CN106672860A - Automatic conveying vehicle with hollow lead screw jacking rotation mechanism - Google Patents
Automatic conveying vehicle with hollow lead screw jacking rotation mechanism Download PDFInfo
- Publication number
- CN106672860A CN106672860A CN201710066550.7A CN201710066550A CN106672860A CN 106672860 A CN106672860 A CN 106672860A CN 201710066550 A CN201710066550 A CN 201710066550A CN 106672860 A CN106672860 A CN 106672860A
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- China
- Prior art keywords
- several
- gear
- lifting
- driven gear
- jacking
- Prior art date
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- Pending
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Classifications
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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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
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07581—Remote controls
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to an automatic conveying vehicle with a hollow lead screw jacking rotation mechanism, and belongs to the technical field of automation. A driving wheel is rotationally connected with a bottom plate. A rotary jacking device is located on the bottom plate. A hollow spindle is fixedly arranged on a lifting platform. A rotary driven gear and a lifting driven gear are rotationally connected with the hollow spindle through bearings, and the rotary driven gear is located above the lifting driven gear. The rotary driven gear is fixedly connected with a supporting platform which is located above the rotary driven gear and the hollow spindle. A fixing base is fixedly connected with the bottom plate. A lead screw is in threaded connection with the inside of the fixing base, and the upper end of the lead screw penetrates through the lifting platform, is connected with a lead screw gear and is engaged with the lifting driven gear. A jacking motor and a rotary motor are both fixedly connected with the lifting platform. An output shaft of the rotary motor is engaged with the rotary driven gear. An output shaft of the jacking motor is engaged with the lifting driven gear. The automatic conveying vehicle with the hollow lead screw jacking rotation mechanism can replace a factory hand-push forklift or an oil-electric forklift, relieve labor intensity of workers and lower the logistics error rate.
Description
Technical field
The present invention relates to a kind of Automatic Guided Vehicle with hollow screw mandrel jacking rotating mechanism, belongs to automatic technology neck
Domain.
Background technology
Factory of the prior art adopts in a large number in process of production, still a dead lift raw material, increased the fortune of enterprise
Row cost, inefficiency, while may result in carrying mistake in handling process, is unfavorable for realizing prison in real time whole to material
Control.
The content of the invention
The technical problem to be solved is the defect for overcoming prior art, there is provided one kind has hollow screw mandrel jacking
The Automatic Guided Vehicle of rotating mechanism, present configuration is simple, reduces artificial, material is voluntarily carried, while can full-time employment.
To reach above-mentioned purpose, the present invention provides a kind of Automatic Guided Vehicle with hollow screw mandrel jacking rotating mechanism, bag
Include controller, base plate, autonomous guide body, rotation jacking apparatus；The controller is fixed on the base plate, the autonomous guiding
Body include several driving wheels, several motors and several universal wheels, several described driving wheels and several described in
Universal wheel is symmetrical arranged with regard to a certain axis of symmetry of the base plate, and several described driving wheels and several described universal wheels are equal
The connection base plate is rotated respectively, and several described motors are fixedly installed on the base plate, several described drivings
The output shaft of motor respectively is intermeshed to form single-direction transmission with driving wheel described in, several motors, several institutes
State driving wheel and respectively electrically connect the controller；
The rotation jacking apparatus include lifting driven gear, several jacking motors, several electric rotating machines, rotary drive tooth
Wheel, several turbine screw mandrel, supporting table, lifting platform and hollow main shafts；The hollow main shaft is fixedly installed on the lifting platform,
The rotary drive gear, the lifting driven gear respectively rotate the connection hollow main shaft, the rotation by bearing
Driven gear is located at the lifting driven gear top, and the rotary drive gear is fixedly connected the supporting table, the support
Platform is located at the rotary drive gear, the top of the hollow main shaft, several described jacking motors, several described electric rotatings
Machine respectively electrically connects the controller；
Several described turbine screw mandrels include screw gear, feed screw nut, leading screw and firm banking, inside the firm banking
Hollow, several described firm bankings are along the circumferential direction fixedly installed on the base plate around the lifting driven gear, if
The lower end of the dry screw mandrel is respectively threadedly coupled inside firm banking described in, and several described feed screw nuts are around described
Lifting driven gear is along the circumferential direction fixedly connected the lifting platform, opens up several on the lifting platform and coordinates described in several
The nut bore of feed screw nut, the upper end of several screw mandrels is respectively fixed through feed screw nut, the nut bore described in one
Screw gear described in connection one, several described screw gears are intermeshed respectively with the lifting driven gear；Several institute
State jacking motor, several described electric rotating machines and be respectively vertically fixedly connected the lifting platform, several described electric rotating machines
Output shaft be intermeshed with the rotary drive gear, the output shaft of several jacking motors and the lifting driven tooth
Wheel intermeshing.
Preferentially, including several lower photographic head and several upper photographic head, several described upper photographic head are vertically consolidated
Surely in being arranged on the hollow main shaft, several upper shootings for coordinating several upper photographic head are opened up in the supporting table
Hole, several described lower photographic head are vertically fixedly installed on the base plate, several are opened up on the base plate and coordinates described
The lower camera hole of lower photographic head, several described lower photographic head and several described upper photographic head electrically connect the controller.
Preferentially, fault avoidnig device includes several range sensors, and symmetrically fixation sets several described range sensors
Put in the plate upper surface, several described range sensors respectively electrically connect the controller.
Preferentially, the autonomous guide body includes two driving wheels, two motors and four universal wheels, described in two
Driving wheel is located at the middle part of the base plate, and four universal wheels are located at four corners of the base plate, and the driving wheel is sleeping
Formula driving wheel or vertical driving wheel.
Preferentially, the range sensor is laser range sensor, infrared distance sensor or ultrasonic ranging sensing
Device.
Preferentially, including lifting driving gear, electric rotating machine, lifting motor, several screw gears, a rotation
Driving gear, the rotation driving gear is fixedly connected the output shaft of the electric rotating machine, the rotation driving gear with it is described
Rotary drive gear is intermeshed；The lifting driving gear is fixedly connected the output shaft of the lifting motor, the lifting master
Moving gear and the lifting driven gear intermeshing；The top of the screw mandrel is respectively fixedly connected screw gear described in,
The screw gear is respectively intermeshed with the lifting driven gear.
Preferentially, including configurating terminal and wireless receiving send sensor, divide equally in the configurating terminal, the controller
She Zhi not wireless receiving transmission sensor described in.
Preferentially, including accumulator, wireless charger and receiving coil, the receiving coil is by magnetic alloy around with electric wire
Make, the receiving coil, accumulator series connection, the receiving coil, the accumulator are fixedly installed on the base plate
On, the storage battery connect the controller, the range sensor, jacking motor, electric rotating machine, several driving wheels,
Several descend photographic head and photographic head on several.
The beneficial effect that the present invention is reached：
（1）The present invention reduces artificial, substitutes factory's hand-pushing forklift or oil electricity fork truck, reduces human cost；Mitigate hand labor strong
Degree, reduces logistics error rate, it is ensured that product quality, realizes material whole process monitor in real time；Improve production efficiency, reduces turnover product
Stock；Factory automation level is lifted, represents the strength of enterprise and image, improve enterprise competitiveness；
（2）The present invention by rotation jacking apparatus realize automatic transporting shelf, by with configurating terminal it is real-time exchange acquisition ought
The information of former generation Transport cargo rack so that carrying work Methodistic can be carried out；The present invention realizes differential by two driving wheels
Control so that more steady in dolly handling process, it is to avoid the situation that shelf drop because being shaken occurs；The present invention passes through nothing
Line is charged, it is to avoid if this dress centers socket and the situation in charging socket can not accurately be inserted because of position deviation
Occur, it is easy to use；The present invention judges current location and calculates the conduct route for reaching target, pole by two-dimension code navigation mode
The earth reduces error；The present invention is by being accomplished in several ways avoidance, such as laser avoidance or infrared obstacle avoidance or ultrasound
Ripple avoidance, it is to avoid the present invention is damaged because of collision；The present invention realizes Transport cargo rack by rotating jacking apparatus, by electric rotating
Machine adjusts shelf angle so that this device more " intellectuality ", and simple structure, weight capacity is higher, is conducive to extending the present invention
Service life.
Description of the drawings
Fig. 1 is the right view of the present invention；
Fig. 2 is the top view of the present invention；
Fig. 3 is the front view of the present invention；
Fig. 4 is the structure chart of the present invention.
Labelling implication in accompanying drawing, 1-1, electric rotating machine；1-2, rotation driving gear；2-1, jacking motor；2-2, lifting master
Moving gear；3-1, screw gear；3-2, feed screw nut；3-3, screw mandrel；3-4, firm banking；4th, rotary drive gear；5th, lift
Driven gear；6th, supporting table；7th, hollow main shaft；8th, lifting platform；9th, base plate；10th, driving wheel；11st, universal wheel；12nd, motor；
13rd, universal wheel support member；14th, upper photographic head；15th, lower photographic head.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described.Following examples are only used for clearly illustrating the present invention
Technical scheme, and can not be limited the scope of the invention with this.
As shown in figure 1, the present invention provides a kind of Automatic Guided Vehicle with hollow screw mandrel jacking rotating mechanism, including control
Device, base plate 9, autonomous guide body, rotation jacking apparatus；The controller is fixed on the base plate 9, the autonomous guide body bag
Include several driving wheels 10, several motors 12 and several universal wheels 11, several described driving wheels 10 and several
The universal wheel 11 is symmetrical arranged with regard to a certain axis of symmetry of the base plate 9, and several described driving wheels 10 rotate connection institute
Base plate 9 is stated, several described universal wheels 11 rotate the connection universal wheel support member 13, universal wheel support member 13 is fixedly connected institute
State base plate 9, several described motors 12 are fixedly installed on the base plate 9, several motors 12 it is defeated
Shaft respectively forms single-direction transmission with the intermeshing of driving wheel described in one 10, several motors 12, several described drives
Driving wheel 10 respectively electrically connects the controller；
The rotation jacking apparatus include lifting driven gear 5, several jackings motor 2-1, several electric rotating machines 1-1, rotation
Turn driven gear 4, several turbine screw mandrels 3, supporting table 6, lifting platform 8 and hollow main shaft 7；The hollow main shaft 7 is fixedly installed
On the lifting platform 8, the rotary drive gear 4, the lifting driven gear 5 are respectively rotated described in connection by bearing
Hollow main shaft 7, the rotary drive gear 4 is located at the top of lifting driven gear 5, and the rotary drive gear 4 is fixed and connected
The supporting table 6 is connect, the supporting table 6 is located at the rotary drive gear 4, the top of the hollow main shaft 7, described in several
Jacking motor 2-1, several described electric rotating machine 1-1 respectively electrically connect the controller；
Several described turbine screw mandrels 3 include screw gear 3-1, feed screw nut 3-2, leading screw 3-3 and firm banking 3-4, institute
Firm banking 3-4 inner hollows are stated, several described firm banking 3-4 are along the circumferential direction solid around the lifting driven gear 5
Surely it is arranged on the base plate 9, the lower end of several screw mandrel 3-3 is respectively threadedly coupled in firm banking 3-4 described in
Portion, several described feed screw nut 3-2 are along the circumferential direction fixedly connected the lifting platform 8, institute around the lifting driven gear 5
State and several nut bore for coordinating several feed screw nut 3-2 are opened up on lifting platform 8, several screw mandrel 3-3's is upper
End is respectively fixedly connected screw gear 3-1 described in through feed screw nut 3-2, the nut bore described in one, described in several
Screw gear 3-1 is intermeshed respectively with the lifting driven gear 5；Several described jacking motor 2-1, several described rotations
Rotating motor 1-1 is respectively vertically fixedly connected the lifting platform 8, output shaft and the rotation of several electric rotating machine 1-1
Turn driven gear 4 to be intermeshed, the output shaft of several jacking motor 2-1 is intermeshed with the lifting driven gear 5.
Further, the present invention include several lower photographic head 15 with several on photographic head 14, on several are described
Photographic head 14 is vertically fixedly installed in the hollow main shaft 7, is opened up several in the supporting table 6 and is coordinated described in several
The upper camera hole of upper photographic head 14, several described lower photographic head 15 are vertically fixedly installed on the base plate 9, the base plate
Open up several lower camera holes for coordinating the lower photographic head 15 on 9, several described lower photographic head 15 and several it is described on
Photographic head 14 electrically connects the controller.
Further, fault avoidnig device includes several range sensors, several described range sensors pair in the present invention
It is fixedly installed on the upper surface of the base plate 9 with claiming, several described range sensors respectively electrically connect the controller.
Further, heretofore described autonomous guide body includes two driving wheels, 10, two motors 12 and four
Universal wheel 11, two driving wheels 10 are located at the middle part of the base plate 9, and four universal wheels 11 are located at the base plate 9
Four corners, the driving wheel 10 is horizontal driving wheel or vertical driving wheel.
Further, heretofore described range sensor is laser range sensor, infrared distance sensor or ultrasound
Ripple distance measuring sensor.
Further, the present invention include lifting driving gear 2-2, electric rotating machine 1-1, lifting motor 2-1,
Several screw gears 3-1, rotation driving gear 1-2, the rotation driving gear 1-2 is fixedly connected the electric rotating machine 1-1
Output shaft, the rotation driving gear 1-2 is intermeshed with the rotary drive gear 4；The lifting driving gear 2-2 consolidates
Surely the output shaft of the lifting motor 2-1 is connected, the lifting driving gear 2-2 is intermeshed with the lifting driven gear 5；
The top of the screw mandrel 3-3 is respectively fixedly connected screw gear 3-1 described in, the screw gear 3-1 respectively with it is described
Lifting driven gear 5 is intermeshed.
Further, the present invention includes that configurating terminal and wireless receiving send sensor, the configurating terminal, the control
Wireless receiving described in one is respectively set in device processed and sends sensor.
Further, the present invention includes accumulator, wireless charger and receiving coil, and the receiving coil is closed by magnetic
Gold around being made with electric wire, connect, and the receiving coil, the accumulator are fixedly installed by the receiving coil, the accumulator
On the base plate 9, the storage battery connects the controller, the range sensor, jacking motor 2-1, electric rotating machine
1-1, several driving wheels 10, several lower photographic head 15 and photographic head 14 on several.
Workflow of the present invention：
This device stores each shelf coordinate, the coordinate charged for the present invention etc. by two-dimension code navigation in memory module, each
Coordinate all corresponds to a Quick Response Code, and Quick Response Code is stored in the controller, againsts corresponding two at each coordinate on the ground
Dimension code picture；Shelf are the supporting leg of bottom four, there is the space for allowing this device to pass through under shelf；Configurating terminal in real time with this device
Exchange 2 D code information, is easy to this device real-time update information, understands and also has which shelf needs to carry；When this device electricity mistake
When low, this device can voluntarily go to wireless charger and be charged.
Lower photographic head 15 is used to capture two-dimension code image, and controller differentiates current location, and controller calculates this device and mesh
Route between target Quick Response Code, controller controls this device and goes to target shelf；Range sensor real-time detection current location
And controller is fed back to, when this device runs into barrier, this device can stop or fall back；
Upper photographic head 14 is used to capture the Quick Response Code of bottom shelf, and controller discerns whether the shelf to be currently needed for carrying；Know
When being clipped to shelf to be handled, jacking motor 2-1 drives lifting driven gear 5 to rotate, and lifting driven gear 5 drives screw gear 3-
1 rotates, and screw gear 3-1 drives three screw mandrel 3-3 to rotate simultaneously so that feed screw nut 3-2 is moved up along screw mandrel 3-3,
So as to drive the jacking campaign up of lifting platform 8, in place rear support stand 6 lifts shelf for jacking；
Then during this device Transport cargo rack straight line moving, controller only drives two motors 12 to do differential control；This device
When Transport cargo rack is turned, shelf to be handled are constant with respect to the direction of warehouse floor, only independently guide car body and turn to, now two drives
Clockwise or counterclockwise original place rotates driving wheel, while controller controls electric rotating machine 1-1 rotated with opposite direction, and both rotating speed phases
Together；This device Transport cargo rack need original place adjust the relative warehouse floor of shelf to be handled towards when, such as during arrival work station,
Need to adjust direction, facilitate sorter to operate, now controller only drives two motors 12 original place clockwise or counterclockwise
Rotate, shelf so to be handled are and then servo-actuated；When this device needs to unload shelf to be handled, a driving turbine screw mandrel 3 is produced
Decline.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, on the premise of without departing from the technology of the present invention principle, some improvement and deformation can also be made, these improve and deform
Also should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of Automatic Guided Vehicle with hollow screw mandrel jacking rotating mechanism, it is characterised in that including controller, base plate（9）、
Autonomous guide body, rotation jacking apparatus；The controller is fixed on the base plate（9）On, the autonomous guide body includes some
Individual driving wheel（10）, several motors（12）With several universal wheels（11）, several described driving wheels（10）With it is some
The individual universal wheel（11）With regard to the base plate（9）A certain axis of symmetry be symmetrical arranged, several described driving wheels（10）With
Several described universal wheels（11）Respectively rotate the connection base plate（9）, several described motors（12）Fixation sets
Put in the base plate（9）On, several described motors（12）Output shaft respectively with driving wheel described in（10）Mutually
Engagement forms single-direction transmission, several motors（12）, several described driving wheels（10）Respectively electrically connect the control
Device；
The rotation jacking apparatus include lifting driven gear（5）, several jacking motors（2-1）, several electric rotating machines（1-
1）, rotary drive gear（4）, several turbine screw mandrels（3）, supporting table（6）, lifting platform（8）And hollow main shaft（7）；In described
Empty main shaft（7）It is fixedly installed on the lifting platform（8）On, the rotary drive gear（4）, the lifting driven gear（5）
Respectively the connection hollow main shaft is rotated by bearing（7）, the rotary drive gear（4）Positioned at the lifting driven gear
（5）Top, the rotary drive gear（4）It is fixedly connected the supporting table（6）, the supporting table（6）Positioned at it is described rotation from
Moving gear（4）, the hollow main shaft（7）Top, several described jacking motors（2-1）, several described electric rotating machines（1-
1）Respectively electrically connect the controller；
Several described turbine screw mandrels（3）Include screw gear（3-1）, feed screw nut（3-2）, leading screw（3-3）With fixed bottom
Seat（3-4）, the firm banking（3-4）Inner hollow, several described firm bankings（3-4）Around the lifting driven gear
（5）Along the circumferential direction it is fixedly installed on the base plate（9）On, several described screw mandrels（3-3）Lower end be respectively threadedly coupled
Firm banking described in one（3-4）Inside, several described feed screw nuts（3-2）Around the lifting driven gear（5）Circumferentially
Direction is fixedly connected the lifting platform（8）, the lifting platform（8）On open up several and coordinate several feed screw nuts（3-
2）Nut bore, several described screw mandrels（3-3）Upper end respectively pass through feed screw nut described in（3-2）, the nut bore
It is fixedly connected screw gear described in（3-1）, several described screw gears（3-1）Respectively with the lifting driven gear（5）
Intermeshing；Several described jacking motors（2-1）, several described electric rotating machines（1-1）Respectively vertically it is fixedly connected institute
State lifting platform（8）, several described electric rotating machines（1-1）Output shaft and the rotary drive gear（4）Intermeshing, it is some
The individual jacking motor（2-1）Output shaft and the lifting driven gear（5）Intermeshing.
2. a kind of Automatic Guided Vehicle with hollow screw mandrel jacking rotating mechanism according to claim 1, it is characterised in that
Including several lower photographic head（15）With photographic head on several（14）, several described upper photographic head（14）Vertical fixation sets
Put in the hollow main shaft（7）In, the supporting table（6）On open up several and coordinate several upper photographic head（14）It is upper
Camera hole, several described lower photographic head（15）Vertically it is fixedly installed on the base plate（9）On, the base plate（9）On open up
Several coordinate the lower photographic head（15）Lower camera hole, several described lower photographic head（15）With upper shooting several described
Head（14）Electrically connect the controller.
3. a kind of Automatic Guided Vehicle with hollow screw mandrel jacking rotating mechanism according to claim 2, it is characterised in that
Fault avoidnig device includes several range sensors, and several described range sensors are symmetrically fixedly installed on the base plate（9）
Upper surface, several described range sensors respectively electrically connect the controller.
4. a kind of Automatic Guided Vehicle with hollow screw mandrel jacking rotating mechanism according to claim 1, it is characterised in that
The autonomous guide body includes two driving wheels（10）, two motors（12）With four universal wheels（11）, two drives
Driving wheel（10）Positioned at the base plate（9）Middle part, four universal wheels（11）Positioned at the base plate（9）Four corners, institute
State driving wheel（10）For horizontal driving wheel or vertical driving wheel.
5. a kind of Automatic Guided Vehicle with hollow screw mandrel jacking rotating mechanism according to claim 3, it is characterised in that
The range sensor is laser range sensor, infrared distance sensor or ultrasonic distance-measuring sensor.
6. a kind of Automatic Guided Vehicle with hollow screw mandrel jacking rotating mechanism according to claim 1, it is characterised in that
Including lifting driving gear（2-2）, an electric rotating machine（1-1）, a lifting motor（2-1）, several screw gears（3-
1）, rotation driving gear（1-2）, the rotation driving gear（1-2）It is fixedly connected the electric rotating machine（1-1）Output shaft,
The rotation driving gear（1-2）With the rotary drive gear（4）Intermeshing；The lifting driving gear（2-2）It is fixed
Connect the lifting motor（2-1）Output shaft, the lifting driving gear（2-2）With the lifting driven gear（5）Mutually
Engagement；The screw mandrel（3-3）Top be respectively fixedly connected screw gear described in（3-1）, the screw gear（3-1）
Respectively with the lifting driven gear（5）Intermeshing.
7. a kind of Automatic Guided Vehicle with hollow screw mandrel jacking rotating mechanism according to claim 1, it is characterised in that
Sensor is sent including configurating terminal and wireless receiving, nothing described in is respectively set in the configurating terminal, the controller
Line is received and sends sensor.
8. a kind of Automatic Guided Vehicle with hollow screw mandrel jacking rotating mechanism according to claim 3, it is characterised in that
Including accumulator, wireless charger and receiving coil, the receiving coil by magnetic alloy around being made with electric wire, the reception line
Circle, accumulator series connection, the receiving coil, the accumulator are fixedly installed on the base plate（9）On, the accumulator
Electrically connect the controller, the range sensor, jacking motor（2-1）, electric rotating machine（1-1）, several driving wheels（10）、
Several lower photographic head（15）With photographic head on several（14）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710066550.7A CN106672860A (en) | 2017-02-07 | 2017-02-07 | Automatic conveying vehicle with hollow lead screw jacking rotation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710066550.7A CN106672860A (en) | 2017-02-07 | 2017-02-07 | Automatic conveying vehicle with hollow lead screw jacking rotation mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106672860A true CN106672860A (en) | 2017-05-17 |
Family
ID=58860346
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710066550.7A Pending CN106672860A (en) | 2017-02-07 | 2017-02-07 | Automatic conveying vehicle with hollow lead screw jacking rotation mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106672860A (en) |
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| CN106996298A (en) * | 2017-05-19 | 2017-08-01 | 龚岗 | The positioning of tunnel double-lining reinforcing bar, laying and liftout attachment |
| CN107053212A (en) * | 2017-06-21 | 2017-08-18 | 合肥井松自动化科技有限公司 | A kind of jacking rotating mechanism |
| CN107098290A (en) * | 2017-06-29 | 2017-08-29 | 沈阳霹雳科技有限公司 | A kind of storage robot of anticollision |
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| CN108100941A (en) * | 2018-02-13 | 2018-06-01 | 威海力磁电气有限公司 | It can voluntarily walk and carry the trolley of workpiece |
| CN108298470A (en) * | 2018-04-12 | 2018-07-20 | 芜湖友仁机电工程有限公司 | AGV rotates lifting body |
| CN108508766A (en) * | 2017-12-29 | 2018-09-07 | 黎明职业大学 | A kind of Multifunctional mobile platform |
| CN108657714A (en) * | 2018-07-04 | 2018-10-16 | 哈工大机器人（昆山）有限公司 | A kind of modularization rotating lifting AGV |
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| CN108928622A (en) * | 2018-07-16 | 2018-12-04 | 诺力智能装备股份有限公司 | A kind of sorting vehicle |
| CN109018070A (en) * | 2018-07-16 | 2018-12-18 | 诺力智能装备股份有限公司 | A kind of flexible jacking component |
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| CN109305520A (en) * | 2017-07-28 | 2019-02-05 | 上海倍獭工业机器人有限公司 | A kind of Intelligent carrier system and its control method |
| CN109308071A (en) * | 2017-07-28 | 2019-02-05 | 上海倍獭工业机器人有限公司 | A kind of floor truck and its control method with lifting rotation mechanism |
| CN109467024A (en) * | 2018-11-15 | 2019-03-15 | 深圳若步智能科技有限公司 | A kind of merchandising machine people |
| CN109911809A (en) * | 2019-01-22 | 2019-06-21 | 福建（泉州）哈工大工程技术研究院 | A kind of rotation lifting body and the submarine AGV comprising the rotation lifting body |
| CN110002163A (en) * | 2019-04-27 | 2019-07-12 | 安徽凌坤智能科技有限公司 | A kind of intelligent carriage for the composite machine people that stores in a warehouse |
| CN110002207A (en) * | 2019-04-11 | 2019-07-12 | 北京七星华创集成电路装备有限公司 | Jacking rotating mechanism and product pipeline |
| CN110143396A (en) * | 2019-06-27 | 2019-08-20 | 广东利元亨智能装备股份有限公司 | Intelligent cruise vehicle |
| CN110182265A (en) * | 2019-05-22 | 2019-08-30 | 无锡宝岛机车发展有限公司 | Harmful influence transfer car(buggy) chassis frame |
| CN111054698A (en) * | 2019-12-04 | 2020-04-24 | 天津开发区玲达盛钰科技有限公司 | Automatic purging, dedusting and cleaning system and operation method |
| CN111169891A (en) * | 2020-02-26 | 2020-05-19 | 五邑大学 | Intelligent carrying trolley |
| CN111362190A (en) * | 2020-03-06 | 2020-07-03 | 安徽宇锋智能科技有限公司 | Fork transport AGV |
| CN111547432A (en) * | 2020-05-15 | 2020-08-18 | 深圳市鲸仓科技有限公司 | Butting method for putting turnover boxes on shelves |
| WO2020238493A1 (en) * | 2019-05-30 | 2020-12-03 | 北京京东乾石科技有限公司 | Lifting mechanism of automated guided vehicle and automated guided vehicle |
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| CN112390199A (en) * | 2020-11-17 | 2021-02-23 | 浙江工业大学 | Omnidirectional AGV with independent lifting and rotating platform function and control method |
| CN113734687A (en) * | 2021-08-09 | 2021-12-03 | 中国核电工程有限公司 | Jacking rotary conveying device |
| EP3932848A1 (en) * | 2020-07-02 | 2022-01-05 | Tata Consultancy Services Limited | Lift and rotate unit for lifting and rotating a plurality of payloads |
| CN114212732A (en) * | 2021-12-22 | 2022-03-22 | 松蒙(北京)机器人有限公司 | Active hydraulic independent suspension type electric carrier and leveling method |
| CN114634129A (en) * | 2022-03-08 | 2022-06-17 | 宜昌市燕狮科技开发有限责任公司 | Lifting device for automatic drill rod conveying trolley of blast furnace and using method |
| CN114751338A (en) * | 2022-04-19 | 2022-07-15 | 湖北三丰机器人有限公司 | High accuracy intelligence is from moving super steady lifting type AGV |
| DE102021214969A1 (en) | 2021-12-23 | 2023-06-29 | Continental Automotive Technologies GmbH | Driverless transport vehicle with a payload lifting device |
| WO2024184331A1 (en) * | 2023-03-09 | 2024-09-12 | Jungheinrich Aktiengesellschaft | Lifting mechanism for an autonomous under-carrier industrial truck |
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| CN106996298A (en) * | 2017-05-19 | 2017-08-01 | 龚岗 | The positioning of tunnel double-lining reinforcing bar, laying and liftout attachment |
| CN107053212A (en) * | 2017-06-21 | 2017-08-18 | 合肥井松自动化科技有限公司 | A kind of jacking rotating mechanism |
| CN107116942A (en) * | 2017-06-27 | 2017-09-01 | 盐城市宁润玻璃制品有限公司 | A kind of glass carving machine |
| CN107098290A (en) * | 2017-06-29 | 2017-08-29 | 沈阳霹雳科技有限公司 | A kind of storage robot of anticollision |
| CN107176558A (en) * | 2017-07-10 | 2017-09-19 | 水岩科技（北京）有限公司 | Lifting device, rotating device, lifting rotary system and intelligent storage robot |
| WO2019010604A1 (en) * | 2017-07-10 | 2019-01-17 | 水岩科技（北京）有限公司 | Lifting device, rotating device, lifting and rotating system, and intelligent warehouse robot |
| CN107352463A (en) * | 2017-07-17 | 2017-11-17 | 合肥中导机器人科技有限公司 | Jacking rotary platform |
| CN109308071A (en) * | 2017-07-28 | 2019-02-05 | 上海倍獭工业机器人有限公司 | A kind of floor truck and its control method with lifting rotation mechanism |
| CN109305520A (en) * | 2017-07-28 | 2019-02-05 | 上海倍獭工业机器人有限公司 | A kind of Intelligent carrier system and its control method |
| CN108508766A (en) * | 2017-12-29 | 2018-09-07 | 黎明职业大学 | A kind of Multifunctional mobile platform |
| CN108100941A (en) * | 2018-02-13 | 2018-06-01 | 威海力磁电气有限公司 | It can voluntarily walk and carry the trolley of workpiece |
| CN108100941B (en) * | 2018-02-13 | 2023-12-05 | 青岛威巴克生物技术有限公司 | Trolley capable of walking and carrying workpieces by itself |
| CN108298470A (en) * | 2018-04-12 | 2018-07-20 | 芜湖友仁机电工程有限公司 | AGV rotates lifting body |
| CN108657714B (en) * | 2018-07-04 | 2024-06-25 | 严格科创发展(昆山)有限公司 | Rotatory AGV that lifts of modularization |
| CN108657714A (en) * | 2018-07-04 | 2018-10-16 | 哈工大机器人（昆山）有限公司 | A kind of modularization rotating lifting AGV |
| CN109018070A (en) * | 2018-07-16 | 2018-12-18 | 诺力智能装备股份有限公司 | A kind of flexible jacking component |
| CN108928622A (en) * | 2018-07-16 | 2018-12-04 | 诺力智能装备股份有限公司 | A kind of sorting vehicle |
| CN108751029B (en) * | 2018-08-07 | 2024-01-30 | 深圳市井智高科机器人有限公司 | Lifting device and AGV (automatic guided vehicle) |
| CN108751029A (en) * | 2018-08-07 | 2018-11-06 | 深圳市井智高科机器人有限公司 | A kind of lifting gear and AGV carriers |
| CN109467024A (en) * | 2018-11-15 | 2019-03-15 | 深圳若步智能科技有限公司 | A kind of merchandising machine people |
| CN109911809A (en) * | 2019-01-22 | 2019-06-21 | 福建（泉州）哈工大工程技术研究院 | A kind of rotation lifting body and the submarine AGV comprising the rotation lifting body |
| CN110002207A (en) * | 2019-04-11 | 2019-07-12 | 北京七星华创集成电路装备有限公司 | Jacking rotating mechanism and product pipeline |
| CN110002163A (en) * | 2019-04-27 | 2019-07-12 | 安徽凌坤智能科技有限公司 | A kind of intelligent carriage for the composite machine people that stores in a warehouse |
| CN110182265A (en) * | 2019-05-22 | 2019-08-30 | 无锡宝岛机车发展有限公司 | Harmful influence transfer car(buggy) chassis frame |
| WO2020238493A1 (en) * | 2019-05-30 | 2020-12-03 | 北京京东乾石科技有限公司 | Lifting mechanism of automated guided vehicle and automated guided vehicle |
| US12054375B2 (en) | 2019-05-30 | 2024-08-06 | Beijing Jingdong Qianshi Technology Co., Ltd. | Lifting mechanism of automated guided vehicle and automated guided vehicle |
| CN110143396A (en) * | 2019-06-27 | 2019-08-20 | 广东利元亨智能装备股份有限公司 | Intelligent cruise vehicle |
| TWI717095B (en) * | 2019-11-11 | 2021-01-21 | 威剛科技股份有限公司 | Autonomous mobile vehicle and autonomous mobile vehicle system |
| CN111054698A (en) * | 2019-12-04 | 2020-04-24 | 天津开发区玲达盛钰科技有限公司 | Automatic purging, dedusting and cleaning system and operation method |
| CN111169891A (en) * | 2020-02-26 | 2020-05-19 | 五邑大学 | Intelligent carrying trolley |
| CN111362190A (en) * | 2020-03-06 | 2020-07-03 | 安徽宇锋智能科技有限公司 | Fork transport AGV |
| CN111547432A (en) * | 2020-05-15 | 2020-08-18 | 深圳市鲸仓科技有限公司 | Butting method for putting turnover boxes on shelves |
| CN111547432B (en) * | 2020-05-15 | 2022-03-01 | 深圳市鲸仓科技有限公司 | Butting method for putting turnover boxes on shelves |
| EP3932848A1 (en) * | 2020-07-02 | 2022-01-05 | Tata Consultancy Services Limited | Lift and rotate unit for lifting and rotating a plurality of payloads |
| CN112357829A (en) * | 2020-10-29 | 2021-02-12 | 温州市工业设计院 | All-round automatic handling equipment |
| CN112390199A (en) * | 2020-11-17 | 2021-02-23 | 浙江工业大学 | Omnidirectional AGV with independent lifting and rotating platform function and control method |
| CN113734687A (en) * | 2021-08-09 | 2021-12-03 | 中国核电工程有限公司 | Jacking rotary conveying device |
| CN114212732A (en) * | 2021-12-22 | 2022-03-22 | 松蒙(北京)机器人有限公司 | Active hydraulic independent suspension type electric carrier and leveling method |
| DE102021214969A1 (en) | 2021-12-23 | 2023-06-29 | Continental Automotive Technologies GmbH | Driverless transport vehicle with a payload lifting device |
| WO2023116986A1 (en) | 2021-12-23 | 2023-06-29 | Continental Automotive Technologies GmbH | Driverless transport vehicle with a payload lifting device |
| CN114634129A (en) * | 2022-03-08 | 2022-06-17 | 宜昌市燕狮科技开发有限责任公司 | Lifting device for automatic drill rod conveying trolley of blast furnace and using method |
| CN114751338A (en) * | 2022-04-19 | 2022-07-15 | 湖北三丰机器人有限公司 | High accuracy intelligence is from moving super steady lifting type AGV |
| WO2024184331A1 (en) * | 2023-03-09 | 2024-09-12 | Jungheinrich Aktiengesellschaft | Lifting mechanism for an autonomous under-carrier industrial truck |
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