CN104370242A - Fixed-shaft rotating lifting mechanism used for AGV robot and AGV robot - Google Patents
Fixed-shaft rotating lifting mechanism used for AGV robot and AGV robot Download PDFInfo
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- CN104370242A CN104370242A CN201410599513.9A CN201410599513A CN104370242A CN 104370242 A CN104370242 A CN 104370242A CN 201410599513 A CN201410599513 A CN 201410599513A CN 104370242 A CN104370242 A CN 104370242A
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- agv robot
- rotating
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- 230000007246 mechanism Effects 0.000 title claims abstract description 66
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000000630 rising effect Effects 0.000 claims description 34
- 229910000831 Steel Inorganic materials 0.000 claims description 14
- 239000010959 steel Substances 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 description 17
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 208000032369 Primary transmission Diseases 0.000 description 1
- 208000032370 Secondary transmission Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
- B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a fixed-shaft rotating lifting mechanism used for an AGV robot and the AGV robot, and belongs to the field of automation conveying devices. The fixed-shaft rotating lifting mechanism used for the AGV robot comprises a fixed-shaft rotating assembly, a supporting plate, a rotating lifting assembly, a nut primary gear and a rotating motor. The rotating lifting assembly and the rotating motor are each connected with the supporting plate; the rotating motor is in transmission connection with the nut primary gear, the nut primary gear is in transmission connection with the fixed-shaft rotating assembly, and the fixed-shaft rotating assembly is in transmission connection with the rotating lifting assembly. The invention further discloses the AGV robot comprising the fixed-shaft rotating lifting mechanism used for the AGV robot. The fixed-shaft rotating lifting mechanism and the AGV robot are flexible and compact in structure, high in load capacity, high in self-locking performance and stable in rotating lifting running, and meet the flexible carrying requirement.
Description
Technical field
The present invention relates to Automatic Conveying device, particularly a kind of dead axle Xuan Sheng mechanism for AGV robot and AGV robot.
Background technology
Automatic guided vehicle (being called for short AGV robot), refers to possess the homing guidance such as electromagnetism or optics device, can travel along prescribed path to have the transport trolley of safety guard-safeguard and various transfer function.This transport trolley adopts full automatic control mode to replace manually, saving manpower and easy to use, has been widely used in logistics transportation industry.
At present, the Xuan Sheng mechanism adopted in AGV robot is electric pushrod mechanism, Electrohydraulic push rod mechanism or X-type double-lever mechanism.Although electric pushrod mechanism and Electrohydraulic push rod mechanism structure is simple, load-carrying capacity is strong, and push rod straight line can be realized revolve liter, electric pushrod mechanism overtension, poor in self and revolve and rise rear stability difference; Electrohydraulic push rod mechanism there will be leakage, poor in self, revolve rise after easily topple over and revolve rise and be difficult to the problems such as control.And although X-type double-lever mechanism solves the stability problem of above-mentioned Liang Gexuansheng mechanism, its load-carrying capacity is poor, requires high to motor, and complicated in mechanical structure, need customization.
Utility model CN203359434U discloses a kind of lifting mechanism of automatic guided vehicle, and it comprises frame, motor, travel switch, rotating disk and cam; Described rotating disk is provided with one eccentric and perpendicular to the cam of card, described mechanism carries out dipping and heaving by the body of the lifting drive automatic guided vehicle controlling cam with card.The overall automatic lifting of driver train of this lifting mechanism only AGV dolly, and can not rotary motion, can not meet better and carry flexibly and the demand of handling goods.Meanwhile, above-mentioned eccentric structure makes described mechanism revolve and rises rear easily run-off the straight.
This case improves for utility model application numbers 2014203802495, further increases anti-rollover ability and load-carrying capacity, and make structure more flexible, driving efficiency is higher, and modular design is convenient installs.
Summary of the invention
The present invention is directed to the deficiency that prior art exists, thering is provided one to have, that self-locking property is good, stationarity is good, little, load-carrying capacity is occupied in space is strong, and structure is the dead axle Xuan Sheng mechanism for AGV robot that being convenient to install of modular entirety and comprises the AGV robot of dead axle Xuan Sheng mechanism.
Technical scheme of the present invention is to provide a kind of dead axle Xuan Sheng mechanism for AGV robot, comprises System of Rotating about Fixed Axis assembly, stay bearing plate, rotation rising elements, nut one-level gear and rotating machine; Described rotation rising elements is connected with described stay bearing plate respectively with described rotating machine; Between described rotating machine and described nut one-level gear, be in transmission connection mutually between described nut one-level gear and described System of Rotating about Fixed Axis assembly and between described System of Rotating about Fixed Axis assembly and described rotation rising elements.
This dead axle Xuan Sheng mechanism drives nut one-level gear by rotating machine, and then rotated by System of Rotating about Fixed Axis assembly described in nut one-level gear driven, described System of Rotating about Fixed Axis assembly drives described rotation rising elements to rotate, and realizes automatic rotation and the lifting of this mechanism.This mechanism structure is simple, is convenient to install, safeguard, utilize rotating machine self-lock ability and shorter transmission process makes jacking rotary time stationarity good, not easily tilt, transmission malfunction or motionless rate low; And described leading screw can carry 1 ton of-3 tons of goods, load-carrying capacity is strong.This dead axle Xuan Sheng mechanism realizes rotation and lifting process by the transmission process of rotating machine-nut one-level gear-System of Rotating about Fixed Axis assembly-rotation rising elements, compared to utility model application 2014203802495 by rotating machine-driving gear-primary transmission gear-secondary transmission gear (guide rod)-ring gear-leading screw (pallet); And the transmission process of leading screw-interlock plate-guide rod, the former transmission process is short as seen, realizes rotation and lifting efficiency high, and utilizes gear transmission by less, to avoid malfunction because slip teeth causes or motionless generation.
As preferably of the present invention, described rotation rising elements comprises nut base, revolve to rise screw tube and revolve and rise swivel nut cylinder.
As preferably of the present invention, described System of Rotating about Fixed Axis assembly comprises swing pinion.
As preferably of the present invention, described System of Rotating about Fixed Axis assembly also comprises stay bearing plate lower cover, stay bearing plate cover board connecting component and stay bearing plate upper cover plate.
As preferably of the present invention, described System of Rotating about Fixed Axis assembly also comprises steel ball; The lower surface of described stay bearing plate upper cover plate and the upper surface of described swing pinion all arrange ball grooves and leave gap between both ends of the surface to hold steel ball, and the upper surface of described stay bearing plate lower cover and the lower surface of described swing pinion all arrange ball grooves and leave gap between both ends of the surface to hold steel ball.
As preferably of the present invention, have to revolve described in outside screw and rise screw tube and be longitudinally fixedly installed on described nut base through the first through hole of described stay bearing plate, described rotating machine is longitudinally fixedly installed on described nut base through the second through hole of described stay bearing plate; The described inside thread rising swivel nut cylinder that revolves matches with the described outside screw rising screw tube of revolving, revolve described in making rise swivel nut jacket casing be connected on described in revolve and rise outside screw tube; Described revolving is risen swivel nut cylinder and is connected by flat key with described swing pinion; Described swing pinion is meshed with described nut one-level gear; Described nut one-level gear and described rotating machine are in transmission connection.
This dead axle Xuan Sheng mechanism has made improvement for the rotation lifting body of utility model application numbers 2014203802495, the feed screw nut of utility model application numbers 2014203802495 is fixed, leading screw action, described feed screw nut matches with the screw thread on leading screw, and the application is revolved and is risen screw tube and fix, revolve and rise the action of swivel nut cylinder, and described in revolve and rise screw tube and revolving and rise swivel nut cylinder for two screws thread fit, improve the stability characteristic (quality) of described rotation rising elements, described revolve rise swivel nut jacket casing be connected on described in revolve and rise outside screw tube, the whole rotation rising elements of overstriking, load-carrying capacity increases.
As preferably of the present invention, have to revolve described in outside screw and rise screw tube and be longitudinally fixedly installed on described nut base through the first through hole of described stay bearing plate, described rotating machine is longitudinally fixedly installed on described nut base through the second through hole of described stay bearing plate; The described inside thread rising swivel nut cylinder that revolves matches with the described outside screw rising screw tube of revolving, revolve described in making rise swivel nut jacket casing be connected on described in revolve and rise outside screw tube; Described revolving is risen swivel nut cylinder and is connected by flat key with described swing pinion; Described swing pinion is provided with between described stay bearing plate upper cover plate and described stay bearing plate lower cover, and be fixedly connected with by described stay bearing plate cover board connecting component between described stay bearing plate upper and lower cover plates, described stay bearing plate upper cover plate, described stay bearing plate lower cover and described stay bearing plate cover board connecting component three are together moved with described swing pinion; Described swing pinion is meshed with described nut one-level gear; Described nut one-level gear and described rotating machine are in transmission connection.
This dead axle Xuan Sheng mechanism has made improvement for the rotation lifting body of utility model application numbers 2014203802495, the feed screw nut of utility model application numbers 2014203802495 is fixed, leading screw action, described feed screw nut matches with the screw thread on leading screw, and the application is revolved and is risen screw tube and fix, revolve and rise the action of swivel nut cylinder, and described in revolve and rise screw tube and revolving and rise swivel nut cylinder for two screws thread fit, improve the stability characteristic (quality) of described rotation rising elements, described revolve rise swivel nut jacket casing be connected on described in revolve and rise outside screw tube, the whole rotation rising elements of overstriking, load-carrying capacity increases.And stay bearing plate lower cover and stay bearing plate upper cover plate are fixed together by stay bearing plate cover board connecting component, both can revolve and rise swivel nut cylinder, revolve and rise screw tube and swing pinion by fixed pedestal, and can guarantee swing pinion easily, stablely carry out System of Rotating about Fixed Axis motion.
As preferably of the present invention, this dead axle Xuan Sheng mechanism being used for AGV robot also comprises and to be located between described nut one-level gear and described rotating machine and for the rotating mechanism back plate of rotating machine described in supporting and fixing.
As preferably of the present invention, described rotating mechanism back plate is provided with rotating machine locating plate.
Another technical scheme of the present invention is to provide a kind of AGV robot comprising the above-mentioned dead axle Xuan Sheng mechanism for AGV robot.
This AGV robot has the dead axle Xuan Sheng mechanism of module style, is convenient to install, safeguard, steady during this AGV robot jacking goods, load-carrying capacity is strong.
The present invention has following beneficial effect:
Structure of the present invention is simple, and its dead axle Xuan Sheng mechanism jacking climb is 60-100mm, and the self-locking property had, jacking are steady, the advantages such as little are occupied in space.And the AGV robot energy jacking 500kg of described dead axle Xuan Sheng mechanism and above goods are housed, and head on goods movement, continuously run and reach more than 4 hours, then described dead axle Xuan Sheng mechanism and AGV robot load-carrying capacity thereof are by force, and can realize the demand of multiple flexible carrying.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram of the present invention for the dead axle Xuan Sheng mechanism of AGV robot;
Fig. 2 is the assembly drowing of the present invention for the dead axle Xuan Sheng mechanism of AGV robot;
Fig. 3 revolves the three-dimensional structure diagram rising swivel nut cylinder in Fig. 2;
Fig. 4 is the three-dimensional structure diagram of swing pinion in Fig. 2;
In figure, 1-nut base; 2-stay bearing plate; 3-revolves and rises screw tube; 4-stay bearing plate lower cover; 5-stay bearing plate cover board connecting component; 6-swing pinion; 61-flat key; 7-stay bearing plate upper cover plate; 8-revolves and rises swivel nut cylinder; 81-flat key groove; 9-nut one-level gear; 10-rotating machine locating plate; 11-rotating mechanism back plate; 12-rotating machine.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As Fig. 1,2 these dead axle Xuan Sheng mechanisms being used for AGV robot comprise stay bearing plate 2, System of Rotating about Fixed Axis assembly, rotate rising elements, nut one-level gear 9 and rotating machine 12.Described rotation rising elements is connected with described stay bearing plate respectively with described rotating machine 12, is in transmission connection mutually between described rotating machine 12 and described nut one-level gear 9, between described nut one-level gear 9 and described System of Rotating about Fixed Axis assembly and between described System of Rotating about Fixed Axis assembly and described rotation rising elements.
Described rotation rising elements comprises nut base 1, revolve to rise screw tube 3 and revolve and rise swivel nut cylinder 8, and three is assembled into one.Described stay bearing plate has the first through hole and the second through hole.Described revolving rises screw tube 3 and described rotating machine 12 is fixedly installed on described nut base 1 respectively by described first through hole and described second through hole.The motor shaft of described rotating machine 12 is connected with described nut one-level gear 9 by axle key block.Described revolve rise screw tube 3 be a hollow and there is outside screw, described revolve rise swivel nut cylinder 8 be a hollow and be made up of the upper end of large cylindrical and little columnar our department, described revolving rises swivel nut cylinder 8 and has inside thread, described outside screw matches with described inside thread, described revolving is risen screw tube 3 and rises swivel nut cylinder 8 be threaded by two with described revolving, wherein pitch is about 10mm, helical pitch 20mm, the length of described our department is greater than the length of described upper end, revolve described in meeting and rise screw tube 3 and rotate rise height, rise height regulates within the scope of about 60-100mm.The shape of described outside screw and inside thread, namely screw thread raised shape is trapezoidal, described leading screw is made to have certain self-locking performance, thus not easily topple over when vibrations occur at work in described dead axle Xuan Sheng mechanism, there is the rotating machine 12 of latching characteristics and described rotation rising elements cooperating simultaneously.Described nut one-level gear 9 and described revolving rise swivel nut cylinder 8 and are in transmission connection with described System of Rotating about Fixed Axis assembly respectively.
Described System of Rotating about Fixed Axis assembly comprises swing pinion 6, described swing pinion 6 is hollow, there is outside it the screw thread that engages with described nut one-level gear 9 and inner side has flat key 61, described swing pinion 6 is by flat key 61, as circumferentially arranged the flat key 61 of 6 or abundant, match with the described flat key groove 81 risen outside swivel nut cylinder 8 that revolves, revolve outside the our department rising swivel nut cylinder 8 (as Fig. 3) described in described flat key groove 81 is positioned at, make described swing pinion 6 drive described in revolve rise swivel nut cylinder 8 in the vertical relatively described in revolve and rise that screw tube 3 rises smoothly, descending motion.In order to maintain described System of Rotating about Fixed Axis assembly and light, the steadily System of Rotating about Fixed Axis motion in the vertical of described rotation rising elements, described System of Rotating about Fixed Axis assembly also can comprise stay bearing plate lower cover 4, stay bearing plate cover board connecting component 5 and stay bearing plate upper cover plate 7.Described swing pinion 6 is located between described stay bearing plate lower cover 4 and described stay bearing plate upper cover plate 7, described in revolve rise swivel nut cylinder 8 be socketed in through described stay bearing plate upper cover plate 7, described swing pinion 6, described stay bearing plate lower cover 4 successively described in revolve and rise outside screw tube 3.Be fixedly connected with by stay bearing plate cover board connecting component 5 between described stay bearing plate lower cover 4 and described stay bearing plate upper cover plate 7, three is together moved with described swing pinion 6, revolve described in described swing pinion 6 drives and rise swivel nut cylinder 8 and move.In order to improve the alerting ability that swing pinion 6 rotates by fixing axle center, the lower surface of described stay bearing plate upper cover plate and the upper surface of described swing pinion 6 are provided with the ball grooves of annular, hold steel ball in the ball grooves of two end faces; And the upper surface of described stay bearing plate lower cover and the lower surface of described swing pinion 6 are provided with the ball grooves of annular, in the ball grooves of two end faces, hold steel ball.In above-mentioned ball grooves, place the steel ball of appropriate quantity, the steel ball as 8mm diameter selected by described steel ball, retains appropriate clearance between both ends of the surface, as 1.5mm, is then circumferentially covered with steel ball at ball grooves.In addition, described stay bearing plate lower cover 4, described stay bearing plate cover board connecting component 5 and described stay bearing plate upper cover plate 7 connect as one and described ball engagement effect, described stay bearing plate upper cover plate and described stay bearing plate lower cover 4 regulate distance between the two by regulating stay bearing plate cover board connecting component 5, ensure the smooth rolling of steel ball and lubrication, swing pinion 6 can be prevented again by larger diametral load, drive steel ball to skid off ball grooves and cause swing pinion 6 easily not move by System of Rotating about Fixed Axis.Wherein, described stay bearing plate upper cover plate 7 and described stay bearing plate lower cover 4 are hollow, and both internal diameters be greater than described in revolve the external diameter rising swivel nut cylinder 8 our department, and both internal diameters are between described swing pinion 6 internal diameter and external diameter, make the overall dimensions overstriking of described rotation rising elements, improve load-carrying capacity and stability.
This dead axle Xuan Sheng mechanism being used for AGV robot also comprises rotating mechanism back plate 11, is located between described nut one-level gear 9 and described rotating machine 12, described rotating mechanism back plate 11 can longitudinally be fixed, supports described rotating machine 12.In addition, described rotating mechanism back plate 11 is provided with rotating machine locating plate 10, described rotating machine locating plate 10 is bolted on described stay bearing plate 2, the position of rotating mechanism back plate 11 is regulated by adjustment dowel bolt, make realize high-precision gear motion between nut one-level gear 9 and described swing pinion 6, and effectively stop described rotating mechanism back plate 11 displacement after the long-time gear motion of gear.
The present invention is used for the dead axle of AGV robot and revolves when rising institution staff, described rotating machine 12 works on power, drive the rotary motion of described nut one-level gear 9, described nut one-level gear 9 and described swing pinion 6 engaged transmission, described swing pinion 6 by flat key 61(as Fig. 4) drive as described in revolve and rise swivel nut cylinder 8 rotary motion.Because described in revolve and rise swivel nut cylinder 8 and rise screw tube 3 adopt two screw thread fit with described revolving, so when described in revolve rise 8 rotary motion of swivel nut cylinder time, can rise or descending motion according to hand of rotation: when described nut one-level gear 9 clickwise simultaneously, described swing pinion 6 left-hand revolution, revolve described in described swing pinion 6 drives and rise swivel nut cylinder 8 left-hand revolution, described in revolve and rise swivel nut cylinder 8 upward movement (or descending motion); Otherwise during described nut one-level gear 9 left-hand revolution, described swing pinion 6 clickwise, revolves described in described swing pinion 6 drives and rises swivel nut cylinder 8 clickwise, described in revolve and rise swivel nut cylinder 8 descending motion (or upward movement).Pallet and goods are placed in revolve and rise swivel nut cylinder 8 upper surface, along with revolve rise swivel nut cylinder 8 do rise, descending motion.
The described dead axle Xuan Sheng mechanism for AGV robot is installed in described AGV robot, and described AGV robot also comprises drive wheel, four cardan wheels, vehicle body frame, battery pack, drive motor, drive motor drop-gear box, drive motor driver, control desk, homing advice, infradred sensor, pallets.This dead axle revolves that to rise mechanism structure simple, and is integral structure, be arranged in described AGV robot as modular, install, safeguard convenient; Dead axle Xuan Sheng mechanism occupies little in space, and when being placed in described robot, structural arrangement is compact, and robot is more steady when carrying cargo, carrying capacity is stronger; Because the rotation rising elements overall dimensions of dead axle Xuan Sheng mechanism is enough large, is then conducive to placing homing advice, as Quick Response Code sensor, RFID reader, the high fix to shelf center and robot center can be realized.Machine man-hour, AGV robot utilizes infrared pickoff to keep away barrier, simultaneously by ground two-dimensional code and RFID label tag navigation, navigate to immediately below shelf by ground and the RC two-dimension code label of shelf, control desk controls drive motor and drives drive wheel direction of travel, make robot original place cw draw circle walking, rotating machine 12 controls the pallet and the synchronous left-hand revolution of robot that are arranged on dead axle Xuan Sheng mechanism end face, and now pallet rises.Period, the rotating speed of regulable control drive motor and rotating machine 12, to make in uphill process pallet relative to ground non rotating.Robot automatically navigates, gives sorter goods, and then shelf are put on the position of regulation after holding up shelf.The operation of transferring shelf is contrary with the operation of jacking shelf, robot left-hand revolution, pallet clickwise, and pallet declines, and simultaneously pallet moves without spin with ground relatively, guarantees that the relative and ground of shelf only has descending motion.Above process is that AGV small machine people completes a deliver goods and unloading operation.
Embodiment recited above is only be described the preferred embodiment of the present invention, not limits the spirit and scope of the present invention.Under the prerequisite not departing from design concept of the present invention; the various modification that this area ordinary person makes technical scheme of the present invention and improvement; all should drop into protection scope of the present invention, the technology contents of request protection of the present invention, all records in detail in the claims.
Claims (10)
1. for a dead axle Xuan Sheng mechanism for AGV robot, it is characterized in that, comprise System of Rotating about Fixed Axis assembly, stay bearing plate (2), rotate rising elements, nut one-level gear (9) and rotating machine (12); Described rotation rising elements is connected with described stay bearing plate (2) respectively with described rotating machine (12); Be in transmission connection mutually between described rotating machine (12) and described nut one-level gear (9), between described nut one-level gear (9) and described System of Rotating about Fixed Axis assembly and between described System of Rotating about Fixed Axis assembly and described rotation rising elements.
2. the dead axle Xuan Sheng mechanism for AGV robot according to claim 1, is characterized in that, described rotation rising elements comprises nut base (1), revolve to rise screw tube (3) and revolve and rise swivel nut cylinder.
3. the dead axle Xuan Sheng mechanism for AGV robot according to claim 2, it is characterized in that, described System of Rotating about Fixed Axis assembly comprises swing pinion (6).
4. the dead axle Xuan Sheng mechanism for AGV robot according to claim 3, is characterized in that, described System of Rotating about Fixed Axis assembly also comprises stay bearing plate lower cover, stay bearing plate cover board connecting component (5) and stay bearing plate upper cover plate (7).
5. the dead axle Xuan Sheng mechanism for AGV robot according to claim 4, it is characterized in that, described System of Rotating about Fixed Axis assembly also comprises steel ball; The lower surface of described stay bearing plate upper cover plate and the upper surface of described swing pinion (6) all arrange ball grooves and leave gap between both ends of the surface to hold steel ball, and the lower surface of the upper surface of described stay bearing plate lower cover (4) and described swing pinion (6) all arranges ball grooves and leaves gap between both ends of the surface to hold steel ball.
6. the dead axle Xuan Sheng mechanism for AGV robot according to claim 3, it is characterized in that, have to revolve described in outside screw and rise screw tube (3) and be longitudinally fixedly installed on described nut base (1) through the first through hole of described stay bearing plate (2), described rotating machine (12) is longitudinally fixedly installed on described nut base (1) through the second through hole of described stay bearing plate (2); The described inside thread rising swivel nut cylinder that revolves matches with the described outside screw rising screw tube (3) of revolving, revolve described in making rise swivel nut jacket casing be connected on described in revolve rise screw tube (3) outside; Described revolving is risen swivel nut cylinder and is connected by flat key (61) with described swing pinion (6); Described swing pinion (6) is meshed with described nut one-level gear (9); Described nut one-level gear (9) and described rotating machine (12) are in transmission connection.
7. the dead axle Xuan Sheng mechanism for AGV robot according to claim 4, it is characterized in that, have to revolve described in outside screw and rise screw tube (3) and be longitudinally fixedly installed on described nut base (1) through the first through hole of described stay bearing plate (2), described rotating machine (12) is longitudinally fixedly installed on described nut base (1) through the second through hole of described stay bearing plate (2); The described inside thread rising swivel nut cylinder that revolves matches with the described outside screw rising screw tube (3) of revolving, revolve described in making rise swivel nut jacket casing be connected on described in revolve rise screw tube (3) outside; Described revolving is risen swivel nut cylinder and is connected by flat key (61) with described swing pinion (6); Described swing pinion (6) is provided with between described stay bearing plate upper cover plate (7) and described stay bearing plate lower cover (4), and be fixedly connected with by described stay bearing plate cover board connecting component (5) between described stay bearing plate upper and lower cover plates, described stay bearing plate upper cover plate (7), described stay bearing plate lower cover (4) and described stay bearing plate cover board connecting component (5) three are together moved with described swing pinion (6); Described swing pinion (6) is meshed with described nut one-level gear (9); Described nut one-level gear (9) and described rotating machine (12) are in transmission connection.
8. the dead axle Xuan Sheng mechanism for AGV robot according to claim 1, it is characterized in that, also comprise and to be located between described nut one-level gear (9) and described rotating machine (12) and for the rotating mechanism back plate (11) of rotating machine described in supporting and fixing (12).
9. the dead axle Xuan Sheng mechanism for AGV robot according to claim 8, is characterized in that, described rotating mechanism back plate (11) is provided with rotating machine locating plate (10).
10. one kind one of to comprise described in the claims the AGV robot for the dead axle Xuan Sheng mechanism of AGV robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410599513.9A CN104370242B (en) | 2014-10-31 | 2014-10-31 | Fixed-shaft rotating lifting mechanism used for AGV robot and AGV robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410599513.9A CN104370242B (en) | 2014-10-31 | 2014-10-31 | Fixed-shaft rotating lifting mechanism used for AGV robot and AGV robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104370242A true CN104370242A (en) | 2015-02-25 |
| CN104370242B CN104370242B (en) | 2017-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410599513.9A Expired - Fee Related CN104370242B (en) | 2014-10-31 | 2014-10-31 | Fixed-shaft rotating lifting mechanism used for AGV robot and AGV robot |
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| CN (1) | CN104370242B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105174131A (en) * | 2015-10-09 | 2015-12-23 | 杭州南江机器人股份有限公司 | Spiral lifting mechanism and automatic guided vehicle (AGV) |
| CN105417434A (en) * | 2016-01-05 | 2016-03-23 | 北京航空航天大学 | Carrying trolley with lifting device |
| CN105731295A (en) * | 2016-04-14 | 2016-07-06 | 上海诺力智能科技有限公司 | Rotatable submerged automated guided vehicle with independent jacking structure |
| CN106006456A (en) * | 2016-07-20 | 2016-10-12 | 广东嘉腾机器人自动化有限公司 | Rotary lifting mechanism and AGV carrying vehicle |
| CN106444766A (en) * | 2016-10-21 | 2017-02-22 | 北京京东尚科信息技术有限公司 | AGV(automatic guided vehicle) and control method thereof |
| CN107055389A (en) * | 2017-05-31 | 2017-08-18 | 广东嘉腾机器人自动化有限公司 | A kind of rotating lifting device and apply its transfer robot |
| CN107176560A (en) * | 2016-03-09 | 2017-09-19 | 上海快仓智能科技有限公司 | Lifting body |
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| CN109748200A (en) * | 2019-03-03 | 2019-05-14 | 航天通用技术(北京)有限公司 | A kind of king bolt formula AGV lifting device |
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| CN112573154A (en) * | 2019-09-27 | 2021-03-30 | 上海新宇箴诚电控科技有限公司 | Lifting rotation dislocation device for realizing one-way limiting |
| CN113697717A (en) * | 2021-08-15 | 2021-11-26 | 上海浩亚智能科技股份有限公司 | Dead axle rises bearing structure soon based on AGV intelligent robot |
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| CN107176560A (en) * | 2016-03-09 | 2017-09-19 | 上海快仓智能科技有限公司 | Lifting body |
| CN105731295A (en) * | 2016-04-14 | 2016-07-06 | 上海诺力智能科技有限公司 | Rotatable submerged automated guided vehicle with independent jacking structure |
| CN106006456A (en) * | 2016-07-20 | 2016-10-12 | 广东嘉腾机器人自动化有限公司 | Rotary lifting mechanism and AGV carrying vehicle |
| CN106444766A (en) * | 2016-10-21 | 2017-02-22 | 北京京东尚科信息技术有限公司 | AGV(automatic guided vehicle) and control method thereof |
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| CN108858175A (en) * | 2018-07-12 | 2018-11-23 | 上海常仁信息科技有限公司 | The rotating mechanism of robot |
| CN110872076A (en) * | 2018-08-29 | 2020-03-10 | 沈阳新松机器人自动化股份有限公司 | Lifting mechanism |
| CN109279539A (en) * | 2018-11-15 | 2019-01-29 | 深圳若步智能科技有限公司 | A kind of lifting body |
| CN109748200A (en) * | 2019-03-03 | 2019-05-14 | 航天通用技术(北京)有限公司 | A kind of king bolt formula AGV lifting device |
| CN109748200B (en) * | 2019-03-03 | 2024-04-09 | 航天通用技术(北京)有限公司 | Big spiral AGV elevating gear |
| CN110002367A (en) * | 2019-03-28 | 2019-07-12 | 上海快仓智能科技有限公司 | AGV form regulation system and method during AGV Transport cargo rack |
| CN110002367B (en) * | 2019-03-28 | 2023-05-05 | 上海快仓智能科技有限公司 | AGV attitude adjustment system and method in AGV carrier transporting process |
| CN110244706A (en) * | 2019-05-09 | 2019-09-17 | 盐城品迅智能科技服务有限公司 | A kind of autonomous classification height and intelligent carrier and method for carrying with jacking function |
| CN112573154A (en) * | 2019-09-27 | 2021-03-30 | 上海新宇箴诚电控科技有限公司 | Lifting rotation dislocation device for realizing one-way limiting |
| CN113697717A (en) * | 2021-08-15 | 2021-11-26 | 上海浩亚智能科技股份有限公司 | Dead axle rises bearing structure soon based on AGV intelligent robot |
| CN113697717B (en) * | 2021-08-15 | 2023-01-24 | 上海浩亚智能科技股份有限公司 | Dead axle rises bearing structure soon based on AGV intelligent robot |
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