a shallow pit on the uneven road, the corresponding compressed buffer member 1423 (that is, the spring) will bounce slightly The elastic force is exerted, so that the upper telescopic bracket 1421 and the lower telescopic bracket 1422 are stretched, so that the female wheel hub 1432 in the shallow pit falls into contact with the bottom of the pit, providing a certain adhesion force and avoiding being in a suspended state. Through the setting of the telescopic assembly 142, when the mother-child electric transmission platform system passes through an uneven road and the mother wheel hub 1432 falls into a shallow pit, the mother-child electric transmission platform system will not tilt due to an unstable center of gravity, thereby improving the electric power of the mother-to-child. Stability of delivery platform system.

The mother car steering assembly 144 includes the mother car steering motor 1441 installed on the support plate 141 through the motor fixing bracket 1444, the mother car worm screw 1442 installed on the output shaft of the mother car steering motor 1441, and the upper telescopic bracket 1421. The mother car worm wheel 1443 ; the mother car worm wheel 1443 meshes with the mother car worm 1442 . As shown in Figure 4, the mother car steering assembly 144 also includes two mother car fixing parts 1445 fixedly installed above the support plate 141 and arranged parallel to each other, the output shaft of the mother car steering motor 1441 passes through the two mother car fixing parts 1445, and the mother car worm 1442 is sheathed on the part of the output shaft between the two mother car fixing parts 1445, so as to achieve the purpose of fixing the mother car worm 1442 to avoid displacement. When the mother car steering assembly 144 works, the mother car steering motor 1441 rotates after being energized to drive the mother car worm 1442 arranged on its output shaft to rotate, thereby driving the mother car worm wheel 1443 meshed with the mother car worm 1442 to rotate, and the mother car worm wheel 1443 drives The upper telescopic bracket 1421 rotates, thereby making the whole mother car driving assembly 143 rotate, so that the mother car platform 1 can turn freely, and cooperate with the mother car driving assembly 143 to make the mother car platform 1 move to the working place.

As shown in Figures 6 and 7, the sub-car driving device 23 includes a mounting bracket 231 arranged on the sub-car body 21, a sub-car driving assembly 232 arranged on the mounting bracket 231 for controlling the movement of the sub-car body 21 , the sub-car steering assembly 233 that is arranged on the sub-car body 21 and is connected with the sub-car driving assembly 232 for controlling the steering of the sub-car body 21 . It can be understood that during the movement of the sub-car platform 2, the sub-car body 21 can be controlled to move forward and backward through the sub-car driving assembly 232, and the sub-car body 21 can be controlled to turn through the sub-car steering assembly 233, so that the sub-car platform 2 It can be rotated in any direction, so that the application range and field of the sub-vehicle platform 2 are not limited.

Specifically, the sub-car driving assembly 232 includes a sub-wheel hub motor 2321 arranged on the mounting bracket 231, a sub-wheel hub 2322 arranged on the sub-wheel hub motor 2321, and a sub-car brake pad arranged on one side of the sub-wheel hub motor 2321. 2323 and the sub-car brake caliper 2324 that is arranged on one side of the mounting bracket 231 and is connected with the sub-car brake pad 2323. When the sub-car driving assembly 232 is working, the sub-car controller 22 controls the rotation of the sub-wheel hub motor 2321 to drive the sub-car hub 2322 to rotate, so as to drive the entire sub-car platform 2 to move forward and backward; when it is necessary to control the sub-car driving assembly 232 to brake , the sub-car controller 22 controls the sub-car brake calipers 2324 to brake the sub-car brake pads 2323 to play a braking role. In this embodiment, the mounting bracket 231 is arranged in an inverted U shape, and the sub-wheel hub motor 2321 is arranged on both ends of the inverted U-shaped mounting bracket 231, and the sub-wheel hub 2322 installed on the sub-wheel hub motor 2321 is placed on the mounting bracket. Rotate in the U-shaped space of 231. In this embodiment, the sub-car driving assembly 232 is directly installed on the sub-car body 21 through the mounting bracket 231 , and adopts a low-floor design, which is conducive to lowering the center of gravity and improving the stability and safety of the sub-car platform 2 .

The sub-car steering assembly 233 includes a sub-car steering motor 2331 fixedly installed on the sub-car body 21, a sub-car worm 2332 installed on the output shaft of the sub-car steering motor 2331, a sub-car worm wheel 2333 installed on the mounting bracket 231 ; Mother car worm wheel 1443 meshes with mother car worm 1442 . As shown in Figure 7, the sub-car steering assembly 233 also includes two sub-car fixtures 2334 fixedly installed above the sub-car body 21 and arranged parallel to each other, and the output shaft of the sub-car steering motor 2331 passes through the two sub-car fixtures 2334, and the sub-car worm 2332 is sheathed on the part of the output shaft between the two sub-car fixtures 2334 to achieve the purpose of fixing the sub-car worm 2332 to avoid displacement. When the sub-car steering assembly 233 works, the sub-car steering motor 2331 rotates after being energized to drive the sub-car worm 2332 on the output shaft of the sub-car steering motor 2331 to rotate, thereby driving the sub-car worm gear 2333 meshed with the sub-car worm 2332 to rotate, and the sub-car The car worm wheel 2333 drives the mounting bracket 231 to rotate, so that the sub-car driving assembly 232 on the mounting bracket 231 rotates thereupon, so that the sub-car platform 2 can rotate freely. In this embodiment, the sub-car platform 2 also includes a protective cover 27 arranged on the sub-car body 21, and the protective cover 27 is arranged above the sub-car steering assembly 233 to cover the sub-car steering assembly 233 to avoid safety accidents. .

In this embodiment, the mother car platform 1 and the sub-car platform 2 are all general-purpose electric platforms that can be carried at will, are easy to move and turn, and can be loaded with goods 5 or intelligent mechanical equipment (including but not limited to this embodiment) The intelligent industrial manipulator 15 of the mother car and the intelligent industrial manipulator 24) of the child car in the example are suitable for loading and unloading, handling and shunting of goods 5 in the field of logistics and transportation. Each of the four corners of the mother car body 11 is provided with a mother car driving device 14, and the four mother car driving devices 14 cooperate with each other to make the mother car platform 1 move in any direction and turn freely, which can improve work efficiency . Below the four corners of the sub-car body 21 are respectively provided with a sub-car driving device 23, and the four sub-car driving devices 23 cooperate with each other to make the sub-car platform 2 move in any direction and turn freely, which can improve work efficiency. It can be understood that the parent-child electric transmission platform system is equipped with the sub-car platform 2 on the mother car platform 1, the mother car platform 1 and the sub-car platform 2 can complete the operation independently of each other, and can also cooperate to complete the operation, so that the mother car platform 1 and the sub-car platform 2 can complete the operation independently, so that the mother car platform The conveyor platform system has more application fields, and can be applied to a variety of operating environments (such as narrow spaces), etc., and can replace traditional manual operations in a larger application range, saving costs and improving efficiency.

The present invention is described through the specific embodiments above, and those skilled in the art should understand that various transformations and equivalent substitutions can be made to the present invention without departing from the scope of the present invention. In addition, various modifications may be made to the present invention for a particular situation or circumstances without departing from the scope of the present invention. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but should include all implementations falling within the scope of the appended claims.

Claims (10)

1. a kind of primary and secondary motorized translation stage system, it is characterised in that including female car platform, sub- car platform With scalable conveyer belt；

Female car platform include female car car body, be arranged on female car car body female vehicle controller, with The connected control assembly of female vehicle controller, it is arranged on female car car body and is controlled with female car The connected female car drive device of device and female car intelligent industrial mechanical arm and it is arranged on female car car body Be used for female car battery bag to female car platform power；

The sub- car platform includes sub- car car body, the sub- vehicle controller being arranged on the sub- car car body, set Put on the sub- car car body and the sub- car drive device being connected with the sub- vehicle controller and sub- car intelligence work Industry mechanical arm and the sub- car electricity being used for the sub- car platform power being arranged on the sub- car car body Chi Bao；The sub- vehicle controller is connected with female vehicle controller；

The sub- car platform is mounted on female car platform, and the sub- car car body is less than female Che Che Body；Described scalable conveyer belt one end is connected on female car car body, and the other end is connected to the sub- car On car body.

2. primary and secondary motorized translation stage system according to claim 1, it is characterised in that the mother Car drive device include be connected with female car car body supporting plate, be arranged on stretching below the supporting plate Contracting component, the female car driving for being used to control female car car body movement being arranged on below the telescopic component Component, be arranged in the supporting plate and be connected with the telescopic component be used for control female car car body Female car steering assembly of steering.

3. primary and secondary motorized translation stage system according to claim 2, it is characterised in that described to stretch Contracting component includes upper telescope support, lower telescope support and bolster；Installed on the lower telescope support State female car drive component；Described upper telescope support one end is arranged in the supporting plate, and the other end is scalable Ground is arranged on the cavity of the lower telescope support；The bolster is set on the upper telescope support.

4. primary and secondary motorized translation stage system according to claim 3, it is characterised in that the mother Car drive component include be arranged on the lower telescope support female wheel hub motor, be arranged on female car Female wheel hub on wheel hub motor, it is arranged on female car brake block of female wheel hub motor side and sets Put in the lower telescope support side and female car brake callipers for being connected with female car brake block；

Female car steering assembly include be arranged on the supporting plate on female car steering motor, installed in institute State female car worm screw on the output shaft of female car steering motor and the mother on the upper telescope support Car worm gear；Female car worm gear and female car worm engaging.

5. primary and secondary motorized translation stage system according to claim 1, it is characterised in that the mother Car platform also includes being arranged on the gyroscope being connected on female car car body and with female vehicle controller, set Put the hydraulic lift being connected on female car car body and with female vehicle controller.

6. primary and secondary motorized translation stage system according to claim 1, it is characterised in that the mother The edge of car car body is provided with positive stop lug boss；The positive stop lug boss is parallel with the scalable conveyer belt relative Set.

7. primary and secondary motorized translation stage system according to claim 1, it is characterised in that the son Car drive device include be arranged on the sub- car car body mounting bracket, be arranged in the mounting bracket Be used for control the sub- car drive component of the sub- car car body movement, be arranged on the sub- car car body and with What the sub- car drive component was connected is used to control the sub- car steering assembly that the sub- car car body turns to.

8. primary and secondary motorized translation stage system according to claim 7, it is characterised in that the son Car drive component include be arranged in the mounting bracket sub- wheel hub motor, be arranged on the sub- wheel Sub- wheel hub on hub motor, the sub- car brake block for being arranged on the sub- wheel hub motor side and setting In the mounting bracket side and the sub- car brake callipers that are connected with the sub- car brake block；

The sub- car steering assembly include be arranged on the sub- car car body on sub- car steering motor, be arranged on Sub- car worm screw on the output shaft of the sub- car steering motor, the sub- car snail in the mounting bracket Wheel；Female car worm gear and female car worm engaging.

9. primary and secondary motorized translation stage system according to claim 8, it is characterised in that also include The protective cover being arranged on the sub- car car body, the protective cover are arranged on above the sub- car steering assembly.

10. primary and secondary motorized translation stage system according to claim 1, it is characterised in that described Sub- car platform also includes being arranged on the Distance-sensing being connected on the sub- car car body and with the sub- vehicle controller Device.