CN108357844A - A kind of submarine AGV lifting bodies - Google Patents
A kind of submarine AGV lifting bodies Download PDFInfo
- Publication number
- CN108357844A CN108357844A CN201810115427.4A CN201810115427A CN108357844A CN 108357844 A CN108357844 A CN 108357844A CN 201810115427 A CN201810115427 A CN 201810115427A CN 108357844 A CN108357844 A CN 108357844A
- Authority
- CN
- China
- Prior art keywords
- plate
- motor
- intermediate plate
- lead screw
- lifting body
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
A kind of submarine AGV lifting bodies, the lifting body includes a motor, the output shaft driving coupling motor sprocket of the motor, motor sprocket drives head sprocket by chain chain drive, head sprocket connects a lead screw with nut in angular contact bearing support underdrive, nut is fixedly connected by the central hole of intermediate plate with intermediate plate, intermediate plate is fixedly connected by more first support columns with top plate, when the motor is actuated, motor sprocket drives head sprocket, so that the lead screw starts to rotate, under the action of lead screw, nut does rising either descending motion along lead screw, intermediate plate and the top plate being connect with intermediate plate is driven to rise or fall movement, complete the jacking function of lifting body.
Description
Technical field
The invention belongs to AGV technical fields, more particularly to a kind of submarine AGV lifting bodies.
Background technology
Same applicant discloses a kind of " submarine AGV operations system in the patent document of Publication No. CN107450554A
System, the AGV are used for the Transport cargo rack in a preset space, and there is the AGV laser radar, AGV to pass through the laser radar
The position of barrier is obtained, the operational mode of the operating system includes：The AGV is made in the pre-set space with starting point
The position of whole barriers in the operation area is obtained by the operation area of the laser radar scanning AGV on AGV for origin
Information, and these location informations one static map of formation is stored in memory, as the spy needed for AGV operation navigation
Sign matching map；When the AGV executes carrying task, operating system is the fortune that AGV planning includes starting point, transit point and terminal
Walking along the street diameter, at runtime, laser radar thereon continually scans for ambient enviroment to the AGV, by the real-time surrounding features point of acquisition
It is compared with the static map to prestore, and combines AGV mileages and angle change, determine the real-time location coordinates of AGV.Into one
Step, the top of the AGV is equipped with the lifting body of embedded AGV installations, after the AGV finds the shelf for needing to carry, from
The main bottom part down for piercing shelf, lifting body action, the shelf is jacked up, and shelf are transported to specific bit
It sets.Further, reflecting strips are posted on the foot of the shelf, the laser radar of the AGV identifies the reflecting strips, and AGV is with this
After the locational space for determining shelf, from the position and attitude of main modulation itself, hide into the bottom part down of shelf.Further,
The lifting body and bottom shelf of the AGV has the aligning structure that pairing uses, and is used to help accurate realization and the shelf of AGV
Contraposition jacking, prevent the Jacking point of lifting body from not occurring in the case where shelf position of centre of gravity ", however in this application not
There is the specific implementation details for the contraposition lifting body for providing AGV.
Invention content
The embodiment of the present invention is by providing a kind of submarine AGV lifting bodies, it is therefore intended that solves existing submarine AGV
The problem of lacking specific driving structure details in scheme.
One of the embodiment of the present invention, a kind of submarine AGV lifting bodies, the lifting body include a motor, the motor
Output shaft driving coupling motor sprocket, motor sprocket by chain chain drive drive head sprocket, head sprocket is in angular contact bearing
Underdrive is supported to connect a lead screw with nut, nut is fixedly connected by the central hole of intermediate plate with intermediate plate, intermediate
Plate is fixedly connected by more first support columns with top plate.Multiple buphthalmos wheels are provided on the top plate.
When the motor is actuated, motor sprocket drives head sprocket so that the lead screw starts to rotate, in the effect of lead screw
Under, nut does rising either descending motion along lead screw, drive intermediate plate and the top plate that connect with intermediate plate do rise or
The jacking function of lifting body is completed in descending motion.
The angular contact bearing is mounted on by angular contact bearing seat at bottom plate central hole, and bottom plate passes through the second support column
It is connected and fixed with upper plate, intermediate plate is cased with flange bearing and can be moved up and down in the second support column, rotates to drive by lead screw and fix
Nut on intermediate plate moves up and down.
Be additionally provided with one piece of upper plate between intermediate plate and top plate, the upper end of the lead screw by a deep groove ball bearing with it is upper
Plate couples at the central hole of upper plate, and upper plate is equipped with optoelectronic switch.If lifting body does the movement risen, on intermediate plate
The lower position block of setting touches the optoelectronic switch on upper plate, and at this moment motor stops operating；If lifting body is done down
The movement of drop, the upper limit position block being arranged on top plate can touch the optoelectronic switch on upper plate, and at this moment motor stops operating.
Beneficial effects of the present invention include：
1, it ensure that the laser navigation trolley referred in background technology and draw the relative positional accuracy between shelf.Because
There is certain location after the error that laser radar positioning generates causes each laser radar navigation trolley to enter shelf
Error, the design of buphthalmos wheel through the invention, this error distance can use the jacking apparatus of the present invention to realize relative position certainly
Dynamic adjustment.
2, lifting body of the invention can effectively extend the service life of laser navigation trolley hoistable platform.Due to being used for
The elevating platform assembly of latent traction does not completely lift the weight of shelf, and elevating platform assembly is without in one direction
On by prodigious active force, fatigue strength is big not as lifting completely, increases the service life that hoistable platform is used.Reason exists
In, if it is lifting completely, the gravity of shelf and cargo all concentrates on hoistable platform lifting body, on vertical direction for
Cooperation intermolecular forces increase both between lead screw and nut, larger to the loss of trolley itself, compare the bulk life time for influencing trolley.
Since shelf are generally equipped with wheel, the present invention is not used and is lifted completely, and shelf wheel lands in whole or in part, top
The force of rolling friction that mechanism hoistable platform bears the movement of horizontal direction shelf is risen, the pressure of shelf cargo is reduced on vertical direction
Comparatively power, the active force acted on lead screw are reduced, increase the service life used.
3, the present invention posts rubber pad in the surrounding of the hoistable platform top plate of lifting body so that hoistable platform rises to finger
Determine there are more stiction between shelf after height, ensures that the two can bear more power in the horizontal direction, improve
The stability of traction.
Description of the drawings
Detailed description below, above-mentioned and other mesh of exemplary embodiment of the invention are read by reference to attached drawing
, feature and advantage will become prone to understand.In the accompanying drawings, if showing the present invention's by way of example rather than limitation
Dry embodiment, wherein：
Fig. 1 AGV appearance diagrams of the present invention.
One schematic diagram of lifting body in Fig. 2 embodiment of the present invention.
Fig. 3 is another schematic diagram of lifting body in inventive embodiments.
Fig. 4 is lifting body decomposition diagram in the embodiment of the present invention.
Fig. 5 is that the AGV lifting bodies of the present invention use schematic diagram.
1 --- shelf fixed plate, 2 --- buphthalmos wheel, 3 --- top plate, 4 --- short support column, 5 --- upper limit position block,
6 --- upper plate, 7 --- deep groove ball bearing, 8 --- lower position block, 9 --- optoelectronic switch, 10 --- intermediate plate, 11 --- flange
Bearing, 12 --- the lead screw with nut, 13 --- dagger of drawing money on credit, 14 --- angular contact bearing seat, 15 --- motor, 16 --- it adjusts
Whole washer, 17 --- angular contact bearing, 18 --- bottom plate, 19 --- motor sprocket, 20 --- third support column, 21 --- bottom plate
Cushion block, 22 --- head sprocket, 23 --- shelf, 24 --- AGV, 25 --- contraposition lifting body.
Specific implementation mode
As shown in figure 4, being the stereogram exploded view of the embodiment of the present invention.The embodiment of the present invention is suitable for submarine AGV, should
AGV is for example described in the background, and it includes a motor to have lifting body, the lifting body, and the output shaft of the motor passes
Dynamic connection motor sprocket, motor sprocket drive head sprocket, head sprocket to support underdrive in angular contact bearing by chain chain drive
A lead screw with nut is connected, nut is fixedly connected by the central hole of intermediate plate with intermediate plate, and intermediate plate passes through more
First support column (short support column) is fixedly connected with top plate.When the motor is actuated, motor sprocket drives head sprocket so that institute
Lead screw is stated to start to rotate.Under the action of lead screw, nut along lead screw do rising either descending motion, drive intermediate plate and
The top plate being connect with intermediate plate rises or falls movement, and top plate after being aligned with the shelf fixed plate on shelf by pushing up
Shelf are risen, the jacking function of lifting body is completed.
Wherein, the angular contact bearing is mounted on by angular contact bearing seat at bottom plate central hole, and bottom plate passes through second
Support column (dagger of drawing money on credit) and upper plate are connected and fixed, and intermediate plate is cased with flange bearing and can be moved up and down in the second support column, passes through
Lead screw rotation drives the nut being fixed on intermediate plate to move up and down.
Be additionally provided with one piece of upper plate between intermediate plate and top plate, the upper end of the lead screw by a deep groove ball bearing with it is upper
Plate couples at the central hole of upper plate, and upper plate is equipped with optoelectronic switch,
If lifting body does the movement risen, the lower position block being arranged on intermediate plate touches the light on upper plate
Electric switch, at this moment motor stop operating；
If lifting body does the movement declined, the upper limit position block being arranged on top plate can touch the light on upper plate
Electric switch, at this moment motor stop operating.
It is provided with multiple buphthalmos wheels on the top plate of the lifting body of the present invention.Top plate is by installing shelf fixed plate and shelf
Shelf are jacked after contraposition.The lifting body includes bottom plate cushion block, and bottom plate cushion block passes through third support column and bottom plate connecting.Together
When, the surrounding of the top plate of lifting body can post rubber pad so that lifting body hoistable platform rise to after specified altitude assignment and
There are more stiction between shelf, ensure that the two can bear more power in the horizontal direction, improve the steady of traction
It is qualitative.The reason is that, there are smaller clearance distances originally between top plate and shelf, rubber pad is added and reduces top plate and shelf
Between contact distance, compressible material characteristic can guarantee and both intact contact, and opposed metallic surfaces, friction
Coefficient increases, and preferably prevents the relative movement between top plate and shelf
The construction package that the present invention is formed using materials such as steel by processing, in addition flange multi-directional ball (buphthalmos wheel), axis
Hold, the fixed plate cooperation on the parts and shelf such as motor, become it is a set of for latent traction can tolerance hoistable platform dress
It sets.This device effectively eliminates error caused by laser navigation, increases the use of the lifting body as shelf hoistable platform
Service life substantially increases the accuracy of latent traction.
Meanwhile using the materials such as steel hoistable platform top plate is made and loaded on the fixed plate on shelf in the present invention, by method
Blue multi-directional ball is positioned on the top plate of hoistable platform, when laser navigation trolley reaches bottom shelf designated position, lifting
Platform can rise, and the flange universal wheel on hoistable platform can touch shelf fixed plate first, due to having in fixed plate and flange
The inclination angle of universal wheel contact, has active force and acts on shelf, shelf can carry out the tune of position in the case where acting on force effect automatically
Straightening to hoistable platform and shelf realizes preferable cooperation between the two.
When the motor of lifting body starts operation, motor sprocket is rotated head sprocket by chain, head sprocket and silk
Bar is mutually fixed, and lead screw starts to rotate, and nut with matching starts to do rising either descending motion along lead screw, due to spiral shell
Mother is integrally fixed on intermediate plate, and intermediate plate rises or falls movement together with nut, and intermediate plate and top plate are by short
During support column connects, then intermediate plate moves, top plate also with rising or falling movement together.If it is the fortune of rising
Dynamic, the lower position block on intermediate plate can touch the optoelectronic switch on upper plate, and motor will stop after optoelectronic switch is touched
Only operate；If it is the movement of decline, the upper limit position block on top plate can touch the optoelectronic switch on upper plate, work as photoelectricity
Motor will stop operating after switch touching.
The small cars of AGV are provided with industrial personal computer and PLC, are issued instructions to the industrial personal computer of AGV navigation vehicles flat as lifting
The motor of the lifting body of platform, motor start operation, after limited block touches optoelectronic switch, photoelectric output signal to PLC,
Signal is defeated by industrial personal computer by PLC, and industrial personal computer sends out the running that instruction stops AGV hoistable platform motors.
It is worth noting that although foregoing teachings are by reference to several essences that detailed description of the preferred embodimentsthe present invention has been described creates
God and principle, it should be appreciated that, the present invention is not limited to disclosed specific implementation mode, the division also unawareness to various aspects
The feature that taste in these aspects cannot combine, this to divide the convenience merely to statement.The present invention is directed to cover appended power
Included various modifications and equivalent arrangements in the spirit and scope that profit requires.
Claims (6)
1. a kind of submarine AGV lifting bodies, which is characterized in that the lifting body includes a motor, and the output shaft of the motor passes
Dynamic connection motor sprocket, motor sprocket drive head sprocket, head sprocket to support underdrive in angular contact bearing by chain chain drive
A lead screw with nut is connected, nut is fixedly connected by the central hole of intermediate plate with intermediate plate, and intermediate plate passes through more
First support column is fixedly connected with top plate,
When the motor is actuated, motor sprocket drives head sprocket so that and the lead screw starts to rotate,
Under the action of lead screw, nut does rising either descending motion along lead screw, drives intermediate plate and connects with intermediate plate
The top plate connect rises or falls movement, completes the jacking function of lifting body.
2. submarine AGV lifting bodies as described in claim 1, which is characterized in that the angular contact bearing passes through angular contact axis
Bearing is mounted at bottom plate central hole, and bottom plate is connected and fixed by the second support column and upper plate, and intermediate plate is cased with flange bearing
It can be moved up and down in the second support column, drive the nut being fixed on intermediate plate to move up and down by lead screw rotation.
3. submarine AGV lifting bodies as described in claim 1, which is characterized in that be additionally provided with one between intermediate plate and top plate
Block upper plate, the upper end of the lead screw are coupled at the central hole of upper plate with upper plate by a deep groove ball bearing, are set on upper plate
There is optoelectronic switch,
If lifting body does the movement risen, the lower position block being arranged on intermediate plate touches the photoelectricity on upper plate and opens
It closes, at this moment motor stops operating；
If lifting body does the movement declined, the photoelectricity that the upper limit position block being arranged on top plate can touch on upper plate is held
It closes, at this moment motor stops operating.
4. submarine AGV lifting bodies as described in claim 1, which is characterized in that be provided with multiple buphthalmos wheels on the top plate.
5. submarine AGV lifting bodies as described in claim 1, which is characterized in that the lifting body includes bottom plate cushion block,
Bottom plate cushion block passes through third support column and bottom plate connecting.
6. submarine AGV lifting bodies as described in claim 1, which is characterized in that the top plate of the lifting body by with peace
Shelf are jacked after shelf fixed plate contraposition on shelf.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810115427.4A CN108357844B (en) | 2018-02-06 | 2018-02-06 | Formula of hiding AGV climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810115427.4A CN108357844B (en) | 2018-02-06 | 2018-02-06 | Formula of hiding AGV climbing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108357844A true CN108357844A (en) | 2018-08-03 |
| CN108357844B CN108357844B (en) | 2021-01-29 |
Family
ID=63004842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810115427.4A Active CN108357844B (en) | 2018-02-06 | 2018-02-06 | Formula of hiding AGV climbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108357844B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018806A (en) * | 2018-08-21 | 2018-12-18 | 江苏木盟智能科技有限公司 | A kind of automatic conveying system and method |
| CN109307183A (en) * | 2018-09-25 | 2019-02-05 | 武汉理工大学 | A kind of removable light of stage platform based on AGV Yu machine person cooperative work |
| CN110155594A (en) * | 2019-06-24 | 2019-08-23 | 纪超云巢数据科技有限公司 | A kind of shelf handling device |
| CN114212469A (en) * | 2021-11-12 | 2022-03-22 | 山东新华医疗器械股份有限公司 | Special transport AGV for transporting sterilization rack in disinfection supply center |
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| CN203976311U (en) * | 2014-07-11 | 2014-12-03 | 湖州上电科电器科学研究有限公司 | A kind ofly rotate lifting body and comprise the AGV dolly that rotates lifting body |
| CN205220637U (en) * | 2015-11-04 | 2016-05-11 | 上海电器科学研究所（集团）有限公司 | Novel rotatory climbing mechanism suitable for AGV robot |
| CN205855908U (en) * | 2016-07-20 | 2017-01-04 | 广东嘉腾机器人自动化有限公司 | A kind of rotating lifting mechanism and AGV carrier |
| CN107298407A (en) * | 2017-08-24 | 2017-10-27 | 北京正则银利人工智能技术有限公司 | AGV dolly jacking guiding mechanisms |
| KR20180002432A (en) * | 2016-06-29 | 2018-01-08 | 이규상 | Rear Fork type Automated Guided Vehicle System |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203976311U (en) * | 2014-07-11 | 2014-12-03 | 湖州上电科电器科学研究有限公司 | A kind ofly rotate lifting body and comprise the AGV dolly that rotates lifting body |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018806A (en) * | 2018-08-21 | 2018-12-18 | 江苏木盟智能科技有限公司 | A kind of automatic conveying system and method |
| CN109018806B (en) * | 2018-08-21 | 2023-11-14 | 江苏木盟智能科技有限公司 | Automatic conveying system and method |
| CN109307183A (en) * | 2018-09-25 | 2019-02-05 | 武汉理工大学 | A kind of removable light of stage platform based on AGV Yu machine person cooperative work |
| CN110155594A (en) * | 2019-06-24 | 2019-08-23 | 纪超云巢数据科技有限公司 | A kind of shelf handling device |
| CN114212469A (en) * | 2021-11-12 | 2022-03-22 | 山东新华医疗器械股份有限公司 | Special transport AGV for transporting sterilization rack in disinfection supply center |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108357844B (en) | 2021-01-29 |
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