CN112573439A

CN112573439A - Climbing mechanism that AGV was used

Info

Publication number: CN112573439A
Application number: CN202011573679.5A
Authority: CN
Inventors: 漆亮; 肖聪; 王铁桩; 刘艳华
Original assignee: Avic Baosheng Intelligent Technology Shanghai Co ltd
Current assignee: Avic Baosheng Intelligent Technology Shanghai Co ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2021-03-30

Abstract

The invention discloses a jacking mechanism for an AGV (automatic guided vehicle), which comprises a jacking base, a driving module, a transmission module and a guide module, wherein two fixed plates are fixedly arranged at the top of the jacking base, protective baffles are fixedly arranged at the tops of the two fixed plates, protective covers are fixedly arranged on the front sides and the back sides of the protective baffles, protective plates are fixedly arranged at the tops of the protective baffles, four fixed blocks are fixedly arranged at the top of the jacking base, two baffles are fixedly arranged at the top of the jacking base, protective shells are fixedly arranged at the tops of the two baffles, a driving template is arranged for controlling the operation of an integral mechanism and providing power for the transmission module, so that the matching of a driving motor and a speed reducer brings stable power for the integral device, the stroke of the guide module is automatically controlled, and the problems that the traditional jacking mechanism is complex in structure and is difficult, on the other hand, the cost of the jacking mechanism is reduced, so that the loss of economic cost is greatly reduced.

Description

Climbing mechanism that AGV was used

Technical Field

The invention belongs to the technical field of wheel type mobile robots, and particularly relates to a jacking mechanism for an AGV.

Background

An AGV car, namely an automatic guided transport vehicle, belongs to the field of wheeled mobile robots, can run along a specified guide path under the monitoring of a control system, has the functions of safety, automatic transportation and the like, effectively replaces manpower, greatly improves the transportation efficiency, is widely applied in the industries of logistics, electronic commerce, manufacturing and the like, does not need a transportation vehicle of a driver in industrial application, takes a rechargeable storage battery as a power source, can generally control the traveling path and behavior thereof through a computer or set up the traveling path thereof by utilizing an electromagnetic rail, the electromagnetic rail is adhered to the floor, an unmanned transportation vehicle moves and acts by depending on information brought by the electromagnetic rail, the AGV is generally provided with a loading and unloading mechanism which can be automatically interfaced with other logistics equipment to realize the whole process of loading, unloading and transporting goods and materials, and has the characteristic of automatic cleaning production, the AGV provides power by depending on a self-contained storage battery, has no noise and pollution in the operation process, and can be applied to a plurality of places requiring clean working environment.

The existing jacking type AGV mostly adopts an electric push rod mechanism or a hydraulic jacking mechanism to lift the goods, and has a complex structure and higher cost; the part adopts a scissor type jacking mechanism, the structure is simpler than the structure of the front scissor type jacking mechanism and the front scissor type jacking mechanism, but the occupied space is larger, the stacking height of the scissor type fork is limited, and the lowest point met by the vehicle body is higher; meanwhile, the structure has the problems of poor self-locking stability and the like, so that the normal work of the jacking mechanism is influenced.

Disclosure of Invention

The invention aims to provide a climbing mechanism for an AGV (automatic guided vehicle), which aims to solve the problems that in the use process of the existing climbing mechanism in the background technology, because an electric push rod mechanism or a hydraulic climbing mechanism is mostly adopted to lift cargoes, and a scissor fork type climbing mechanism is partially adopted, the structure is simpler than that of the two mechanisms, but the occupied space is larger, the lifting mechanism is limited by the stacking height of scissors and forks, meanwhile, the self-locking stability is poor, and the like, the lowest point of a vehicle body is higher, and the normal work of the climbing mechanism is influenced.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a climbing mechanism that AGV was used, includes jacking base, drive module, transmission module and direction module, the top fixed mounting of jacking base has two fixed plates, two the equal fixed mounting in top of fixed plate has guard flap, guard flap's front and the equal fixed mounting in the back have the protective cover, guard flap's top fixed mounting has the guard plate, the top fixed mounting of jacking base has four fixed blocks, the top fixed mounting of jacking base has two baffles, two the top fixed mounting of baffle has protecting sheathing, protecting sheathing's top fixed mounting has fixed plate.

The drive module comprises a mounting plate, a drive motor is fixedly mounted on the front surface of the mounting plate, and a speed reducer is fixedly mounted on the front surface of the mounting plate.

The transmission module comprises a lead screw box, a lead screw is movably mounted inside the lead screw box, a nut is fixedly mounted on the front surface of the lead screw box, and an installation block is movably mounted on the outer side, away from one end of the lead screw box, of the lead screw.

The guide module comprises a wedge-shaped block, a guide wheel is movably mounted at the top of the wedge-shaped block, and a jacking device is fixedly mounted at the top of the guide wheel.

Preferably, the top fixed mounting of jacking base has the lead screw case, the top fixed mounting of jacking base has the installation piece, the top fixed mounting of jacking base has the mounting panel, the guard plate is run through to the one end of jacking device to extend to the outside of guard plate.

Preferably, the outside screw thread of lead screw articulates there is the nut, the lead screw is kept away from the one end of lead screw case and is run through nut and installation piece to with the drive end fixed connection of speed reducer.

Preferably, two first screw holes are formed in the protection plate.

Preferably, four second screw holes are formed in the mounting block.

Preferably, four two third screw holes are all seted up to the inside of fixed block, and four fixed blocks are rectangle evenly distributed at the top of jacking base.

Preferably, three fourth screw holes are formed in the two fixing plates.

Preferably, through holes are formed in the two sides of the protective shell.

Preferably, a wire is fixedly installed at the top of the driving motor.

Compared with the prior art, the invention has the beneficial effects that:

1. the driving template is arranged for controlling the operation of the whole mechanism, providing power for the transmission module, the driving motor drives and drives the screw rod through the speed reducer, the driving motor provides power for the jacking mechanism, the speed reducer provides stability for the jacking mechanism, so that the matching of the driving motor and the speed reducer brings stable power for the whole device, the device can not be used alone, and a plurality of modules can be combined for use, the device is flexible and changeable according to specific working objects, meets the basic function requirements, and simultaneously well ensures the matching performance of the system and the structure, because the stable power is improved for the transmission module under the action of the driving motor and the speed reducer, the transmission module rotates, the wedge block is fixedly connected with the nut, the wedge block and the nut move along the horizontal direction under the driving of the screw rod, and the guide module is vertically upward, the guide wheel moves along the inclined surface of the wedge block, the guide module ascends and descends along with the movement of the wedge block, and accordingly the stroke of the guide module is automatically controlled.

2. Through setting up the transmission module and being used for the transmission of power and the conversion of motion form, because transmission module mainly includes the lead screw, the nut, the rotary motion who provides for transmission module at driving motor in the module converts the linear motion of component into, thereby under the drive of lead screw, with wedge and nut along the horizontal direction rearward movement, the guide pulley moves on the slope of wedge, the jacking device of guide pulley top installation upwards risees, make the ascending board at jacking device top upwards an effort, so not only simple easy operation, but also the redundancy that the "big horse draws the dolly" condition to lead to has avoided appearing, thereby the utilization ratio of this jacking device has been improved.

3. By arranging the guide module to operate in a transmission mode of the transmission module, the arrangement solves the problem that the traditional scissor-fork type jacking mechanism occupies larger space on one hand, and on the other hand, compared with the traditional scissor-fork type jacking mechanism, the jacking mechanism has simple structure, and when the jacking mechanism is used in many aspects, the matching of the system and the structure can be well ensured, in addition, the guide module mainly comprises a wedge block, a guide wheel and a jacking device, so that the jacking plate arranged at the top of the jacking device can be ensured to stably finish lifting movement without inclining, the jacking device can also finish lifting movement along the linear direction, and the tops of the two wedge-shaped blocks in the guide module are designed to be planar, so that the mechanism can be self-locked more easily when reaching a high point, the stability of the mechanism when bearing goods is improved, and the problem that the self-locking stability of the conventional jacking AGV is poor is solved.

4. Through the protective housing who sets up, guard flap, protective cover and guard plate protect this climbing mechanism, set up like this and avoided climbing mechanism when the function on the one hand, can not cause the damage to operating personnel on every side, thereby the security performance of climbing mechanism has been improved, on the other hand protector can protect climbing mechanism, not only can guarantee that the inside equipment of climbing mechanism does not receive the external factor harm, can also prevent materials such as dust from getting into climbing mechanism's inside, in order to guarantee this climbing mechanism's life, in addition, the inside in the protective housing both sides all is provided with two sets of through-holes, in order to guarantee that this climbing mechanism's radiating effect is the optimum, thereby indirectness's improvement climbing mechanism's work efficiency.

Drawings

FIG. 1 is a schematic perspective view of a jacking mechanism according to the present invention;

FIG. 2 is a schematic representation of the right side anatomical perspective of the lift mechanism of the present invention;

FIG. 3 is a schematic diagram of a front plan view of the present invention;

FIG. 4 is a schematic left side view of the present invention;

fig. 5 is a schematic top plan view of the present invention.

In the figure: 1. a first screw hole; 2. a protective cover; 3. a baffle plate; 4. a drive module; 401. a drive motor; 402. a speed reducer; 403. mounting a plate; 404. a wire; 5. a transmission module; 501. a lead screw; 502. a nut; 503. mounting blocks; 504. a lead screw box; 505. a second screw hole; 6. a guide module; 601. a wedge block; 602. a guide wheel; 603. a jacking device; 7. a third screw hole; 8. fixing the plate; 9. jacking a base; 10. a fourth screw hole; 11. a fixing plate; 12. a fixed block; 13. a through hole; 14. a protective baffle; 15. a protective housing; 16. and (4) a protective plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a climbing mechanism that AGV was used, including jacking base 9, drive module 4, transmission module 5 and orientation module 6, jacking base 9's top fixed mounting has two fixed plates 11, the equal fixed mounting in top of two fixed plates 11 has guard flap 14, guard flap 14's front and the equal fixed mounting in the back have protective cover 2, guard flap 14's top fixed mounting has guard plate 16, jacking base 9's top fixed mounting has four fixed blocks 12, jacking base 9's top fixed mounting has two baffles 3, the top fixed mounting of two baffles 3 has protecting sheathing 15, protecting sheathing 15's top fixed mounting has fixing plate block 8.

The driving module 4 includes a mounting plate 403, a driving motor 401 is fixedly mounted on the front surface of the mounting plate 403, and a speed reducer 402 is fixedly mounted on the front surface of the mounting plate 403.

The transmission module 5 comprises a screw box 504, a screw 501 is movably mounted in the screw box 504, a nut 502 is fixedly mounted on the front surface of the screw box 504, and a mounting block 503 is movably mounted on the outer side of one end, away from the screw box 504, of the screw 501.

The guide module 6 comprises a wedge block 601, a guide wheel 602 is movably mounted at the top of the wedge block 601, and a jacking device 603 is fixedly mounted at the top of the guide wheel 602.

In this embodiment, the lead 404 is connected to an ac power source or a dc power source, the driving motor 401 drives itself and drives the lead screw 501 through the speed reducer 402, the driving motor 401 provides power for the jacking mechanism, the speed reducer 402 provides stability for the jacking mechanism, so that the driving motor 401 and the speed reducer 402 cooperate to provide stable power for the whole device, because the driving motor 401 and the speed reducer 402 improve stable power for the transmission module 5, so that the transmission module 5 makes rotation movement, the wedge 601 is fixedly connected with the nut 502, under the driving of the lead screw 501, the wedge 601 and the nut 502 move along the horizontal direction, the guide module 6 is vertically upward, in addition, the guide module 6 mainly comprises the wedge 601, the guide wheel 602 and the jacking device 603, thus not only ensuring that the jacking plate installed on the top of the jacking device 603 is stable and does not tilt to complete lifting movement, the jacking device 603 can be ensured to complete lifting action along the linear direction, the wedge block 601 is designed to be a slope plane, so that the guide wheel 602 moves along the slope of the wedge block 601, the lifting and descending actions of the guide module 6 are realized along with the movement of the wedge block 601, and the stroke of the guide module 6 is automatically controlled.

Example two:

as shown in fig. 1 to 5, on the basis of the first embodiment, the present invention provides a technical solution: the top fixed mounting of jacking base 9 has lead screw case 504, and the top fixed mounting of jacking base 9 has installation piece 503, and the top fixed mounting of jacking base 9 has mounting panel 403, and the one end of jacking device 603 runs through guard plate 16 to extend to the outside of guard plate 16.

In this embodiment, lead screw case 504's effect holds and installs lead screw 501, the effect of installation piece 503 plays the one end that supports installation lead screw 501 and be close to speed reducer 402, the effect of mounting panel 403 is installation driving motor 401 and speed reducer 402, the effect of guard plate 16 has avoided climbing mechanism when the function on the one hand, can not cause the damage to operating personnel on every side, thereby the security performance of climbing mechanism has been improved, on the other hand protector can protect climbing mechanism, not only can guarantee that the inside equipment of climbing mechanism does not receive the external factor harm, can also prevent materials such as dust from getting into climbing mechanism's inside, in order to guarantee this climbing mechanism's life.

Example three:

as shown in fig. 1 to 5, on the basis of the first embodiment and the second embodiment, the present invention provides a technical solution: the outer side of the screw 501 is hinged with a nut 502 in a threaded manner, and one end, far away from the screw box 504, of the screw 501 penetrates through the nut 502 and the mounting block 503 and is fixedly connected with the driving end of the speed reducer 402.

In this embodiment, the driving motor 401 drives itself and drives the screw 501 through the speed reducer 402, so as to improve stable power for the transmission module 5, so that the transmission module 5 rotates, the wedge 601 is fixedly connected with the nut 502, under the driving of the screw 501, the wedge 601 and the nut 502 move along the horizontal direction, the guide module 6 moves vertically upwards, so that the guide wheel 602 moves along the inclined plane of the wedge 601, and the ascending and descending actions of the guide module 6 are realized along with the movement of the wedge 601, so as to realize the automatic control of the stroke of the guide module 6.

Example four:

as shown in fig. 1 to 5, on the basis of the first embodiment, the second embodiment and the third embodiment, the present invention provides a technical solution: two first screw holes 1 have been seted up to guard plate 16's inside, and four second screw holes 505 have been seted up to the inside of installation piece 503, and two third screw holes 7 have all been seted up to the inside of four fixed blocks 12, and four fixed blocks 12 are rectangle evenly distributed at the 9 tops of jacking base, and three fourth screw hole 10 has all been seted up to the inside of two fixed plates 11.

In this embodiment, the first screw hole 1 functions to install the guard plate 16 on the top of the guard plate 14 by penetrating the fixing bolt through the first screw hole 1 and extending to the inside of the top end of the guard plate 14, the second screw hole 505 is divided into a larger screw hole and a smaller screw hole, and extends to the inside of the jacking base 9 by penetrating two different fixing bolts through the large screw hole and the small screw hole, respectively, to install the installation block 503 on the top of the jacking base 9, the third screw hole 7 functions to easily install the fixing block 12 on the top of the jacking base 9 by penetrating the fixing bolt through the fixing block 12 and extending to the inside of the jacking base 9, the fourth screw hole 10 functions to easily install the fixing block 12 on the top of the jacking base 9 by penetrating the fixing bolt through the fixing block 11 and extending to the inside of the jacking base 9, thereby facilitating the installation of the fixing block 11 on the top of the jacking base 9, so as to realize the installation protection of the jacking mechanism.

Example five:

as shown in fig. 1 to 5, on the basis of the first embodiment, the second embodiment, the third embodiment and the fourth embodiment, the present invention provides a technical solution: through-hole 13 has all been seted up to the inside of protective housing 15 both sides, and driving motor 401's top fixed mounting has wire 404.

In this embodiment, the wire 404 is used for connecting an ac power supply or a dc power supply, the driving motor 401 drives itself and drives the screw 501 through the speed reducer 402, the driving motor 401 provides power for the jacking mechanism, the speed reducer 402 provides stability for the jacking mechanism, so that the cooperation of the driving motor 401 and the speed reducer 402 provides stable power for the whole device, because the driving motor 401 and the speed reducer 402 improve stable power for the transmission module 5, the transmission module 5 makes rotation motion, the wedge 601 is fixedly connected with the nut 502, the wedge 601 and the nut 502 move in the horizontal direction under the drive of the screw 501, the guide module 6 moves vertically upwards, the ascending and descending motion of the guide module 6 is realized along with the movement of the wedge 601, thereby greatly reducing the loss of economic cost and improving the utilization rate of the jacking device 603, a set of through-holes 13 has all been seted up through the inside at protective housing 15 both sides to guarantee that this climbing mechanism's radiating effect is optimum, thereby indirectness's improvement climbing mechanism's work efficiency.

The working principle and the using process of the invention are as follows: when the jacking mechanism is used, firstly, a lead 404 is connected with an alternating current power supply or a direct current power supply, a driving motor 401 drives and drives a lead screw 501 through a speed reducer 402, the driving motor 401 provides power for the jacking mechanism, the speed reducer 402 provides stability for the jacking mechanism, so that the matching of the driving motor 401 and the speed reducer 402 brings stable power for the whole device, as the stable power is improved for a transmission module 5 under the action of the driving motor 401 and the speed reducer 402, the transmission module 5 rotates, a wedge 601 is fixedly connected with a nut 502, the wedge 601 and the nut 502 move along the horizontal direction under the drive of the lead screw 501, a guide module 6 is vertically upward, in addition, the guide module 6 mainly comprises the wedge 601, a guide wheel 602 and a jacking device 603, thereby not only ensuring that a jacking plate arranged at the top of the jacking device 603 can stably and not incline to complete lifting movement, the jacking device 603 can be ensured to complete lifting action along the linear direction, the wedge block 601 is designed to be a slope plane, so that the guide wheel 602 moves along the slope of the wedge block 601, the lifting and descending actions of the guide module 6 are realized along with the movement of the wedge block 601, and the stroke of the guide module 6 is automatically controlled.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a climbing mechanism that AGV was used, includes jacking base (9), drive module (4), transmission module (5) and direction module (6), its characterized in that: the jacking device comprises a jacking base (9), and is characterized in that two fixed plates (11) are fixedly mounted at the top of the jacking base (9), protective baffles (14) are fixedly mounted at the tops of the two fixed plates (11), protective covers (2) are fixedly mounted on the front and the back of each protective baffle (14), protective plates (16) are fixedly mounted at the tops of the protective baffles (14), four fixed blocks (12) are fixedly mounted at the tops of the jacking base (9), two baffles (3) are fixedly mounted at the tops of the jacking base (9), protective housings (15) are fixedly mounted at the tops of the two baffles (3), and fixed plates (8) are fixedly mounted at the tops of the protective housings (15);

the driving module (4) comprises a mounting plate (403), a driving motor (401) is fixedly mounted on the front surface of the mounting plate (403), and a speed reducer (402) is fixedly mounted on the front surface of the mounting plate (403);

the transmission module (5) comprises a lead screw box (504), a lead screw (501) is movably mounted in the lead screw box (504), a nut (502) is fixedly mounted on the front surface of the lead screw box (504), and a mounting block (503) is movably mounted on the outer side of one end, far away from the lead screw box (504), of the lead screw (501);

the guide module (6) comprises a wedge block (601), a guide wheel (602) is movably mounted at the top of the wedge block (601), and a jacking device (603) is fixedly mounted at the top of the guide wheel (602).

2. The lift mechanism for an AGV of claim 1, wherein: the top fixed mounting of jacking base (9) has lead screw case (504), the top fixed mounting of jacking base (9) has installation piece (503), the top fixed mounting of jacking base (9) has mounting panel (403), guard plate (16) is run through to the one end of jacking device (603) to extend to the outside of guard plate (16).

3. The lift mechanism for an AGV of claim 1, wherein: the outer side of the screw rod (501) is hinged with a nut (502), one end, far away from the screw rod box (504), of the screw rod (501) penetrates through the nut (502) and the mounting block (503) and is fixedly connected with the driving end of the speed reducer (402).

4. The lift mechanism for an AGV of claim 1, wherein: two first screw holes (1) are formed in the protection plate (16).

5. The lift mechanism for an AGV of claim 1, wherein: four second screw holes (505) are formed in the mounting block (503).

6. The lift mechanism for an AGV of claim 1, wherein: four two third screw holes (7) have all been seted up to the inside of fixed block (12), and four fixed blocks (12) are rectangle evenly distributed at (9) top of jacking base.

7. The lift mechanism for an AGV of claim 1, wherein: and three fourth screw holes (10) are formed in the two fixing plates (11).

8. The lift mechanism for an AGV of claim 1, wherein: through holes (13) are formed in the two sides of the protective shell (15).

9. The lift mechanism for an AGV of claim 1, wherein: and a lead (404) is fixedly arranged at the top of the driving motor (401).