Adjustment method of omnidirectional mounting vehicle

Abstract

The present application relates to a kind of omnidirectional mounting vehicle distance and orientation adjustment method, belong to vehicle-mounted assembly technical field, solve the problem that existing technology cannot be carried out multi-angle and multi-direction adjustment in mounting vehicle.The distance and orientation adjustment method of omnidirectional mounting vehicle includes the following steps: step 1: mounting object is pushed to inner tray by push mechanism;Step 2: put down the foot wheel assembly;Step 3: tow tow mechanism makes omnidirectional trailer long-distance movement, adjust distance position;Step 4: retract the foot wheel assembly;Step 5: drive the wheel assembly, realize the orientation adjustment and short-distance adjustment of mounting vehicle;Step 6: drive lifting adjustment mechanism to make lifting outer tray go up, carry out height adjustment in vertical direction to mounting vehicle;Step 7: drive screw pair assembly to make rotating inner tray rotate in the lifting outer tray around rotating disc, carry out horizontal direction angle deflection adjustment.The present application realizes the movement and adjustment of multi-angle and multi-direction of mounting vehicle, and the scope of application is wider.

Description

Technical Field

[0001] This invention relates to the field of trailer technology, and more particularly to a method for adjusting the distance and orientation of an omnidirectional trailer. Background Technology

[0002] A trailer loader is a ground support device used for loading and unloading aircraft. It can be broadly classified into automatic and manual types. Manual trailer loaders are more widely used due to their simple structure, low design and operating costs, and high reliability. Automatic trailer loaders are equipped with electromechanical drive systems and hydraulic lifting mechanisms, featuring high automation, good mobility, labor savings, and high operational efficiency.

[0003] When an aircraft is being loaded, the fit between the load and the fuselage is extremely precise, requiring meticulous adjustments to multiple degrees of freedom. Existing loaders suffer from the following problems:

[0004] (1) Since the mounting positions of some aircraft are under the belly, and the belly is very low, the space below is very limited. Conventional mounting vehicles are relatively high and can only be moved laterally from the side of the belly to the bottom of the belly for operation. In other words, the existing mounting vehicles cannot meet the height requirements.

[0005] (2) Existing trailers use hydraulic mechanisms for wheel system switching, which will leak oil after a period of use and require an additional oil pump, taking up space.

[0006] (3) It cannot be freely adjusted in multiple angles and directions, and its applicable direction is narrow. Summary of the Invention

[0007] Based on the above analysis, the present invention aims to provide a method for adjusting the distance and orientation of an omnidirectional trailer, in order to solve the problem that trailers in the prior art cannot be adjusted and moved in multiple angles and directions.

[0008] The objective of this invention is mainly achieved through the following technical solutions:

[0009] A method for adjusting the distance and orientation of an omnidirectional trailer includes the following steps:

[0010] Step 1: Push the load into the rotating inner tray using the pushing mechanism;

[0011] Step 2: Lower the caster assembly in the wheel train switching mechanism;

[0012] Step 3: The towing mechanism moves the omnidirectional trailer a long distance to adjust its position in terms of distance;

[0013] Step 4: Retract the caster assembly;

[0014] Step 5: Drive the wheel assembly to achieve orientation adjustment and short-distance adjustment of the trailer;

[0015] Step 6: Drive the lifting and adjusting mechanism to raise the outer lifting pallet and adjust the vertical height of the trailer.

[0016] Step 7: Drive the lead screw assembly to make the inner rotating tray rotate around the rotating disk within the lifting outer tray, and adjust the horizontal angle deflection.

[0017] Step 8: Drive the lifting adjustment mechanism to lower the outer lifting tray and complete the resetting of the trailer.

[0018] Furthermore, in step 1, the servo motor is started to drive the gearbox to move, and the output shaft of the gearbox is engaged with the chain to drive the active roller to move.

[0019] Furthermore, in step 1, a gear is fitted onto the drive roller, and an embedded rack is installed at the bottom of the load. The load is pushed by the meshing of the gear and the embedded rack.

[0020] Furthermore, the servo motor that drives the caster switches to make the worm gear rotate and drive the worm to move linearly, thereby causing the slider connected to the worm to slide on the slide rail; causing the active folding rod hinged to the slider (616) to swing and fold, while driving the passive folding rod to swing, and the caster to extend.

[0021] Furthermore, the traction device is connected to the traction mechanism.

[0022] Furthermore, pulling the traction mechanism causes the caster assembly at the front end of the trailer to move synchronously in the same direction.

[0023] Furthermore, in step 6, the rigid chain drive box of the lifting adjustment mechanism drives the rigid chain in the rigid chain storage box, so that the rigid chain drives the lifting outer tray upward.

[0024] Furthermore, in step 6, the connecting shaft of the horizontal compensation mechanism is fitted with the compensation hole on the connecting plate (24) to achieve angle compensation between the lifting adjustment mechanism and the lifting outer tray.

[0025] Furthermore, in step 7, the lead screw servo motor drives the lead screw to rotate, causing the nut and the fixing pin fixed on the nut to move linearly in sync.

[0026] Furthermore, in step 7, the fixing pin drives the rotating inner tray to rotate relative to the lifting outer tray via the rotating disk, while the fixing pin slides within the limiting hole to achieve horizontal angle adjustment of the trailer.

[0027] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0028] (1) This invention loads the object onto a rotating inner tray via a pushing mechanism. The pushing servo motor is activated, driving the reduction gearbox to move. A chain meshing with the output end of the reduction gearbox drives the active roller to move synchronously. The active roller on the object and the parallel passive rollers roll, pushing the object onto the rotating inner tray under the rotation of the rollers. This pushing method using one active roller and multiple passive rollers reduces the coefficient of friction during loading, facilitating the loading process and saving manpower and resources.

[0029] (2) The present invention can also sleeve a gear on the active roller and install the embedded rack at the bottom of the load. The load is pushed by the meshing of the gear and the embedded rack. This method can accurately move the load in the rotating inner tray and improve the displacement accuracy of the load.

[0030] (3) The present invention drives a caster switching servo motor, which rotates the worm gear and drives the worm to move linearly, thereby causing the slider connected to the worm to slide on the slide rail; in turn, the active folding rod hinged to the slider swings and folds, while driving the passive folding rod to swing, and the caster extends. Through the control of the caster assembly by the worm gear, the caster assembly and the worm wheel assembly can be freely switched, thereby realizing the long-distance displacement, short-distance displacement and all-angle displacement of the omnidirectional trailer, that is, realizing the orientation adjustment and distance displacement of the trailer, so that the trailer can meet different angle changes and displacement requirements, the switching is convenient and quick, and the application range is wider.

[0031] (4) The drive lifting adjustment mechanism of the present invention causes the lifting outer pallet to move upward. Under the adjustment of different heights of the four lifting adjustment mechanisms, the lifting outer pallet achieves vertical displacement and horizontal and axial deflection of the trailer.

[0032] (5) The connecting shaft of the horizontal compensation mechanism set at the upper end of the lifting adjustment mechanism of the present invention is fitted with the compensation hole on the connecting plate to realize the angle compensation between the lifting adjustment mechanism and the lifting outer tray.

[0033] (6) The present invention drives the screw assembly fixed on the lifting outer pallet to make the rotating inner pallet rotate around the rotating disk inside the lifting outer pallet, thereby adjusting the horizontal angle of the trailer.

[0034] (7) After the operation is completed, the present invention drives the lifting adjustment mechanism to lower the lifting outer pallet until the lifting outer pallet passes through the avoidance part of the chassis mechanism and approaches the ground, thereby reducing the overall height of the omnidirectional trailer.

[0035] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages will become apparent from the description or may be learned by practicing the invention. Attached Figure Description

[0036] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0037] Figure 1 This is a schematic diagram of the omnidirectional trailer of the present invention;

[0038] Figure 2 This is a schematic diagram of the omnidirectional trailer chassis mechanism of the present invention;

[0039] Figure 3 This is a partial rear view of the omnidirectional trailer of the present invention;

[0040] Figure 4 This is a partial structural diagram of the omnidirectional trailer of the present invention. Figure 1 ;

[0041] Figure 5 This is a partially enlarged view of the lead screw assembly of the omnidirectional trailer of the present invention;

[0042] Figure 6 This is a partial structural diagram of the omnidirectional trailer of the present invention. Figure 2 ;

[0043] Figure 7 This is a partial structural diagram of the omnidirectional trailer of the present invention. Figure 3 ;

[0044] Figure 8 This is a schematic diagram of the horizontal compensation mechanism of the omnidirectional trailer of the present invention;

[0045] Figure 9 This is a partially enlarged view of the horizontal compensation mechanism of the omnidirectional trailer of the present invention;

[0046] Figure 10 This is a schematic diagram of the compensation hole structure of the horizontal compensation mechanism of the omnidirectional trailer of the present invention;

[0047] Figure 11 This is a schematic diagram of the wheel system switching mechanism of the omnidirectional trailer of the present invention;

[0048] Figure 12 This is a partially enlarged view of the omnidirectional trailer of the present invention;

[0049] Figure 13 This is a partial structural schematic diagram of the wheel system switching mechanism of the omnidirectional trailer of the present invention;

[0050] Figure 14 This is a schematic diagram of the pushing mechanism of the omnidirectional trailer of the present invention;

[0051] Figure 15 This is a flowchart illustrating the method for adjusting the distance and orientation of the omnidirectional trailer of the present invention.

[0052] Figure label:

[0053] 1-Chassis mechanism; 11-First vertical connecting rod; 12-Second vertical connecting rod; 13-First transverse connecting rod; 14-Second transverse connecting rod; 15-Allowing part; 16-Wheel system mounting bracket; 161-First bracket; 162-Second bracket;

[0054] 2- Lifting outer pallet; 21- First side panel of outer pallet; 22- Second side panel of outer pallet; 23- Bottom plate of outer pallet; 24- Connecting plate;

[0055] 3-Rotating inner tray; 31-First side plate of inner tray; 32-Second side plate of inner tray; 33-Bottom plate of inner tray; 34-Screw assembly; 341-Support; 342-Screw; 343-Nut; 344-Fixing pin; 345-Screw servo motor; 346-Limit hole; 35-Rotating disk;

[0056] 4-Lifting and adjusting mechanism; 41-Rigid chain storage box; 42-Rigid chain drive box; 43-Guide component; 44-Guide fixing component;

[0057] 5-Horizontal compensation mechanism; 51-Connecting shaft; 52-Lower clamping plate; 53-Upper clamping plate; 54-Compensation hole; 541-Fixed compensation hole; 542-Vertical straight compensation hole; 543-Horizontal straight compensation hole; 544-Rectangular compensation hole; 55-Universal ball;

[0058] 6-Wheel system switching mechanism; 61-Caser assembly; 611-Caser; 612-Caser servo motor; 613-Worm gear; 614-Worm; 615-Slide rail; 616-Slider; 617-Active folding rod; 618-Passive folding rod; 619-Spring damping component; 62-Melbourne wheel assembly; 621-Melbourne wheel; 622-Melbourne wheel servo motor;

[0059] 7-Traction assembly; 71-Adaptor rod; 72-Steering rod; 73-Traction rod;

[0060] Pushing mechanism; 81-Active roller; 82-Passive roller; 83-Pushing servo motor; 84-Chain; 85-Gear; 86-Inserted rack. Detailed Implementation

[0061] The following describes in further detail a method for adjusting the distance and orientation of an omnidirectional trailer with reference to specific embodiments. These embodiments are for comparison and explanation purposes only, and the present invention is not limited to these embodiments.

[0062] Example 1

[0063] A specific embodiment of the present invention, such as Figures 1-15 As shown, a method for adjusting the distance and orientation of an omnidirectional trailer is disclosed, such as... Figure 15 As shown, the specific steps include:

[0064] Step 1: As Figure 14 As shown, the load is pushed into the rotating inner tray 3 by the pushing mechanism 8.

[0065] Step 11: Start the servo motor 83, which drives the gearbox to move. The chain 84 meshing with the output end of the gearbox drives the active roller 81 to move. The active roller 81 and the parallel passive rollers 82 on the load roll, thus pushing the load into the rotating inner tray 3 under the rotation of the rollers. The pushing method using one active roller 81 and multiple passive rollers 82 can reduce the coefficient of friction during pushing, which is beneficial to the pushing process and saves manpower and resources.

[0066] Step 12: Optionally, a gear 85 is fitted on the drive roller 81, and an embedded rack 86 is installed at the bottom of the load. During transfer, the load is not pushed by the rolling of the roller in step 11, but by the meshing of the gear 85 and the embedded rack 86. This method can accurately determine the displacement of the load in the rotating inner tray 3 and improve the displacement accuracy of the load.

[0067] Step 2: Lower the caster assembly 61 in the wheel system switching mechanism 6.

[0068] like Figures 11-13 As shown, the servo motor 612 drives the caster to switch, causing the worm gear 613 to rotate and drive the worm 614 to move linearly, thereby causing the slider 616 connected to the worm 614 to slide on the slide rail 615; in turn, the active folding rod 617 hinged to the slider 616 swings and folds, while driving the passive folding rod 618 to swing, and the caster 616 extends.

[0069] By controlling the caster assembly 61 through the worm gear, the caster assembly 61 and the wheel assembly 62 can be freely switched, thereby enabling the omnidirectional trailer to perform long-distance displacement, short-distance displacement, and full-angle displacement. This allows the trailer to meet different angle changes and displacement requirements, making switching convenient and quick, and expanding its applicability.

[0070] Step 3: The traction mechanism 7 moves the omnidirectional trailer a long distance to adjust its position in terms of distance.

[0071] Step 31: Connect the traction equipment to the traction mechanism 7.

[0072] Connect the traction device to the traction rod 73, traction ring, and handle at the front end of the traction mechanism 7.

[0073] Step 32: Pulling and traction mechanism 7.

[0074] Pulling the towing rod 73 causes the steering rod 72 and the adapter rod 71, which are connected to the two caster assemblies 61 at the front of the trailer, to move synchronously in the same direction.

[0075] The drawbar 73 can swing relative to the steering rod 72 in the vertical plane to adapt to the pulling direction of the traction equipment in the vertical plane. The horizontal deflection of the steering rod 72 can drive the adapter rod 71 to deflect synchronously, thereby driving the caster assembly 61 connected to it to deflect synchronously, thus realizing the omnidirectional trailer's adjustable long-distance mobile transportation.

[0076] During the movement of the omnidirectional trailer, the spring damping component 619 installed on the caster 611 effectively absorbs vibration energy through the spring, thereby increasing the overall stability of the trailer.

[0077] The traction mechanism 7 achieves two degrees of freedom (horizontal and vertical directions) through the combined arrangement of the steering rod 72 and the traction rod 73, thereby realizing the flexibility of the traction effect of the traction mechanism 7 and increasing its applicability.

[0078] Step 4: Retract the caster assembly 61 in the wheel system switching mechanism 6.

[0079] The caster switching servo motor 612 is driven again, causing the worm gear 613 to rotate and drive the worm 614 to move linearly in the opposite direction of step 2, thereby causing the slider 616 connected to the worm 614 to slide on the slide rail 615; in turn, the active folding rod 617 hinged to the slider 616 swings and folds, while driving the passive folding rod 618 to swing, and the caster 616 retracts.

[0080] Step 5: Drive the wheel assembly 62 to move the trailer vehicle in all directions over short distances to the target area, and make orientation and short-distance adjustments.

[0081] The four servo motors 622 are activated, which drive the four wheels 621 to achieve omnidirectional movement and short-distance displacement, so that the trailer moves to the target area (under the belly of the aircraft).

[0082] Step 6: Drive the lifting and adjusting mechanism 4 to move the lifting outer tray 2 upward and adjust its height in the vertical direction.

[0083] Step 61: As Figures 7-8 As shown, the rigid chain drive box 42 in the lifting adjustment mechanism 4 fixed at the four corners of the chassis mechanism 1 drives the rigid chain in the rigid chain storage box 41 respectively, so that the rigid chain moves upward and the pallet mechanism passes through the clearance part 15 of the chassis mechanism 1 and moves upward.

[0084] The upward movement of the rigid chain drives the corresponding connecting plate 24 on the lifting outer tray 2 to move upward, and at the same time causes the fixing member 44 fixed at the top of the rigid chain to move synchronously, thereby stretching the guide member 43 composed of multiple sleeved guide sleeves, so that the rigid chain can only be elongated in the vertical direction.

[0085] Step 62: The lifting outer pallet 2 achieves vertical displacement and horizontal and axial deflection of the trailer vehicle by adjusting the four lifting adjustment mechanisms 4 at different heights.

[0086] Step 63: As Figures 8-9 As shown, the connecting shaft 51 of the horizontal compensation mechanism 5 at the upper end of the lifting adjustment mechanism 4 is fitted with the compensation hole 54 on the connecting plate 24 to achieve angle compensation between the lifting adjustment mechanism 4 and the lifting outer tray 2.

[0087] The rigid chain of the lifting adjustment mechanism 4 moves upward, driving the connecting shaft 51 to move upward synchronously. The connecting shaft 51 slides in the compensation hole 54. At the same time, the universal balls 55 of the upper clamping plate 53 and the lower clamping plate 52 slide on the upper and lower surfaces of the connecting plate 24 respectively, compensating for the angular deviation between the lifting adjustment mechanism 4 and the lifting outer tray 2. This provides high flexibility and avoids jamming.

[0088] Step 7: Drive the lead screw assembly 34 to make the inner rotating tray 3 rotate around the rotating disk 35 within the lifting outer tray 2, and adjust the horizontal angle deflection.

[0089] like Figures 4-6 As shown, the lead screw servo motor 345 drives the lead screw 342 to rotate, which drives the nut 343 and the fixing pin 344 fixed on the nut 343 to move linearly in sync. The fixing pin 344 drives the rotating inner tray 3 to rotate relative to the lifting outer tray 2 through the rotating disk 35. At the same time, the fixing pin 344 slides in the limiting hole 346, thereby performing horizontal angle deflection and completing the horizontal angle adjustment of the trailer.

[0090] The short shaft of the limiting hole 346 of the rotating inner tray 3 drives the rotating inner tray 3 to deflect under the limitation of the fixed pin 344, and the displacement compensation of the deflection is achieved by the long shaft of the fixed pin 344. The horizontal angle of the rotating inner tray 3 is adjusted by the lead screw assembly 34, which has high precision and can avoid the problem of angle deviation.

[0091] Step 8: After the operation is completed, drive the lifting adjustment mechanism 4 to lower the outer lifting pallet 2, and complete the reset of the trailer.

[0092] like Figures 1-2 As shown, the rigid chains in the four rigid chain drive boxes 42 are driven simultaneously, causing the four rigid chains to descend synchronously, driving the lifting outer pallet 2 downwards until the lifting outer pallet 2 passes through the clearance part 15 of the chassis mechanism 1 and approaches the ground, reducing the overall height of the omnidirectional trailer. Resetting is then complete. Because the overall height of the trailer is reduced, even with limited operating space under the engine belly, the omnidirectional trailer can move laterally from the side of the engine belly to enter and exit directly under the engine belly, ensuring that the omnidirectional trailer meets the required height.

[0093] Example 2

[0094] A specific embodiment of the present invention, such as Figures 1-14 As shown, an omnidirectional trailer is disclosed. The omnidirectional trailer is used to realize the distance and orientation adjustment method of the omnidirectional trailer in Embodiment 1. It includes a chassis mechanism 1, a pallet mechanism, a lifting adjustment mechanism 4, a wheel system switching mechanism 6 and a loading mechanism 8 installed on the chassis mechanism 1. One end of the lifting adjustment mechanism 4 is connected to the chassis mechanism 1 and the other end is connected to the pallet mechanism. The lifting adjustment mechanism 4 can drive the pallet mechanism to rise or fall relative to the chassis mechanism 1. The pallet mechanism is used to support the trailer. The wheel system switching mechanism 6 is used to realize the distance movement and angle adjustment of the omnidirectional trailer. The loading mechanism 8 is used to load the trailer onto the pallet mechanism.

[0095] Furthermore, such as Figure 2 As shown, the chassis mechanism 1 includes a first vertical connecting rod 11, a second vertical connecting rod 12, a first horizontal connecting rod 13, a second horizontal connecting rod 14, and a clearance portion 15. The two vertical connecting rods are connected end to end with the horizontal connecting rod, so that the four connecting rods form a rectangular clearance portion 15 in the middle of the chassis mechanism 1, and the clearance portion 15 can accommodate the pallet mechanism.

[0096] Furthermore, the chassis mechanism 1 also includes a wheel system mounting bracket 16, which is located at the four corners of the chassis mechanism 1 and is used to install the wheel system switching mechanism 6.

[0097] Furthermore, the pallet mechanism includes a lifting outer pallet 2 and a rotating inner pallet 3. Both the lifting outer pallet 2 and the rotating inner pallet 3 are U-shaped pallets, and the rotating inner pallet 3 is rotatably disposed inside the lifting outer pallet 2.

[0098] Among them, such as Figure 3 As shown, the lifting outer pallet 2 includes an outer pallet first side plate 21, an outer pallet second side plate 22 and an outer pallet bottom plate 23. The outer pallet first side plate 21 and the outer pallet second side plate 22 are fixedly connected to both sides of the outer pallet bottom plate 23.

[0099] Furthermore, the lifting outer pallet 2 also includes connecting plates 24. Four connecting plates 24 are provided. Each connecting plate 24 is fixedly installed at both ends of the outer side of the first side plate 21 and the second side plate 22 of the outer pallet. The connecting plates 24 are connected to the lifting adjustment mechanism 4.

[0100] Furthermore, the rotating inner tray 3 includes an inner tray first side plate 31, an inner tray second side plate 32, and an inner tray bottom plate 33, with the inner tray first side plate 31 and the inner tray second side plate 32 fixedly connected to both sides of the inner tray bottom plate 33.

[0101] The inner pallet base plate 33 of the rotating inner pallet 3 is narrower than the outer pallet base plate 23 of the lifting outer pallet 2, so that there is a gap between the outer pallet side plate and the inner pallet side plate on the same side in the pallet mechanism, so that the rotating inner pallet 3 can be deflected by the gap when it rotates around the rotating disk 35.

[0102] It is worth noting that the rotating inner tray 3 also includes a lead screw assembly 34, which is fixed to one end of the lifting outer tray 2, such as... Figures 4-6 As shown, the lead screw assembly 34 includes a support 341, a lead screw 342, a nut 343, a fixing pin 344, a lead screw servo motor 345, and a limiting hole 346. The lead screw 342 is fixed parallel to the short side of the lifting outer tray 2 via the support 341. The nut 343 is screwed onto the lead screw 342. The lead screw servo motor 345 is located at one end of the lead screw 342 and is used to drive the lead screw 342 to rotate.

[0103] One end of the rotating inner tray 3 is provided with a limiting hole 346. A fixing pin 344 passes through the limiting hole 346 and is fixed to the nut 343. The fixing pin 344 can slide back and forth in the limiting hole 346. It is worth noting that the limiting hole 346 is an elliptical through hole, the diameter of its minor axis is the same as the diameter of the fixing pin 344, and the diameter of its major axis is larger than the diameter of the fixing pin 344.

[0104] To further reduce the height of the omnidirectional trailer, unlike the existing lifting adjustment mechanism located at the bottom of the pallet mechanism, the lifting adjustment mechanism 4 in this embodiment is a rigid chain lifting structure, which can be set on the side of the pallet mechanism to avoid occupying space in the height direction of the omnidirectional trailer. This can further reduce the overall height of the omnidirectional trailer, so that the omnidirectional trailer meets the required limited height requirements.

[0105] Furthermore, such as Figure 7 As shown, there are four lifting adjustment mechanisms 4, which are respectively located at the four corners of the chassis mechanism 1 and connected to the connecting plate 24 of the lifting outer pallet 2, for adjusting the height of the four corners of the pallet mechanism.

[0106] Furthermore, the lifting and adjusting mechanism 4 includes a rigid chain storage box 41, a rigid chain drive box 42, a guide member 43, and a guide fixing member 44. The rigid chain drive box 42 is fixedly connected to the vertical connecting rod of the chassis mechanism 1. The rigid chain drive box 42 is used to extend or shorten the rigid chain in the height direction, thereby enabling the pallet mechanism to move up or down synchronously. A rigid chain storage box 41 is provided on one side of the rigid chain drive box 42, which is used to store the coiled rigid chain; a guide member 43 is provided on the other side to guide the extension and retraction direction of the rigid chain.

[0107] Specifically, the rigid chain storage box 41 and the rigid chain drive box 42 are connected by a rigid chain. The bottom of the rigid chain is foldably disposed inside the rigid chain storage box 41, and the top of the rigid chain extends or retracts in the height direction inside the rigid chain drive box 42. The rigid chain not only saves space in the height direction, but also has a self-locking function to prevent movement during operation and thus avoid inaccurate work.

[0108] Furthermore, such as Figure 8 As shown, the horizontal compensation mechanism 5 includes a connecting shaft 51, a lower clamping plate 52, an upper clamping plate 53, and a compensation hole 54. The compensation hole 54 is provided on the connecting plate 24 of the lifting outer pallet 2. The connecting shaft 51 passes through the compensation hole 54 and is clearance-fitted with the compensation hole 54. The bottom of the connecting shaft 51 is fixedly connected to the top of the rigid chain in the rigid chain drive box 42, so that the connecting shaft 51 can move synchronously with the rigid chain. The lower clamping plate 52 and the upper clamping plate 53 are sleeved on the outer wall of the connecting shaft 51, and the lower clamping plate 52 and the upper clamping plate 53 are respectively in contact with the lower surface and the upper surface of the connecting plate 24.

[0109] Furthermore, such as Figure 9 As shown, universal balls 55 are provided on the contact surfaces of the lower clamping plate 52 and the upper clamping plate 53 with the connecting plate 24, and the universal balls 55 are slidably connected to the connecting plate 24. Four universal balls 55 are evenly distributed on each clamping plate.

[0110] Optionally, such as Figure 10 As shown, the compensation hole 54 includes a fixed compensation hole 541, a vertical straight compensation hole 542, a horizontal straight compensation hole 543, and a rectangular compensation hole 544. The fixed compensation hole 541 is disposed on one of the four connecting plates 24, the vertical straight compensation hole 542 is disposed on the other end of the connecting plate 24 on the same side as the fixed compensation hole 541, the horizontal straight compensation hole 543 is disposed on the connecting plate 24 opposite to the fixed compensation hole 541, and the rectangular compensation hole 544 is disposed on the connecting plate 24 on the diagonal of the fixed compensation hole 541.

[0111] Specifically, the fixed compensation hole 541 is fixedly connected to the connecting shaft 51 at this end, and angle deflection compensation is performed only through the other three horizontal compensation mechanisms 5. The vertical straight compensation hole 542 is for the angle compensation of the horizontal compensation mechanism 5 at this end in the vertical direction, the horizontal straight compensation hole 543 is for the angle compensation of the horizontal compensation mechanism 5 at this end in the horizontal direction, and the rectangular compensation hole 544 is for the angle compensation in both the vertical and horizontal dimensions.

[0112] In this embodiment, the trailer vehicle uses four compensation holes of different shapes to not only compensate for angular deflection, but also to limit the compensation of the horizontal compensation mechanism 5 in one direction (vertical straight compensation hole 542 and horizontal straight compensation hole 543), thereby further controlling the deflection accuracy of the pallet mechanism.

[0113] Furthermore, such as Figure 11 As shown, the wheel system switching mechanism 6 is mounted on the wheel system mounting frame 16 of the chassis mechanism 1. The wheel system switching mechanism 6 includes a caster assembly 61 and a wheel assembly 62. The caster assembly 61 is used for long-distance transportation of the trailer, and the wheel assembly 62 is used for omnidirectional movement and short-distance displacement of the trailer.

[0114] Among them, such as Figure 12 As shown, the caster assembly 61 includes a caster 611 and a caster switching servo motor 612. The caster switching servo motor 612 is used to drive the caster 611 to achieve retraction and extension. When the caster 611 is retracted, the caster assembly 62 is activated, and the trailer achieves displacement and angle changes through the caster assembly 62. When the caster 611 is deployed, the caster assembly 61 is activated, and the trailer achieves long-distance displacement through the caster assembly 61.

[0115] In addition, the wheel assembly 62 includes a wheel 621 and a wheel servo motor 622, which drives the wheel 621 to achieve omnidirectional movement and short-distance displacement.

[0116] Specifically, such as Figure 13 As shown, the wheel system mounting bracket 16 includes a first bracket 161 and a second bracket 162. The first bracket 161 is arranged parallel to the first vertical connecting rod 161, and the first bracket 161 and the second bracket 162 are arranged perpendicularly.

[0117] The specific retraction and extension structure of the caster assembly 61 is as follows: Figure 13 As shown, the caster assembly 61 also includes a worm gear 613, a worm 614, a slide rail 615, a slider 616, an active folding rod 617, and a passive folding rod 618. The slide rail 615 is mounted on the first bracket 161. One side of the slider 616 is connected to the worm 614. One end of the active folding rod 617 is hinged to the slider 616, and the other end is hinged to the caster 611. One end of the passive folding rod 618 is hinged to the caster 611, and the other end is hinged to the second bracket 162.

[0118] Furthermore, the traction mechanism 7 includes an adapter rod 71, a steering rod 72, and a towing rod 73. Both ends of the adapter rod 71 are connected to two caster assemblies 61 at the front end of the trailer. One end of the steering rod 72 is connected to the middle of the adapter rod 71. The horizontal deflection of the steering rod 72 can drive the adapter rod 71 to deflect synchronously, thereby driving the caster assembly 61 connected to it to deflect synchronously. The other end of the steering rod 72 is hinged to the towing rod 73, and the towing rod 73 can swing relative to the steering rod 72 in the vertical plane.

[0119] Furthermore, such as Figure 14 As shown, the pushing mechanism 8 includes a driving roller 81, a driven roller 82, a pushing servo motor 83, a gearbox, and a chain 84. There is one driving roller 81, located at one end of the rotating inner tray 3. Multiple driven rollers are arranged parallel to the driving roller 81. The chain 84 meshes with the driving roller 81 and the output end of the gearbox. The pushing servo motor 83 drives the gearbox to move, thereby causing the driving roller 81 to move synchronously via the chain 84 meshing with the output end of the gearbox.

[0120] Optionally, the pushing mechanism 8 also includes a gear 85 and an embedded rack 86. The gear 85 is sleeved on the drive roller 81, and the embedded rack 86 is installed on the bottom of the load. During transfer, the pushing can be achieved without the rolling of the roller, but through the meshing of the gear 85 and the embedded rack 86. This method can accurately measure the displacement of the load on the rotating inner tray 3 and improve the displacement accuracy of the load.

[0121] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for adjusting the distance and orientation of an omnidirectional trailer, characterized in that, Includes the following steps: Step 1: Push the load into the rotating inner tray (3) using the pushing mechanism (8); Step 2: Lower the caster assembly (61) in the wheel system switching mechanism (6); drive the caster switching servo motor (612) to make the worm gear (613) rotate and drive the worm (614) to move linearly, thereby driving the slider (616) connected to the worm (614) to slide on the slide rail (615); make the active folding rod (617) hinged to the slider (616) swing and fold, while driving the passive folding rod (618) to swing, and the caster (611) extends; Step 3: The traction mechanism (7) moves the omnidirectional trailer a long distance to adjust its position in terms of distance; Step 4: Retract the caster assembly (61); Step 5: Drive the wheel assembly (62) to achieve the orientation adjustment and short-distance adjustment of the trailer; Step 6: Drive the lifting adjustment mechanism (4) to make the lifting outer pallet (2) move upward, and adjust the height of the trailer in the vertical direction; the connecting shaft (51) of the horizontal compensation mechanism (5) is clearance-fitted with the compensation hole (54) on the connecting plate (24) to realize the angle compensation between the lifting adjustment mechanism (4) and the lifting outer pallet (2); the compensation hole (54) includes a fixed compensation hole (541), a vertical straight compensation hole (542), a horizontal straight compensation hole (543) and a rectangular compensation hole (544); the fixed compensation hole (541) is set on one of the four connecting plates (24), the vertical straight compensation hole (542) is set on the other end of the connecting plate (24) on the same side as the fixed compensation hole (541), the horizontal straight compensation hole (543) is set on the connecting plate (24) opposite to the fixed compensation hole (541), and the rectangular compensation hole (544) is set on the connecting plate (24) on the diagonal of the fixed compensation hole (541); Step 7: Drive the lead screw assembly (34) to make the rotating inner tray (3) rotate around the rotating disk (35) within the lifting outer tray (2) to adjust the horizontal angle deflection; Step 8: Drive the lifting adjustment mechanism (4) to lower the lifting outer pallet (2) and complete the reset of the trailer.

2. The method for adjusting the distance and orientation of an omnidirectional trailer according to claim 1, characterized in that, In step 1, the servo motor (83) is started, thereby driving the gearbox to move. The output shaft of the gearbox meshes with the chain (84) to drive the active roller (81) to move.

3. The method for adjusting the distance and orientation of an omnidirectional trailer according to claim 2, characterized in that, In step 1, a gear (85) is fitted on the active roller (81), and an embedded rack (86) is installed on the bottom of the load. The load is pushed by the meshing of the gear (85) and the embedded rack (86).

4. The method for adjusting the distance and orientation of an omnidirectional trailer according to claim 1, characterized in that, In step 3, the traction device is connected to the traction mechanism (7).

5. The method for adjusting the distance and orientation of an omnidirectional trailer according to claim 4, characterized in that, In step 3, the traction mechanism (7) is pulled to drive the caster assembly (61) at the front end of the trailer to move synchronously in the same direction.

6. The method for adjusting the distance and orientation of an omnidirectional trailer according to claim 1, characterized in that, In step 6, the rigid chain drive box (42) of the lifting adjustment mechanism (4) drives the rigid chain in the rigid chain storage box (41), so that the rigid chain drives the lifting outer tray (2) to move upward.

7. The method for adjusting the distance and orientation of an omnidirectional trailer according to claim 1, characterized in that, In step 7, the lead screw servo motor (345) drives the lead screw (342) to rotate, which in turn causes the nut (343) and the fixing pin (344) fixed on the nut (343) to move linearly in sync.

8. The method for adjusting the distance and orientation of an omnidirectional trailer according to claim 7, characterized in that, In step 7, the fixing pin (344) drives the rotating inner tray (3) to rotate relative to the lifting outer tray (2) via the rotating disk (35), while the fixing pin (344) slides in the limiting hole (346) to realize the horizontal angle adjustment of the trailer.

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