CN114380234B

CN114380234B - Lifting AGV is carried to heavy load

Info

Publication number: CN114380234B
Application number: CN202210065467.9A
Authority: CN
Inventors: 方鹏橙; 刘辉成
Original assignee: Chongqing Jiateng Robot Automation Co ltd
Current assignee: Chongqing Jiateng Robot Automation Co ltd
Priority date: 2022-01-20
Filing date: 2022-01-20
Publication date: 2023-09-01
Anticipated expiration: 2042-01-20
Also published as: CN114380234A

Abstract

The application belongs to the technical field of AGVs, and provides a heavy-load bearing lifting AGV, which comprises an AGV main body and further comprises: a carrier plate provided on the AGV main body; and elevating gear, it sets up on the AGV main part, it includes: the shearing fork mechanism is arranged on the AGV main body; and a drive mechanism provided on the AGV main body, comprising: a drive plate provided on the AGV main body; the sliding plate is arranged on the AGV main body, the first side of the sliding plate is connected with the second side of the bottom of the scissor mechanism, and the second side of the sliding plate is provided with a guide surface for enabling the sliding plate to move in a direction away from the driving plate; and the driving assembly is arranged on the AGV main body and is used for driving the driving plate to do reciprocating linear motion between the first working position and the second working position. The heavy-load bearing lifting AGV provided by the application has the advantages of simple structure, labor saving and longer service life of the driving assembly.

Description

Lifting AGV is carried to heavy load

Technical Field

The application relates to the technical field of AGVs, in particular to a heavy-load bearing lifting AGV.

Background

In the prior art, a fork shearing mechanism is usually arranged on an AGV main body so as to achieve the purpose of lifting. As shown in fig. 1, during the movement of the scissor mechanism, the angle α between the support rod and the horizontal plane will change along with the movement of the scissor mechanism, which results in that the moment required by the scissor mechanism in the initial stage of lifting will be much greater than the moment required when lifting to the top end. However, in order to achieve the lifting purpose when in use, a motor capable of meeting the moment at the initial stage is needed, so that the waste of motor power is caused.

Disclosure of Invention

Aiming at the defects in the prior art, the application aims to provide a heavy-load bearing lifting AGV so as to solve the problems in the background art.

In order to achieve the above object, the present application provides a heavy load bearing lifting AGV, including an AGV main body, further including:

a carrier plate provided on the AGV body, which is reciprocally linearly movable in a longitudinal direction on the AGV body between a first working position and a second working position; and

lifting device, it sets up on the AGV main part, it is used for the drive the loading board is moving, and it includes:

the shearing fork mechanism is arranged on the AGV main body, the first side of the bottom of the shearing fork mechanism is hinged with the AGV main body, the second side of the bottom of the shearing fork mechanism is in sliding connection with the AGV main body, the first side of the top of the shearing fork mechanism is hinged with the bearing plate, and the second side of the top of the shearing fork mechanism is in sliding connection with the bearing plate; and

the actuating mechanism, it sets up on the AGV main part, it is used for the drive shear fork mechanism drives the loading board removes, it includes:

a drive plate provided on the AGV body, and reciprocally movable in a straight line in an X direction on the AGV body between a first working position and a second working position;

a slide plate provided on the AGV main body and capable of reciprocating in a linear motion in a Y direction between a first working position and a second working position, wherein a first side of the slide plate is connected to the second side of the bottom of the scissor mechanism, and a second side of the slide plate is provided with a guide surface for moving the slide plate in a direction away from the drive plate; and

and the driving assembly is arranged on the AGV main body and is used for driving the driving plate to do reciprocating linear motion between the first working position and the second working position.

Further, the lifting device further comprises a first guiding assembly, the first guiding assembly comprising:

the first guide rail is fixedly arranged on the AGV main body; and

the sliding block is hinged with the second side of the bottom of the scissor mechanism, a sliding groove is formed in the bottom of the sliding block, the sliding block is in sliding connection with the first guide rail through the sliding groove, and the sliding plate is fixedly connected with the sliding block.

Further, second rollers are arranged at two ends of the second side of the top of the scissor mechanism.

Further, the lifting device further comprises a second guide assembly, the second guide assembly comprises two second guide rails which are symmetrically arranged, and the two second guide rails are respectively arranged on one sides of the two second rollers, which are close to each other or far away from each other, and are fixedly connected with the bearing plate.

Further, the drive assembly includes:

the nut is fixedly connected with the driving plate;

the screw rod is rotatably arranged on the AGV main body and is in transmission connection with the nut; and

and the motor is fixedly arranged on the AGV main body and used for driving the screw rod to rotate.

Further, a first roller is arranged on one side of the driving plate, which faces the sliding plate, and the driving plate is in contact with the guide surface through the first roller.

Further, the included angle between the tangent line of any point on the guide surface and the X direction is beta, the included angle between the supporting rod of the scissor mechanism and the Y direction is alpha, wherein,wherein Q is the rated output power applied by the driving assembly on the driving plate, and G is the rated bearing capacity of the scissor mechanism.

The application has the beneficial effects that:

according to the heavy-load bearing lifting AGV provided by the application, the sliding plate is arranged, and the guide surface is arranged on the sliding plate, so that the driving assembly can drive the driving plate to move in the X direction, and the sliding plate is driven to move in the Y axis direction under the action of the guide surface, so that the purpose of saving labor is achieved, and the purpose of reducing the rated power of the driving assembly is further achieved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.

FIG. 1 is a perspective view of a heavy duty piggyback lift AGV provided in accordance with one embodiment of the present application;

FIG. 2 is an internal structural view of the heavy load carrying lift AGV of FIG. 1;

fig. 3 is an enlarged view at a shown in fig. 2;

fig. 4 is an enlarged view at B shown in fig. 2;

FIG. 5 is a view of the combination of the first guide assembly and locking assembly of the heavy duty piggyback lift AGV of FIG. 1;

fig. 6 is an enlarged view at C shown in fig. 5.

Reference numerals:

the AGV main body 100, the carrier plate 200, the elevating device 300, the fork mechanism 310, the second roller 311, the driving mechanism 320, the driving plate 321, the slide plate 322, the driving component 323, the first guide component 330, the first guide rail 331, the slider 332, the second guide component 340, the second guide rail 341, the nut 301, the screw 302, the motor 303, the first roller 304, the locking component 350, the locking column 351, the spring 352, the permanent magnet 353, and the electromagnet 354.

Detailed Description

Embodiments of the technical scheme of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present application, and thus are merely examples, and are not intended to limit the scope of the present application.

It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, the meaning of "plurality" is two or more unless specifically defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

1-6, the present application provides a heavy load carrying lift AGV that includes an AGV body 100, which is conventional and will not be described in detail herein.

The heavy load bearing lift AGV also includes a load bearing plate 200 and a lifting device 300.

Wherein the load board 200 is mounted on top of the AGV body 100 for carrying the load and is longitudinally movable in a reciprocating linear motion on the AGV body 100 between a first operative position and a second operative position. The elevator device 300 is mounted to the AGV body 100 for driving the carriage plate 200 in a reciprocating linear motion in a longitudinal direction between a first operative position and a second operative position. When in use, goods are placed on the bearing plate 200, and the lifting device 300 is used for driving the bearing plate 200 to move in the first working position and the second working position along the longitudinal direction, namely driving the bearing plate 200 to lift, so that the purpose of lifting the goods is achieved.

The lifting device 300 includes a scissor mechanism 310 and a driving mechanism 320.

Wherein, the scissors mechanism 310 is mounted on the AGV main body 100, specifically, a first side of a bottom of the scissors mechanism 310 is hinged with the AGV main body 100, a second side is slidably connected with the AGV main body 100, and a first side of a top of the scissors mechanism 310 is hinged with the carrier plate 200, and a second side is slidably connected with the carrier plate 200.

The drive mechanism 320 is mounted on the AGV body 100 for driving the scissor mechanism 310 to move the carrier plate 200, and includes a drive plate 321, a sled 322, and a drive assembly 323.

Wherein the drive plate 321 is mounted on the AGV body 100 for reciprocal linear movement in the X direction on the AGV body 100 between a first operative position and a second operative position.

The slide plate 322 is mounted on the AGV body 100 so as to be movable in a reciprocating linear motion in the Y direction on the AGV body 100 between a first operating position and a second operating position, and a first side thereof is connected to the second side of the bottom portion of the scissor mechanism 310 and a second side thereof is provided with a guide surface for moving the slide plate 322 in a direction away from the drive plate 321. Specifically, the angle between the tangent line of the corresponding guiding surface and the X direction in the initial stage of lifting is beta, wherein beta is less than 45 degrees. By providing a suitable guiding surface on the second side of the slide 322, the aim is achieved of reducing the moment to be output by the drive assembly 323 during the initial phase of lifting.

A drive assembly 323 is mounted to the AGV body 100 for driving the drive plate 321 in reciprocating linear motion between a first operative position and a second operative position.

In one embodiment, the lifting device 300 further comprises a first guiding assembly 330 for limiting and guiding the sliding of the second side of the bottom of the scissor mechanism 310, comprising a first rail 331 and a slider 332.

Wherein the first guide rail 331 is fixedly disposed on the AGV body 100.

The slider 332 is hinged to the second side of the bottom of the scissor mechanism 310, the bottom of which is provided with a chute, which is slidably connected to the first rail 331 through the chute, and the slider 322 is also fixedly connected to the slider 332.

In use, the first guide rail 331 is matched with the chute, so that the purpose of limiting and guiding the movement of the sliding block 332 is achieved, and the purpose of limiting and guiding the movement of the second side of the bottom of the scissor mechanism 310 is further achieved.

The first guide assembly 330 of this structure is simple in structure and reasonable in design.

In one embodiment, a second roller 311 is rotatably disposed at both ends of the second side of the top of the scissors mechanism 310. By arranging the second roller 311, the sliding friction of the second side of the top of the scissor mechanism 310 is changed into rolling friction, thereby achieving the purpose of saving labor.

In one embodiment, the lifting device 300 further includes a second guiding assembly 340, which is used for limiting and guiding the movement of the second side of the top of the scissor mechanism 310, and includes two symmetrically disposed second guide rails 341, where the two second guide rails 341 are respectively disposed on one sides of the two second rollers 311 that are close to or far from each other and fixedly connected with the carrier 200, specifically, one sides of the two second guide rails 341 that are close to or far from each other respectively collide with the two second rollers 311, so as to achieve the purpose of limiting and guiding the movement direction of the second rollers 311, and further achieve the purpose of limiting and guiding the movement of the second side of the top of the scissor mechanism 310.

The second guide assembly 340 of this structure is simple in structure.

In one embodiment, drive assembly 323 includes a nut 301, a lead screw 302, and a motor 303.

Wherein the nut 301 is fixedly connected with the driving plate 321. The lead screw 302 is rotatably disposed on the AGV body 100 and is in driving connection with the nut 301. Specifically, a nut 301 is sleeved on a screw 302. A motor 303 is fixedly disposed on the AGV body 100 for driving the lead screw 302 in rotation.

In use, the motor 303 drives the screw 302 to rotate in a forward or reverse direction, and the screw 302 drives the nut 301 to reciprocate in a linear motion along the length direction of the screw 302, i.e., the X direction, so that the nut 301 drives the drive plate 321 to reciprocate in the X direction.

In one embodiment, a side of the driving plate 321 facing the sliding plate 322 is provided with a first roller 304, and the driving plate 321 collides with the guide surface through the first roller 304.

By arranging the first roller 304, the aim of changing the sliding friction between the driving plate 321 and the sliding plate 322 into rolling friction is achieved, and the aim of saving labor is achieved.

However, the heavy-load bearing lifting AGV has the following defects: if the guiding surface is an inclined surface, the power applied by the driving component 323 to the driving plate 321 still changes along with the change of the included angle alpha between the supporting rod of the scissor mechanism 310 and the Y direction, which results in that the output power of the motor 303 changes at any time in the running process, thus resulting in lower service life of the motor 303. Thus, in one embodiment, the angle between the tangent line at any point on the guide surface and the X direction is β, the angle between the support bar of the scissors mechanism 310 and the Y direction is α, wherein,where Q is the rated output power applied to the drive plate 321 by the drive assembly 323 and G is the rated load capacity of the scissor mechanism 310.

The guide surface arranged in this way can not only reduce the power required by the driving component 323 in the initial stage of lifting, but also ensure that the power output by the driving component 323 is kept unchanged in the whole lifting process, thereby achieving the purpose of prolonging the service life of the driving component 323.

In one embodiment, the lifting device 300 further includes a locking assembly 350 for locking the sliding movement of the slider 332, which includes a locking post 351, a spring 352, a permanent magnet 353, and an electromagnet 354.

The first guide rail 331 is provided with a mounting groove along the length direction thereof, the locking column 351 is arranged in the mounting groove in a sliding manner, the bottom of the locking column 351 is provided with first locking teeth, and the inner wall of the sliding groove is provided with second locking teeth matched with the first locking teeth. The spring 352 is installed in the installation groove, both ends of which are abutted against the locking post 351 and the first guide rail 331, respectively, and the spring 352 has a tendency to move the locking post 351 in a direction approaching the slider 332 in a natural state. The permanent magnet is fixedly embedded at the bottom of the locking column 351, the electromagnet 354 is fixedly arranged in the first guide rail 331, and the magnetism of the opposite side of the electromagnet 354 and the permanent magnet 353 is opposite, so that when the electromagnet 354 is electrified, a magnetic attraction force is generated between the electromagnet 354 and the permanent magnet 353.

When the locking device is used, in the process of lifting goods, the electromagnet 354 is electrified, so that the locking column 351 moves into the mounting groove under the action of magnetic attraction force of the electromagnet 354 and the permanent magnet 353, the first locking tooth and the second locking tooth are separated from each other, and then the locking is released, so that the sliding block 332 and the bottom of the scissor fork structure can slide normally.

When the scissor mechanism 310 moves to a proper position, the electromagnet 354 is powered off, and the first locking tooth is meshed with the second locking tooth under the action of the elastic force of the spring 352, so as to achieve the effect of locking the movement of the sliding block 332, further prevent the carrying plate 200 from abnormally moving downwards under the action of gravity or external force, ensure that the goods on the carrying plate 200 can be stably conveyed, and the locking assembly 350 with the structure can lock the sliding block 332 at any position.

This structural locking assembly 350 is simple in construction, reasonable in design, and sets it in the first guide assembly 330, making the overall AGV more compact.

In the description of the present application, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application, and are intended to be included within the scope of the appended claims and description.

Claims

1. The utility model provides a lifting AGV is carried to heavy load, includes AGV main part, its characterized in that: further comprises:

a carrier plate provided on the AGV body, capable of reciprocating rectilinear motion longitudinally on the AGV body between a first working position and a second working position; and

lifting device, it sets up on the AGV main part, it is used for the drive the loading board removes, it includes:

a drive plate provided on the AGV body, capable of reciprocating rectilinear motion in an X direction on the AGV body between a first working position and a second working position;

a slide plate arranged on the AGV main body and capable of performing reciprocating linear motion between a first working position and a second working position along the Y direction on the AGV main body, wherein a first side of the slide plate is connected with the second side of the bottom of the scissor mechanism, and a second side of the slide plate is provided with a guide surface for enabling the slide plate to move in a direction far away from the driving plate; and

the driving assembly is arranged on the AGV main body and used for driving the driving plate to do reciprocating linear motion between the first working position and the second working position;

the side of the driving plate, which faces the sliding plate, is provided with a first roller, and the driving plate is in contact with the guide surface through the first roller.

2. The heavy load bearing lift AGV of claim 1 wherein: the lifting device further comprises a first guide assembly comprising:

the first guide rail is fixedly arranged on the AGV main body; and

3. The heavy load bearing lift AGV of claim 1 wherein: and second rollers are arranged at two ends of the second side of the top of the shearing fork mechanism.

4. The heavy load bearing lift AGV of claim 3 wherein: the lifting device further comprises a second guide assembly, the second guide assembly comprises two second guide rails which are symmetrically arranged, and the two second guide rails are respectively arranged on one sides of the two second rollers, which are close to each other or far away from each other, and are fixedly connected with the bearing plate.

5. The heavy load bearing lift AGV of claim 1 wherein: the drive assembly includes:

the nut is fixedly connected with the driving plate;

6. The heavy load back lift AGV of any of claims 1-5 wherein: the guide surface is an inclined surface, the included angle between the tangent line of any point on the guide surface and the X direction is beta, the included angle between the supporting rod of the scissor mechanism and the Y direction is alpha, wherein,wherein Q is the rated output power applied by the driving assembly on the driving plate, and G is the rated bearing capacity of the scissor mechanism.