CN108357844B - Formula of hiding AGV climbing mechanism - Google Patents
Formula of hiding AGV climbing mechanism Download PDFInfo
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- CN108357844B CN108357844B CN201810115427.4A CN201810115427A CN108357844B CN 108357844 B CN108357844 B CN 108357844B CN 201810115427 A CN201810115427 A CN 201810115427A CN 108357844 B CN108357844 B CN 108357844B
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- plate
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- goods shelf
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- chain wheel
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- 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
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- 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
The utility model provides a formula of hiding AGV climbing mechanism, this climbing mechanism include a motor, and the output shaft transmission of this motor links the motor sprocket, and the motor sprocket passes through chain drive main chain wheel, and the main chain wheel supports the lead screw of a root zone nut under angular contact bearing, and the nut is perforated through the center of intermediate lamella and intermediate lamella fixed connection, and the intermediate lamella is through many first support columns and roof fixed connection, works as the motor during operation, motor sprocket drive main chain wheel makes the lead screw begins to rotate, and under the effect of lead screw, the nut is ascending or descending motion along the lead screw, drives the intermediate lamella and is ascending or descending motion with the roof that the intermediate lamella is connected, accomplishes climbing mechanism's jacking function.
Description
Technical Field
The invention belongs to the technical field of AGV, and particularly relates to a latent AGV jacking mechanism.
Background
The same applicant discloses in patent document CN107450554A a "latent AGV running system for transporting a rack in a predetermined space, the AGV having a laser radar by which the AGV acquires the position of an obstacle, the running system having a running mode including: the AGV uses a starting point as an origin point in the preset space, scans an operation area of the AGV through a laser radar on the AGV, acquires position information of all obstacles in the operation area, and forms a static map by the position information to be stored in a memory to be used as a feature matching map required by the AGV operation navigation; when the AGV carries out the transport task, the operation system includes the starting point for the AGV planning, passes through the operation route of point and terminal, when the AGV is moving, the laser radar on it constantly scans the surrounding environment, compares the real-time surrounding characteristic point that will acquire with the static map that prestores to combine AGV mileage and angle change, confirm AGV's real-time position coordinate. Further, AGV's top is equipped with the climbing mechanism of embedding AGV installation, works as after AGV finds the goods shelves that need the transport, independently drills into the bottom below of goods shelves, climbing mechanism action, will goods shelves jack-up to transport goods shelves to the assigned position. Furthermore, subsides on the foot of goods shelves have anti-light strip, AGV's laser radar discernment anti-light strip, AGV are with this position space back of confirming goods shelves, and the position gesture of self regulation is hidden and is got into the bottom below of goods shelves. Further, AGV's climbing mechanism and goods shelves bottom have the counterpoint structure of pairing use for help AGV's accurate realization and the counterpoint jacking of goods shelves prevent that climbing mechanism's jacking point from not appearing in the condition of goods shelves focus position ", nevertheless do not give AGV's counterpoint climbing mechanism's concrete implementation details in this application.
Disclosure of Invention
The embodiment of the invention provides a latent AGV jacking mechanism and aims to solve the problem that specific driving structure details are lacked in the existing latent AGV scheme.
According to one embodiment of the invention, the latent AGV jacking mechanism comprises a motor, an output shaft of the motor is in transmission connection with a motor chain wheel, the motor chain wheel drives a main chain wheel through chain transmission, the main chain wheel is in transmission connection with a lead screw with a nut under the support of an angular contact bearing, the nut is fixedly connected with an intermediate plate through a central through hole of the intermediate plate, and the intermediate plate is fixedly connected with a top plate through a plurality of first support columns. A plurality of bull's eye wheels are arranged on the top plate.
When the motor works, the motor chain wheel drives the main chain wheel, so that the screw rod starts to rotate, the nut ascends or descends along the screw rod under the action of the screw rod, the middle plate and the top plate connected with the middle plate are driven to ascend or descend, and the jacking function of the jacking mechanism is completed.
The angular contact bearing is installed at a central through hole of the bottom plate through an angular contact bearing seat, the bottom plate is fixedly connected with the upper plate through a second supporting column, the middle plate is sleeved with the flange bearing and can move up and down on the second supporting column, and the nut fixed on the middle plate is driven to move up and down through the rotation of the screw rod.
An upper plate is arranged between the middle plate and the top plate, the upper end of the screw rod is connected with the upper plate through a deep groove ball bearing at a central through hole of the upper plate, and a photoelectric switch is arranged on the upper plate. If the jacking mechanism does ascending movement, the lower limiting block arranged on the middle plate touches the photoelectric switch arranged on the upper plate, and then the motor stops operating; if the jacking mechanism does descending movement, the upper limiting block arranged on the top plate can touch the photoelectric switch arranged on the upper plate, and the motor stops operating at the moment.
The beneficial effects of the invention include:
1. the relative position precision between the laser navigation trolley and the traction goods shelf in the background art is ensured. Because the position of the laser radar navigation trolley after entering the goods shelf has certain error due to the error generated by laser radar positioning, the error distance can be automatically adjusted by using the jacking device of the invention through the design of the bull-eye wheel.
2. The jacking mechanism can effectively prolong the service life of the laser navigation trolley lifting platform. Because the lifting platform device for latent traction does not completely lift the weight of the goods shelf, the lifting platform device does not bear great acting force in one direction, the fatigue is not completely lifted, and the service life of the lifting platform is prolonged. The reason is that if the jacking mechanism is completely lifted, the gravity of the goods shelf and the goods is completely concentrated on the lifting platform, the acting force between the screw rod and the nut in the vertical direction is increased, the loss of the trolley is large, and the whole service life of the trolley is influenced.
Because the goods shelf is usually provided with the wheels, the invention does not adopt complete lifting, the wheels of the goods shelf are wholly or partially landed, the lifting platform of the lifting mechanism bears the rolling friction force of the movement of the goods shelf in the horizontal direction, the pressure of goods on the goods shelf is reduced in the vertical direction, the acting force acting on the screw rod is relatively reduced, and the service life is prolonged.
3. According to the invention, the rubber pads are adhered to the periphery of the top plate of the lifting platform of the jacking mechanism, so that more static friction force exists between the lifting platform and the goods shelf after the lifting platform is lifted to a specified height, more force can be borne by the lifting platform and the goods shelf in the horizontal direction, and the traction stability is improved.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:
FIG. 1 is a schematic view of an AGV according to the present invention.
FIG. 2 is a schematic view of a jacking mechanism in an embodiment of the present invention.
Fig. 3 is another schematic view of a jacking mechanism in an embodiment of the invention.
Fig. 4 is an exploded view of a jacking mechanism in an embodiment of the present invention.
FIG. 5 is a schematic diagram of the AGV jacking mechanism of the present invention in use.
1-shelf fixing plate, 2-bull's eye wheel, 3-top plate, 4-short supporting column, 5-upper limit block, 6-upper plate, 7-deep groove ball bearing, 8-lower limit block, 9-photoelectric switch, 10-intermediate plate, 11-flange bearing, 12-screw rod with nut, 13-long supporting column, 14-angular contact bearing seat, 15-motor, 16-adjusting washer, 17-angular contact bearing, 18-bottom plate, 19-motor chain wheel, 20-third supporting column, 21-bottom plate cushion block, 22-main chain wheel, 23-shelf, 24-AGV, 25-aligning jacking mechanism.
Detailed Description
Fig. 4 is an exploded perspective view of an embodiment of the present invention. Embodiments of the present invention are applicable to a submarine AGV having a jacking mechanism as described in the background, the jacking mechanism including a motor having an output shaft drivingly coupled to a motor sprocket, the motor sprocket driving a main sprocket via a chain drive, the main sprocket drivingly coupled to a lead screw having a nut supported by an angular contact bearing, the nut fixedly coupled to an intermediate plate via a central aperture of the intermediate plate, the intermediate plate fixedly coupled to a top plate via a plurality of first support posts (short support posts). When the motor works, the motor chain wheel drives the main chain wheel, so that the screw rod starts to rotate. Under the effect of lead screw, the nut is ascending or descending motion along the lead screw, drives the roof that intermediate lamella and be connected with the intermediate lamella and is ascending or descending motion, and the roof is through the jacking goods shelves after counterpointing with the goods shelves fixed plate of installing on goods shelves, accomplishes climbing mechanism's jacking function.
The angular contact bearing is arranged at a central through hole of the bottom plate through an angular contact bearing seat, the bottom plate is fixedly connected with the upper plate through a second support column (a long support column), the middle plate is sleeved with the flange bearing and can move up and down on the second support column, and the nut fixed on the middle plate is driven to move up and down through the rotation of the screw rod.
An upper plate is arranged between the middle plate and the top plate, the upper end of the screw rod is connected with the upper plate at the central through hole of the upper plate through a deep groove ball bearing, a photoelectric switch is arranged on the upper plate,
if the jacking mechanism does ascending movement, the lower limiting block arranged on the middle plate touches the photoelectric switch arranged on the upper plate, and then the motor stops operating;
if the jacking mechanism does descending movement, the upper limiting block arranged on the top plate can touch the photoelectric switch arranged on the upper plate, and the motor stops operating at the moment.
A plurality of bull-eye wheels are arranged on a top plate of the jacking mechanism. The top plate jacks the goods shelf after aligning with the goods shelf through the goods shelf fixing plate. The jacking mechanism comprises a bottom plate cushion block, and the bottom plate cushion block is connected with the bottom plate through a third supporting column. Meanwhile, rubber pads can be attached to the periphery of the top plate of the jacking mechanism, so that more static friction force exists between the jacking mechanism lifting platform and the goods shelf after the jacking mechanism lifting platform is lifted to a specified height, more force can be borne by the jacking mechanism lifting platform and the goods shelf in the horizontal direction, and the traction stability is improved. The reason is that a small gap distance is reserved between the top plate and the goods shelf, the rubber pad is added to reduce the contact distance between the top plate and the goods shelf, the compressible material property of the rubber pad can ensure the good contact between the top plate and the goods shelf, the friction coefficient is increased relative to the metal surface, and the relative movement between the top plate and the goods shelf is better prevented
The invention adopts a structural component formed by processing materials such as steel, and the like, and parts such as a flange universal ball (a bull-eye wheel), a bearing, a motor and the like are matched with a fixed plate on a goods shelf to form a set of lifting platform device with tolerance for latent traction. The device effectively eliminates errors caused by laser navigation, prolongs the service life of the jacking mechanism serving as the goods shelf lifting platform, and greatly improves the accuracy of latent traction.
Meanwhile, the lifting platform top plate and the fixing plate arranged on the goods shelf are made of steel materials and the like, the flange universal ball is placed on the top plate of the lifting platform, when the laser navigation trolley reaches the designated position at the bottom of the goods shelf, the lifting platform can be lifted, the flange universal wheel on the lifting platform can firstly contact the goods shelf fixing plate, an acting force acts on the goods shelf due to the fact that the fixing plate is provided with an inclination angle in contact with the flange universal wheel, and the goods shelf can automatically adjust the position under the action of the acting force until the lifting platform and the goods shelf are well matched.
When the motor of the jacking mechanism starts to operate, the motor chain wheel rotates the main chain wheel through the chain, the main chain wheel is fixed with the screw rod, the screw rod starts to rotate, the nut matched with the screw rod starts to move upwards or downwards along the screw rod, the nut is fixed on the middle plate, the middle plate moves upwards or downwards along with the nut, the middle plate is connected with the top plate through the short supporting column, and in the process of moving the middle plate, the top plate also moves upwards or downwards along with the middle plate. If the movement is ascending, the lower limit block on the middle plate can touch the photoelectric switch arranged on the upper plate, and the motor stops operating after the photoelectric switch touches; if the movement is descending, the upper limit block on the top plate can touch the photoelectric switch arranged on the top plate, and the motor stops operating after the photoelectric switch touches.
Be provided with industrial computer and PLC in the AGV dolly, give the industrial computer of AGV navigation car and give the motor as lift platform's climbing mechanism, the motor begins to function, after photoelectric switch was touched to the stopper, photoelectric output signal gave PLC, PLC is with signal transmission for the industrial computer, the industrial computer give the instruction stop the function of AGV lift platform motor.
It should be noted that while the foregoing has described the spirit and principles of the invention with reference to several specific embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, nor is the division of aspects, which is for convenience only as the features in these aspects cannot be combined. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (1)
1. A submarine AGV system, which is characterized by comprising an AGV and a goods shelf, wherein the goods shelf is provided with wheels,
when the rack is transported by the AGV, the wheels of the rack are fully or partially grounded,
the AGV is provided with a jacking mechanism which comprises a motor, an output shaft of the motor is in transmission connection with a motor chain wheel, the motor chain wheel drives a main chain wheel through chain transmission, the main chain wheel is in transmission connection with a lead screw with a nut under the support of an angular contact bearing, the nut is fixedly connected with an intermediate plate through a central through hole of the intermediate plate, the intermediate plate is fixedly connected with a top plate through a plurality of first support columns,
when the motor works, the motor chain wheel drives the main chain wheel to enable the screw rod to start rotating,
under the action of the screw rod, the nut moves up or down along the screw rod to drive the middle plate and the top plate connected with the middle plate to move up or down to complete the jacking function of the jacking mechanism,
the angular contact bearing is arranged at a central perforation of the bottom plate through an angular contact bearing seat, the bottom plate is fixedly connected with the upper plate through a second supporting column, the middle plate is sleeved with the flange bearing and can move up and down on the second supporting column, a nut fixed on the middle plate is driven to move up and down through the rotation of the screw rod,
an upper plate is arranged between the middle plate and the top plate, the upper end of the screw rod is connected with the upper plate at the central through hole of the upper plate through a deep groove ball bearing, a photoelectric switch is arranged on the upper plate,
if the jacking mechanism does ascending movement, the lower limiting block arranged on the middle plate touches the photoelectric switch arranged on the upper plate, and then the motor stops operating;
if the jacking mechanism does descending movement, the upper limit block arranged on the top plate can touch the photoelectric switch arranged on the upper plate, at this time, the motor stops operating,
an industrial personal computer and a PLC are arranged in the AGV, the industrial personal computer giving instructions to the AGV navigation vehicle sends instructions to a motor of a jacking mechanism serving as a lifting platform, the motor starts to operate, when a limit block touches a photoelectric switch, a photoelectric output signal is sent to the PLC, the PLC transmits the signal to the industrial personal computer, the industrial personal computer sends instructions to stop the operation of the motor,
the lifting mechanism comprises a bottom plate cushion block, the bottom plate cushion block is connected with the bottom plate through a third supporting column, the top plate of the lifting mechanism lifts the goods shelf after aligning with a goods shelf fixing plate installed on the goods shelf, the bull's eye wheel is placed on the top plate of the lifting platform, when the AGV reaches a specified position at the bottom of the goods shelf, the lifting platform can be lifted, the bull's eye wheel on the lifting platform can firstly contact with the goods shelf fixing plate, and due to the fact that an inclination angle contacted with the bull's eye wheel is arranged on the fixing plate, acting force acts on the goods shelf, the goods shelf can automatically adjust the position under the action of the acting force until the lifting platform and the goods shelf are matched,
rubber pads are attached to the periphery of the top plate of the jacking mechanism.
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 |
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| Publication Number | Publication Date |
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| CN108357844A CN108357844A (en) | 2018-08-03 |
| CN108357844B true CN108357844B (en) | 2021-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810115427.4A Active CN108357844B (en) | 2018-02-06 | 2018-02-06 | Formula of hiding AGV climbing mechanism |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| KR101857353B1 (en) * | 2016-06-29 | 2018-05-14 | 이규상 | Rear Fork type Automated Guided Vehicle System |
| 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 |
| 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 |
| 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 |
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