CN108298470A - AGV rotates lifting body - Google Patents
AGV rotates lifting body Download PDFInfo
- Publication number
- CN108298470A CN108298470A CN201810325976.4A CN201810325976A CN108298470A CN 108298470 A CN108298470 A CN 108298470A CN 201810325976 A CN201810325976 A CN 201810325976A CN 108298470 A CN108298470 A CN 108298470A
- Authority
- CN
- China
- Prior art keywords
- agv
- jacking
- lifting body
- servo motor
- gear
- 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.)
- Pending
Links
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims abstract description 7
- 238000005303 weighing Methods 0.000 claims description 6
- 238000004321 preservation Methods 0.000 abstract description 6
- 230000006870 function Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 4
- 230000003068 static effect Effects 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 15
- 230000003028 elevating effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011232 storage material Substances 0.000 description 1
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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention provides a kind of AGV rotations lifting body, kinetic servo electric motor starting, power gear drives rotation ring gear rotation, turning gear annulus moves rotating nuts rotation, rotating nuts drive jacking lead screw to rise, and jacking leading screw drives raising plate, rotation support plate, top plate to rise to realize that jacking, rotation support plate can drive positioning gear to drive the rotation of positioning ring gear or stop by fixed servo motor, to ensure in AGV movements and steering procedure, the cargo that AGV is carried is static；And pass through serial communication between servomotor controller and ARM controller; ARM controller sends order control kinetic servo motor rotating cycle; exact height is obtained after conversion; ARM controller will memory in kinetic servo motor position information preservation to EPROM each time; with lifting body position after ensureing power-off restarting it is found that having the function of failure data protection.
Description
Technical field
The present invention relates to AGV automatic fields more particularly to a kind of AGV to rotate lifting body.
Background technology
In order to realize that high automation, efficient industrial automation production, AGV are quickly grown at home in recent years, especially
Based on the storage material carrying AGV of small load-carrying.Ding Shen mechanisms will not only meet load-carrying requirement as the important mechanism on AGV,
And for requiring as far as possible for low car body size, it is highly important to occupy lower space as possible.In addition to this,
AGV stretches requirement for height to adapt to different tops, and the accurate feedback that height is stretched on top is the pith during automatic transporting.It is right
For many commodity, when AGV carries out various act bit money adjustment, how to ensure that being handled upside down article keeps relatively motionless,
It is research hotspot.
Currently, the lifting body used in AGV trolleies is electric pushrod mechanism, Electrohydraulic push rod mechanism or X-type double-lever mechanism.
Although electric pushrod mechanism and Electrohydraulic push rod mechanism structure is simple, bearing capacity is strong, and can realize that mandril straight line jacks, it is electronic
Transfer bar mechanism overtension, poor in self and jacking rear stability are poor；Electrohydraulic push rod mechanism will appear leakage, self-locking property
It is easy to topple over the problems such as being difficult to control with top lifting height after difference, jacking.And although X-type double-lever mechanism solves above-mentioned two jacking
The stability problem of mechanism, but its bearing capacity is poor, requires height, and complicated in mechanical structure to motor, needs to customize.
Utility model CN203359434U discloses a kind of elevating mechanism of automatic guided vehicle comprising rack, motor, row
Cheng Kaiguan, turntable and cam；There are one with disk bias and perpendicular to the cam of disk, the mechanism is logical for installation on the turntable
The lifting for crossing control cam drives the body of automatic guided vehicle to carry out elevating movement.The driving machine of the elevating mechanism only AGV trolleies
Structure entirety automatic lifting, is unable to rotary motion, cannot preferably meet the needs of flexibly carrying and handling goods.Meanwhile
Above-mentioned eccentric structure is easy to happen inclination after the mechanism is jacked.
Patent CN201410327521.8 discloses a kind of rotation lifting body, which controls feed screw nut using motor
Mode is stretched on top, and pallet is fixed on lead screw, can only be rotated with car body, does not have failure data protection function, between lead screw and nut
There is no bearing, power consumption big.
Invention content
To solve the above problems, the present invention provides a kind of AGV rotations lifting body, kinetic servo electric motor starting, power teeth
Wheel belt turn moving teeth ring rotates, and turning gear annulus moves rotating nuts rotation, and rotating nuts drive jacking lead screw to rise, jack leading screw
Raising plate, rotation support plate, top plate is driven to rise to realize jacking, it is fixed that rotation support plate can be driven by fixed servo motor
Position gear is to drive the rotation of positioning ring gear or stop, to ensure in AGV movements and steering procedure, cargo that AGV is carried
It is static；And by serial communication between servomotor controller and ARM controller, ARM controller sends order control power
Servo motor rotating cycle, obtains exact height after conversion, ARM controller will kinetic servo motor position information preservation each time
To memory in EPROM, with lifting body position after ensureing power-off restarting it is found that having the function of failure data protection, solve
The problem in background technology.
The object of the present invention is to provide a kind of AGV to rotate lifting body, includes bottom plate, the bottom plate top center setting
There is a fixed column, intermediate in fixed column to be provided with guide cylinder, guide cylinder outer side edges are led along there are four the guide groove of square arrangement
It is located in fixed column to slot；It is provided with jacking lead screw in guide groove, is located at the top of fixed column madial wall on the outside of every jacking lead screw
Rotating nuts are provided with, there are two connection bearings, and the two is connected to one between rotating nuts and the jacking lead screw being adjacent to
It rises；Rotating nuts top is stretched outside above fixed column, and rotation ring gear is engaged on the outside of all rotating nuts, is nibbled on the left of rotation ring gear
Close dynamic gear；All jacking screw mandrel tops are provided with raising plate, and rotatable rotation support is provided at the top of raising plate
Plate, rotation support plate top are provided with top plate；It is connected with kinetic servo motor below the power gear.
Further improvement lies in that：Positioning ring gear is provided on the outside of the rotation support plate, it is fixed to be engaged on the right side of positioning ring gear
Position gear, positioning gear lower section are connected with fixed servo motor.
Further improvement lies in that：The guide groove inner wall is provided with bumper block in both sides up and down.
Further improvement lies in that：The screw thread of the jacking lead screw, which uses, has self-locking performance trapezoidal thread.
Further improvement lies in that：It is provided with pallet at the top of the top plate, there is weighing plate in bottom end in pallet.
Further improvement lies in that：Further include having jacking control system, jacking control system includes kinetic servo motor, is moved
Force servo motor is connected with servomotor controller, and servomotor controller is connected with ARM controller, and ARM controller is connected with
For storing data, ARM controller is connected with signal of the limit sensors for providing top lifting height to eprom memory；Servo
Pass through serial communication between electric machine controller and ARM controller；ARM controller sends order control kinetic servo motor rotation circle
Number, obtains exact height after conversion, ARM controller will store in kinetic servo motor position information preservation to EPROM each time
Device, to ensure that lifting body position is understood after power-off restarting.
Beneficial effects of the present invention：Kinetic servo electric motor starting of the present invention, power gear drive rotation ring gear rotation, rotation
Ring gear drive rotating nuts rotation, rotating nuts drive jacking lead screw rise, jacking leading screw drive raising plate, rotation support plate,
Top plate rises to realize that jacking, rotation support plate can drive positioning gear to drive positioning ring gear by fixed servo motor
Rotation stops, and to ensure in AGV movements and steering procedure, the cargo that AGV is carried is static；And servomotor controller
By serial communication between ARM controller, ARM controller sends order control kinetic servo motor rotating cycle, after conversion
Obtain exact height, ARM controller will memory in kinetic servo motor position information preservation to EPROM each time, to ensure
It is found that having the function of failure data protection, the screw thread for jacking lead screw is used with self-locking performance for lifting body position after power-off restarting
Trapezoidal thread is provided with the pallet of weighing plate so as to self-locking, and arrangement of goods is more convenient；Rotating nuts and jacking silk
Bar avoids the two and is in direct contact there are two bearing is connected；And frictional force is small, and jacking supporting power is big and wear-resistant, and nothing is made an uproar
Sound.
Description of the drawings
Fig. 1 is the front view of the present invention.
Fig. 2 is present invention jacking control system module frame chart.
Wherein：1- bottom plates, 2- fixed columns, 3- guide cylinders, 4- guide grooves, 5- jack lead screw, 6- rotating nuts, 7- connecting shafts
It holds, 8- rotates ring gear, 9- power gears, 10- raising plates, 11- rotation support plates, 12- top plates, 13- kinetic servo motors, 14-
Ring gear is positioned, 15- positions gear, and 16- fixes servo motor, 17- bumper blocks, 18- pallets, 19- weighing plates.
Specific implementation mode
In order to deepen the understanding of the present invention, below in conjunction with embodiment, the invention will be further described, the embodiment
It is only used for explaining the present invention, be not intended to limit the scope of the present invention..
As illustrated in fig. 1 and 2, the present embodiment provides a kind of AGV to rotate lifting body, includes bottom plate 1, and the bottom plate 1 pushes up
Fixed column 2 is provided among portion, centre is provided with guide cylinder 3 in fixed column 2, and 3 outer side edges of guide cylinder are along there are four square
The guide groove 4 of arrangement, guide groove 4 are located in fixed column 2；Jacking lead screw 5,2 madial wall of fixed column top are provided in guide groove 4
5 outside of every jacking lead screw is provided with rotating nuts 6, between rotating nuts 6 and the jacking lead screw 5 being adjacent to there are two
Connection bearing 7 links together the two；6 top of rotating nuts is stretched outside 2 top of fixed column, and all 6 outsides of rotating nuts are nibbled
Conjunction has rotation ring gear 8,8 left side of rotation ring gear to be engaged with power gear 9；All 5 tops of jacking lead screw are provided with raising plate 10,
10 top of raising plate is provided with rotatable rotation support plate 11, and 11 top of rotation support plate is provided with top plate 12；The power
9 lower section of gear is connected with kinetic servo motor 13.11 outside of the rotation support plate is provided with positioning ring gear 14, positions ring gear 14
Right side is engaged with positioning gear 15, and 15 lower section of positioning gear is connected with fixed servo motor 16.Two above and below 4 inner wall of the guide groove
Side is provided with bumper block 17.The screw thread of the jacking lead screw 5, which uses, has self-locking performance trapezoidal thread.12 top setting of the top plate
There is a pallet 18, there is weighing plate 19 in bottom end in pallet 18.
Further include having jacking control system, jacking control system includes kinetic servo motor, the connection of kinetic servo motor
There are servomotor controller, servomotor controller to be connected with ARM controller, ARM controller is connected with eprom memory and is used for
Data are stored, ARM controller is connected with signal of the limit sensors for providing top lifting height；Servomotor controller and ARM
Pass through serial communication between controller；ARM controller sends order control kinetic servo motor rotating cycle, and standard is obtained after conversion
Really height, ARM controller will memory in kinetic servo motor position information preservation to EPROM each time, to ensure power-off weight
It opens known to rear lifting body position.
Kinetic servo motor 13 starts, and power gear 9 drives rotation ring gear 8 to rotate, and rotation ring gear 8 drives rotating nuts 6
Rotation, rotating nuts 6 drive jacking lead screw 5 to rise, and jacking leading screw 5 drives raising plate 10, rotation support plate 11, top plate 12 to rise
To realize that jacking, rotation support plate 11 can drive positioning gear 15 to drive positioning ring gear 14 by fixed servo motor 16
Rotation stops, and to ensure in AGV movements and steering procedure, the cargo that AGV is carried is static；And servomotor controller
By serial communication between ARM controller, ARM controller sends order control kinetic servo motor rotating cycle, after conversion
Obtain exact height, ARM controller will memory in kinetic servo motor position information preservation to EPROM each time, to ensure
It is found that having the function of failure data protection, the screw thread of jacking lead screw 5, which uses, has self-locking performance for lifting body position after power-off restarting
Trapezoidal thread is provided with the pallet 18 of weighing plate 19, arrangement of goods is more convenient so as to self-locking；Rotating nuts 6 and top
Lead screw 5 is risen there are two bearing is connected, the two is avoided and is in direct contact；And frictional force is small, and jacking supporting power is big and wear-resistant,
Noiseless.
Claims (6)
- Include bottom plate 1. a kind of AGV rotates lifting body（1）, it is characterised in that：The bottom plate（1）Top center is provided with Fixed column（2）, fixed column（2）Interior centre is provided with guide cylinder（3）, guide cylinder（3）Outer side edges are along there are four square arrangements Guide groove（4）, guide groove（4）Positioned at fixed column（2）It is interior；Guide groove（4）Inside it is provided with jacking lead screw（5）, fixed column（2）It is interior Top side wall is located at every jacking lead screw（5）Outside is provided with rotating nuts（6）, rotating nuts（6）With the jacking being adjacent to Lead screw（5）Between there are two connect bearing（7）The two is linked together；Rotating nuts（6）Top is stretched outside fixed column（2）On Side, all rotating nuts（6）Outside is engaged with rotation ring gear（8）, rotate ring gear（8）Left side is engaged with power gear（9）；Institute Some jacking lead screws（5）Top is provided with raising plate（10）, raising plate（10）Top is provided with rotatable rotation support plate （11）, rotate support plate（11）Top is provided with top plate（12）；The power gear（9）Lower section is connected with kinetic servo motor （13）.
- 2. AGV as described in claim 1 rotates lifting body, it is characterised in that：The rotation support plate（11）Outside is provided with Position ring gear（14）, position ring gear（14）Right side is engaged with positioning gear（15）, position gear（15）Lower section is connected with fixation and watches Take motor（16）.
- 3. AGV as described in claim 1 rotates lifting body, it is characterised in that：The guide groove（4）Inner wall both sides setting up and down There is bumper block（17）.
- 4. AGV as described in claim 1 rotates lifting body, it is characterised in that：The jacking lead screw（5）Screw thread using having Self-locking performance trapezoidal thread.
- 5. AGV as described in claim 1 rotates lifting body, it is characterised in that：The top plate（12）Top is provided with pallet （18）, pallet（18）There is weighing plate in interior bottom end（19）.
- 6. AGV as described in claim 1 rotates lifting body, it is characterised in that：Further include having jacking control system, jacking control System includes kinetic servo motor, and kinetic servo motor is connected with servomotor controller, and servomotor controller is connected with ARM controller, ARM controller are connected with eprom memory for storing data, and ARM controller is connected with limit sensors use In the signal for providing top lifting height；Pass through serial communication between servomotor controller and ARM controller；ARM controller is sent Order control kinetic servo motor rotating cycle, obtains exact height after conversion, ARM controller will kinetic servo motor each time Location information is saved in memory in EPROM, to ensure that lifting body position is understood after power-off restarting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810325976.4A CN108298470A (en) | 2018-04-12 | 2018-04-12 | AGV rotates lifting body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810325976.4A CN108298470A (en) | 2018-04-12 | 2018-04-12 | AGV rotates lifting body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108298470A true CN108298470A (en) | 2018-07-20 |
Family
ID=62848380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810325976.4A Pending CN108298470A (en) | 2018-04-12 | 2018-04-12 | AGV rotates lifting body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108298470A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109279539A (en) * | 2018-11-15 | 2019-01-29 | 深圳若步智能科技有限公司 | A kind of lifting body |
| CN109533088A (en) * | 2018-12-28 | 2019-03-29 | 天津朗誉科技发展有限公司 | A kind of AGV vehicle that vehicle frame moves up |
| CN110630852A (en) * | 2019-11-06 | 2019-12-31 | 徐州市凯诺机械有限公司 | Crane supporting device |
| CN112320046A (en) * | 2019-08-05 | 2021-02-05 | 无锡市正浩包装材料有限公司 | Wooden case convenient to draw article |
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|---|---|---|---|---|
| DE3314180A1 (en) * | 1982-04-20 | 1983-10-27 | Metallifacture Ltd., Redhill Nottingham | CAR LIFT |
| JPH05330795A (en) * | 1992-05-28 | 1993-12-14 | Kokusai Electric Co Ltd | Elevator device |
| 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 |
| 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 |
| CN106672860A (en) * | 2017-02-07 | 2017-05-17 | 仓智（上海）智能科技有限公司 | Automatic conveying vehicle with hollow lead screw jacking rotation mechanism |
| CN206417820U (en) * | 2017-02-10 | 2017-08-18 | 仓智（上海）智能科技有限公司 | Hollow jacking-rotating device |
| CN107055389A (en) * | 2017-05-31 | 2017-08-18 | 广东嘉腾机器人自动化有限公司 | A kind of rotating lifting device and apply its transfer robot |
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| CN206666032U (en) * | 2017-03-17 | 2017-11-24 | 杭州新剑机器人技术股份有限公司 | Rotation jacking apparatus on AGV transfer robots |
| CN208087146U (en) * | 2018-04-12 | 2018-11-13 | 芜湖友仁机电工程有限公司 | AGV rotates lifting body |
-
2018
- 2018-04-12 CN CN201810325976.4A patent/CN108298470A/en active Pending
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|---|---|---|---|---|
| DE3314180A1 (en) * | 1982-04-20 | 1983-10-27 | Metallifacture Ltd., Redhill Nottingham | CAR LIFT |
| JPH05330795A (en) * | 1992-05-28 | 1993-12-14 | Kokusai Electric Co Ltd | Elevator device |
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| 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 |
| CN106672860A (en) * | 2017-02-07 | 2017-05-17 | 仓智（上海）智能科技有限公司 | Automatic conveying vehicle with hollow lead screw jacking rotation mechanism |
| CN206417820U (en) * | 2017-02-10 | 2017-08-18 | 仓智（上海）智能科技有限公司 | Hollow jacking-rotating device |
| CN206666032U (en) * | 2017-03-17 | 2017-11-24 | 杭州新剑机器人技术股份有限公司 | Rotation jacking apparatus on AGV transfer robots |
| CN107055389A (en) * | 2017-05-31 | 2017-08-18 | 广东嘉腾机器人自动化有限公司 | A kind of rotating lifting device and apply its transfer robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109279539A (en) * | 2018-11-15 | 2019-01-29 | 深圳若步智能科技有限公司 | A kind of lifting body |
| CN109533088A (en) * | 2018-12-28 | 2019-03-29 | 天津朗誉科技发展有限公司 | A kind of AGV vehicle that vehicle frame moves up |
| CN112320046A (en) * | 2019-08-05 | 2021-02-05 | 无锡市正浩包装材料有限公司 | Wooden case convenient to draw article |
| CN110630852A (en) * | 2019-11-06 | 2019-12-31 | 徐州市凯诺机械有限公司 | Crane supporting device |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20180720 |