CN104370242B - 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
- Publication number
- CN104370242B CN104370242B CN201410599513.9A CN201410599513A CN104370242B CN 104370242 B CN104370242 B CN 104370242B CN 201410599513 A CN201410599513 A CN 201410599513A CN 104370242 B CN104370242 B CN 104370242B
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- rotation
- gripper shoe
- nut
- swing pinion
- dead axle
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- 230000007246 mechanism Effects 0.000 title claims abstract description 63
- 230000000630 rising effect Effects 0.000 claims description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 14
- 239000010959 steel Substances 0.000 claims description 14
- 208000031481 Pathologic Constriction Diseases 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 210000001215 vagina Anatomy 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 12
- 230000033001 locomotion Effects 0.000 description 18
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000032369 Primary transmission Diseases 0.000 description 1
- 208000032370 Secondary transmission Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 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
- 230000004899 motility Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000005096 rolling process Methods 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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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- 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, more particularly to a kind of dead axle Xuan Sheng mechanisms and AGV for AGV robots
Robot.
Background technology
Automatic guided vehicle（Abbreviation AGV robots）, refer to that possessing electricity magnetically or optically waits homing guidance device, can be along regulation
Route, the transport vehicle with safeguard protection and various transfer functions.This transport vehicle adopts Automatic Control mode generation
For artificial, manpower and easy to use is saved, had been widely used in logistics transportation industry.
At present, the Xuan Sheng mechanisms for adopting in AGV robots are electric pushrod mechanism, Electrohydraulic push rod mechanism or X-type dual-rod machine
Structure.Although electric pushrod mechanism and Electrohydraulic push rod mechanism structure is simple, bearing capacity strong, and can realize that the rotation of push rod straight line rises,
It is poor that electric pushrod mechanism overtension, poor in self and rotation rise rear stability；Electrohydraulic push rod mechanism occurs leakage, self-locking performance
The problems such as easily toppling over and revolve rise and be difficult to control to after poor, rotation liter.And although X-type double-lever mechanism solves above-mentioned two rotation
The stability problem of mechanism is risen, but its bearing capacity is poor, and motor is had high demands, and complicated in mechanical structure, need customization.
Invention CN203359434U discloses a kind of elevating mechanism of automatic guided vehicle, and it includes that frame, motor, stroke are opened
Pass, rotating disk and cam；One is provided with the rotating disk with card bias and perpendicular to the cam of card, the mechanism is by control
The lifting of cam processed drives the body of automatic guided vehicle to carry out elevating movement.The drive mechanism of the elevating mechanism only AGV dollies is whole
Body automatic lifting, is unable to rotary motion, it is impossible to preferably meet the demand flexibly carried with handling goods.Meanwhile, it is above-mentioned
Eccentric structure causes mechanism's rotation to be susceptible to incline after rising.
This case is improved for patent application number 2014203802495, further increases anti-rollover ability and carrying
Ability so that structure is more flexible, transmission efficiency is higher, and modularized design is convenient to install.
The content of the invention
The present invention is in view of the shortcomings of the prior art, there is provided one kind is with self-locking property is good, stationarity is good, space is occupied
Little, bearing capacity is strong, and structure is the overall dead axle Xuan Sheng mechanisms for AGV robots being easily installed of modular and bag
Include the AGV robots of dead axle Xuan Sheng mechanisms.
A kind of dead axle Xuan Sheng mechanisms for AGV robots of offer, including System of Rotating about Fixed Axis group are provided
Part, gripper shoe, rotation rising elements, nut one-stage gear and electric rotating machine；The rotation rising elements and the electric rotating machine
It is connected with the gripper shoe respectively；Between the electric rotating machine and the nut one-stage gear, the nut one-stage gear and institute
State between System of Rotating about Fixed Axis component and be mutually connected between the System of Rotating about Fixed Axis component and the rotation rising elements.
Dead axle Xuan Sheng mechanisms drive nut one-stage gear by electric rotating machine, are driven by nut one-stage gear then described
System of Rotating about Fixed Axis component rotates, and the System of Rotating about Fixed Axis component drives the rotation rising elements rotation, realizes the automatic rotary of the mechanism
Turn and lift.The mechanism structure is simple, is easily installed, safeguards, using electric rotating machine self-lock ability and shorter transmission process makes
Stationarity is good when obtaining jacking rotary, is difficult to incline, and transmission malfunction or motionless rate are low；And the leading screw can carry 1 ton of -3 tons of goods,
Bearing capacity is strong.Dead axle Xuan Sheng mechanisms pass through electric rotating machine-nut one-stage gear-System of Rotating about Fixed Axis component-rotation rising elements
Transmission process realize rotation and lifting process, compared to utility model application number 2014203802495 pass through electric rotating machine-active
Gear-primary transmission gear-secondary transmission gear（Guide rod）- ring gear-leading screw（Pallet）；And leading screw-linkage plate-guide rod
Transmission process, it is seen that the former transmission process is short, realizes rotation and lifting efficiency high, and by being less frequently utilized gear drive, to keep away
Exempt from because of malfunction caused by slip teeth or motionless generation.
Used as the preferred of the present invention, the rotation rising elements include that nut base, rotation rise screw tube and rotation rises swivel nut cylinder.
Used as the preferred of the present invention, the System of Rotating about Fixed Axis component includes swing pinion.
Used as the preferred of the present invention, the System of Rotating about Fixed Axis component also includes gripper shoe lower cover, gripper shoe cover board connecting component
With gripper shoe upper cover plate.
Used as the preferred of the present invention, the System of Rotating about Fixed Axis component also includes steel ball；The lower surface of the gripper shoe upper cover plate
And the upper surface of the swing pinion is respectively provided between ball grooves and both ends of the surface and leaves gap to accommodate steel ball, and the gripper shoe
The lower surface of the upper surface of lower cover and the swing pinion is respectively provided between ball grooves and both ends of the surface and leaves gap to accommodate steel ball.
Used as the preferred of the present invention, the rotation with outside screw rises the first through hole of gripper shoe described in screw tube Jing and indulges
To being fixedly installed on the nut base, the second through hole of gripper shoe is longitudinally fixed described in the electric rotating machine Jing is installed on institute
State on nut base；The rotation rises the inside thread of swivel nut cylinder and is engaged with the outside screw of the rotation liter screw tube so that institute
State rotation liter swivel nut jacket casing and be connected on the rotation liter screw tube outside；The rotation is risen swivel nut cylinder and is connected by flat key with the swing pinion
Connect；The swing pinion is meshed with the nut one-stage gear；The nut one-stage gear connects with electric rotating machine transmission
Connect.
Dead axle Xuan Sheng mechanisms are made that for the rotation lifting body of utility model application number 2014203802495 and change
Enter, the feed screw nut of utility model application number 2014203802495 is fixed, leading screw action, on the feed screw nut and leading screw
Screw thread is engaged, and the application rotation rises screw tube and fixes, revolves liter swivel nut cylinder action, and the rotation rises screw tube and rotation liter swivel nut cylinder
For double thread cooperation, the stability characteristic (quality) of the rotation rising elements is improve, the rotation rises swivel nut jacket casing and is connected on the rotation liter spiral shell
Bar cylinder outside, the whole rotation rising elements of overstriking, bearing capacity increases.
Used as the preferred of the present invention, the rotation with outside screw rises the first through hole of gripper shoe described in screw tube Jing and indulges
To being fixedly installed on the nut base, the second through hole of gripper shoe is longitudinally fixed described in the electric rotating machine Jing is installed on institute
State on nut base；The rotation rises the inside thread of swivel nut cylinder and is engaged with the outside screw of the rotation liter screw tube so that institute
State rotation liter swivel nut jacket casing and be connected on the rotation liter screw tube outside；The rotation is risen swivel nut cylinder and is connected by flat key with the swing pinion
Connect；The swing pinion is provided between the gripper shoe upper cover plate and the gripper shoe lower cover, and the gripper shoe is upper and lower
It is fixedly connected by the gripper shoe cover board connecting component between cover plate；The swing pinion is mutually nibbled with the nut one-stage gear
Close；The nut one-stage gear is connected with the electric rotating machine.
Dead axle Xuan Sheng mechanisms are made that for the rotation lifting body of utility model application number 2014203802495 and change
Enter, the feed screw nut of utility model application number 2014203802495 is fixed, leading screw action, on the feed screw nut and leading screw
Screw thread is engaged, and the application rotation rises screw tube and fixes, revolves liter swivel nut cylinder action, and the rotation rises screw tube and rotation liter swivel nut cylinder
For double thread cooperation, the stability characteristic (quality) of the rotation rising elements is improve, the rotation rises swivel nut jacket casing and is connected on the rotation liter spiral shell
Bar cylinder outside, the whole rotation rising elements of overstriking, bearing capacity increases.And by gripper shoe lower cover and gripper shoe upper cover plate
It is fixed together by gripper shoe cover board connecting component, can have both fixed support rotation and rise swivel nut cylinder, rotation liter screw tube and swing pinion, and
Can ensure that swing pinion easily, stably carries out System of Rotating about Fixed Axis motion.
Used as the preferred of the present invention, the dead axle Xuan Sheng mechanisms for being used for AGV robots are also included located at the nut one-level
Between gear and the electric rotating machine and for the rotating mechanism support plate of electric rotating machine described in supporting and fixing.
Used as the preferred of the present invention, the rotating mechanism support plate is provided with electric rotating machine location-plate.
Another technical scheme of the present invention is to provide a kind of including the above-mentioned dead axle Xuan Sheng mechanisms for AGV robots
AGV robots.
The AGV robots have the dead axle Xuan Sheng mechanisms of module style, are easily installed, safeguard, the AGV robots jacking goods
Steady during thing, bearing capacity is strong.
The invention has the advantages that：
Present configuration is simple, and its dead axle Xuan Sheng mechanisms jacking climb is 60-100mm, and with good self-locking performance
Can, the advantages of jacking is steady, space occupies little.And be equipped with the dead axle Xuan Sheng mechanisms AGV robots energy jacking 500kg and with
On goods, and head on goods movement, continuous operation up to more than 4 hours, then the dead axle Xuan Sheng mechanisms and its AGV robots
Bearing capacity is strong, and can realize the demand of various flexible carryings.
Description of the drawings
Fig. 1 is three-dimensional structure diagram of the present invention for the dead axle Xuan Sheng mechanisms of AGV robots；
Fig. 2 is installation diagram of the present invention for the dead axle Xuan Sheng mechanisms of AGV robots；
Fig. 3 is the three-dimensional structure diagram that rotation rises swivel nut cylinder in Fig. 2；
Fig. 4 is the three-dimensional structure diagram of swing pinion in Fig. 2；
In figure, 1- nut bases；2- gripper shoes；3- rotations rise screw tube；4- gripper shoe lower covers；5- gripper shoes cover plate connects
Part；6- swing pinions；61- flat keys；7- gripper shoe upper cover plates；8- rotations rise swivel nut cylinder；81- flat key grooves；9- nut one-stage gears；
10- electric rotating machine location-plates；11- rotating mechanism support plates；12- electric rotating machines.
Specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Such as Fig. 1,2 dead axle Xuan Sheng mechanisms for being used for AGV robots include that gripper shoe 2, System of Rotating about Fixed Axis component, rotation rise
Component, nut one-stage gear 9 and electric rotating machine 12.It is described rotation rising elements and the electric rotating machine 12 respectively with the support
Plate connects, between the electric rotating machine 12 and the nut one-stage gear 9, the nut one-stage gear 9 and the System of Rotating about Fixed Axis
Mutually it is connected between component and between the System of Rotating about Fixed Axis component and the rotation rising elements.
The rotation rising elements include that nut base 1, rotation rise screw tube 3 and rotation rises swivel nut cylinder 8, and three is assembled into one
Body.The gripper shoe has first through hole and the second through hole.The rotation rises screw tube 3 and the electric rotating machine 12 passes through respectively institute
State first through hole and second through hole is fixedly installed on the nut base 1.The motor shaft of the electric rotating machine 12 passes through
Axle key block is connected with the nut one-stage gear 9.It is hollow and with outside screw a, rotation that the rotation rises screw tube 3
It is that a hollow and upper end by large cylindrical and little columnar our department constitute to rise swivel nut cylinder 8, and the rotation rises a swivel nut cylinder 8 to be had
There is inside thread, the outside screw is engaged with the inside thread, the rotation rises screw tube 3 and rises swivel nut cylinder 8 with the rotation
Connected by double thread, wherein pitch about 10mm, helical pitch 20mm, the length of described our department is more than the length of the upper end, it is full
The foot rotation rises the rotation lifting height of screw tube 3, and lifting height is adjusted in the range of about 60-100mm.The outside screw and interior
The shape of side screw thread, that is, screw thread raised shape be it is trapezoidal so that the leading screw has certain self-locking performance, thus described fixed
Zhou Xuansheng mechanisms are difficult to topple over when shaking at work, while in the electric rotating machine 12 with latching characteristics and the rotation
Rise component cooperating.The nut one-stage gear 9 and the rotation rise swivel nut cylinder 8 and connect with System of Rotating about Fixed Axis component transmission respectively
Connect.
The System of Rotating about Fixed Axis component includes swing pinion 6, the swing pinion 6 for hollow, its outside have with it is described
The screw thread and inner side that nut one-stage gear 9 is engaged has flat key 61, and the swing pinion 6 such as arranges 6 by flat key 61 on circumference
Individual or enough flat key 61, the flat key groove 81 for rising the outside of swivel nut cylinder 8 with the rotation matches, and the flat key groove 81 is located at the rotation
Rise our department outside of swivel nut cylinder 8（Such as Fig. 3）So that the swing pinion 6 drives the rotation to rise swivel nut cylinder 8 in the vertical with respect to institute
State rotation rise a screw tube 3 smoothly rise, descending motion.In order to maintain the System of Rotating about Fixed Axis component and the rotation rising elements to exist
Light on longitudinal direction, steady System of Rotating about Fixed Axis motion, the System of Rotating about Fixed Axis component may also include gripper shoe lower cover 4, gripper shoe cover plate
Connector 5 and gripper shoe upper cover plate 7.The swing pinion 6 is located at the gripper shoe lower cover 4 and the gripper shoe upper cover plate 7
Between, the rotation rises swivel nut cylinder 8 and sequentially passes through the gripper shoe upper cover plate 7, the swing pinion 6, the gripper shoe lower cover 4
It is socketed in the rotation and rises the outside of screw tube 3.Pass through gripper shoe between the gripper shoe lower cover 4 and the gripper shoe upper cover plate 7
Cover board connecting component 5 is fixedly connected, and the swing pinion 6 drives the rotation to rise swivel nut cylinder 8 and moves.Press to improve swing pinion 6
The motility that axle center rotates is fixed, the lower surface of the gripper shoe upper cover plate and the upper surface of the swing pinion 6 are equal
The ball grooves of annular are provided with, steel ball is accommodated in the ball grooves of two end faces；And upper surface and the institute of the gripper shoe lower cover
The lower surface for stating swing pinion 6 is provided with the ball grooves of annular, and steel ball is accommodated in the ball grooves of two end faces.In above-mentioned ball
The steel ball of correct amount is placed in groove, the steel ball selects the steel ball such as 8mm diameters, appropriate clearance retained between both ends of the surface, such as
1.5mm, then be covered with steel ball on the circumferencial direction of ball grooves.In addition, the gripper shoe lower cover 4, the gripper shoe cover plate connect
Fitting 5 and the gripper shoe upper cover plate 7 are connected as one and ball engagement effect, the gripper shoe upper cover plate and described
Fagging lower cover 4 can be adjusted by adjusting gripper shoe cover board connecting component 5 between the two away from, it is ensured that the smooth rolling of steel ball and lubrication,
Swing pinion 6 can be prevented again by larger radial force, and driving steel ball to skid off ball grooves causes the swing pinion 6 can not light System of Rotating about Fixed Axis
Motion.Wherein, the gripper shoe upper cover plate 7 and the gripper shoe lower cover 4 are hollow, and both internal diameters are more than the rotation
The external diameter of the our department of swivel nut cylinder 8 is risen, and both internal diameters are between the internal diameter of the swing pinion 6 and external diameter so that in the rotation
The overall dimensions overstriking of component is risen, bearing capacity and stability is improved.
The dead axle Xuan Sheng mechanisms for being used for AGV robots also include rotating mechanism support plate 11, located at the nut one-level
Between gear 9 and the electric rotating machine 12, the rotating mechanism support plate 11 can longitudinally fixed, the supporting electric rotating machine 12.
In addition, the rotating mechanism support plate 11 is provided with electric rotating machine location-plate 10, the electric rotating machine location-plate 10 passes through bolt
It is fixed in the gripper shoe 2, adjusts the position of rotating mechanism support plate 11 by adjusting bolt so that nut one-level
High-precision gear motion can be realized between gear 9 and the swing pinion 6, and effectively prevents gear long-time engagement fortune
The rotating mechanism support plate 11 displacement after dynamic.
When the present invention works for the dead axle Xuan Sheng mechanisms of AGV robots, the electric rotating machine 12 works on power, and drives institute
State the rotary motion of nut one-stage gear 9, the nut one-stage gear 9 and the engaged transmission of the swing pinion 6, the swing pinion
6 pass through flat key 61（Such as Fig. 4）The rotation is driven to rise the rotary motion of swivel nut cylinder 8.Because the rotation rises swivel nut cylinder 8 and rises spiral shell with the rotation
Bar cylinder 3 is coordinated using double thread, so when the rotation rises swivel nut 8 rotary motion of cylinder, can be risen according to direction of rotation simultaneously or
Descending motion：When the nut one-stage gear 9 turns clockwise, the rotate counterclockwise of the swing pinion 6, the swing pinion
6 drive the rotation to rise the rotate counterclockwise of swivel nut cylinder 8, and the rotation rises the ascending motion of swivel nut cylinder 8（Or descending motion）；Conversely, institute
When stating nut 9 rotate counterclockwise of one-stage gear, the swing pinion 6 turns clockwise, and the swing pinion 6 drives the rotation to rise
Swivel nut cylinder 8 turns clockwise, and the rotation rises the descending motion of swivel nut cylinder 8（Or ascending motion）.Pallet and goods are placed in rotation and rise
The upper surface of swivel nut cylinder 8, with rotation rise a swivel nut cylinder 8 do rise, descending motion.
The dead axle Xuan Sheng mechanisms for AGV robots are installed in the AGV robots, and the AGV robots are also
Including driving wheel, four universal wheels, vehicle body frame, set of cells, motor, motor reduction box, drive motor driver, controls
Making sheet, guider, infrared ray sensor, pallet.It is simple that dead axle rotation rises mechanism structure, and for overall structure, as module
Formula is arranged in the AGV robots, is installed, is safeguarded convenient；Dead axle Xuan Sheng mechanisms occupy little in space, are placed on the robot
Structure characteristics of compact layout when interior, and robot more steady, carrying capacity in delivery goods is higher；Because of the rotation of dead axle Xuan Sheng mechanisms
Rising elements overall dimensions are sufficiently large, then be conducive to placing guider, such as Quick Response Code sensor, RFID reader, are capable of achieving
To shelf center and the hi-Fix at robot center.Machine man-hour, AGV robots utilize infrared sensor avoidance,
Navigated by ground two-dimensional code and RFID tag simultaneously, shelf are being navigated to just by ground and the RC two-dimension code label of shelf
Lower section, panel control motor drives driving wheel direction of travel, makes robot original place draw round walking, electric rotating machine clockwise
12 controls are arranged on the pallet and robot synchronization rotate counterclockwise of dead axle Xuan Sheng mechanisms end face, and now pallet rises.Period, adjust
The rotating speed of section control motor and electric rotating machine 12, makes pallet in uphill process not rotate relative to ground.Robot holds up
After shelf, navigated automatically, goods sorter is given, then shelf are put on the position of regulation again.Decentralization shelf
With the operation of jacking shelf conversely, robot rotate counterclockwise, pallet turns clockwise, and pallet declines, while pallet phase for operation
Pair move without spin with ground, it is ensured that shelf are relative to only have descending motion with ground.Above procedure completes one for AGV small machine people
Secondary delivery and unloading operation.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the design of the present invention
It is defined with scope.On the premise of without departing from design concept of the present invention, technical side of this area ordinary person to the present invention
Various modifications and improvement that case is made, all should drop into protection scope of the present invention, the technology contents that the present invention is claimed,
Jing is all recorded in detail in the claims.
Claims (7)
1. a kind of dead axle Xuan Sheng mechanisms for AGV robots, it is characterised in that including System of Rotating about Fixed Axis component, gripper shoe（2）、
Rotation rising elements, nut one-stage gear（9）And electric rotating machine（12）；The rotation rising elements and the electric rotating machine（12）
Respectively with the gripper shoe（2）Connection；The electric rotating machine（12）With the nut one-stage gear（9）Between, the nut one
Level gear（9）It is homogeneous between the System of Rotating about Fixed Axis component and between the System of Rotating about Fixed Axis component and the rotation rising elements
Mutually it is connected；The rotation rising elements include nut base（1）, rotation rise a screw tube（3）Swivel nut cylinder is risen with rotation（8）；It is described
System of Rotating about Fixed Axis component includes swing pinion（6）；The rotation rises screw tube（3）Gripper shoe described in Jing（2）First through hole it is longitudinally solid
Dingan County is loaded on the nut base（1）On, the electric rotating machine（12）Gripper shoe described in Jing（2）The longitudinally fixed peace of the second through hole
Loaded on the nut base（1）On；The rotation rises swivel nut cylinder（8）Inside thread and it is described rotation rise a screw tube（3）Outside spiral shell
Stricture of vagina is engaged so that the rotation rises swivel nut cylinder（8）It is socketed in the rotation and rises screw tube（3）Outside, the inside thread and described
The raised shape of outside screw is trapezoidal；The rotation rises swivel nut cylinder（8）The flat key groove and the swing pinion in outside（6）Interior
Flat key（61）It is engaged so that the swing pinion（6）It is socketed in the rotation and rises swivel nut cylinder（8）Outside；The swing pinion
（6）With the nut one-stage gear（9）It is meshed.
2. dead axle Xuan Sheng mechanisms for AGV robots according to claim 1, it is characterised in that the System of Rotating about Fixed Axis
Component also includes gripper shoe lower cover, gripper shoe cover board connecting component（5）With gripper shoe upper cover plate（7）.
3. dead axle Xuan Sheng mechanisms for AGV robots according to claim 2, it is characterised in that the System of Rotating about Fixed Axis
Component also includes steel ball；The lower surface and the swing pinion of the gripper shoe upper cover plate（6）Upper surface be respectively provided with ball grooves
And gap is left between both ends of the surface to accommodate steel ball, and the gripper shoe lower cover（4）Upper surface and the swing pinion（6）
Lower surface be respectively provided between ball grooves and both ends of the surface and leave gap to accommodate steel ball.
4. dead axle Xuan Sheng mechanisms for AGV robots according to claim 2, it is characterised in that in the gripper shoe
Cover plate（7）With the gripper shoe lower cover（4）Between be provided with the swing pinion（6）, and the gripper shoe upper and lower cover plates it
Between by the gripper shoe cover board connecting component（5）It is fixedly connected.
5. dead axle Xuan Sheng mechanisms for AGV robots according to claim 1, it is characterised in that also include located at institute
State nut one-stage gear（9）With the electric rotating machine（12）Between and for electric rotating machine described in supporting and fixing（12）Whirler
Structure support plate（11）.
6. dead axle Xuan Sheng mechanisms for AGV robots according to claim 5, it is characterised in that the rotating mechanism
Support plate（11）It is provided with electric rotating machine location-plate（10）.
7. it is a kind of including one of the claims 1-6 for the dead axle Xuan Sheng mechanisms of AGV robots AGV robots.
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 CN104370242A (en) | 2015-02-25 |
| CN104370242B true CN104370242B (en) | 2017-05-10 |
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Family Applications (1)
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104370242B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105174131B (en) * | 2015-10-09 | 2018-11-02 | 杭州南江机器人股份有限公司 | A kind of spiral lifting mechanism and AGV trolleies |
| CN105417434B (en) * | 2016-01-05 | 2018-03-06 | 北京航空航天大学 | A kind of floor truck with lifting device |
| CN107176560B (en) * | 2016-03-09 | 2020-02-21 | 上海快仓智能科技有限公司 | Jacking mechanism |
| 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 |
| CN107055389B (en) * | 2017-05-31 | 2023-07-18 | 广东嘉腾机器人自动化有限公司 | Rotary lifting device and transfer robot using same |
| 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 |
| 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 |
| 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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2660994Y (en) * | 2003-11-03 | 2004-12-08 | 孙萍 | Dining table with tabletop capable of automatic rotating and fluctuating |
| DE102004022419B4 (en) * | 2004-05-06 | 2007-01-25 | Eppendorf Ag | pipette |
| US20100072123A1 (en) * | 2008-05-15 | 2010-03-25 | Haslem Keith R | Adjustable height liquid level management tools and systems |
| CN103583392B (en) * | 2013-11-21 | 2015-04-15 | 范盛林 | Oblong fodder feeding device with internal spline rings and position sensors |
| CN103895244B (en) * | 2014-03-03 | 2016-02-17 | 淄博奥瑞科机电科技有限公司 | Spline-transmission screw press |
| CN204211427U (en) * | 2014-10-31 | 2015-03-18 | 湖州上电科电器科学研究有限公司 | A kind of dead axle Xuan Sheng mechanism for AGV robot and AGV robot |
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2014
- 2014-10-31 CN CN201410599513.9A patent/CN104370242B/en not_active Expired - Fee Related
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