CN111874838A - A jacking rotation mechanism for AGV dolly - Google Patents
A jacking rotation mechanism for AGV dolly Download PDFInfo
- Publication number
- CN111874838A CN111874838A CN202010855294.1A CN202010855294A CN111874838A CN 111874838 A CN111874838 A CN 111874838A CN 202010855294 A CN202010855294 A CN 202010855294A CN 111874838 A CN111874838 A CN 111874838A
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- CN
- China
- Prior art keywords
- plate
- assembly
- slewing
- ball screw
- lift
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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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
Abstract
The invention discloses a jacking and slewing mechanism for an AGV (automatic guided vehicle), which is characterized in that: including lift mounting panel, gyration mounting panel, climbing mechanism and rotation mechanism, climbing mechanism includes drive assembly, ball screw subassembly, sliding assembly and connecting plate, rotation mechanism includes slewing bearing and gyration drive assembly. According to the invention, the sliding assembly and the supporting and limiting assembly are arranged on two sides of the ball screw assembly, the ball screw assembly drives the sliding assembly to horizontally slide, the horizontal sliding action is converted into the lifting action of jacking through the connecting plate, the rotation is realized through the slewing bearing, and the transmission part adopts gear transmission; the lifting and rotating positions are accurately controlled through the limiting assembly, the control structure and the principle are simple, and the reliability of the mechanism is enhanced.
Description
Technical Field
The invention relates to a jacking and slewing mechanism for an AGV (automatic guided vehicle), belonging to the technical field of automatic handling.
Background
The AGV is an automatic guided transport vehicle, belongs to modern intelligent logistics equipment, and relates to the application of AGV trolleys in various industries at present. Especially in the process of automatic handling or assembly, the AGV dolly adopts a full-automatic control mode to replace manual work, saves manpower and is convenient to use, and because the sizes and the weights of products to be handled are different, higher requirements are provided for the AGV dolly. The jacking and rotating mechanism is an important component of the functions of the AGV trolley, the jacking and rotating device adopted by the conventional AGV trolley is complex in structure and inconsistent in jacking and rotating actions, and faults are caused due to unstable stress in the jacking and rotating processes of different products.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the jacking slewer that current AGV dolly adopted problem that the structure is complicated and easily break down.
In order to solve the problems, the technical scheme of the invention provides a jacking slewing mechanism for an AGV, which is characterized in that: the jacking mechanism comprises a driving assembly, a ball screw assembly, sliding assemblies and a connecting plate, the ball screw assembly and the sliding assemblies are arranged on the lifting mounting plate, a ball screw is driven by the driving assembly, the sliding assemblies are arranged on two sides of the ball screw assembly, a screw nut of the ball screw assembly is connected with the sliding assemblies to drive the sliding assemblies to slide back and forth on the lifting mounting plate, and the sliding assemblies are connected with the rotating mounting plate through the connecting plate to drive the rotating mounting plate to move up and down to realize jacking action; the slewing mechanism comprises a slewing bearing and a slewing driving assembly, and the slewing driving assembly drives the slewing bearing to rotate so as to drive a turntable on the slewing bearing to perform slewing motion.
Preferably, the driving assembly comprises a driving speed reduction motor, the driving speed reduction motor is connected with a ball screw of the ball screw assembly through gear transmission, and drives the ball screw to rotate so as to drive the screw nut to move back and forth along the ball screw.
Preferably, the sliding assembly comprises a driving plate, a connecting hinge plate, a linear sliding block and a linear guide rail, the linear guide rail is arranged on two sides of the ball screw, the linear sliding block is arranged on the linear guide rail, the screw nut is arranged on the driving plate, the driving plate is connected with the connecting hinge plate, the connecting hinge plate is fixedly connected with the linear sliding block, and the screw nut drives the connecting hinge plate to slide back and forth along the linear guide rail through the driving plate.
Preferably, one end of the connecting plate is hinged to the connecting hinge plate, the other end of the connecting plate is hinged to the hinge seat I on the rotary mounting plate, and the connecting hinge plate pushes the rotary mounting plate to move up and down through the connecting plate.
Preferably, be equipped with on the lift mounting panel and support spacing subassembly, support spacing subassembly and include the swing arm and establish the hinge seat two on lift mounting panel and gyration mounting panel respectively, the both ends of swing arm are connected with lift mounting panel and gyration mounting panel respectively through two hinge seat two, play support and limiting displacement at the lift in-process of gyration mounting panel.
Preferably, the jacking mechanism further comprises a first limiting assembly for controlling the lifting position of the rotary mounting plate, the first limiting assembly comprises a limiting blocking piece and a mechanical limiting block which are arranged on the connecting hinge plate, and a gate-type switch arranged on the lifting mounting plate, and the limiting blocking piece triggers starting and stopping signals to control the lifting position of the rotary mounting plate when sliding through the gate-type switch; the mechanical limiting block is arranged right below the swing arm to prevent the swing arm from overshooting.
Preferably, the slewing mechanism further comprises a second limiting assembly for controlling the slewing position of the turntable, the second limiting assembly comprises a limiting blocking piece arranged on the slewing bearing and a gate-type switch arranged on the slewing mounting plate, and the limiting blocking piece triggers starting and stopping signals to control the slewing position of the turntable when rotating to pass through the gate-type switch.
Preferably, the slewing drive assembly is a follow-up speed reduction motor, and the follow-up speed reduction motor drives the slewing bearing to rotate through the second gear.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the sliding assembly and the supporting and limiting assembly are arranged on two sides of the ball screw assembly, the ball screw assembly drives the sliding assembly to horizontally slide, the horizontal sliding action is converted into the lifting action of jacking through the connecting plate, the rotation is realized through the slewing bearing, and the transmission part adopts gear transmission; the lifting and rotating positions are accurately controlled through the limiting assembly, the control structure and the principle are simple, and the reliability of the mechanism is enhanced.
Drawings
FIG. 1 is a cross-sectional view of a lift-up swing mechanism for an AGV according to the present invention;
FIG. 2 is a left side view of a jacking swing mechanism for an AGV according to the present invention;
FIG. 3 is a side view of a lift swing mechanism for an AGV according to the present invention;
description of reference numerals: 1-ball screw; 2-bearing mounting seats; 3-bearing mounting seat II; 4-a screw rod bracket; 5, lifting the mounting plate; 6-screw rod nut; 7-a drive plate; 8-connecting the hinge plate; 9-linear slide block; 10-a linear guide; 11-driving a gear motor; 12-gear one; 13-a connecting plate; 14-a pin shaft; 15-hinge seat one; 16-a swing arm; 17-hinge seat two; 18-a swivel mounting plate; 19-a follow-up reducer; 20-a slewing bearing; 21-a turntable; 22-gear two; 23-gate type switches; 24-a limiting baffle plate; 25-limiting mounting plate; 26-mechanical stopper.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 3, the lifting and rotating mechanism for an AGV trolley according to the present invention includes a lifting mounting plate 5, a rotating mounting plate 18, a lifting mechanism and a rotating mechanism, wherein the lifting mechanism includes a driving assembly, a ball screw assembly, a sliding assembly, a connecting plate 13 and a first limiting assembly, and the rotating mechanism includes a rotating support 20, a rotating driving assembly and a second limiting assembly.
The ball screw assembly comprises a ball screw 1 and a screw nut 6, one end of the ball screw 1 is installed on the lifting installation plate 5 through a bearing installation seat I2, the other end of the ball screw is installed on the screw support 4 through a bearing installation seat II 3, and the screw support 4 is fixed on the lifting installation plate 5. The second bearing mounting seat 3 is a bearing seat at the driving end of the ball screw 1, and can bear the axial acting force of the ball screw 1 by adopting a tapered roller bearing.
The sliding assembly comprises a driving plate 7, a connecting hinge plate 8, a linear sliding block 9 and a linear guide rail 10, wherein the linear guide rail 10 is arranged on the lifting mounting plate 5 and positioned on two sides of the ball screw 1, the linear sliding block 9 is arranged on the linear guide rail 10, the screw nut 6 is arranged on the driving plate 7, the driving plate 7 is connected with the connecting hinge plate 8, and the connecting hinge plate 8 is fixed on the linear sliding block 9. One end of the connecting plate 13 is hinged with a first hinge seat 15 on the connecting hinge plate 8 through a pin 14, and the other end of the connecting plate is hinged with a first hinge seat 15 on the rotary mounting plate 18 through a pin 14.
The lifting mounting plate 5 is provided with a supporting limiting assembly, the supporting limiting assembly comprises a swing arm 16 and two hinge bases 17 which are respectively arranged on the lifting mounting plate 5 and the rotary mounting plate 18, two ends of the swing arm 16 are hinged with the two hinge bases 17 through a pin shaft 14, and the supporting and limiting effects are achieved in the lifting process of the rotary mounting plate 18.
Two connecting plates 13 and a swing arm 16 are respectively arranged on two sides of the ball screw assembly, and oilless bushings are embedded in mounting holes of the connecting plates 13 and the swing arm 16 so as to reduce friction between the pin shaft 14 and the mounting holes of the connecting plates 13 and the swing arm 16.
The driving assembly is a driving speed reduction motor 11, the driving speed reduction motor 11 is connected with one end of the ball screw 1 through transmission of a first gear 12, rotation of the ball screw 1 is achieved, then the screw nut 6 drives the driving plate 7 to move linearly back and forth, linear motion of the connecting hinge plate 8 on the linear guide rail 10 is achieved, the connecting hinge plate 8 drives the connecting plate 13 to push the rotary mounting plate 18 to move up and down, and jacking action is achieved.
One limiting assembly comprises a limiting blocking piece 24 and a mechanical limiting block 26 which are fixed on the connecting hinge plate 8, and a door-shaped switch 23 which is installed on the lifting installation plate 5, wherein the door-shaped switch 23 is installed on the lifting installation plate 5 through a limiting installation plate 25. When the limit stop piece 24 connected with the hinge plate 8 slides through the door-shaped switch 23, a start signal and a stop signal are triggered to the control system, so that the lifting position of the rotary mounting plate 18 is controlled; the mechanical stop 26 is located directly below the swing arm 16 to prevent the swing arm 16 from overshooting.
The slewing bearing 20 is installed on the slewing mounting plate 18, the slewing drive assembly is a follow-up speed reducer 19 and is also fixed on the slewing mounting plate 18, the rotary table 21 is fixed on the slewing bearing 20, and the follow-up speed reducer 19 drives the slewing bearing 20 to rotate through the second gear 22, so that the slewing motion of the rotary table 21 is realized.
The second limiting assembly comprises a limiting blocking piece 24 fixed on the slewing bearing 20 and a door-type switch 23 installed on the slewing mounting plate 18, and the limiting blocking piece 24 triggers starting and stopping signals to a control system when rotating to pass through the door-type switch 23, so that the slewing position of the turntable 21 is controlled.
Claims (8)
1. The utility model provides a jacking rotation mechanism for AGV dolly which characterized in that: the lifting mechanism comprises a lifting mounting plate (5), a rotary mounting plate (18), a jacking mechanism and a rotary mechanism, wherein the jacking mechanism comprises a driving assembly, a ball screw assembly, sliding assemblies and a connecting plate (13), the ball screw assembly and the sliding assemblies are arranged on the lifting mounting plate (5), a ball screw (1) is driven by the driving assembly, the sliding assemblies are arranged on two sides of the ball screw assembly, a screw nut (6) of the ball screw assembly is connected with the sliding assemblies to drive the sliding assemblies to slide back and forth on the lifting mounting plate (5), and the sliding assemblies are connected with the rotary mounting plate (18) through the connecting plate (13) to drive the rotary mounting plate (18) to move up and down to realize jacking action; the slewing mechanism comprises a slewing bearing (20) and a slewing driving assembly, wherein the slewing driving assembly drives the slewing bearing (20) to rotate so as to drive a turntable (21) on the slewing bearing (20) to do slewing motion.
2. The lift-up swing mechanism for an AGV cart of claim 1, further comprising: the driving assembly comprises a driving speed reduction motor (11), the driving speed reduction motor (11) is connected with a ball screw (1) of the ball screw assembly through transmission of a first gear (12), and the driving ball screw (1) rotates to drive a screw nut (6) to move back and forth along the ball screw (1).
3. The lift-up swing mechanism for an AGV cart of claim 1, further comprising: the sliding assembly comprises a driving plate (7), a connecting hinge plate (8), a linear sliding block (9) and a linear guide rail (10), the linear guide rail (10) is arranged on two sides of a ball screw (1), the linear sliding block (9) is arranged on the linear guide rail (10), a screw nut (6) is arranged on the driving plate (7), the driving plate (7) is connected with the connecting hinge plate (8), the connecting hinge plate (8) is fixedly connected with the linear sliding block (9), and the screw nut (6) drives the connecting hinge plate (8) to slide back and forth along the linear guide rail (10) through the driving plate (7).
4. The lift-up swing mechanism for an AGV cart of claim 1, further comprising: one end of the connecting plate (13) is hinged with the connecting hinge plate (8), the other end of the connecting plate is hinged with a hinge seat I (15) on the rotary mounting plate (18), and the connecting hinge plate (8) pushes the rotary mounting plate (18) to move up and down through the connecting plate (13).
5. The lift-up swing mechanism for an AGV cart of claim 1, further comprising: be equipped with on lift mounting panel (5) and support spacing subassembly, support spacing subassembly and include swing arm (16) and establish hinge seat two (17) on lift mounting panel (5) and gyration mounting panel (18) respectively, the both ends of swing arm (16) are connected with lift mounting panel (5) and gyration mounting panel (18) respectively through two hinge seat two (17), play support and limiting displacement at the lift in-process of gyration mounting panel (18).
6. The lift-up swing mechanism for an AGV cart of claim 1, further comprising: the jacking mechanism further comprises a first limiting assembly used for controlling the lifting position of the rotary mounting plate (18), the first limiting assembly comprises a limiting blocking piece (24) and a mechanical limiting block (26) which are arranged on the connecting hinge plate (8), and a gate-type switch (23) which is arranged on the lifting mounting plate (5), and the starting and stopping signals are triggered to realize the control of the lifting position of the rotary mounting plate (18) when the limiting blocking piece (24) slides through the gate-type switch (23); the mechanical limiting block (26) is arranged right below the swing arm (16) to prevent the swing arm (16) from overshooting.
7. The lift-up swing mechanism for an AGV cart of claim 1, further comprising: the slewing mechanism further comprises a second limiting assembly used for controlling the slewing position of the turntable (21), the second limiting assembly comprises a limiting blocking piece (24) arranged on the slewing bearing (20) and a door-shaped switch (23) arranged on the slewing mounting plate (18), and the limiting blocking piece (24) triggers starting and stopping signals to control the slewing position of the turntable (21) when rotating to pass through the door-shaped switch (23).
8. The lift-up swing mechanism for an AGV cart of claim 1, further comprising: the slewing drive assembly is a follow-up speed reducing motor (19), and the follow-up speed reducing motor (19) drives the slewing bearing (20) to rotate through a second gear (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010855294.1A CN111874838A (en) | 2020-08-24 | 2020-08-24 | A jacking rotation mechanism for AGV dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010855294.1A CN111874838A (en) | 2020-08-24 | 2020-08-24 | A jacking rotation mechanism for AGV dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111874838A true CN111874838A (en) | 2020-11-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010855294.1A Pending CN111874838A (en) | 2020-08-24 | 2020-08-24 | A jacking rotation mechanism for AGV dolly |
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| Country | Link |
|---|---|
| CN (1) | CN111874838A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112537732A (en) * | 2021-01-12 | 2021-03-23 | 江苏万达特种轴承有限公司 | Jacking device for bidirectional transmission of screw rod |
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| CN208054811U (en) * | 2018-04-02 | 2018-11-06 | 广西玉柴机器股份有限公司 | A kind of portable hinge connecting rod lifting device |
| CN108773793A (en) * | 2018-07-11 | 2018-11-09 | 深圳市井智高科机器人有限公司 | A kind of unmanned floor truck |
| WO2019010604A1 (en) * | 2017-07-10 | 2019-01-17 | 水岩科技（北京）有限公司 | Lifting device, rotating device, lifting and rotating system, and intelligent warehouse robot |
| CN208593995U (en) * | 2018-07-23 | 2019-03-12 | 广东飞库科技有限公司 | A kind of link-type AGV lifting device |
| CN208776255U (en) * | 2018-07-23 | 2019-04-23 | 浙江迈睿机器人有限公司 | Scissor-type jacking apparatus based on horizontal lead screw |
| CN110803216A (en) * | 2019-10-25 | 2020-02-18 | 江苏金陵智造研究院有限公司 | Bearing auxiliary steering wheel system for heavy-load AGV (automatic guided vehicle) and steering control method thereof |
| CN111115137A (en) * | 2019-12-27 | 2020-05-08 | 北京旷视机器人技术有限公司 | Chassis assembly and transfer robot |
| CN210683089U (en) * | 2019-05-30 | 2020-06-05 | 北京京东乾石科技有限公司 | Lifting mechanism of automatic guide carrier loader and automatic guide carrier loader |
-
2020
- 2020-08-24 CN CN202010855294.1A patent/CN111874838A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019010604A1 (en) * | 2017-07-10 | 2019-01-17 | 水岩科技（北京）有限公司 | Lifting device, rotating device, lifting and rotating system, and intelligent warehouse robot |
| CN208054811U (en) * | 2018-04-02 | 2018-11-06 | 广西玉柴机器股份有限公司 | A kind of portable hinge connecting rod lifting device |
| CN108773793A (en) * | 2018-07-11 | 2018-11-09 | 深圳市井智高科机器人有限公司 | A kind of unmanned floor truck |
| CN208593995U (en) * | 2018-07-23 | 2019-03-12 | 广东飞库科技有限公司 | A kind of link-type AGV lifting device |
| CN208776255U (en) * | 2018-07-23 | 2019-04-23 | 浙江迈睿机器人有限公司 | Scissor-type jacking apparatus based on horizontal lead screw |
| CN210683089U (en) * | 2019-05-30 | 2020-06-05 | 北京京东乾石科技有限公司 | Lifting mechanism of automatic guide carrier loader and automatic guide carrier loader |
| CN110803216A (en) * | 2019-10-25 | 2020-02-18 | 江苏金陵智造研究院有限公司 | Bearing auxiliary steering wheel system for heavy-load AGV (automatic guided vehicle) and steering control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112537732A (en) * | 2021-01-12 | 2021-03-23 | 江苏万达特种轴承有限公司 | Jacking device for bidirectional transmission of screw rod |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201103 |
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| RJ01 | Rejection of invention patent application after publication |