CN106322063B - A kind of lifting rotating device and lifting movement guide mechanism and lifting mechanism - Google Patents
A kind of lifting rotating device and lifting movement guide mechanism and lifting mechanism Download PDFInfo
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- CN106322063B CN106322063B CN201610990710.2A CN201610990710A CN106322063B CN 106322063 B CN106322063 B CN 106322063B CN 201610990710 A CN201610990710 A CN 201610990710A CN 106322063 B CN106322063 B CN 106322063B
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- lifting
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- movement guide
- guiding
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention discloses a kind of lifting rotating device and lifting movement guide mechanisms and lifting mechanism, including lifting mechanism, the rotating mechanism being set on substrate, with the carrying supporting mechanism being fixed on raising plate, lifting mechanism includes lifting power transmission mechanism and lifting movement guide mechanism, rotating mechanism is connected with carrying supporting mechanism, and lifting power transmission mechanism is connected by lifting movement guide mechanism with carrying supporting mechanism.The entire mechanism of the present invention includes two power sources, power is provided by motor, lifting mechanism is mutually indepedent with rotating mechanism, complete independently moves accordingly, does not have and interferes with each other, so that control is relatively easy, entire lifting rotating mechanism, motion mode is simple and reliable easy to control, and mechanism execution efficiency is high, and energy utilization efficiency is high for mobile robot.
Description
Technical field
The present invention relates to machinery fields, specifically, being a kind of lifting rotating device and lifting movement guide mechanism and act
Rise mechanism.
Background technique
The lifting structures of current most mobile robot are realized by spiral way.Helical structure is being run
When simultaneous both direction movement: circumnutation and axial movement.When robot is when executing lifting task, to keep
The direction of articles carried does not change, and a motor band dynamic object stage need to additionally be used to do circumnutation to offset helical structure generation
Rotation.Most of movement of such structure, needs two motors to cooperate, not only increases control complexity, further increase
The power consumption of whole system.Therefore it designs a kind of can reduce and controls complexity, reduce the structure of power consumption, become urgently to be resolved and ask
Topic.
Summary of the invention
The purpose of the present invention is to solve mobile robot lifting rotating mechanism control complexity, the big problems of power consumption.This
Invention mobile robot lifts rotational structure, simple algorithm can be used to control, and possess very low power consumption, efficiency of energy utilization
It is high.
The specific technical solution of the present invention is:
The invention discloses a kind of lifting rotating mechanisms, including lifting mechanism, the rotating mechanism being set on substrate, and it is solid
Due to the carrying supporting mechanism on raising plate, lifting mechanism includes lifting power transmission mechanism and lifting movement guide mechanism, rotation
Rotation mechanism is connected with carrying supporting mechanism, and lifting power transmission mechanism passes through lifting movement guide mechanism and carrying supporting mechanism phase
Even.
As a further improvement, lifting power transmission mechanism of the present invention includes lifting motor and lifting motor
Connected lifting motor retarder, the lifting driving gear being connected with lifting motor retarder are meshed with lifting driving gear
Lifting driven gear, lifting driven gear axle center fixation be interspersed with dynamic branch transmission shaft, dynamic branch transmission shaft is fixed with
Double chain-drive mechanism.
As a further improvement, double chain-drive mechanism of the present invention include drive sprocket, double strand chain with from
Movable sprocket, drive sprocket are connected by double strand chain with the driven sprocket of its same side, connect dynamic branch by drive sprocket
The double strand chain of the double chain-drive mechanism of transmission shaft is vertical with dynamic branch transmission shaft.
As a further improvement, lifting movement guide mechanism of the present invention include cam, it is convex with cam contact
Wheel guiding vertical plate, the Cam Follower for being provided with cam, with double strand chain linear slide rail disposed in parallel, and Cam Follower phase
Corresponding sliding block and guiding axis, sliding block are set on linear slide rail, are slidably connected with linear slide rail, the two side ends of Cam Follower
It is fixedly connected with chain.
It is cam guide plate, convex as a further improvement, be provided with guiding surface on cam guide plate of the present invention
Wheel, Cam Follower, the quantity of sliding block are corresponding consistent, and guiding of the cam under the drive of bilateral chain along cam guiding vertical plate is oblique
Face rolls, and cam guiding vertical plate is fixedly connected with raising plate.
As a further improvement, lifting movement guide mechanism of the present invention further includes line corresponding with guiding axis
Property bearing, one end of guiding axis is fixed on substrate, logical across the centre of raising plate and the linear bearing being fixed on raising plate
Hole, linear bearing, raising plate and cam guiding vertical plate are fixedly connected as an entirety, do axial movement up and down along guiding axis.
As a further improvement, rotating mechanism of the present invention includes turning motor, what is connect with turning motor is returned
Rotating motor retarder, the revolution driving gear being connect with turning motor retarder and with the revolution that is meshed of revolution driving gear from
Moving gear, whole rotating mechanism are fixed on raising plate.
As a further improvement, the inner sidewall of revolution driven gear of the present invention is fixed with floating bearing.
As a further improvement, carrying supporting mechanism of the present invention is that objective table, objective table are fixed on rotating shaft
It holds.
The invention also discloses a kind of lifting movement guide mechanism, the lifting movement guide mechanism include cam, with it is convex
Wheel contact cam guiding vertical plate, be provided with cam Cam Follower, be connected with Cam Follower two side ends double strand chain,
With double strand chain linear slide rail disposed in parallel, sliding block corresponding with Cam Follower, sliding block is set on linear slide rail, with
Linear slide rail is slidably connected.
As a further improvement, double strand chain of the present invention is one group or two groups disposed in parallel.
As a further improvement, on double strand chain of the present invention be provided with one group or two groups of Cam Followers and
Sliding block corresponding with Cam Follower, when for two groups, Cam Follower, which is separately connected, is fixed on the upper following of double strand chain.
As a further improvement, there are two cams for Cam Follower setting of the present invention, including it is oriented to cam
The overhead cam of vertical plate guiding surface overlying contact, and the lower cam with cam guiding vertical plate guiding surface lower contact.
The invention also discloses a kind of lifting mechanisms, transmit including the lifting movement guide mechanism and lifting power
Mechanism, lifting power transmission mechanism includes lifting motor, the lifting motor retarder that is connected with lifting motor, subtracts with lifting motor
The connected lifting driving gear of fast device, the lifting driven gear being meshed with lifting driving gear, lifting driven gear axle center are solid
Surely it is interspersed with dynamic branch transmission shaft, dynamic branch transmission shaft is fixed with double chain-drive mechanism.
As a further improvement, double chain-drive mechanism of the present invention includes drive sprocket and driven sprocket, master
Movable sprocket is connected by the double strand chain with the driven sprocket of its same side, connects dynamic branch transmission shaft by drive sprocket
Double strand chain it is vertical with dynamic branch transmission shaft.
A kind of automatic guided vehicle is equipped with lifting rotating mechanism or lifting mechanism on carrier.
Compared with prior art, the beneficial effects of the present invention are:
The entire mechanism of the present invention includes two power sources, and power is provided by motor, and lifting mechanism is mutually only with rotating mechanism
Vertical, complete independently moves accordingly, does not have and interferes with each other, so that control is relatively easy, entirely lifts rotating mechanism, movement side
Formula is simple and reliable easy to control, and mechanism execution efficiency is high, and energy utilization efficiency is high for mobile robot.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of lifting rotating device of the present invention；
Fig. 2 is the left view schematic diagram of lifting rotating device of the present invention；
Fig. 3 is the right side view of lifting rotating device of the present invention；
Fig. 4 is the front-view schematic diagram of lifting rotating device of the present invention；
Fig. 5 is the schematic rear view of lifting rotating device of the present invention；
Fig. 6 is that lifting rotating device of the present invention is passed the imperial examinations at the provincial level the structural schematic diagram of elevator action-oriented mechanism embodiment 3.
In figure: 1 be lifting motor, 2 be dynamic branch transmission shaft, 3 be lifting motor retarder, 4 be lifting driving gear,
5 be lifting driven gear, 6 be drive sprocket, 7 be double strand chain, 8 be revolution driven gear 9 be substrate, 10 be linear slide rail,
11 be revolution driving gear, 12 be objective table, 13 be guiding axis, 14 be linear bearing, 15 be driven sprocket, 16 be raising plate,
17 it is turning motor, 18 be turning motor retarder, 19 be bearing block, 20 be cam guiding vertical plate, 21 is Cam Follower, 22
It is floating bearing.
Specific embodiment
Explanation is further described through to technical solution of the present invention with reference to the accompanying drawings of the specification.
The invention discloses a kind of lifting rotating mechanisms, such as the structural schematic diagram of Fig. 1 lifting rotating device of the present invention, Fig. 2
For the left view schematic diagram of lifting rotating device of the present invention, Fig. 3 is the right side view of lifting rotating device of the present invention, and Fig. 4 is this
Shown in the front-view schematic diagram of invention lifting rotating device: including lifting mechanism, the rotating mechanism being set on substrate 9, and fixing
In the carrying supporting mechanism on raising plate 16, lifting mechanism includes lifting power transmission mechanism and lifting movement guide mechanism, rotation
Rotation mechanism is connected with carrying supporting mechanism, and lifting power transmission mechanism passes through lifting movement guide mechanism and carrying supporting mechanism phase
Even.Movement transferring is lifted, for transmitting the required power of lifting load；Movement guide mechanism is lifted, proof load is used to
It is moved by design direction；Rotating mechanism is used to load article rotating commutation；Supporting mechanism is carried, for supporting load weight.
Substrate 9, which is used as support, to be fixed.
Lifting power transmission mechanism includes lifting motor 1, is connected with lifting motor 1 lifting motor retarder 3, with lifting
The connected lifting driving gear 4 of motor reducer 3, the lifting driven gear 5 being meshed with lifting driving gear 4, lifting are driven
The fixation of 5 axle center of gear is interspersed with dynamic branch transmission shaft 2, and the both ends of dynamic branch transmission shaft 2 are respectively fixed with double chain conveyer
Mechanism, double chain-drive mechanism include drive sprocket 6, double strand chain 7 and driven sprocket 15, and drive sprocket 6 passes through double strand chain 7
It is connected with the driven sprocket 15 of its same side, the power of dynamic branch transmission shaft 2 is transmitted to out drive sprocket 6, passes through drive chain
The double strand chain 7 of the double chain-drive mechanism at 6 connection 2 both ends of dynamic branch transmission shaft of wheel is vertical with dynamic branch transmission shaft 2.It lifts
1 speed reducer of lifting motor is fixed on substrate 9 by fixing seat, and dynamic branch transmission shaft 2 is set to by bearing with bearing block 19
On substrate 9.When effect, lifting motor 1 rotates, and drives lifting motor retarder 3, slows down by lifting motor retarder 3 and increases
After torque, power goes out shaft end from lifting motor retarder 3 and exports, and lifting driving gear 4 is driven to rotate；Then it transfers power to
On the lifting driven gear 5 being meshed with lifting driving gear 4, power is assigned to the drive chain of two sides by lifting driven gear 5
On wheel 6, drive sprocket 6 drives driven sprocket 15 to move by double strand chain 7, with chain fixed Cam Follower 21 also with
Chain movement.
Lifting movement guide mechanism embodiment 1: lifting movement guide mechanism includes cam, the cam guiding with cam contact
Vertical plate 20, the Cam Follower 21 of fixed cam, distinguish with two groups of double strand chains 7 linear slide rail 10 disposed in parallel, with it is any
The corresponding sliding block of Cam Follower 21, guiding axis 13 and linear bearing 14 corresponding with guiding axis 13,14 sets of linear bearing
On guiding axis 13, when being moved up and down with reducing raising plate 16, frictional force on guiding axis 13, sliding block is set to linear slide rail 10
On, it is slidably connected with linear slide rail 10, the top of Cam Follower 21 is provided with cam, the two side ends and chain of Cam Follower 21
Item is fixedly connected, and Cam Follower 21 is separately fixed at the upper following of every group of double strand chain 7, and guiding is provided on cam guide plate
Inclined-plane, cam guide plate, cam, Cam Follower 21, the quantity of sliding block are corresponding consistent, drive lower edge of the cam in bilateral chain
It is rolled on the guiding surface of cam guiding vertical plate 20, cam guiding vertical plate 20 is fixedly connected with raising plate 16；The one of guiding axis 13
End is fixed on substrate 9, across the intermediate throughholes of raising plate 16 and the linear bearing being fixed on raising plate 16 14, linear bearing
14, raising plate 16 and cam guiding vertical plate 20 are fixedly connected as an entirety, do axial movement up and down along guiding axis 13.Effect
When, each Cam Follower 21 is fixed on the sliding block of linear slide rail 10, and is moved by chain-driving, two cams of every side
Follower 21 respectively with the top of chain be connected below, so when sprocket wheel rotate forward or invert when, chain-driving two are convex
Wheel is opposite or back movement, and when cam is moved towards to inclined-plane, the pulling force that chain provides generates cam at inclined-plane
One perpendicular to inclined-plane and be amplification thrust, be respectively upper plane above and below the inclined-plane of the guiding vertical plate 20 and lower flat
Face provides a stable power when cam rolls supreme plane or lower plane along inclined-plane for raising plate 16, such as Fig. 2 institute
Show, four cam guiding vertical plates 20 are fixed together by screw with raising plate 16, and the flange of four linear bearings 14 passes through spiral shell
Nail is fixed together with raising plate 16.Cam one end is fixed by screws on the sliding block of line slide rail, and the other end passes through pin shaft
Be connected with chain, cam guiding the every side of vertical plate 20 inclined-plane be it is symmetrical, thrust caused by two cams ultimately generates
One resultant force straight up pushes the raising plate 16 with objective table 12 and floating bearing 22 to rise, when two cams are opposite
Movement, raising plate fall under gravity, and falling speed depends on cam movement velocity, and raising plate is rising and falling
When, four cams all play a supportive role, and supporting point is always at symmetrical, cam uniform force, structurally reasonable.
Lift movement guide mechanism embodiment 2: the further improvement for above-mentioned lifting movement guide mechanism, double strand chain
7 can also only be set as one group of side, and the Cam Follower 21 for being provided with cam being fixedly connected on double strand chain 7 can also be only
There is one, that is to say, that a Cam Follower 21, and sliding block corresponding with Cam Follower 21 are only set on double strand chain 7,
Remaining technical characteristic and technical solution are identical as the above lifting embodiment of movement guide mechanism.
Lifting movement guide mechanism embodiment 3: Fig. 6 is that lifting rotating device of the present invention is passed the imperial examinations at the provincial level elevator action-oriented mechanism for implementing
The structural schematic diagram of example 3, there are two cams for the setting of Cam Follower top, including are oriented to above 20 guiding surface of vertical plate with cam
The overhead cam of contact, and the lower cam with cam guiding 20 guiding surface lower contact of vertical plate, on lifting movement guide mechanism
When lower movement, overhead cam rolls above cam guiding 20 guiding surface of vertical plate, and lower cam is led along cam guiding vertical plate 20
To inclined-plane scrolls beneath, effectively realize steadily smooth when lifting movement guide mechanism moves up and down.
Rotating mechanism includes turning motor 17, the turning motor retarder 18 connecting with turning motor 17, with turning motor
The revolution driving gear 11 that retarder 18 connects and the revolution driven gear 8 being meshed with revolution driving gear 11, it is entire to rotate
Mechanism is fixed on raising plate 16, and the inner sidewall of revolution driven gear 8 is floating bearing 22.When effect, turning motor 17 rotates,
Turning motor retarder 18 is driven, after turning motor retarder 18 slows down and increases torque, power is from turning motor retarder
18 go out shaft end output, and revolution driving gear 11 is driven to rotate；Then it transfers power to and turns round what driving gear 11 was meshed
It turns round on driven gear 8, then turns round driven gear 8 and rotated with dynamic object stage 12.
Carrying supporting mechanism is that objective table 12, the objective table 12 are fixed on floating bearing 22.The gravity of weight by
Objective table 12 supports, and transmits the force to floating bearing 22, then pass to raising plate 16, and raising plate 16 is by being fixed as one with it
The cam guiding vertical plate 20 of body transmits the force to cam, and then power is transmitted power by the sliding block being fixed together with it by cam
It onto sliding rail, finally transfers force on substrate 9, constitutes the transmitting support system of a stable power.
A kind of lifting mechanism is separately disclosed, is transmitted including above-described lifting movement guide mechanism and lifting power
Mechanism, the lifting motor retarder 3 and lifting electricity that lifting power transmission mechanism includes lifting motor 1, is connected with lifting motor 1
The connected lifting driving gear 4 of machine retarder 3, the lifting driven gear 5, the lifting being meshed with lifting driving gear 4
The fixation of 5 axle center of driven gear is interspersed with dynamic branch transmission shaft 2, and dynamic branch transmission shaft 2 is fixed with double chain-drive mechanism, double
Row chain transmission mechanism includes drive sprocket 6 and driven sprocket 15, and drive sprocket 6 passes through the double strand chain 7 and its same side
Driven sprocket 15 is connected, and connects the double strand chain 7 of dynamic branch transmission shaft 2 by drive sprocket 6 and dynamic branch transmission shaft 2 hangs down
Directly.
Can also lifting rotating mechanism or lifting mechanism be mounted on car and constitute a kind of automatic guided vehicle.
The present invention can be changed apparent to one skilled in the art for various ways, and such change is not considered as
Depart from the scope of the present invention, it is all it is such the technical staff in the field is obviously modified, be included within this right
Within the scope of it is required that.
Claims (15)
1. a kind of lifting rotating mechanism, which is characterized in that including lifting mechanism, the rotating mechanism being set on substrate (9), and it is solid
Carrying supporting mechanism on raising plate (16), the lifting mechanism include that lifting power transmission mechanism and lifting movement are led
To mechanism, the rotating mechanism is connected with carrying supporting mechanism, and the lifting power transmission mechanism is led by lifting movement
It is connected to mechanism with carrying supporting mechanism, the lifting power transmission mechanism includes lifting motor (1) and lifting motor (1)
Connected lifting motor retarder (3), the lifting driving gear (4) being connected with lifting motor retarder (3), with lifting driving tooth
Lifting driven gear (5), the fixed dynamic branch that is interspersed in lifting driven gear (5) axle center that (4) are meshed is taken turns to be driven
Axis (2), the dynamic branch transmission shaft (2) are fixed with double chain-drive mechanism.
2. lifting rotating mechanism according to claim 1, which is characterized in that the double chain-drive mechanism includes actively
Sprocket wheel (6), double strand chain (7) and driven sprocket (15), the drive sprocket (6) pass through double strand chain (7) and its same side
Driven sprocket (15) be connected, by drive sprocket (6) connection dynamic branch transmission shaft (2) double chain-drive mechanism it is double
Chain (7) is vertical with dynamic branch transmission shaft (2).
3. lifting rotating mechanism according to claim 1 or 2, which is characterized in that the lifting movement guide mechanism includes
Cam is put down with cam guiding vertical plate (20) of cam contact, the Cam Follower (21) for being provided with cam, with double strand chain (7)
Linear slide rail (10), sliding block corresponding with Cam Follower (21) and the guiding axis (13) of row setting, the sliding block setting
It on linear slide rail (10), is slidably connected with linear slide rail (10), the two side ends of Cam Follower (21) are fixedly connected with chain.
4. lifting rotating mechanism according to claim 3, which is characterized in that be arranged in cam guiding vertical plate (20)
There is guiding surface, cam guiding vertical plate (20), cam, Cam Follower (21), the quantity of sliding block are corresponding consistent, described
Guiding surface of the cam under the drive of bilateral chain along cam guiding vertical plate (20) roll, the cam is oriented to vertical plate
(20) it is fixedly connected with raising plate (16).
5. lifting rotating mechanism according to claim 4, which is characterized in that the lifting movement guide mechanism further includes
Linear bearing (14) corresponding with guiding axis (13), one end of the guiding axis (13) are fixed on substrate (9), pass through top
The intermediate throughholes of lift slab (16) and the linear bearing (14) being fixed on raising plate (16), the linear bearing (14), jacking
Plate (16) and cam guiding vertical plate (20) are fixedly connected as an entirety, do axial movement up and down along guiding axis (13).
6. according to claim 1 or 2 or 4 or 5 or the lifting rotating mechanism, which is characterized in that the rotating mechanism packet
Turning motor (17) are included, the turning motor retarder (18) being connect with turning motor (17), even with turning motor retarder (18)
The revolution driving gear (11) connect and the revolution driven gear (8) being meshed with revolution driving gear (11), the whirler
Structure is fixed on raising plate (16).
7. lifting rotating mechanism according to claim 6, which is characterized in that the inside of the revolution driven gear (8)
Wall is fixed with floating bearing (22).
8. lifting rotating mechanism described according to claim 1 or 2 or 4 or 5 or 7, which is characterized in that the carrying supporting mechanism
It is that objective table (12), the objective table (12) are fixed on floating bearing (22).
9. a kind of lifting movement guide mechanism, which is characterized in that the lifting movement guide mechanism includes cam and cam contact
Cam guiding vertical plate (20), be provided with cam Cam Follower (21), the double strand chain that is connected with Cam Follower two side ends
Item (7), with double strand chain (7) linear slide rail disposed in parallel (10), sliding block corresponding with Cam Follower (21), it is described
Sliding block is set on linear slide rail (10), is slidably connected with linear slide rail (10).
10. lifting movement guide mechanism according to claim 9, which is characterized in that the double strand chain (7) is one group
Or two groups disposed in parallel.
11. lifting movement guide mechanism according to claim 9, which is characterized in that setting on the double strand chain (7)
It is equipped with one group or two groups of Cam Followers (21) and sliding block corresponding with Cam Follower (21), when for two groups, cam following
Device (21), which is separately connected, is fixed on the upper following of double strand chain (7).
12. according to lifting movement guide mechanism described in claim 9 or 10 or 11, which is characterized in that the cam following
There are two cams for device (21) setting, including the overhead cam with cam guiding vertical plate (20) guiding surface overlying contact, and and cam
It is oriented to the lower cam of vertical plate (20) guiding surface lower contact.
13. a kind of lifting mechanism, which is characterized in that including lifting movement guide mechanism and lifting as claimed in claim 10
Power transfer mechanism, the lifting power transmission mechanism includes lifting motor (1), the lifting motor that is connected with lifting motor (1)
Retarder (3), the lifting driving gear (4) that is connected with lifting motor retarder (3) are meshed with lifting driving gear (4)
Lifting driven gear (5), lifting driven gear (5) the axle center fixation are interspersed with dynamic branch transmission shaft (2), and described is dynamic
Power shunts transmission shaft (2) and is fixed with double chain-drive mechanism.
14. lifting mechanism according to claim 13, which is characterized in that the double chain-drive mechanism includes drive chain
It takes turns (6) and driven sprocket (15), the drive sprocket (6) passes through the driven sprocket of the double strand chain (7) and its same side
(15) it is connected, double strand chain (7) and dynamic branch transmission shaft (2) by drive sprocket (6) connection dynamic branch transmission shaft (2)
Vertically.
15. a kind of automatic guided vehicle, which is characterized in that be equipped with lifting rotation as described in claim 1 on the carrier
Mechanism or lifting mechanism as claimed in claim 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610990710.2A CN106322063B (en) | 2016-11-10 | 2016-11-10 | A kind of lifting rotating device and lifting movement guide mechanism and lifting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610990710.2A CN106322063B (en) | 2016-11-10 | 2016-11-10 | A kind of lifting rotating device and lifting movement guide mechanism and lifting mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106322063A CN106322063A (en) | 2017-01-11 |
| CN106322063B true CN106322063B (en) | 2019-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610990710.2A Active CN106322063B (en) | 2016-11-10 | 2016-11-10 | A kind of lifting rotating device and lifting movement guide mechanism and lifting mechanism |
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| Country | Link |
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| CN (1) | CN106322063B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110482442A (en) * | 2019-09-26 | 2019-11-22 | 黄石鼎信机电有限公司 | A kind of ultra-thin lifting omnidirectional AGV |
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| CN205023515U (en) * | 2014-09-02 | 2016-02-10 | 株式会社日立制作所 | Automated guided vehicle |
| CN206268734U (en) * | 2016-11-10 | 2017-06-20 | 杭州南江机器人股份有限公司 | A kind of lifting rotating device and lifting movement guide mechanism and lifting mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100234082B1 (en) * | 1997-03-21 | 1999-12-15 | 윤종용 | Suspension apparauus for agv(automatic guided vehicle) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101683854A (en) * | 2008-09-26 | 2010-03-31 | 爱知机械技术系统株式会社 | Automatic guided vehicle drive device and automatic guided vehicle |
| CN103608238A (en) * | 2011-06-15 | 2014-02-26 | 株式会社明电舍 | Automated guided vehicle |
| CN202623820U (en) * | 2012-05-02 | 2012-12-26 | 广州市远能物流自动化设备科技有限公司 | Automatic lifting device of unmanned transport trolley |
| CN103482317A (en) * | 2013-09-09 | 2014-01-01 | 无锡虹业自动化工程有限公司 | AGV self-propelled unloading transport cart |
| CN205023515U (en) * | 2014-09-02 | 2016-02-10 | 株式会社日立制作所 | Automated guided vehicle |
| CN206268734U (en) * | 2016-11-10 | 2017-06-20 | 杭州南江机器人股份有限公司 | A kind of lifting rotating device and lifting movement guide mechanism and lifting mechanism |
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| CN106322063A (en) | 2017-01-11 |
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Effective date of registration: 20220307 Address after: Room 101-110, 1st floor, building 8, Jinsheng Industrial Park, 611 Dongguan Road, Binjiang District, Hangzhou, Zhejiang 310000 Patentee after: HANGZHOU IPLUS TECH CO.,LTD. Address before: 310000 229, room 1, No. 475 Changhe Road, Changhe street, Binjiang District, Hangzhou, Zhejiang Patentee before: HANGZHOU NANJIANG ROBOTICS Co.,Ltd. |