CN107055389A - A kind of rotating lifting device and apply its transfer robot - Google Patents
A kind of rotating lifting device and apply its transfer robot Download PDFInfo
- Publication number
- CN107055389A CN107055389A CN201710399496.8A CN201710399496A CN107055389A CN 107055389 A CN107055389 A CN 107055389A CN 201710399496 A CN201710399496 A CN 201710399496A CN 107055389 A CN107055389 A CN 107055389A
- Authority
- CN
- China
- Prior art keywords
- component
- lifting
- rotary drive
- guide
- shaped groove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
- 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
- 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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention belongs to robotic technology field, specially a kind of rotating lifting device, including substrate, first pivoting support, screw thread pair, guide and rotating mechanism, first pivoting support inner ring and substrate connection, the outer ring of first pivoting support is provided with the gear teeth engaged with lifting drive gear, guide is fixed on the first pivoting support inner ring, screw thread pair includes the hollow screw rod of nut and middle part, nut is linked in guide periphery and is fixed on the first pivoting support outer ring, screw rod is located between guide and nut, the first guiding mechanism rotated between guide and screw rod provided with limitation screw rod；Rotating mechanism is located at screw rod upper end, it includes rotary drive motor, rotary drive gear and rotary drive component, rotary drive component periphery is provided with the gear teeth engaged with rotary drive gear, the rotary drive component at least gear teeth can be rotated relative to screw rod, and the present invention also provides a kind of transfer robot of application rotating lifting device.Simple in construction, simple operation of the invention.
Description
Technical field
The invention belongs to robotic technology field, specially a kind of rotating lifting device and using its transfer robot.
Background technology
With the rise and the requirement of factory specification of human cost, AGV is increasingly becoming important handbarrow, tradition
Backpack AGV be only capable of transported material, people set up other hardware devices in order to expand AGV application, often to match somebody with somebody
Close AGV to use, so as to improve its cost performance.
Realize that the method for AGV loading and unloading functions mainly there are two kinds at present, the first is to be located in setting feeding device in purpose,
Such as manipulator is few because this kind of method cost is higher, it is necessary to set feeding device in each destination, therefore only
Number enterprise uses this method；Second is that lifting device is incorporated on AGV, allows AGV itself to possess lifting function, when AGV is arrived
Up to after destination, only loading and unloading just need to can be carried out using lifting mechanism, so as to reduce the cost of loading and unloading, and made in actual
In, the AGV with lifting and spinfunction can not only realize the function of lifting goods, and can also realize goods opposing bottom surface not
The function of rotation, therefore favored deeply by client, but such AGV generally existing rotating lifting apparatus structure circulated in the market
Complicated the shortcomings of, portioned product is in order to avoid drawbacks described above, or even has abandoned the function of rotation, therefore, researches and develops a kind of structure letter
List and the rotating lifting device on AGV is applied to be very necessary.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of rotating lifting device simple in construction.
In order to solve the above-mentioned technical problem, the present invention uses following technical scheme：
A kind of rotating lifting device, including substrate and the lifting mechanism and rotating mechanism installed in the surface,
The lifting mechanism includes lifting drive component and lifting transmission component, and the rotating mechanism includes rotary drive assembly and rotation
Transmission component.
The lifting drive component includes lifting motor and lifting drive gear, the lifting drive gear and lifting
The output end connection of motor.
It is described lifting transmission component include the first pivoting support, screw thread pair and guide, first pivoting support it is interior
Circle is fixedly connected with substrate, and the outer ring of first pivoting support is provided with the gear teeth engaged with lifting drive gear, the guiding
Part is fixedly mounted on the upper end of the first pivoting support inner ring, and the inner thread part of the screw thread pair is looped around the outer of the guide
Week and the upper end for being fixedly mounted on the first pivoting support outer ring, the threaded male component ring of the screw thread pair are located at the guide
Between inner thread part, the threaded male component is threadedly coupled with inner thread part, the guide and threaded male component it
Between be provided with the first guiding mechanism, first guiding mechanism limitation threaded male component is rotated.
The rotary drive assembly includes rotary drive motor and rotary drive gear, the rotary drive gear and rotation
The output end connection of motor, the periphery of the rotary drive component is provided with the gear teeth engaged with rotary drive gear, described
Rotary drive component is arranged on the top of threaded male component, and the rotary drive component at least gear teeth can turn with respect to threaded male component
It is dynamic.
Compared with prior art, the rotating lifting device that the present invention is provided, is provided with lifting mechanism and rotation on substrate
Mechanism, so that synchronous rotary, lifting can be realized, declined or individually rotation or individually lifting, the function of declining, present invention knot
Simple compact, the easy to operate, precision of structure is high.Specifically, when the outer ring of the lifting pivoting support of driving gear drives first turns
When dynamic, it will drive the inner thread part being fixedly connected with the first pivoting support outer ring to make synchronous axial system, due to guide with
And under the guide effect of guiding mechanism, the threaded male component being threadedly coupled with inner thread part only can relative inner thread part rising
Or decline, without rotating, so as to realize individually lifting, the function of declining；In addition, pallet component passes through rotary drive component
Installed in the top of threaded male component, when rotary drive gear driving rotary drive component is rotated, pallet component phase can be driven
Threaded male component is rotated, so as to realize the function of individually rotating, therefore can be controlled to lift driving group according to actual demand
The work of part and rotary drive assembly, thus realize synchronous rotary, lifting, decline or individually rotation or individually lifting, under
The function of drop, and the lifting of device and decline are then realized by controlling to lift the rotating of motor.Due to lifting driving
The gear teeth meshing of gear and the first pivoting support, when lifting mechanism work is not needed, lifting motor passes through control
Lifting drive gear does not rotate, thus the outer ring of the first pivoting support is locked, to provide auto-lock function, prevent the first revolution branch
The outer ring held voluntarily is rotated, and improves precision.
Further, first guiding mechanism includes the vertical guide groove on the threaded male component inwall, with
And the correspondence guide groove is arranged on the directive wheel on the guide outer wall, the inwall of the directive wheel and guide groove coordinates,
It is preferred that, first guiding mechanism is at least provided with two.First guiding mechanism is simple and compact for structure, works as inner thread part
During rotation, the cooperation of directive wheel and guide groove, which limits threaded male component, can only move up and down and can not rotate, and serve guiding
Effect, in addition, threaded male component lifting when, directive wheel is rolled with respect to threaded male component along guide groove, is led with existing
Compared to mechanism, sliding friction is converted into rolling friction by directive wheel, so as to reduce the first guiding mechanism rubbing in lifting
Wipe, so as to reduce its loss, extend its life-span.
Further, the second guiding mechanism, second Guiding machine are additionally provided between the guide and threaded male component
Structure includes the first vertically arranged V-shaped groove, the second V-shaped groove, and with intersecting that first V-shaped groove and the second V-shaped groove coordinate
Roller assembly, first V-shaped groove is on the inwall of threaded male component, and second V-shaped groove is located on the outer wall of guide,
The decussation roller component is located between first V-shaped groove and the second V-shaped groove.It is preferred that, second guiding mechanism is provided with
Three, the angle that two neighboring second guiding mechanism is located on horizontal plane is 120 degree.The set-up mode of second guiding mechanism
It is simple and compact for structure, it is more smooth when can lift threaded male component, more precisely, in addition, the fit system of decussation roller and V-shaped groove
Existing sliding friction is converted into rolling friction, the effect of guiding is not only ensured, and also reduces the second guiding mechanism
Friction in lifting, so as to reduce its loss, extends its life-span.
Further, the decussation roller component includes retainer and multiple rollers, and the retainer is fixedly mounted on the
The outside of two V-shaped grooves, the retainer is provided with multiple installation units for being used to install roller, and the multiple installation unit is vertical
It is spaced, each roller is arranged in corresponding installation unit, two neighboring roller intersects setting, and two neighboring rolling
The angle between angle and the second V-shaped groove left and right sides inwall between the axis angle of post and the first V-shaped groove left and right sides inwall
Equal, the roller is provided with two circular end faces and the rolling surface between described two circular end faces, the rolling surface
Roll and coordinate with the inwall of the first V-shaped groove and the second V-shaped groove respectively, two neighboring roller and the first V-shaped groove, the second V-shaped groove are handed over
Mispairing is closed, for example, the right side wall and the second V-shaped groove of the same rolling surface towards each roller set respectively with the first V-shaped groove
Left side wall coordinate, the rolling surface of each roller of another direction left side wall respectively with the first V-shaped groove and the right side of the second V-shaped groove
Side wall coordinates.It is preferred that, the axis of two neighboring roller is mutually perpendicular to.The set-up mode structure letter of the decussation roller component
Single, the cooperation between roller and the first V-shaped groove and the second V-shaped groove is smooth, makes threaded male component more smooth when lifting, and in addition adjacent two
It is mutually perpendicular between individual roller, orthogonal set-up mode between first, second V-shaped groove two side, can preferably limit levels
The free degree on direction, so as to be preferably oriented to.
Further, an installing plate is provided between the lifting mechanism and rotating mechanism, the rotary drive component includes
Second pivoting support, the lower end of the installing plate and the upper end of threaded male component are connected, the upper end of installing plate and the second revolution branch
The inner ring held is fixedly connected, and the rotary drive assembly is fixedly mounted on the installing plate, outside second pivoting support
Circle is provided with the gear teeth engaged with the rotary drive gear.Second pivoting support have it is simple in construction, transmission precisely, friction
Small the characteristics of, further, since the gear teeth meshing of rotary drive gear and the second pivoting support, when not needing rotating mechanism work
When, rotary drive motor is by controlling rotary drive gear not rotate, so that the outer ring of the second pivoting support is locked, has carried
Lock function is provided from, prevents the outer ring of the second pivoting support from voluntarily rotating, precision is improved.
Further, connected between the threaded male component and inner thread part of the screw thread pair using trapezoidal thread, due to
Trapezoidal thread has the characteristics of lead angle is less than equivalent friction angle, so that safety and stability when ensureing to lift goods.
The present invention also provides a kind of transfer robot for applying above-mentioned rotating lifting device, including AGV chassis and at least
One above-mentioned rotating lifting device, the rotating lifting device is arranged on AGV chassis, the set-up mode bag of rotating lifting device
Two kinds are included, the first is the top for being arranged on AGV chassis, the lower section for being provided in AGV chassis second.Due to present invention offer
Transfer robot incorporate above-mentioned rotating lifting device, therefore synchronous rotary material, loading and unloading or individually rotation can be realized
Material or the function of independent loading and unloading, so that AGV function wider, practicality is stronger.
Brief description of the drawings
Fig. 1 is the stereogram of rotating lifting device
Fig. 2 is the explosive view of rotating lifting device
Sectional view 1 when Fig. 3 declines for lifting transmission component
Sectional view 2 when Fig. 4 rises for lifting transmission component
Fig. 5 is the sectional view 3 of lifting transmission component
Fig. 6 is the structural representation of threaded male component
Fig. 7 is the structural representation of guide
Fig. 8 is structural representation Fig. 1 of the second guiding mechanism
Fig. 9 is structural representation Fig. 2 of the second guiding mechanism
Figure 10 is the structural representation of fixed seat
Embodiment
Below in conjunction with the embodiment of the brief description of the drawings present invention.
In the description of the invention, it is to be understood that " on ", " under ", "left", "right", " level ", " interior ",
The orientation or position relationship of instructions such as " outer " are, based on orientation shown in the drawings or position relationship, to be for only for ease of and describe this hair
Bright and simplified description, rather than instruction or the signified device of hint or element must be with specific orientation, with specific orientation
Construction and operation, therefore be not considered as limiting the invention.It is of the present invention to be fixedly connected including mode connects for screw, riveting
Mode is fixedly connected with etc. traditional.
Embodiment one：
Referring to Fig. 1 and Fig. 2, a kind of rotating lifting device, including substrate 1 and the lifting installed in the top of substrate 1
Mechanism 2 and rotating mechanism 3, the lifting mechanism 2 include lifting drive component 21 and lifting transmission component 22, the rotating mechanism
3 include rotary drive assembly 31, rotary drive component 32 and pallet component 33, and the rotating mechanism 3 is arranged on lifting mechanism 2
Top, the pallet component 33 is arranged on the upper end of rotary drive component 32.
Referring to Fig. 1, Fig. 2 and Figure 10, the lifting drive component 21 includes lifting motor 211 and lifting drive gear
212, the upper end of substrate 1 is provided with a fixed seat 11 for being secured to connection, and the inside of fixed seat 11, which is provided with, to be used to install
The installation cavity 111 of the lifting drive gear 212, the inner side of the fixed seat 11 offers the hollow-out parts of connection installation cavity 111
112, the lifting drive gear 212 is arranged in installation cavity 111, and the lifting motor 211 is arranged on the fixed seat
11 upper end, the output end of the lifting motor 211 is connected through the fixed seat 11 with lifting drive gear 212.
Referring to Fig. 1 to Fig. 5, the lifting transmission component 22 includes the first pivoting support 221, screw thread pair and guide 224,
The inner ring 221a of first pivoting support 221 is fixedly connected with substrate 1, the outer ring 221b of the first pivoting support 221 be provided with
The gear teeth 221c that lifting drive gear 212 is adapted, the lifting drive gear 212 passes through the hollow-out parts 112 and first time
Turn the gear teeth 221c engagements of supporting 221；The guide 224 is fixedly mounted on the inner ring 221a upper ends of the first pivoting support 221, institute
Stating screw thread pair includes inner thread part 223 and threaded male component 222, specifically, the inner thread part 223 is preferably nut；
The threaded male component 222 is preferably the hollow screw rod in middle part, and in order to improve the safety and stability of device, above-mentioned screw thread is excellent
Choosing uses trapezoidal thread.Further, since lifting drive gear 212 is engaged with the gear teeth 221c of the first pivoting support 221, when being not required to
When wanting the lifting mechanism 2 to work, lifting motor 211 is by controlling lifting drive gear 212 not rotate, so that by first
The outer ring of pivoting support 221 is locked, to provide auto-lock function, prevents the outer ring of the first pivoting support 221 from voluntarily rotating, and improves essence
Degree.
Referring to Fig. 1 to Fig. 5, the inner thread part 223 of the screw thread pair is looped around the periphery of the guide 224, under it
End is fixedly connected with the outer ring 221b upper ends of the first pivoting support 221, described in the threaded male component 222 of the screw thread pair is located on
Between guide 224 and inner thread part 223, threaded male component 222 is threadedly coupled with inner thread part 223, the guide
The first guiding mechanism 4 and the second guiding mechanism 5 are provided between 224 and threaded male component 222, first guiding mechanism 4 is symmetrical
Provided with two, second guiding mechanism 5 is evenly equipped with three, and the angle of two neighboring second guiding mechanism 5 in the horizontal plane is
120 degree, the guiding mechanism 5 of the first guiding mechanism 4 and second limits threaded male component 222 and rotated in inner thread part 223
When can only move up and down, and can not rotate.
Referring to Fig. 3 to Fig. 7, first guiding mechanism 4 includes the vertical guide groove on the inwall of threaded male component 222
41, and the directive wheel 42 that the guide groove 41 is arranged on the outer wall of guide 224 is corresponded to, it is described in order to strengthen guide effect
Directive wheel 42 can be along the direction of guide groove 41 provided with multiple.The directive wheel 42 includes connecting portion 421 and rolled portion 422, described
Rolled portion 422 can opposing connections 421 rotate, the connecting portion 421 is fixed on guide 224, rolled portion 422 be arranged on lead
Cooperation is rolled into groove 41 and with the inwall of guide groove 41.First guiding mechanism 4 is simple and compact for structure, when internal thread zero
When part 223 is rotated, the cooperation of directive wheel 42 and guide groove 41, which limits threaded male component 222, can only move up and down and can not turn
It is dynamic, the effect of guiding is served, in addition, when the lifting of threaded male component 222, directive wheel 42 is with respect to the edge of threaded male component 222
Guide groove 41 is rolled, compared with existing guiding mechanism, and sliding friction is converted into rolling friction by directive wheel 42, so as to reduce
Friction of first guiding mechanism 4 in lifting, so as to reduce its loss, extends its life-span.
Referring to Fig. 5 to Fig. 9, second guiding mechanism 5 includes the first vertically arranged V-shaped groove 51, the second V-shaped groove 52,
And the decussation roller component 53 coordinated with the V-shaped groove 52 of the first V-shaped groove 51 and second, first V-shaped groove 51 is located at outer
On the inwall of thread part 222, second V-shaped groove 52 is on the outer wall of guide 224, and the decussation roller component 53 is set
Between the V-shaped groove 52 of the first V-shaped groove 51 and second.
Referring to Fig. 5, Fig. 7 to Fig. 9, the decussation roller component 53 includes retainer 531 and multiple rollers 532, described to protect
The outside that frame 531 is fixedly mounted on the second V-shaped groove 52 is held, retainer 531 is fixedly connected with guide 224, the retainer 531
Provided with multiple installation unit 531a for being used to install roller 532, the multiple installation unit 531a is vertically spaced, each
Roller 532 is arranged in corresponding installation unit 531a, and intersect setting between two neighboring roller 532, and two neighboring
In angle and the left and right sides of the second V-shaped groove 52 between the axis angle of roller 532 and the left and right sides inwall of the first V-shaped groove 51
Angle between wall is equal, it is preferred that in order to ensure guide effect, and the axis angle between two rollers 532 is 90 degree, i.e., first
The left and right sides wall of V-shaped groove 51 is mutually perpendicular to, and the left and right sides wall of the second V-shaped groove 52 is mutually perpendicular to.The roller 532 is provided with two circles
Shape end face 532a and rolling surface 532b, the rolling surface 532b between described two circular end face 532a are respectively with
The inwall of one V-shaped groove 51 and the second V-shaped groove 52, which is rolled, to be coordinated, the two neighboring V-shaped groove 51 of roller 532 and first, the second V-shaped groove 52
Staggeredly coordinate, for example, the right side walls of the same rolling surface 532b towards each roller 532 set respectively with the first V-shaped groove 51
Coordinate with the left side wall of the second V-shaped groove 52, the rolling surface 532b of each roller 532 of another direction respectively with the first V-shaped groove 51
Left side wall and the second V-shaped groove 52 right side wall coordinate.The set-up mode of second guiding mechanism 5 is simple and compact for structure, can
It is more smooth when lifting threaded male component 222, more precisely, in addition, the fit system of decussation roller 532 and V-shaped groove will be existing
Sliding friction is converted into rolling friction, not only ensures the effect of guiding, and also reduces the second guiding mechanism 5 in lifting
Friction so that reduce its loss, extend its life-span.The set-up mode of the decussation roller component 53 is simple in construction, roller 532
Cooperation between the first V-shaped groove 51 and the second V-shaped groove 52 is smooth, more smooth when lifting threaded male component 222, and in addition adjacent two
It is mutually perpendicular between individual roller 532, orthogonal set-up mode between the two side of first, second V-shaped groove 52 can be limited preferably
The free degree in horizontal direction, so as to be preferably oriented to.
Referring to Fig. 6, as an improvement scheme, be respectively equipped with barrier structure on the guide groove 41, the first V-shaped groove 51
(not showing in the blocking junction composition), specifically, the barrier structure includes being respectively arranged on the V-shaped groove of guide groove 41 and first
The block or catch or spacing preiection of 51 bottoms, the barrier structure can prevent threaded male component 222 from lifting transition and taking off
Fall.
Referring to Fig. 1 and Fig. 2, between the lifting mechanism 2 and rotating mechanism 3 be provided with an installing plate 6, the installing plate 6 with
The upper end of threaded male component 222 is fixedly connected, and the rotary drive assembly 31 includes rotary drive motor 311 and rotation driving tooth
Wheel 312, the installing plate 6 includes the motor mounting rack 61 positioned at its sidepiece, and the rotary drive motor 311 is fixedly mounted on electricity
The lower end of machine mounting bracket 61, the rotary drive gear 312 is fixedly mounted on the upper end of motor mounting rack 61, the rotation driving
The output end of motor 311 is connected through the motor mounting rack 61 with rotary drive motor 311.
Referring to Fig. 1 and Fig. 2, the rotary drive component 32 includes the second pivoting support 321, second pivoting support
321 inner ring 321a is fixedly connected with the upper end of installing plate 6, and the outer ring 321b of the second pivoting support 321 is provided with and rotation driving
The gear teeth 321c that gear 312 is adapted, the rotary drive gear 312 is engaged with the gear teeth 321c of the second pivoting support 321.Institute
Stating the second pivoting support 321 has the characteristics of simple in construction, transmission is accurate, friction is small, further, since rotary drive gear 312
Engaged with the gear teeth 321c of the second pivoting support 321, when not needing rotating mechanism 3 to work, rotary drive motor 311 leads to
Control rotary drive gear 312 is crossed not rotate, thus the outer ring 321b of the second pivoting support 321 is locked, to provide self-locking work(
Can, prevent the outer ring 321b of the second pivoting support 321 from voluntarily rotating, improve precision.
Referring to Fig. 1 and Fig. 2, the pallet component 33 is arranged on the upper end of the second pivoting support 321, the pallet component 33
Including pallet 331 and slipmat 332, the pallet 331 is fixedly connected with the outer ring 321b of the second pivoting support 321, described anti-
Skidding 332 is located at the upper end of pallet 331, and it is more firm that slipmat 332 allows goods to place.
As an improvement scheme, provided with limit position sensor (the extreme position sensing in the lifting mechanism 2
Do not show in device figure), to prevent threaded male component 222 from deviating from.
Referring to Fig. 1 and Fig. 2, as an improvement scheme, the lifting motor 211 include the first turning motor
221a and the first reductor 221b, the first turning motor 221a by the first reductor 221b slow down after with lifting drive gear
212 connections；The rotary drive motor 311 includes the second turning motor 311a and the second reductor 311b, the second turning motor
311a is connected after being slowed down by the second reductor 311b with rotary drive gear 312.
Referring to Fig. 2, as an improvement scheme, the guide 224, the pallet 331, slipmat 332, installing plate
6 middle parts may be configured as hollow-core construction, so as to set scanning means at the middle part of guide 224, so as to the bottom to goods
It is scanned identification.
(do not show in the alternative figure) as a kind of scheme of replacement, second pivoting support is replaceable to be passed into rotation
Moving gear, the installing plate sealing is set, i.e., middle part is not provided with into hollow-core construction, and the rotary transmission gear passes through rotating shaft and institute
The upper end connection of installing plate is stated, rotary transmission gear can relative threaded male component and installing plate by the driving of rotary drive gear
Rotate, the pallet component is arranged on the upper end of the rotary transmission gear.
Compared with prior art, the rotating lifting device that the present invention is provided, is provided with lifting mechanism 2 and rotation on substrate 1
Rotation mechanism 3, so that synchronous rotary, lifting can be realized, declined or individually rotation or individually lifting, the function of declining, this hair
Bright simple and compact for structure, easy to operate, precision is high.Its operation principle is as follows：When lifting drive gear 212 drives first time
When the outer ring 221b for turning supporting 221 is rotated, it will drive the internal thread zero being fixedly connected with the outer ring 221b of the first pivoting support 221
Part 223 makees synchronous axial system, due in the guiding mechanism 4 of guide 224 and first, the guiding of the second guiding mechanism 5 and limitation
In the presence of the horizontal direction free degree, internal thread zero relative with 222 meetings of threaded male component that inner thread part 223 is threadedly coupled
Part 223 rises or declined, without rotating, so as to realize individually lifting, the function of declining；In addition, pallet component 33 passes through
Second pivoting support 321 is arranged on the top of threaded male component 222, and the inner ring of the second pivoting support 321 is fixed by installing plate 6
Installed in the top of threaded male component 222, when rotary drive gear 312 drives the outer ring 321b of the second pivoting support 321 to rotate
When, pallet component 33 can be driven to be rotated relative to threaded male component 222, so that the function of individually rotating is realized, therefore can be according to reality
The demand on border controls to lift the work of drive component 21 and rotary drive assembly 31, so as to realize synchronous rotary, lifting, decline
Or independent rotation or the independent function of lifting, decline, and the lifting of device and decline are then by controlling to lift motor
211 rotating is realized.
Embodiment two：
Do not show in the present embodiment figure, the present invention also provides a kind of conveying robot of the rotating lifting device of Application Example one
People, the transfer robot includes AGV chassis and the rotating lifting device, and the rotating lifting device is arranged on AGV bottoms
On disk, the set-up mode of rotating lifting device includes two kinds, and the first is provided in the top on AGV chassis, and second is to set
Lower section on AGV chassis.Because the transfer robot that the present invention is provided incorporates above-mentioned rotating lifting device, therefore it can realize same
Step rotation material, loading and unloading or the function of individually rotating material or independent loading and unloading, so that AGV function is wider, real
It is stronger with property.
The announcement and teaching of book according to the above description, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and changed.Therefore, the invention is not limited in embodiment disclosed and described above, to the present invention's
Some modifications and changes should also be as falling into the scope of the claims of the present invention.Although in addition, being used in this specification
Some specific terms, but these terms are merely for convenience of description, do not constitute any limitation to the present invention.
Claims (10)
1. a kind of rotating lifting device, it is characterised in that：Lifting mechanism including substrate and installed in the surface and
Rotating mechanism, the lifting mechanism includes lifting drive component and lifting transmission component, and the rotating mechanism includes rotation driving
Component and rotary drive component；
The lifting drive component includes lifting motor and lifting drive gear, and the lifting drive gear drives with lifting
The output end connection of motor；
It is described lifting transmission component include the first pivoting support, screw thread pair and guide, the inner ring of first pivoting support with
Substrate is fixedly connected, and the outer ring of first pivoting support is provided with the gear teeth engaged with lifting drive gear, and the guide is consolidated
Dingan County is mounted in the upper end of the first pivoting support inner ring, and the inner thread part of the screw thread pair is looped around the periphery of the guide simultaneously
And be fixedly mounted on the upper end of the first pivoting support outer ring, the threaded male component ring of the screw thread pair be located at the guide with it is interior
Between thread part, the threaded male component is threadedly coupled with inner thread part, is set between the guide and threaded male component
There is the first guiding mechanism, the first guiding mechanism limitation threaded male component is rotated；
The rotary drive assembly includes rotary drive motor and rotary drive gear, the rotary drive gear and rotation driving
The output end connection of motor, the periphery of the rotary drive component is provided with the gear teeth engaged with rotary drive gear, the rotation
Transmission component is arranged on the top of threaded male component, and the rotary drive component at least gear teeth can be rotated relative to threaded male component.
2. a kind of rotating lifting device according to claim 1, it is characterised in that：First guiding mechanism includes being located at
Vertical guide groove on the threaded male component inwall, and the correspondence guide groove are arranged on leading on the guide outer wall
To wheel, the inwall of the directive wheel and guide groove coordinates.
3. a kind of rotating lifting device according to claim 2, it is characterised in that：First guiding mechanism at least provided with
Two.
4. a kind of rotating lifting device according to claim 1, it is characterised in that：The guide and threaded male component it
Between be additionally provided with the second guiding mechanism, second guiding mechanism includes the first vertically arranged V-shaped groove, the second V-shaped groove, Yi Jiyu
The decussation roller component that first V-shaped groove and the second V-shaped groove coordinate, first V-shaped groove is located at the inwall of threaded male component
On, second V-shaped groove is on the outer wall of guide, and the decussation roller component is located at first V-shaped groove and the second V-arrangement
Between groove.
5. a kind of rotating lifting device according to claim 4, it is characterised in that：The decussation roller component includes keeping
Frame and multiple rollers, the retainer are fixedly mounted on the outside of the second V-shaped groove, and the retainer is used to install provided with multiple
The installation unit of roller, the multiple installation unit is vertically spaced, and each roller is arranged in corresponding installation unit, phase
The folder that adjacent two rollers intersect between setting, and the axis angle of two neighboring roller and the first V-shaped groove left and right sides inwall
Angle between angle and the second V-shaped groove left and right sides inwall is equal, and the roller is provided with two circular end faces and located at described
Rolling surface between two circular end faces, the rolling surface is rolled with the inwall of the first V-shaped groove and the second V-shaped groove respectively to be coordinated.
6. a kind of rotating lifting device according to claim 5, it is characterised in that：The axis of two neighboring roller mutually hangs down
Directly.
7. a kind of rotating lifting device according to claim 4, it is characterised in that：Second guiding mechanism is provided with three
Individual, the angle that two neighboring second guiding mechanism is located on horizontal plane is 120 degree.
8. a kind of rotating lifting device according to claim 1, it is characterised in that：The lifting mechanism and rotating mechanism it
Between be provided with an installing plate, the rotary drive component include the second pivoting support, the lower end of the installing plate and threaded male component
Upper end connection, the upper end of installing plate is fixedly connected with the inner ring with the second pivoting support, and the rotary drive assembly, which is fixed, pacifies
On the installing plate, the outer ring of second pivoting support is provided with the gear teeth engaged with the rotary drive gear.
9. a kind of rotating lifting device according to claim 1, it is characterised in that：The threaded male component of the screw thread pair and
Connected between inner thread part using trapezoidal thread.
10. a kind of transfer robot, it is characterised in that：Including any one of AGV chassis and at least one claim 1 to 9 institute
The rotating lifting device stated, the rotating lifting device is arranged on AGV chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710399496.8A CN107055389B (en) | 2017-05-31 | 2017-05-31 | Rotary lifting device and transfer robot using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710399496.8A CN107055389B (en) | 2017-05-31 | 2017-05-31 | Rotary lifting device and transfer robot using same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107055389A true CN107055389A (en) | 2017-08-18 |
| CN107055389B CN107055389B (en) | 2023-07-18 |
Family
ID=59615443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710399496.8A Active CN107055389B (en) | 2017-05-31 | 2017-05-31 | Rotary lifting device and transfer robot using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107055389B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108298470A (en) * | 2018-04-12 | 2018-07-20 | 芜湖友仁机电工程有限公司 | AGV rotates lifting body |
| CN108502786A (en) * | 2018-05-31 | 2018-09-07 | 上海快仓智能科技有限公司 | Slewing equipment and automatic guide vehicle including the slewing equipment |
| CN108773814A (en) * | 2018-08-20 | 2018-11-09 | 广东嘉腾机器人自动化有限公司 | Lifting mechanism and unmanned floor truck |
| CN108793003A (en) * | 2018-07-04 | 2018-11-13 | 合肥欧语自动化有限公司 | A kind of automatic production line liftable runing rest |
| CN110467133A (en) * | 2018-05-11 | 2019-11-19 | 北京京东尚科信息技术有限公司 | Rotating lifting structure and carrier |
| CN111332980A (en) * | 2018-12-18 | 2020-06-26 | 北京京东尚科信息技术有限公司 | Transport vehicle and lifting mechanism thereof |
| CN112062045A (en) * | 2020-09-17 | 2020-12-11 | 杭州海康机器人技术有限公司 | Rotary lifting device |
| CN112850566A (en) * | 2020-12-29 | 2021-05-28 | 杭州海康机器人技术有限公司 | Lifting device and automatic guide transport vehicle |
| CN112919121A (en) * | 2021-03-03 | 2021-06-08 | 深圳市井智高科机器人有限公司 | Rotary lifting mechanism and AGV transfer robot |
| CN113334750A (en) * | 2021-06-07 | 2021-09-03 | 太原理工大学 | Novel multi-beam fiber single-layer synchronous winding equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104192762A (en) * | 2014-07-11 | 2014-12-10 | 湖州上电科电器科学研究有限公司 | Rotating jacking mechanism and AGV comprising same |
| CN104370242A (en) * | 2014-10-31 | 2015-02-25 | 湖州上电科电器科学研究有限公司 | Fixed-shaft rotating lifting mechanism used for AGV robot and AGV robot |
| CN105417434A (en) * | 2016-01-05 | 2016-03-23 | 北京航空航天大学 | Carrying trolley with lifting device |
| 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 |
| CN206955555U (en) * | 2017-05-31 | 2018-02-02 | 广东嘉腾机器人自动化有限公司 | A kind of rotating lifting device and apply its transfer robot |
-
2017
- 2017-05-31 CN CN201710399496.8A patent/CN107055389B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104192762A (en) * | 2014-07-11 | 2014-12-10 | 湖州上电科电器科学研究有限公司 | Rotating jacking mechanism and AGV comprising same |
| CN104370242A (en) * | 2014-10-31 | 2015-02-25 | 湖州上电科电器科学研究有限公司 | Fixed-shaft rotating lifting mechanism used for AGV robot and AGV robot |
| CN105417434A (en) * | 2016-01-05 | 2016-03-23 | 北京航空航天大学 | Carrying trolley with lifting device |
| 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 |
| CN206955555U (en) * | 2017-05-31 | 2018-02-02 | 广东嘉腾机器人自动化有限公司 | A kind of rotating lifting device and apply its transfer robot |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108298470A (en) * | 2018-04-12 | 2018-07-20 | 芜湖友仁机电工程有限公司 | AGV rotates lifting body |
| CN110467133A (en) * | 2018-05-11 | 2019-11-19 | 北京京东尚科信息技术有限公司 | Rotating lifting structure and carrier |
| CN108502786A (en) * | 2018-05-31 | 2018-09-07 | 上海快仓智能科技有限公司 | Slewing equipment and automatic guide vehicle including the slewing equipment |
| CN108793003A (en) * | 2018-07-04 | 2018-11-13 | 合肥欧语自动化有限公司 | A kind of automatic production line liftable runing rest |
| CN108773814A (en) * | 2018-08-20 | 2018-11-09 | 广东嘉腾机器人自动化有限公司 | Lifting mechanism and unmanned floor truck |
| CN108773814B (en) * | 2018-08-20 | 2024-04-19 | 广东嘉腾机器人自动化有限公司 | Lifting mechanism and unmanned carrying trolley |
| CN111332980B (en) * | 2018-12-18 | 2023-03-10 | 北京京东乾石科技有限公司 | Transport vehicle and lifting mechanism thereof |
| CN111332980A (en) * | 2018-12-18 | 2020-06-26 | 北京京东尚科信息技术有限公司 | Transport vehicle and lifting mechanism thereof |
| CN112062045A (en) * | 2020-09-17 | 2020-12-11 | 杭州海康机器人技术有限公司 | Rotary lifting device |
| CN112062045B (en) * | 2020-09-17 | 2021-10-29 | 杭州海康机器人技术有限公司 | Rotary lifting device |
| CN112850566A (en) * | 2020-12-29 | 2021-05-28 | 杭州海康机器人技术有限公司 | Lifting device and automatic guide transport vehicle |
| CN112919121A (en) * | 2021-03-03 | 2021-06-08 | 深圳市井智高科机器人有限公司 | Rotary lifting mechanism and AGV transfer robot |
| CN113334750A (en) * | 2021-06-07 | 2021-09-03 | 太原理工大学 | Novel multi-beam fiber single-layer synchronous winding equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107055389B (en) | 2023-07-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107055389A (en) | A kind of rotating lifting device and apply its transfer robot | |
| CN206955555U (en) | A kind of rotating lifting device and apply its transfer robot | |
| CN104129734B (en) | A kind of shear arm group for scissor-type lifting mechanism | |
| CN107352463A (en) | Jacking rotary platform | |
| CN106956929A (en) | Glass horizontal linear transfer table and its control method | |
| CN109552871A (en) | A kind of bagged grain conveyance | |
| CN209931908U (en) | Goods shelf with interlayer lifting device | |
| CN110371713A (en) | A kind of rotary horizontal grain equipment and control method | |
| CN110355658A (en) | A kind of polishing mechanical hand | |
| CN117022972A (en) | Loading and unloading bin storage robot and use method thereof | |
| CN207489815U (en) | A kind of substrate jacking-rotating device | |
| CN204036181U (en) | Sheet material chamfering fillet device | |
| CN203820373U (en) | Lifter | |
| CN109052233A (en) | A kind of secondary synchronization belt lifting mechanism and its elevating method | |
| CN209442247U (en) | A kind of bagged grain conveyance | |
| CN205502955U (en) | Novel honeycomb blind | |
| CN209212933U (en) | A kind of cycloidal reducer | |
| CN208575862U (en) | The manipulator of cantilever is installed | |
| CN206645540U (en) | Glass horizontal linear transfer table | |
| CN209507043U (en) | A kind of transfer mechanism of energy synchronous rotary overturning | |
| CN207243249U (en) | U-shaped suspension hook rotational structure | |
| CN208747130U (en) | Material Sorting production line and conveying device | |
| CN102657470B (en) | Window curtain pull ring | |
| CN207107595U (en) | A kind of conveying device of streamline | |
| DE102004007558B4 (en) | Movement device with sinusoidal movement sequence |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |