CN109573880A - A kind of automatic transporting machine people's lifting device - Google Patents
A kind of automatic transporting machine people's lifting device Download PDFInfo
- Publication number
- CN109573880A CN109573880A CN201811363857.4A CN201811363857A CN109573880A CN 109573880 A CN109573880 A CN 109573880A CN 201811363857 A CN201811363857 A CN 201811363857A CN 109573880 A CN109573880 A CN 109573880A
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- Prior art keywords
- fixed
- driving
- frame
- pedestal
- motor
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- 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
- 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
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- 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
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of automatic transporting machine people's lifting devices, include: pedestal, and bottom surface is equipped with multiple mobile devices；Elevating mechanism, it is fixed at the base upper surface, the elevating mechanism includes lifting support and one or more telescoping cylinders for being fixed on lifting support, and the telescoping cylinder includes the piston rod of the output axis connection of the driving mechanism being fixed on the lifting support of the pedestal, one end and the driving mechanism, the piston bush that is sheathed on the one end of the piston rod far from the driving mechanism and is slidably connected with the piston rod, is fixed at head of the piston bush far from described driving mechanism one end；Platform, one end set on the elevating mechanism far from the pedestal and is rotatablely connected by rotating mechanism and the elevating mechanism top.The present invention can effectively absorb the shaking force generated in lifting process and reduce the damage in lifting process to telescoping cylinder.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of automatic transporting machine people's lifting device.
Background technique
Automatic transporting machine people (Automated Guided Vehicle, AGV) refers to magnetically or optically to be waited certainly equipped with electricity
Dynamic positioning system can be travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions, automatically
Transfer robot belongs to the scope of wheeled mobile robot.The carrier of driver is not required in industrial application, with chargeable storage
Battery is its power resources.Its travelling route and behavior can be generally controlled by scheduling system, or utilize magnetic stripe, two dimensional code
It navigates, magnetic stripe or two dimensional code stick on floor, and automatic transporting machine people then follows news brought by magnetic stripe or two dimensional code
Cease the transport vehicle for being moved and being acted.
The workbench of existing automatic transporting machine people mainly includes running gear, lifting device and job platform, makees
Industry platform mostly right above lifting device, the both ends that lifting device passes through electric cylinder mostly connect respectively with frame or platform into
Row lifting, shaken as caused by contacting when piston rod head is connect with frame or platform to be contacted, when lifting be transferred to nut and with
On the thrust lead screw of nut engagement, therefore it is damaged nut or lead screw and shortens service life and deform piston cylinder.
Summary of the invention
It is an object of the invention to overcome defect existing in the prior art, a kind of automatic transporting machine people lifting is provided
Device, comprising:
Pedestal, bottom surface are equipped with multiple mobile devices；
Elevating mechanism, is fixed at the base upper surface, and the elevating mechanism includes lifting support and is fixed at liter
One or more telescoping cylinders on descending branch frame, the telescoping cylinder include being fixed on the lifting support of the pedestal
The piston rod of the output axis connection of driving mechanism, one end and the driving mechanism is sheathed on the piston rod far from the driving
One end of mechanism and the piston bush being slidably connected with the piston rod are fixed at the piston bush far from the driving mechanism one
The head at end；
Platform, one end set on the elevating mechanism far from the pedestal and passes through rotating mechanism and the elevating mechanism top
End rotation connection.
Preferably, the lifting support is set as scissor-type lifting mechanism, the lifting support includes being symmetrically fixed on institute
State base upper surface two sides it is multiple in the linking arms of X-type setting, between the linking arm and both ends respectively correspond hingedly
Multiple connecting rods on each linking arm, each linking arm are cross-linked by multiple interior linking arms and multiple outer linking arms
It constitutes, is connected by link bolt with hinged nut between the interior linking arm and outer linking arm, described telescoping cylinder one end is fixed
In in the connecting rod of the pedestal and the other end is fixed in the connecting rod far from the pedestal.
Preferably, the telescoping cylinder further includes and the coaxial arrangement of the output shaft of the driving mechanism and corresponding is fixed on institute
State the first sleeve on the shell of driving mechanism, the corresponding second sleeve being fixed in the first sleeve in one end, the driving
Mechanism is fixed in the connecting rod close to the pedestal, and the piston rod is arranged in the first sleeve and one end and institute
The output axis connection of driving mechanism is stated, the outer diameter of the piston rod is by close to the driving mechanism to the separate driving mechanism
Successively successively decrease on direction, the piston rod include with the first rod end of the output axis connection of the driving mechanism, be fixed at institute
Second rod end of first rod end far from described driving mechanism one end is stated, the outer diameter of first rod end is greater than second rod end
The outer sheath of outer diameter, first rod end is equipped with fixing seat, is rotatablely connected between the fixing seat and first rod end, described
First rod end is fixed in the first sleeve by fixing seat, and the outside of second rod end is equipped with screw thread, second bar
Outer sheath is held to be equipped with sliding part, the sliding part includes being sheathed on the outside of second rod end and connecting with the second rod end screw thread
The nut that connects, the piston block for being fixed at one side wall of the nut far from the driving mechanism, the outer diameter of the piston block are big
In the outer diameter of the nut, second rod end is fixed with clamping block, the piston bush far from one end of the driving mechanism
It is sheathed on the outside of second rod end, the internal diameter of the piston bush is adapted to the clamping block outer diameter and one end is corresponding is fixed on
The piston bush of the clamping block side wall, the clamping block are slidably connected with the piston bush inner sidewall, and the second sleeve is arranged
In the outside of second rod end and the internal diameter of the second sleeve is adapted to the piston block outer diameter, the piston block with it is described
Second sleeve inner sidewall is slidably connected, the piston bush far from the driving mechanism one end on the outside of be also sheathed on outer diameter with it is described
Second sleeve outer diameter is adapted to and correspondence is fixed on stop collar of the second sleeve far from described driving mechanism one end, the piston
Set is arranged in the stop collar and extends on the outside of the second sleeve, and the head, which is fixed on, to be extended to outside the second sleeve
Described piston bush one end of side, the head include being fixed to be sheathed on the piston bush far from described driving mechanism one end
Connection frame is fixed at sheet rubber of the connection frame far from described piston bush one end and to be fixed at the sheet rubber remote
Protector from piston bush one end, the driving mechanism are equipped with and the connection far from the shell of the head side
First connector of bar connection, the protector are equipped with second connect with the connecting rod far from the one side wall of the piston bush
Connector.
Preferably, the rotating mechanism includes be fixed on an end face of the elevating mechanism far from the pedestal first
Frame, the second frame for being set to above first frame and being fixed on by clip-connecting rod on first frame in parallel, fixation
The motor of one side set on first frame far from second frame, the support rod are set to first frame two sides
Width edge on, second frame is connect with first frame member, first frame include be set to first frame
Between frame two sides and first crossbeam vertical with the clip-connecting rod and close to the clip-connecting rod, second frame include being set to
Between second frame two sides and it is vertical with the clip-connecting rod and close to the clip-connecting rod second cross beam, the motor
It is arranged with the first belt pulley on output shaft, is equipped between first frame sides and the first crossbeam defeated with the motor
The parallel shaft of shaft, shaft position corresponding with first belt pulley are arranged with the second belt pulley, first skin
Belt is arranged with outside belt wheel, the second belt pulley, the shaft is equipped with eccentric wheel far from one end outer sheath of second belt pulley,
The eccentric wheel is set between the first crossbeam the first frame one side wall adjacent thereto, second frame sides and institute
It states and is fixed with fixing axle between second cross beam, the eccentric wheel sleeve is equipped with rocker arm, and the one end is provided with locating slot
And the other end and second frame are clamped, the eccentric wheel is socketed in the locating slot, and the other end of the rocker arm is arranged
Be fixedly connected on the outside of the fixing axle and with the fixing axle, an end face of second frame far from first frame with
The platform is fixedly connected.
Preferably, the mobile device include the multiple driving wheels for being symmetrically fixed on bottom surface one end of the pedestal, with
And be fixed on multiple driven wheels of the pedestal far from described driving wheel one end bottom surface, each driving wheel include movable pulley, with
And the driving motor for driving movable pulley mobile, the movable pulley include the first shifting for being fixed on bottom surface one end of the pedestal
Driving wheel and the second movable pulley that the base end face is symmetrically set in the first movement wheel, the driving motor include using
In the first mobile driving motor of driving first movement wheel and the second driving motor for drive the second movable pulley to move,
The mobile device further includes the control set on the base end face and for controlling first driving motor, the second driving motor
Device processed, the driving direction of the movable pulley corner for detecting the pedestal and/or headstock, the front and back inclination angle of vehicle body and lateral tilting
Angle and the angle detection device being connect with the controller, set on the base end face and the steering that connect with the controller is driven
Dynamic device, the controller are set there are two motor port, and each motor port is used for according to the operating condition of pedestal to described first
Driving motor, the second driving motor distribute corresponding driving power, and first driving motor, the second driving motor are oppositely arranged
At left and right sides of the pedestal, and can export same size driving torque and synchronous revolving speed or export different driving torque with
Nonsynchronous revolving speed；The angle detection device, for detecting movable pulley corner and/or the traveling side of headstock of the pedestal
To the front and back inclination angle and left and right inclination angle of, vehicle body, the controller is according to the movable pulley corner and/or headstock detected
The movement of first movement wheel, the second movable pulley described in driving direction, the front and back inclination angle of vehicle body and left and right pitch angle control；Described turn
It include direction power-assisted unit and steering indicating unit to driving device；The angle detection device detects the movable pulley rotation
And/or when headstock deviation linear movement direction, the controller is according to the turning radius of the pedestal to the first driving electricity
Machine, the second driving motor carry out differential driving, and the steer-drive is opened and controls the steering indicating unit and side
It is automatically turned on to power-assisted unit；When the angle detection device detects that the movable pulley reset of the pedestal and/or headstock restore
When linear movement direction, the controller synchronizes driving, and automatic pass to first driving motor, the second driving motor
Close the steer-drive.
Preferably, automatic transporting machine people's lifting device further includes that output end is connect and for controlling with the motor
Electric motor starting processed or the electronic switch of closing, the input terminal of the electronic switch are connect with the controller, the electronic switch
Including triode and current-limiting resistance, the positive pole of the motor is connected by motor with the collector of the triode, motor
Power cathode be connected with the emitter of the triode, the emitter of triode ground connection, the controller passes through described
Current-limiting resistance is connected with the base stage of the triode；
The work step of the controller are as follows:
Enabling signal is issued to the electronic switch by controller, the electronic switch controls the electric motor starting, institute
Motor work is stated, is rotated upwardly and downwardly on the basis of the first frame to drive and be fixed on the second frame, thus with moving platform
It rotates upwardly and downwardly；
Shutdown signal is issued to the electronic switch by controller, the electronic switch controls the motor and closes, institute
Motor stalls are stated, so that it is fixed on the basis of the first frame to make the second frame, so that platform be made not move.
Preferably, automatic transporting machine people's lifting device further includes navigation system, the navigation system includes solid
Surely it is set to the magnetic induction sensor in the base end face middle position, is fixed at the pedestal on the bottom surface of one side wall
Terrestrial reference confirmation device, the magnetic track set on ground and the terrestrial reference that is provided close on the ground of the magnetic track, the magnetic
Property guide rail include the guide rail on the ground and multiple magnetic stripes on the guide rail.
Preferably, automatic transporting machine people's lifting device further includes brake apparatus, the brake apparatus is set to magnetic
Property guide rail upper end, and connect with the robot body lower end, the brake apparatus include include Magnetic gauge stand, the magnetism table
Seat is set as horizontal type column structure, and the Magnetic gauge stand upper end is connect with the robot body lower end, the Magnetic gauge stand lower end
It is slidably connected to the magnetic track upper end, lateral rotation is equipped with rotary permanent-magnet block, the rotary permanent-magnet in the Magnetic gauge stand
Block is set as shaft-like structure, and its length direction is arranged in parallel with the Magnetic gauge stand, and the Magnetic gauge stand upper end is transversely provided with solid
Determine permanent magnets, the fixed permanent magnets are set as strip structure, and the fixed permanent magnets are arranged in parallel with the rotary permanent-magnet block；
The Magnetic gauge stand side is connected with rotary electric machine, and the rotary electric machine output end is connect with the rotary permanent-magnet block, controller
It is connect with the rotary electric machine.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the automatic transporting machine people's lifting device provided in one embodiment of the present invention；
Fig. 2 is the structural schematic diagram of telescoping cylinder in Fig. 1；
Fig. 3 is the structural schematic diagram of head in Fig. 2；
Fig. 4 is the structural schematic diagram of rotating mechanism in Fig. 1；
Fig. 5 is the structural schematic diagram of the first frame in Fig. 4；
Fig. 6 is the control principle of the automatic transporting machine people's lifting device provided in another embodiment of the invention
Figure；
Fig. 7 is the schematic diagram of electronic switch in Fig. 6；
Fig. 8 is the control principle drawing of the navigation system provided in another embodiment of the invention；
Fig. 9 is the control principle of the automatic transporting machine people's lifting device provided in another embodiment of the invention
Figure；
Figure 10 is the structural schematic diagram of the brake apparatus provided in another embodiment of the invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " first ", " second ", " third " are used for description purposes only,
It is not understood to indicate or imply relative importance.In addition, involved in invention described below different embodiments
Technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Figures 1 to 10, a kind of automatic transporting machine people's lifting device provided by the invention, comprising:
Pedestal 1, bottom surface are equipped with multiple mobile devices 5；
Elevating mechanism 2, is fixed at 1 upper surface of pedestal, and the elevating mechanism 2 includes lifting support and is fixed at
One or more telescoping cylinder 2-3 on lifting support, the telescoping cylinder 2-3 include the liter being fixed on close to the pedestal 1
The piston rod 2-32 of driving mechanism 2-31, one end on descending branch frame and the output axis connection of the driving mechanism 2-31, it is sheathed on
Piston bush 2- piston rod 2-32 one end far from the driving mechanism 2-31 and be slidably connected with the piston rod 2-32
33, it is fixed at head 2-34 of the piston bush 2-33 far from the one end the driving mechanism 2-31；
Platform 3, one end set on the elevating mechanism 2 far from the pedestal 1 and passes through rotating mechanism 4 and the elevator
The rotation connection of 2 top of structure.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
In use, making automatic transporting machine people be moved to designated position by mobile device；Meanwhile it can be according to using
The actual height of demand is adjusted the height of platform, when needing hoistable platform, makes to stretch by the driving mechanism of elevating mechanism
Piston bush in contracting cylinder stretches under the action of piston rod, to make the platform be lifted, so that platform be made to reach
Desired height, and work.
As shown in Figure 1, in one embodiment, the lifting support is set as scissor-type lifting mechanism, the lifting support
Including being symmetrically fixed on multiple linking arm 2-1 being arranged in X-type of the 1 upper surface two sides of pedestal, being set to the linking arm 2-1
Between and both ends respectively correspond the multiple connecting rod 2-2 being articulated on each linking arm 2-1, each linking arm 2-1 is by more
A interior linking arm 2-11 and multiple outer linking arm 2-12 is cross-linked composition, the interior linking arm 2-11 and outer linking arm 2-12 it
Between connect with hinged nut by link bolt, the telescoping cylinder 2-3 is fixed on one end the connecting rod of the close pedestal 1
2-2 is upper and the other end is fixed on the connecting rod 2-2 far from the pedestal 1.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
In the present embodiment, telescoping cylinder controls telescoping cylinder according to actual needs and stretches, and telescoping cylinder stretches to take to
Linking arm stretches upwards, until linking arm reach a certain height；Meanwhile the setting of connecting rod ensure that under single cylinder failure conditions
The safety of platform.
As shown in Figure 2 and Figure 3, in one embodiment, the telescoping cylinder 2-3 further includes and the driving mechanism 2-31
Output shaft coaxial arrangement and the corresponding first sleeve 2-35 being fixed on the shell of the driving mechanism 2-31, the corresponding fixation in one end
The described of the close pedestal 1 is fixed in the second sleeve 2-36, the driving mechanism 2-31 on the first sleeve 2-35
On connecting rod 2-2, the piston rod 2-32 is arranged in the first sleeve 2-35 and one end is with the driving mechanism 2-31's
Axis connection is exported, the outer diameter of the piston rod 2-32 is by the close driving mechanism 2-31 to the separate driving mechanism 2-31's
Successively successively decrease on direction, the piston rod 2-32 includes the first rod end 2- with the output axis connection of the driving mechanism 2-31
321, it is fixed at second rod end 2-322 of the first rod end 2-321 far from the one end the driving mechanism 2-31, described first
The outer diameter of rod end 2-321 is greater than the outer diameter of the second rod end 2-322, and the outer sheath of the first rod end 2-321, which is equipped with, to be fixed
Seat 2-37, is rotatablely connected between the fixing seat 2-37 and the first rod end 2-321, and the first rod end 2-321 passes through solid
Reservation 2-37 is fixed in the first sleeve 2-35, and the outside of the second rod end 2-322 is equipped with screw thread, second rod end
2-322 outer sheath is equipped with sliding part 2-38, the sliding part 2-38 include be sheathed on the outside of the second rod end 2-322 and with institute
It states the nut 2-381 of the second rod end 2-322 threaded connection, be fixed at the nut 2-381 far from the driving mechanism 2-31
One side wall piston block 2-382, the piston block 2-382 outer diameter be greater than the nut 2-381 outer diameter, second bar
End 2-322 is fixed with clamping block 2-39 far from one end of the driving mechanism 2-31, and the piston bush 2-33 is sheathed on described
The outside of second rod end 2-322, the internal diameter of the piston bush 2-33 is adapted to the clamping block 2-39 outer diameter and one end is corresponding solid
Connect due to the piston bush 2-33, the clamping block 2-39 of the clamping block 2-39 side wall and piston bush 2-33 inner sidewall sliding
It connects, the second sleeve 2-36 is sheathed on the outside of the second rod end 2-322 and internal diameter and the institute of the second sleeve 2-36
Piston block 2-382 outer diameter adaptation is stated, the piston block 2-382 is slidably connected with the second sleeve 2-36 inner sidewall, the work
Plug sleeve 2-33 is also sheathed on outer diameter far from one end outside of the driving mechanism 2-31 and is adapted to the second sleeve 2-36 outer diameter
And correspondence is fixed on stop collar 2-310 of the second sleeve 2-36 far from the one end the driving mechanism 2-31, the piston bush
2-33 is arranged in the stop collar 2-310 and extends on the outside of the second sleeve 2-36, and the head 2-34 is fixed on extension
To one end the piston bush 2-33 on the outside of the second sleeve 2-36, the head 2-34 include be fixed at be sheathed on it is described
Connection frame 2-341 of the piston bush 2-33 far from the one end the driving mechanism 2-31, the connection frame 2-341 is fixed at far from institute
It states the sheet rubber 2-342 of the one end piston bush 2-33 and is fixed at the sheet rubber 2-342 far from the piston bush 2-
The protector 2-343, the driving mechanism 2-31 of 33 one end are equipped with and the connection far from the shell of the side the head 2-34
First connector 2-311, the protector 2-343 of bar 2-2 connection is equipped with and institute far from the one side wall of the piston bush 2-33
State the second connector of connecting rod 2-2 connection.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
In the present embodiment, the sheet rubber can be set as polyurethane sheet rubber, when the drive mechanism operates, output shaft
Rotation drives the rotation of piston rod, due to being connected through a screw thread between the piston rod and the nut, when piston rod rotation,
Move upwards nut to the side far from driving mechanism, so that piston bush be driven to move and move on the direction far from driving mechanism
It moves to the second sleeve；It is living when being connected through a screw thread that driving device is avoided to work between piston rod and sliding part
Stopper rod card column or damage so that piston bush is cannot move into described the and on the outside of sleeve.Meanwhile the head further includes sheet rubber, rubber
Film can be absorbed shaking force while also have elasticity, therefore include that the head of sheet rubber can play the role of damper, and
Can make that object to be communicated is needed to stop on desired position.When head pushes frame or platform, the vibration quilt of generation
Polyurethane sheet rubber absorbs, therefore piston bush and nut will not be adversely affected；When being delivered up frame to the side of head
When frame or platform, the protector of head bears the gravity of frame or platform, and the motor in driving mechanism reversed at the same time makes
Piston bush moves backward, therefore head can make frame or platform stop at designated position without having caused to nut and piston rod
Harmful influence.
As shown in Figure 4,5, in one embodiment, the rotating mechanism 4 includes being fixed on the elevating mechanism 2 far from institute
The first frame 4-1 of an end face of pedestal 1 is stated, is set to above the first frame 4-1 and is fixed on by clip-connecting rod 4-2 in parallel
The second frame 4-3 on the first frame 4-1, it is fixed at one of the first frame 4-1 far from the second frame 4-3
The motor 4-4, the support rod 4-2 of side are in the width edge of the two sides the first frame 4-1, the second frame 4-3
With the first frame 4-1 be rotatablely connected, the first frame 4-1 include be set to the two sides the first frame 4-1 between and
Vertical with the clip-connecting rod 4-2 and first crossbeam 4-11, the second frame 4-3 close to the clip-connecting rod 4-2 includes being set to
Between the two sides second frame 4-3 and it is vertical with the clip-connecting rod 4-2 and close to the clip-connecting rod 4-2 second cross beam 4-
31, the first belt pulley 4-5, the side the first frame 4-1 and the first crossbeam are arranged on the output shaft of the motor 4-4
The shaft 4-6, the shaft 4-6 and the first belt pulley 4-5 parallel with the output shaft of the motor 4-4 are equipped between 4-11
Corresponding position is arranged with outside the second belt pulley 4-7, the first belt pulley 4-5, the second belt pulley 4-7 and is arranged with belt 4-8,
The shaft 4-6 is equipped with eccentric wheel 4-9 far from one end outer sheath of the second belt pulley 4-7, and the eccentric wheel 4-9 is set to institute
It states between first crossbeam 4-11 the first frame 4-1 one side wall adjacent thereto, the side the second frame 4-3 and described second
It is fixed with fixing axle 4-10 between crossbeam 4-31, Rocker arm 4-11, described-11 one end of Rocker arm 4 are arranged with outside the eccentric wheel 4-9
It is provided with locating slot and the other end and the second frame 4-3 is clamped, the eccentric wheel 4-9 is socketed in the locating slot, institute
The other end for stating Rocker arm 4-11 is sheathed on the outside of the fixing axle 4-10 and is fixedly connected with the fixing axle 4-10, described second
Frame 4-3 is fixedly connected far from an end face of the first frame 4-1 with the platform 3.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
Motor work, makes the first pulley rotation of motor output shaft, so that being worked by motor drives the first belt pulley
It rotates and the second pulley rotation is driven by belt, so that shaft be made to rotate, the rotation of shaft is with the rotation of movable eccentric wheel, partially
Heart wheel drives one end to be fixed on the rotation of the second frame upper rocker arm, to realize the second frame connecting with first frame member
Frame allows the second frame to swing up and down setting along the support column under the action of support column, motor, rocker arm.
As shown in Fig. 1, Fig. 6, in one embodiment, the mobile device 5 includes being symmetrically fixed on the bottom of the pedestal 1
Multiple driving wheel 5-1 of face one end and the pedestal 1 is fixed on far from the multiple driven of the one end driving wheel 5-1 bottom surface
5-2 is taken turns, each driving wheel 5-1 includes the movable pulley 5-11 and driving motor 5-12 for driving movable pulley 5-11 mobile,
The movable pulley 5-11 include be fixed on bottom surface one end of the pedestal 1 first movement wheel and with the first movement wheel
It is symmetrically set in the second movable pulley of 1 bottom surface of pedestal, the driving motor 5-12 includes for driving first movement wheel mobile
The first driving motor 5-121 and the second driving motor 5-122 for driving the second movable pulley mobile, the mobile dress
Setting 5 further includes set on 1 bottom surface of pedestal and for controlling the first driving motor 5-121, the second driving motor 5-122
Controller 5-3, the driving direction of the movable pulley 5-11 corner for detecting the pedestal 1 and/or headstock, vehicle body front and back inclination angle
And left and right inclination angle and the angle detection device 5-4 being connect with the controller 5-3, be set to 1 bottom surface of pedestal and with it is described
The steer-drive 5-5 of controller 5-3 connection, the controller 5-3 are set there are two motor port, and each motor port is used
In distributing corresponding driving power to the first driving motor 5-121, the second driving motor 5-122 according to the operating condition of pedestal 1,
The first driving motor 5-121, the second driving motor 5-122 are oppositely arranged in the left and right sides of pedestal 1, and can output phase it is same
The driving torque of the size driving torque and nonsynchronous revolving speed different with synchronous revolving speed or output；The angle detection device
5-4, for detecting the front and back inclination angle and a left side of the movable pulley 5-11 corner of the pedestal 1 and/or the driving direction of headstock, vehicle body
Right deviation angle, the controller 5-3 is according to the driving direction of the movable pulley 5-11 corner and/or headstock that detect, vehicle body
The movement of first movement wheel, the second movable pulley described in front and back inclination angle and left and right pitch angle control；The steer-drive 5-5 packet
It includes direction power-assisted unit and turns to indicating unit；The angle detection device 5-4 detect movable pulley 5-11 rotation and/or
When headstock deviates linear movement direction, the controller 5-3 is according to the turning radius of the pedestal 1 to first driving motor
5-121, the second driving motor 5-122 carry out differential driving, and the steer-drive 5-5 is opened and controlled the steering and refers to
Show that unit and direction power-assisted unit automatically turn on；When the angle detection device 5-4 detects the movable pulley 5-11 of the pedestal 1
When reset and/or headstock restore linear movement direction, the controller 5-3 is to the first driving motor 5-121, the second driving
Motor 5-122 synchronizes driving, and the steer-drive 5-5 is automatically closed.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
In the present embodiment, the angle detection device can be set as three-dimensional gyroscope, and each motor is equipped with frequency converter, works as vehicle
When body needs to turn, the first controller controls the revolving speed that frequency converter changes motor, and the speed of two driving wheels is made to form speed difference, from
And car body is made to turn；When the speed of the first driving wheel is greater than the speed of the second driving wheel, side of the car body to outside the second driving wheel
To turning；When the speed of the second driving wheel is greater than the speed of the first driving wheel, direction turning of the car body to outside the first driving wheel.
When needing automatic transporting machine people to travel forward, two driving wheels move forward at the same speed, when needing to turn
The differential turning mode of Shi Caiyong two-wheel.Therefore steering wheel need not be set, the driving mechanism structure is simple, reliable operation.
Meanwhile the angle detection device is capable of the turning radius of robot described in root Ju when detecting robot turning
Size output varying strength representative angle variable quantity electric signal, the first controller root Ju represents the telecommunications of angle variable quantity
Number control implements differential driving, effectively prevention turning rollover to turning to inside and turn to the motor in outside, on the inside of the steering, turns
Driving wheel is moved to left when being relative to turning outward, moves to right the location of driving wheel to judge.Meanwhile when turning, driving direction
Assist motor work in power-assisted unit, realizes direction power-assisted.The angle detection device detects the machine after turning
When the driving wheel of people resets and/or headstock restores linear movement direction, first controller carries out two motors same
Step driving, while controlling the steering driving unit and being automatically closed.
As shown in fig. 6, in one embodiment, automatic transporting machine people's lifting device further include output end with it is described
Motor 4-4 connection and for control motor 4-4 starting or close electronic switch 6-1, the input terminal of the electronic switch 6-1 with
The controller 5-3 connection, the electronic switch 6-1 include triode 6-11 and current-limiting resistance 6-12, the electricity of the motor 4-4
Source anode is connected by motor 4-4 with the collector of the triode 6-11, the power cathode of motor 4-4 and the triode 6-
11 emitter is connected, the emitter ground connection of the triode 6-11, the controller 5-3 by the current-limiting resistance 6-12 with
The base stage of the triode 6-11 is connected；
The work step of the controller 5-3 are as follows:
Enabling signal is issued to the electronic switch 6-1 by controller 5-3, the electronic switch 6-1 controls the electricity
Machine 4-4 starting, the motor 4-4 work, carries out on the basis of the first frame 4-1 to drive and be fixed on the second frame 4-3
It rotates upwardly and downwardly, to be rotated upwardly and downwardly with moving platform；
Shutdown signal is issued to the electronic switch 6-1 by controller 5-3, the electronic switch 6-1 controls the electricity
Machine 4-4 is closed, and the motor 4-4 stops operating, thus keep the second frame 4-3 fixed on the basis of the first frame 4-1,
To make platform not move.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
When needing rotates platform, the motor is controlled by controller and is opened or closed, controller first is to described
Electronic switch sends the signal opened or closed, and electronic switch controls electric motor starting or closing, so that platform be made to rotate.
As shown in figure 8, in one embodiment, automatic transporting machine people's lifting device further includes navigation system, institute
Navigation system is stated to include the magnetic induction sensor 7-1 for being fixed at the 1 bottom surface middle position of pedestal, be fixed at the pedestal
1 on the bottom surface of one side wall terrestrial reference confirmation device 7-2, set on ground magnetic track 7-3 and be provided close to the magnetic
Property guide rail 7-3 ground on terrestrial reference 7-4, the magnetic track 7-3 includes the guide rail on ground and leads set on described
Multiple magnetic stripes on rail 7-31.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
Magnetic track is set to the station passed through required for the automatic transporting machine people, and the first controller is passed by magnetic induction
Sensor induced magnetism guide rail, control driving mechanism movement, travels car body on magnetic track, the position of terrestrial reference can be in station
Near and near magnetic track, when the first controller by terrestrial reference confirm device preset stopping location confirmation to
When mark, the first controller control driving mechanism stops and controls shut-down mechanism movement, so that car body be made to stop at preset stopping position
It sets, preset stopping position is exactly station, and worker is facilitated to operate, and after having operated, automatic transporting machine people is continued to move to,
It is moved to next station.First controller includes: central processing unit, editable gate-array circuit one or more of them knot
It closes.
Above scheme has the beneficial effect that
In the present embodiment, two dimensional code and two-dimensional code reader are used cooperatively, and the pattern and camera of tape identification are used cooperatively,
The component on prominent ground is used cooperatively with echelette or proximity sensor；
When two dimensional code and two-dimensional code reader are used cooperatively, the first controller, which reads two dimensional code by two-dimensional code reader, to be believed
Breath is it is known that the position is preset stopping position.It is that can change preset stop at any time that two dimensional code, which is selected, as the benefit of terrestrial reference
Stop bit is set, and when needing to change stop position, need to only be taken old two dimensional code off, be posted two dimensional code i.e. in new predeterminated position
It can.Replacement is conveniently and the cost of replacement predeterminated position is not high.
Image recognition technology mainly is used when the pattern and camera of tape identification are used cooperatively, controller passes through camera
The pattern of shooting tape identification is known that the position is preset stopping position.Select the pattern of tape identification is as the benefit of terrestrial reference
Preset stop position can be changed at any time, when needing to change stop position, the pattern of old tape identification need to only be taken off,
New predeterminated position posts the pattern of tape identification.Replacement is conveniently and the cost of replacement predeterminated position is not high.
As shown in Figure 9, Figure 10, automatic transporting machine people's lifting device further includes brake apparatus 10, the braking dress
It sets 10 and is set to the upper end magnetic track 7-3, and connect with 1 lower end of robot body, the brake apparatus 10 includes including magnetic
Property gauge stand 10-1, the Magnetic gauge stand 10-1 is set as horizontal type column structure, the upper end the Magnetic gauge stand 10-1 and the robot
The connection of 10 lower end of ontology, the lower end the Magnetic gauge stand 10-1 is slidably connected to the upper end the magnetic track 7-3, the Magnetic gauge stand
Lateral rotation is equipped with rotary permanent-magnet block 10-2 in 10-1, and the rotary permanent-magnet block 10-2 is set as shaft-like structure, and with the magnetism
Its length direction of gauge stand 10-1 is arranged in parallel, and the upper end the Magnetic gauge stand 10-1 is transversely provided with fixed permanent magnets 10-3, described solid
Determine permanent magnets 10-3 and be set as strip structure, and the fixed permanent magnets 10-3 and rotary permanent-magnet block 10-2 is arranged in parallel；Institute
It states the side Magnetic gauge stand 10-1 and is connected with rotary electric machine 10-4, the rotary electric machine 10-4 output end and the rotary permanent-magnet block
10-2 connection, controller 5-3 are connect with the rotary electric machine 10-4.
It the working principle of above-mentioned technical proposal and has the beneficial effect that
In the present embodiment, the mobile device is after magnetic track uplink goes to predeterminated position, and the controller is to sending
Driving wheel issues the instruction that stops working, and the driving wheel stops working, the work of rotary electric machine described in the controller, and the company of drive
The rotary permanent-magnet block for being connected to its output end rotates in the Magnetic gauge stand, when two extreme directions of the rotary permanent-magnet block and described
When two extreme directions of fixed permanent magnets are reversed, the magnetic line of force is containing, and the Magnetic gauge stand slides on the magnetic track, when described
When two extreme directions of rotary permanent-magnet block are identical with two extreme directions of the fixed permanent magnets, put outside the magnetic line of force, the Magnetic gauge stand
Suction is generated, and is adsorbed on the magnetic track, the mobile device braking is in predeterminated position.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (8)
1. a kind of automatic transporting machine people's lifting device characterized by comprising
Pedestal (1), bottom surface are equipped with multiple mobile devices (5)；
Elevating mechanism (2), is fixed at the pedestal (1) upper surface, and the elevating mechanism (2) includes that lifting support and fixation are set
In one or more telescoping cylinders (2-3) on lifting support, the telescoping cylinder (2-3) includes being fixed on close to the pedestal (1)
The lifting support on driving mechanism (2-31), the output axis connection of one end and the driving mechanism (2-31) piston rod
(2-32), be sheathed on the piston rod (2-32) far from the driving mechanism (2-31) one end and with the piston rod (2-32)
The piston bush (2-33) that is slidably connected is fixed at the bar of the piston bush (2-33) far from the one end the driving mechanism (2-31)
Head (2-34)；
Platform (3) is set to the one end of the elevating mechanism (2) far from the pedestal (1) and by rotating mechanism (4) and the liter
The rotation connection of descending mechanism (2) top.
2. automatic transporting machine people's lifting device according to claim 1, which is characterized in that the lifting support is set as cutting
Fork elevating mechanism, the lifting support include being symmetrically fixed on the multiple of the pedestal (1) upper surface two sides to be arranged in X-type
Linking arm (2-1), be set to the linking arm (2-1) between and both ends respectively correspond and be articulated on each linking arm (2-1)
Multiple connecting rods (2-2), each linking arm (2-1) are interlocked by multiple interior linking arms (2-11) and multiple outer linking arms (2-12)
It connects and composes, is connected by link bolt with hinged nut between the interior linking arm (2-11) and outer linking arm (2-12), institute
State that the one end telescoping cylinder (2-3) is fixed in the connecting rod (2-2) close to the pedestal (1) and the other end is fixed on far from institute
It states in the connecting rod (2-2) of pedestal (1).
3. automatic transporting machine people's lifting device according to claim 2, which is characterized in that the telescoping cylinder (2-3) is also
Including with the coaxial arrangement of the output shaft of the driving mechanism (2-31) and the corresponding shell for being fixed on the driving mechanism (2-31)
On first sleeve (2-35), the corresponding second sleeve (2-36) being fixed on the first sleeve (2-35) in one end, the drive
Motivation structure (2-31) is fixed in the connecting rod (2-2) of the pedestal (1), and the piston rod (2-32) is arranged in institute
State the output axis connection of in first sleeve (2-35) and one end and the driving mechanism (2-31), the piston rod (2-32) outside
Diameter on the driving mechanism (2-31) to the direction of separate driving mechanism (2-31) by successively successively decreasing, the piston rod
(2-32) include with the first rod end (2-321) of the output axis connection of the driving mechanism (2-31), be fixed at described first
Second rod end (2-322) of the rod end (2-321) far from the one end the driving mechanism (2-31), first rod end (2-321)
Outer diameter is greater than the outer diameter of second rod end (2-322), and the outer sheath of first rod end (2-321) is equipped with fixing seat (2-
37) it, is rotatablely connected between the fixing seat (2-37) and first rod end (2-321), first rod end (2-321) passes through
Fixing seat (2-37) is fixed in the first sleeve (2-35), and the outside of second rod end (2-322) is equipped with screw thread, described
Second rod end (2-322) outer sheath is equipped with sliding part (2-38), and the sliding part (2-38) includes being sheathed on second rod end
The nut (2-381) that is threadedly coupled on the outside of (2-322) and with second rod end (2-322) is fixed at the nut (2-
381) piston block (2-382) of the one side wall far from the driving mechanism (2-31), the outer diameter of the piston block (2-382) are greater than
The outer diameter of the nut (2-381), second rod end (2-322) are fixed with far from the one end of the driving mechanism (2-31)
Clamping block (2-39), the piston bush (2-33) are sheathed on the outside of second rod end (2-322), the piston bush (2-33)
Internal diameter and the clamping block (2-39) outer diameter be adapted to and the corresponding piston bush for being fixed on the clamping block (2-39) side wall in one end
(2-33), the clamping block (2-39) are slidably connected with the piston bush (2-33) inner sidewall, second sleeve (2-36) set
Set on second rod end (2-322) outside and the second sleeve (2-36) internal diameter and the piston block (2-382) outside
Diameter adaptation, the piston block (2-382) are slidably connected with the second sleeve (2-36) inner sidewall, and the piston bush (2-33) is remote
Outer diameter is also sheathed on the outside of one end from the driving mechanism (2-31) to be adapted to the second sleeve (2-36) outer diameter and corresponding
It is fixed on the stop collar (2-310) of the second sleeve (2-36) far from the one end the driving mechanism (2-31), the piston bush
(2-33) is arranged in the stop collar (2-310) and extends on the outside of the second sleeve (2-36), and the head (2-34) is solid
Due to extending to one end the piston bush (2-33) on the outside of the second sleeve (2-36), the head (2-34) includes fixing
Set on be sheathed on the piston bush (2-33) far from the one end the driving mechanism (2-31) connection frame (2-341), be fixed at
The connection frame (2-341) far from the one end the piston bush (2-33) sheet rubber (2-342) and be fixed at the rubber
Protector (2-343) of the piece (2-342) far from described piston bush (2-33) one end, the driving mechanism (2-31) is far from institute
The shell for stating the side head (2-34) is equipped with the first connector (2-311) connecting with the connecting rod (2-2), the protector
(2-343) is equipped with the second connector connecting with the connecting rod (2-2) far from the one side wall of the piston bush (2-33).
4. automatic transporting machine people's lifting device according to claim 1, which is characterized in that rotating mechanism (4) packet
It includes and is fixed on the first frame (4-1) of the end face of the elevating mechanism (2) far from the pedestal (1), is set to described the in parallel
Above one frame (4-1) and pass through the second frame (4-3), fixation that clip-connecting rod (4-2) is fixed on first frame (4-1)
The motor (4-4) of one side set on first frame (4-1) far from second frame (4-3), the support rod (4-2)
In the width edge of the first frame (4-1) two sides, second frame (4-3) and first frame (4-1) are rotated
Connection, first frame (4-1) include be set to the first frame (4-1) two sides between and with the clip-connecting rod (4-2)
First crossbeam (4-11) vertical and close to the clip-connecting rod (4-2), second frame (4-3) include being set to second frame
Between the two sides frame (4-3) and it is vertical with the clip-connecting rod (4-2) and close to the clip-connecting rod (4-2) second cross beam (4-
31), be arranged with the first belt pulley (4-5) on the output shaft of the motor (4-4), the first frame side (4-1) with it is described
Between first crossbeam (4-11) be equipped with the shaft (4-6) parallel with the output shaft of the motor (4-4), the shaft (4-6) with
The corresponding position of first belt pulley (4-5) is arranged with the second belt pulley (4-7), first belt pulley (4-5), the second skin
It is arranged with belt (4-8) outside belt wheel (4-7), the shaft (4-6) is arranged far from one end outside of second belt pulley (4-7)
Have eccentric wheel (4-9), the eccentric wheel (4-9) is set to the first crossbeam (4-11) described first frame (4-1) adjacent thereto
Between one side wall, fixing axle (4-10) is fixed between the second frame side (4-3) and the second cross beam (4-31),
It is arranged with rocker arm (4-11) outside the eccentric wheel (4-9), described rocker arm (4-11) one end is provided with locating slot and the other end and institute
The second frame (4-3) clamping is stated, the eccentric wheel (4-9) is socketed in the locating slot, the other end of the rocker arm (4-11)
It is sheathed on the outside of the fixing axle (4-10) and is fixedly connected with the fixing axle (4-10), second frame (4-3) is separate
One end face of first frame (4-1) is fixedly connected with the platform (3).
5. automatic transporting machine people's lifting device according to claim 1, which is characterized in that mobile device (5) packet
It includes the multiple driving wheels (5-1) for being symmetrically fixed on bottom surface one end of the pedestal (1) and to be fixed on the pedestal (1) separate
Multiple driven wheels (5-2) of driving wheel (5-1) one end bottom surface, each driving wheel (5-1) include movable pulley (5-11), with
And the driving motor (5-12) for driving movable pulley (5-11) mobile, the movable pulley (5-11) include being fixed on the pedestal
(1) the first movement wheel of bottom surface one end and the second shifting that the pedestal (1) bottom surface is symmetrically set in the first movement wheel
Driving wheel, the driving motor (5-12) include the first driving motor (5-121), the Yi Jiyong for driving first movement wheel mobile
In the second driving motor (5-122) for driving the second movable pulley mobile, the mobile device (5) further includes being set to the pedestal
(1) bottom surface and the controller (5-3) for controlling first driving motor (5-121), the second driving motor (5-122), use
In the driving direction of movable pulley (5-11) corner and/or headstock, the front and back inclination angle of vehicle body and the left and right of detecting the pedestal (1)
Inclination angle and the angle detection device (5-4) being connect with the controller (5-3), be set to the pedestal (1) bottom surface and with the control
The steer-drive (5-5) of device (5-3) processed connection, the controller (5-3) set that there are two motor port, each motor sides
Mouth distributes for the operating condition according to pedestal (1) to first driving motor (5-121), the second driving motor (5-122) corresponding
Driving power, first driving motor (5-121), the second driving motor (5-122) be oppositely arranged in pedestal (1) left and right two
Side, and the driving torque of the same size driving torque different with synchronous revolving speed or output and nonsynchronous turn can be exported
Speed；The angle detection device (5-4), for detecting movable pulley (5-11) corner of the pedestal (1) and/or the traveling of headstock
Direction, vehicle body front and back inclination angle and left and right inclination angle, the controller (5-3) turns according to the movable pulley (5-11) detected
First movement wheel, the second movable pulley described in the driving direction of angle and/or headstock, the front and back inclination angle of vehicle body and left and right pitch angle control
Movement；The steer-drive (5-5) includes direction power-assisted unit and steering indicating unit；The angle detection device
When (5-4) detects that the movable pulley (5-11) rotation and/or headstock deviate linear movement direction, controller (5-3) root
Differential is carried out to first driving motor (5-121), the second driving motor (5-122) according to the turning radius of the pedestal (1)
Driving, and the steer-drive (5-5) opens and control the steering indicating unit and direction power-assisted unit automatically turns on；
When the angle detection device (5-4) detects that movable pulley (5-11) reset of the pedestal (1) and/or headstock restore straight line fortune
When dynamic direction, the controller (5-3) synchronizes first driving motor (5-121), the second driving motor (5-122)
Driving, and the steer-drive (5-5) is automatically closed.
6. automatic transporting machine people's lifting device according to claim 4, which is characterized in that further include output end with it is described
Motor (4-4) connection and the electronic switch (6-1) for starting or closing for controlling motor (4-4), the electronic switch (6-1)
Input terminal is connect with the controller (5-3), and the electronic switch (6-1) includes triode (6-11) and current-limiting resistance (6-
12), the positive pole of the motor (4-4) is connected by motor (4-4) with the collector of the triode (6-11), motor
The power cathode of (4-4) is connected with the emitter of the triode (6-11), the emitter ground connection of the triode (6-11), institute
It states controller (5-3) and is connected by the current-limiting resistance (6-12) with the base stage of the triode (6-11)；
The work step of the controller (5-3) are as follows:
By controller (5-3) Xiang Suoshu electronic switch (6-1) sending enabling signal, described in electronic switch (6-1) control
Motor (4-4) starting, motor (4-4) work, is fixed on the second frame (4-3) in the first frame (4-1) to drive
On the basis of rotated upwardly and downwardly, to be rotated upwardly and downwardly with moving platform；
By controller (5-3) Xiang Suoshu electronic switch (6-1) sending shutdown signal, described in electronic switch (6-1) control
Motor (4-4) is closed, and the motor (4-4) stops operating, to make the second frame (4-3) on the basis of the first frame (4-1)
It is upper fixed, so that platform be made not move.
7. automatic transporting machine people's lifting device according to claim 1, which is characterized in that it further include navigation system, institute
State navigation system include the magnetic induction sensor (7-1) for being fixed at the pedestal (1) bottom surface middle position, be fixed at it is described
Pedestal (1) close to one side wall bottom surface on terrestrial reference confirmation device (7-2), set on ground magnetic track (7-3) and be set to
Terrestrial reference (7-4) on the ground of the magnetic track (7-3), the magnetic track (7-3) include leading on ground
Rail and multiple magnetic stripes on the guide rail.
8. automatic transporting machine people's lifting device according to claim 7, which is characterized in that further include brake apparatus
(10), the brake apparatus (10) is set to the upper end magnetic track (7-3), and connect with the robot body (1) lower end, described
Brake apparatus (10) includes including Magnetic gauge stand (10-1), and the Magnetic gauge stand (10-1) is set as horizontal type column structure, the magnetic
The property gauge stand upper end (10-1) is connect with the robot body (10) lower end, and Magnetic gauge stand (10-1) lower end is slidably connected to
Magnetic track (7-3) upper end, the interior lateral rotation of the Magnetic gauge stand (10-1) are equipped with rotary permanent-magnet block (10-2), the rotation
Turn permanent magnets (10-2) and be set as shaft-like structure, and its length direction is arranged in parallel with the Magnetic gauge stand (10-1), the magnetism
The upper end gauge stand (10-1) is transversely provided with fixed permanent magnets (10-3), and the fixed permanent magnets (10-3) are set as strip structure, and institute
Fixed permanent magnets (10-3) are stated to be arranged in parallel with the rotary permanent-magnet block (10-2)；Magnetic gauge stand (10-1) side is connected with
Rotary electric machine (10-4), rotary electric machine (10-4) output end are connect with the rotary permanent-magnet block (10-2), controller (5-3)
It is connect with the rotary electric machine (10-4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811363857.4A CN109573880B (en) | 2018-11-16 | 2018-11-16 | Automatic transfer robot elevating gear |
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|---|---|---|---|
| CN201811363857.4A CN109573880B (en) | 2018-11-16 | 2018-11-16 | Automatic transfer robot elevating gear |
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| CN109573880B CN109573880B (en) | 2019-12-31 |
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| US20230286786A1 (en) * | 2022-03-10 | 2023-09-14 | Zhejiang Dingli Machinery Co., Ltd. | Scissor aerial work platform and scissor lifting assembly thereof |
| US11787675B2 (en) * | 2022-03-10 | 2023-10-17 | Zhejiang Dingli Machinery Co., Ltd. | Scissor aerial work platform and scissor lifting assembly thereof |
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| CN109573880B (en) | 2019-12-31 |
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