CN206955555U - A kind of rotating lifting device and apply its transfer robot - Google Patents
A kind of rotating lifting device and apply its transfer robot Download PDFInfo
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- CN206955555U CN206955555U CN201720624743.5U CN201720624743U CN206955555U CN 206955555 U CN206955555 U CN 206955555U CN 201720624743 U CN201720624743 U CN 201720624743U CN 206955555 U CN206955555 U CN 206955555U
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Abstract
The utility model belongs to robotic technology field, specially a kind of rotating lifting device, including substrate, first pivoting support, screw thread pair, guide and rotating mechanism, first pivoting support inner ring and substrate connection, the outer ring of first pivoting support is provided with the gear teeth engaged with lifting drive gear, guide is fixed on the first pivoting support inner ring, screw thread pair includes the hollow screw rod of nut and middle part, nut is linked in guide periphery and is fixed on the first pivoting support outer ring, screw rod is located between guide and nut, the first guiding mechanism that limitation screw rod rotates is provided between guide and screw rod；Rotating mechanism is located at screw rod upper end, it includes rotary drive motor, rotary drive gear and rotary drive component, rotary drive component periphery is provided with the gear teeth engaged with rotary drive gear, the rotary drive component at least gear teeth can rotate relative to screw rod, and the utility model also provides a kind of transfer robot using rotating lifting device.The utility model is simple in construction, simple operation.
Description
Technical field
The utility model belongs to robotic technology field, specially a kind of rotating lifting device and apply its conveying robot
People.
Background technology
With the rise of human cost and the requirement of factory specification, AGV is increasingly becoming important handbarrow, tradition
Backpack AGV be only capable of transported material, people often set up other hardware devices to match somebody with somebody to expand AGV application
Close AGV to use, so as to improve its cost performance.
Realize that the method for AGV loading and unloading functions mainly there are two kinds at present, the first is to be located in setting feeding device in purpose,
Such as manipulator is few because this kind of method cost is higher, it is necessary to set feeding device in each destination, therefore only
Number enterprise uses this method；Second is that lifting device is incorporated on AGV, allows AGV itself to possess lifting function, when AGV is arrived
Up to after destination, only loading and unloading need to can be carried out using lifting mechanism, so as to reduce the cost of loading and unloading, and made in reality
In, the AGV with lifting and spinfunction can not only realize the function of lifting goods, and can also realize goods opposing bottom surface not
The function of rotation, therefore favored deeply by client, but such AGV generally existing rotating lifting apparatus structure to circulate in the market
The shortcomings of complicated, portioned product is in order to avoid drawbacks described above, or even has abandoned the function of rotation, therefore, researches and develops a kind of structure letter
List and to apply the rotating lifting device on AGV be very necessary.
Utility model content
The purpose of this utility model is overcome the deficiencies in the prior art, there is provided a kind of rotating lifting dress simple in construction
Put.
In order to solve the above-mentioned technical problem, the utility model uses following technical scheme：
A kind of rotating lifting device, including substrate and the lifting mechanism and rotating mechanism installed in the surface,
The lifting mechanism includes lifting drive component and lifting transmission component, and the rotating mechanism includes rotary drive assembly and rotation
Transmission component.
The lifting drive component includes lifting motor and lifting drive gear, the lifting drive gear and lifting
The output end connection of motor.
The lifting transmission component includes the first pivoting support, screw thread pair and guide, first pivoting support it is interior
Circle is fixedly connected with substrate, and the outer ring of first pivoting support is provided with the gear teeth engaged with lifting drive gear, the guiding
Part is fixedly mounted on the upper end of the first pivoting support inner ring, and the inner thread part of the screw thread pair is looped around the outer of the guide
Week and be fixedly mounted on the upper end of the first pivoting support outer ring, the threaded male component ring of the screw thread pair is located at the guide
Between inner thread part, the threaded male component is threadedly coupled with inner thread part, the guide and threaded male component it
Between be provided with the first guiding mechanism, the first guiding mechanism limitation threaded male component rotates.
The rotary drive assembly includes rotary drive motor and rotary drive gear, the rotary drive gear and rotation
The output end connection of motor, the periphery of the rotary drive component is provided with the gear teeth engaged with rotary drive gear, described
Rotary drive component is arranged on the top of threaded male component, and the rotary drive component at least gear teeth can turn with respect to threaded male component
It is dynamic.
Compared with prior art, rotating lifting device provided by the utility model, be provided with substrate lifting mechanism and
Rotating mechanism, so as to which synchronous rotary, lifting, decline either individually rotation or individually lifting, the function of declining, this reality can be realized
With new structure simple and compact, easy to operate, precision is high.Specifically, when the lifting pivoting support of driving gear drives first
Outer ring rotating when, it will drive the inner thread part that is fixedly connected with the first pivoting support outer ring to make synchronous axial system, due to
Under the guide effect of guide and guiding mechanism, the threaded male component being threadedly coupled with inner thread part only can relative internal thread
Part rises or declined, without rotating, so as to realize individually lifting, the function of declining；In addition, pallet component passes through rotation
Transmission component is arranged on the top of threaded male component, when rotary drive gear driving rotary drive component rotates, can drive support
Disk component rotates relative to threaded male component, so as to realize the function of individually rotating, therefore can be lifted according to the demand of reality to control
The work of drive component and rotary drive assembly is risen, so as to realize synchronous rotary, lifting, decline either individually rotation or independent
Lifting, the function of declining, and the lifting of device and decline are then realized by controlling the rotating of lifting motor.Due to lifting
The gear teeth meshing of drive gear and the first pivoting support is risen, when lifting mechanism work is not needed, lifting motor leads to
Control lifting drive gear is crossed not rotate, thus the outer ring of the first pivoting support is locked, to provide auto-lock function, prevent first
The outer ring of pivoting support voluntarily rotates, and improves precision.
Further, first guiding mechanism includes the vertical guide groove on the threaded male component inwall, with
And the corresponding guide groove is arranged on the directive wheel on the guide outer wall, the inwall of the directive wheel and guide groove coordinates,
Preferably, first guiding mechanism is at least provided with two.First guiding mechanism is simple and compact for structure, works as inner thread part
During rotation, the cooperation of directive wheel and guide groove, which limits threaded male component, can only move up and down and can not rotate, and serve guiding
Effect, in addition, threaded male component lift when, directive wheel rolls with respect to threaded male component along guide groove, is led with existing
Compared to mechanism, sliding friction is converted into rolling friction by directive wheel, so as to reduce the first guiding mechanism rubbing in lifting
Wipe, so as to reduce its loss, extend its life-span.
Further, the second guiding mechanism, second Guiding machine are additionally provided between the guide and threaded male component
Structure includes the first vertically arranged V-shaped groove, the second V-shaped groove, and intersects with what first V-shaped groove and the second V-shaped groove coordinated
Roller assembly, on the inwall of threaded male component, second V-shaped groove is located on the outer wall of guide first V-shaped groove,
The decussation roller component is located between first V-shaped groove and the second V-shaped groove.Preferably, second guiding mechanism is provided with
Three, the angle that two neighboring second guiding mechanism is located on horizontal plane is 120 degree.The set-up mode of second guiding mechanism
It is simple and compact for structure, it is more smooth when can lift threaded male component, more precisely, in addition, the fit system of decussation roller and V-shaped groove
Existing sliding friction is converted into rolling friction, not only ensures the effect of guiding, and also reduces the second guiding mechanism
Friction in lifting, so as to reduce its loss, extends its life-span.
Further, the decussation roller component includes retainer and multiple rollers, and the retainer is fixedly mounted on
The outside of two V-shaped grooves, the retainer are provided with multiple installation units for being used to install roller, and the multiple installation unit is vertical
It is spaced, each roller is arranged in corresponding installation unit, and two neighboring roller intersects setting, and two neighboring rolling
Angle at left and right sides of angle and the second V-shaped groove at left and right sides of the axis angle of post and the first V-shaped groove between inwall between inwall
Equal, the roller is provided with two circular end faces and the rolling surface between described two circular end faces, the rolling surface
Roll and coordinate with the inwall of the first V-shaped groove and the second V-shaped groove respectively, two neighboring roller and the first V-shaped groove, the second V-shaped groove are handed over
Mispairing is closed, for example, the same rolling surface right side wall and the second V-shaped groove with the first V-shaped groove respectively towards each roller set
Left side wall coordinate, the rolling surface of each roller of another direction respectively with the left side wall of the first V-shaped groove and the right side of the second V-shaped groove
Side wall coordinates.Preferably, the axis of two neighboring roller is mutually perpendicular to.The set-up mode structure letter of the decussation roller component
Single, the cooperation between roller and the first V-shaped groove and the second V-shaped groove is smooth, makes threaded male component more smooth when lifting, and in addition adjacent two
It is mutually perpendicular between individual roller, orthogonal set-up mode between first, second V-shaped groove two side, can preferably limit levels
The free degree on direction, so as to be preferably oriented to.
Further, an installing plate is provided between the lifting mechanism and rotating mechanism, the rotary drive component includes
Second pivoting support, the lower end of the installing plate and the upper end of threaded male component connect, the upper end of installing plate and the second revolution branch
The inner ring held is fixedly connected, and the rotary drive assembly is fixedly mounted on the installing plate, outside second pivoting support
Circle is provided with the gear teeth engaged with the rotary drive gear.Second pivoting support have it is simple in construction, transmission precisely, friction
The characteristics of small, further, since the gear teeth meshing of rotary drive gear and the second pivoting support, when not needing rotating mechanism work
When, rotary drive motor by controlling rotary drive gear not rotate, so as to by the outer ring of the second pivoting support it is locked, carried
Lock function is provided from, prevents the outer ring of the second pivoting support from voluntarily rotating, improves precision.
Further, connected between the threaded male component of the screw thread pair and inner thread part using trapezoidal thread, due to
Trapezoidal thread has the characteristics of lead angle is less than equivalent friction angle, so as to ensure safety and stability when lifting goods.
The utility model also provides a kind of transfer robot using above-mentioned rotating lifting device, including AGV chassis and
At least one above-mentioned rotating lifting device, the rotating lifting device are arranged on AGV chassis, the setting side of rotating lifting device
Formula includes two kinds, and the first is the top for being arranged on AGV chassis, second of lower section for being provided in AGV chassis.Due to this practicality
The transfer robot of new offer incorporates above-mentioned rotating lifting device, thus can realize synchronous rotary material, loading and unloading or
Individually rotation material or the function of independent loading and unloading, so that AGV function is wider, practicality is stronger.
Brief description of the drawings
Fig. 1 is the stereogram of rotating lifting device
Fig. 2 is the explosive view of rotating lifting device
Fig. 3 is the sectional view 1 when lifting transmission component declines
Fig. 4 is the sectional view 2 when lifting transmission component rises
Fig. 5 is the sectional view 3 of lifting transmission component
Fig. 6 is the structural representation of threaded male component
Fig. 7 is the structural representation of guide
Fig. 8 is structural representation Fig. 1 of the second guiding mechanism
Fig. 9 is structural representation Fig. 2 of the second guiding mechanism
Figure 10 is the structural representation of fixed seat
Embodiment
Below in conjunction with brief description of the drawings specific embodiment of the present utility model.
In description of the present utility model, it is to be understood that " on ", " under ", "left", "right", " level ",
The orientation or position relationship of the instructions such as " interior ", " outer " are based on orientation shown in the drawings or position relationship, are for only for ease of and retouch
State the utility model and simplify and describe, rather than instruction or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.Fixation described in the utility model is even
Connect including mode connects for screw, riveting etc. it is traditional be fixedly connected with mode.
Embodiment one：
Referring to Fig. 1 and Fig. 2, a kind of rotating lifting device, including substrate 1 and the lifting above the substrate 1
Mechanism 2 and rotating mechanism 3, the lifting mechanism 2 include lifting drive component 21 and lifting transmission component 22, the rotating mechanism
3 include rotary drive assembly 31, rotary drive component 32 and pallet component 33, and the rotating mechanism 3 is arranged on lifting mechanism 2
Top, the pallet component 33 are arranged on the upper end of rotary drive component 32.
Referring to Fig. 1, Fig. 2 and Figure 10, the lifting drive component 21 includes lifting motor 211 and lifting drive gear
212, the upper end of substrate 1 is provided with a fixed seat 11 for being secured to connection, and the inside of fixed seat 11, which is provided with, to be used to install
The installation cavity 111 of the lifting drive gear 212, the inner side of the fixed seat 11 offer the hollow-out parts of connection installation cavity 111
112, the lifting drive gear 212 is arranged in installation cavity 111, and the lifting motor 211 is arranged on the fixed seat
11 upper end, the output end of the lifting motor 211 are connected through the fixed seat 11 with lifting drive gear 212.
Referring to Fig. 1 to Fig. 5, the lifting transmission component 22 includes the first pivoting support 221, screw thread pair and guide 224,
The inner ring 221a of first pivoting support 221 is fixedly connected with substrate 1, the outer ring 221b of the first pivoting support 221 be provided with
The gear teeth 221c that lifting drive gear 212 is adapted, the lifting drive gear 212 pass through the hollow-out parts 112 and first time
Turn the gear teeth 221c engagements of supporting 221；The guide 224 is fixedly mounted on the inner ring 221a upper ends of the first pivoting support 221, institute
Stating screw thread pair includes inner thread part 223 and threaded male component 222, specifically, the inner thread part 223 is preferably nut；
The threaded male component 222 is preferably the hollow screw rod in middle part, and in order to improve the safety and stability of device, above-mentioned screw thread is excellent
Choosing uses trapezoidal thread.Further, since lifting drive gear 212 engages with the gear teeth 221c of the first pivoting support 221, when being not required to
When wanting the lifting mechanism 2 to work, lifting motor 211 is by controlling lifting drive gear 212 not rotate, so as to by first
The outer ring of pivoting support 221 is locked, to provide auto-lock function, prevents the outer ring of the first pivoting support 221 from voluntarily rotating, and improves essence
Degree.
Referring to Fig. 1 to Fig. 5, the inner thread part 223 of the screw thread pair is looped around the periphery of the guide 224, under it
End is fixedly connected with the outer ring 221b upper ends of the first pivoting support 221, described in the threaded male component 222 of the screw thread pair is located on
Between guide 224 and inner thread part 223, threaded male component 222 is threadedly coupled with inner thread part 223, the guide
The first guiding mechanism 4 and the second guiding mechanism 5 are provided between 224 and threaded male component 222, first guiding mechanism 4 is symmetrical
Provided with two, second guiding mechanism 5 is evenly equipped with three, and the angle of two neighboring second guiding mechanism 5 in the horizontal plane is
120 degree, the guiding mechanism 5 of the first guiding mechanism 4 and second limits threaded male component 222 and rotated in inner thread part 223
When can only move up and down, and can not rotate.
Referring to Fig. 3 to Fig. 7, first guiding mechanism 4 includes the vertical guide groove on the inwall of threaded male component 222
41, and the directive wheel 42 that the guide groove 41 is arranged on the outer wall of guide 224 is corresponded to, it is described in order to strengthen guide effect
Directive wheel 42 can be provided with multiple along the direction of guide groove 41.The directive wheel 42 includes connecting portion 421 and rolled portion 422, described
Rolled portion 422 can opposing connections 421 rotate, the connecting portion 421 is fixed on guide 224, rolled portion 422 be arranged on lead
Cooperation is rolled into groove 41 and with the inwall of guide groove 41.First guiding mechanism 4 is simple and compact for structure, when internal thread zero
When part 223 rotates, the cooperation of directive wheel 42 and guide groove 41, which limits threaded male component 222, can only move up and down and can not turn
It is dynamic, the effect of guiding is served, in addition, when threaded male component 222 lifts, directive wheel 42 is with respect to the edge of threaded male component 222
Guide groove 41 is rolled, and compared with existing guiding mechanism, sliding friction is converted into rolling friction by directive wheel 42, so as to reduce
Friction of first guiding mechanism 4 in lifting, so as to reduce its loss, extends its life-span.
Referring to Fig. 5 to Fig. 9, second guiding mechanism 5 includes the first vertically arranged V-shaped groove 51, the second V-shaped groove 52,
And the decussation roller component 53 coordinated with the V-shaped groove 52 of the first V-shaped groove 51 and second, first V-shaped groove 51 is located at outer
On the inwall of thread part 222, on the outer wall of guide 224, the decussation roller component 53 is set second V-shaped groove 52
Between the V-shaped groove 52 of the first V-shaped groove 51 and second.
Referring to Fig. 5, Fig. 7 to Fig. 9, the decussation roller component 53 includes retainer 531 and multiple rollers 532, the guarantor
The outside that frame 531 is fixedly mounted on the second V-shaped groove 52 is held, retainer 531 is fixedly connected with guide 224, the retainer 531
Multiple installation unit 531a for being used to install roller 532 are provided with, the multiple installation unit 531a is vertically spaced, each
Roller 532 is arranged in corresponding installation unit 531a, and intersect setting between two neighboring roller 532, and two neighboring
In angle and the left and right sides of the second V-shaped groove 52 between the axis angle of roller 532 and the left and right sides inwall of the first V-shaped groove 51
Angle between wall is equal, it is preferred that and in order to ensure guide effect, the axis angle between two rollers 532 is 90 degree, i.e., first
The left and right sides wall of V-shaped groove 51 is mutually perpendicular to, and the left and right sides wall of the second V-shaped groove 52 is mutually perpendicular to.The roller 532 is provided with two circles
Shape end face 532a and rolling surface 532b, the rolling surface 532b between described two circular end face 532a are respectively with
The inwall of one V-shaped groove 51 and the second V-shaped groove 52, which rolls, to be coordinated, the two neighboring V-shaped groove 51 of roller 532 and first, the second V-shaped groove 52
Staggeredly coordinate, for example, the same rolling surface 532b right side walls with the first V-shaped groove 51 respectively towards each roller 532 set
Coordinate with the left side wall of the second V-shaped groove 52, the rolling surface 532b of each roller 532 of another direction respectively with the first V-shaped groove 51
Left side wall and the second V-shaped groove 52 right side wall coordinate.The set-up mode of second guiding mechanism 5 is simple and compact for structure, can
It is more smooth when lifting threaded male component 222, more precisely, in addition, the fit system of decussation roller 532 and V-shaped groove will be existing
Sliding friction is converted into rolling friction, not only ensures the effect of guiding, and also reduces the second guiding mechanism 5 in lifting
Friction, so as to reduce its loss, extend its life-span.The set-up mode of the decussation roller component 53 is simple in construction, roller 532
Cooperation between the first V-shaped groove 51 and the second V-shaped groove 52 is smooth, more smooth when lifting threaded male component 222, and in addition adjacent two
It is mutually perpendicular to, orthogonal set-up mode between the two side of first, second V-shaped groove 52, can preferably limits between individual roller 532
The free degree in horizontal direction, so as to be preferably oriented to.
Referring to Fig. 6, as an improvement scheme, be respectively equipped with barrier structure on the guide groove 41, the first V-shaped groove 51
(not showing in the blocking junction composition), specifically, the barrier structure includes being respectively arranged on the V-shaped groove of guide groove 41 and first
Either catch or spacing preiection, the barrier structure can prevent threaded male component 222 from lifting transition and taking off to the block of 51 bottoms
Fall.
Referring to Fig. 1 and Fig. 2, be provided with an installing plate 6 between the lifting mechanism 2 and rotating mechanism 3, the installing plate 6 with
The upper end of threaded male component 222 is fixedly connected, and the rotary drive assembly 31 includes rotary drive motor 311 and rotation driving tooth
Wheel 312, the installing plate 6 include the motor mounting rack 61 positioned at its sidepiece, and the rotary drive motor 311 is fixedly mounted on electricity
The lower end of machine mounting bracket 61, the rotary drive gear 312 are fixedly mounted on the upper end of motor mounting rack 61, the rotation driving
The output end of motor 311 is connected through the motor mounting rack 61 with rotary drive motor 311.
Referring to Fig. 1 and Fig. 2, the rotary drive component 32 includes the second pivoting support 321, second pivoting support
321 inner ring 321a is fixedly connected with the upper end of installing plate 6, and the outer ring 321b of the second pivoting support 321 is provided with and rotation driving
The gear teeth 321c that gear 312 is adapted, the rotary drive gear 312 engage with the gear teeth 321c of the second pivoting support 321.Institute
Stating the second pivoting support 321 has the characteristics of simple in construction, transmission is accurate, friction is small, further, since rotary drive gear 312
Engaged with the gear teeth 321c of the second pivoting support 321, when not needing rotating mechanism 3 to work, rotary drive motor 311 is logical
Cross control rotary drive gear 312 not rotate, so as to which the outer ring 321b of the second pivoting support 321 is locked, to provide self-locking work(
Can, prevent the outer ring 321b of the second pivoting support 321 from voluntarily rotating, improve precision.
Referring to Fig. 1 and Fig. 2, the pallet component 33 is arranged on the upper end of the second pivoting support 321, the pallet component 33
Including pallet 331 and slipmat 332, the pallet 331 is fixedly connected with the outer ring 321b of the second pivoting support 321, described anti-
Skidding 332 is located at the upper end of pallet 331, and it is more firm that slipmat 332 allows goods to place.
As an improvement scheme, limit position sensor (the extreme position sensing is provided with the lifting mechanism 2
Do not show in device figure), to prevent threaded male component 222 from deviating from.
Referring to Fig. 1 and Fig. 2, as an improvement scheme, it is described lifting motor 211 include the first turning motor
221a and the first reductor 221b, the first turning motor 221a by the first reductor 221b slow down after with lift drive gear
212 connections；The rotary drive motor 311 includes the second turning motor 311a and the second reductor 311b, the second turning motor
311a is connected after being slowed down by the second reductor 311b with rotary drive gear 312.
Referring to Fig. 2, as an improvement scheme, the guide 224, the pallet 331, slipmat 332, installing plate
6 middle parts may be configured as hollow-core construction, so as to set scanning means at the middle part of guide 224, so as to the bottom to goods
It is scanned identification.
(do not show in the alternative figure) as a kind of scheme of replacement, second pivoting support alternatively passes into rotation
Moving gear, the installing plate sealed set, i.e. middle part are not provided with into hollow-core construction, and the rotary transmission gear passes through rotating shaft and institute
The upper end connection of installing plate is stated, rotary transmission gear can relative threaded male component and installing plate by the driving of rotary drive gear
Rotate, the pallet component is arranged on the upper end of the rotary transmission gear.
Compared with prior art, rotating lifting device provided by the utility model, is provided with lifting mechanism 2 on substrate 1
With rotating mechanism 3, so as to can realize synchronous rotary, lifting, declines either individually rotation or individually lifting, decline function,
The utility model is simple and compact for structure, easy to operate, precision is high.Its operation principle is as follows：When lifting drive gear 212 drives
When the outer ring 221b of dynamic first pivoting support 221 is rotated, it will drive what is be fixedly connected with the outer ring 221b of the first pivoting support 221
Inner thread part 223 makees synchronous axial system, due to the guiding in the guiding mechanism 4 of guide 224 and first, the second guiding mechanism 5
And in the presence of the free degree of limit levels direction, it is relative with 222 meetings of threaded male component that inner thread part 223 is threadedly coupled
Inner thread part 223 rises or declined, without rotating, so as to realize individually lifting, the function of declining；In addition, tray set
Part 33 is arranged on the top of threaded male component 222 by the second pivoting support 321, and the inner ring of the second pivoting support 321 passes through peace
Loading board 6 is fixedly mounted on the top of threaded male component 222, when rotary drive gear 312 drives the outer ring of the second pivoting support 321
When 321b is rotated, pallet component 33 can be driven to be rotated relative to threaded male component 222, so as to realize the function of individually rotating, therefore
Can according to reality demand come control lifting drive component 21 and rotary drive assembly 31 work, so as to realize synchronous rotary,
Lifting, decline either independent rotation or the function of individually lifting, decline, and the lifting of device and decline are then lifted by controlling
The rotating of motor 211 is realized.
Embodiment two：
Do not show in the present embodiment figure, the utility model also provides a kind of carrying of the rotating lifting device of Application Example one
Robot, the transfer robot include AGV chassis and the rotating lifting device, and the rotating lifting device is arranged on
On AGV chassis, the set-up mode of rotating lifting device includes two kinds, and the first is provided in the top on AGV chassis, is for second
It is arranged on the lower section on AGV chassis.Because transfer robot provided by the utility model incorporates above-mentioned rotating lifting device, therefore
The function that synchronous rotary material, loading and unloading either individually rotate material or independent loading and unloading can be achieved, so that AGV function
More extensively, practicality is stronger.
The announcement and teaching of book according to the above description, the utility model those skilled in the art can also be to above-mentioned realities
The mode of applying is changed and changed.Therefore, the utility model is not limited to embodiment disclosed and described above, right
Some modifications and changes of the present utility model should also be as falling into scope of the claims of the present utility model.In addition, to the greatest extent
Some specific terms have been used in pipe this specification, but these terms are merely for convenience of description, not to the utility model
Form any restrictions.
Claims (10)
- A kind of 1. rotating lifting device, it is characterised in that：Lifting mechanism including substrate and installed in the surface and Rotating mechanism, the lifting mechanism include lifting drive component and lifting transmission component, and the rotating mechanism includes rotation driving Component and rotary drive component；The lifting drive component includes lifting motor and lifting drive gear, and the lifting drive gear drives with lifting The output end connection of motor；The lifting transmission component includes the first pivoting support, screw thread pair and guide, the inner ring of first pivoting support and Substrate is fixedly connected, and the outer ring of first pivoting support is provided with the gear teeth engaged with lifting drive gear, and the guide is consolidated Dingan County is mounted in the upper end of the first pivoting support inner ring, and the inner thread part of the screw thread pair is looped around the periphery of the guide simultaneously And be fixedly mounted on the upper end of the first pivoting support outer ring, the threaded male component ring of the screw thread pair be located at the guide with it is interior Between thread part, the threaded male component is threadedly coupled with inner thread part, is set between the guide and threaded male component There is the first guiding mechanism, the first guiding mechanism limitation threaded male component rotates；The rotary drive assembly includes rotary drive motor and rotary drive gear, the rotary drive gear and rotation driving The output end connection of motor, the periphery of the rotary drive component are provided with the gear teeth engaged with rotary drive gear, the rotation Transmission component is arranged on the top of threaded male component, and the rotary drive component at least gear teeth can rotate relative to threaded male component.
- A kind of 2. rotating lifting device according to claim 1, it is characterised in that：First guiding mechanism includes being located at Vertical guide groove on the threaded male component inwall, and the corresponding guide groove are arranged on leading on the guide outer wall To wheel, the inwall of the directive wheel and guide groove coordinates.
- A kind of 3. rotating lifting device according to claim 2, it is characterised in that：First guiding mechanism at least provided with Two.
- A kind of 4. rotating lifting device according to claim 1, it is characterised in that：The guide and threaded male component it Between be additionally provided with the second guiding mechanism, second guiding mechanism includes the first vertically arranged V-shaped groove, the second V-shaped groove, Yi Jiyu The decussation roller component that first V-shaped groove and the second V-shaped groove coordinate, first V-shaped groove are located at the inwall of threaded male component On, for second V-shaped groove on the outer wall of guide, the decussation roller component is located at first V-shaped groove and the second V-arrangement Between groove.
- A kind of 5. rotating lifting device according to claim 4, it is characterised in that：The decussation roller component includes keeping Frame and multiple rollers, the retainer are fixedly mounted on the outside of the second V-shaped groove, and the retainer is provided with multiple for installing The installation unit of roller, the multiple installation unit are vertically spaced, and each roller is arranged in corresponding installation unit, phase Adjacent two rollers intersect settings, and the folder between the axis angle of two neighboring roller and the first V-shaped groove left and right sides inwall Angle at left and right sides of angle and the second V-shaped groove between inwall is equal, and the roller is provided with two circular end faces and located at described Rolling surface between two circular end faces, the rolling surface rolls with the inwall of the first V-shaped groove and the second V-shaped groove respectively to be coordinated.
- A kind of 6. rotating lifting device according to claim 5, it is characterised in that：The axis of two neighboring roller mutually hangs down Directly.
- A kind of 7. rotating lifting device according to claim 4, it is characterised in that：Second guiding mechanism is provided with three Individual, the angle that two neighboring second guiding mechanism is located on horizontal plane is 120 degree.
- A kind of 8. rotating lifting device according to claim 1, it is characterised in that：The lifting mechanism and rotating mechanism it Between be provided with an installing plate, the rotary drive component includes the second pivoting support, the lower end of the installing plate and threaded male component Upper end connection, the upper end of installing plate is fixedly connected with the inner ring of the second pivoting support, the rotary drive assembly fixed installation On the installing plate, the outer ring of second pivoting support is provided with the gear teeth engaged with the rotary drive gear.
- A kind of 9. rotating lifting device according to claim 1, it is characterised in that：The threaded male component of the screw thread pair and Connected between inner thread part using trapezoidal thread.
- A kind of 10. transfer robot, it is characterised in that：Including any one of AGV chassis and at least one claim 1 to 9 institute The rotating lifting device stated, the rotating lifting device are arranged on AGV chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720624743.5U CN206955555U (en) | 2017-05-31 | 2017-05-31 | A kind of rotating lifting device and apply its transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720624743.5U CN206955555U (en) | 2017-05-31 | 2017-05-31 | A kind of rotating lifting device and apply its transfer robot |
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| CN206955555U true CN206955555U (en) | 2018-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720624743.5U Withdrawn - After Issue CN206955555U (en) | 2017-05-31 | 2017-05-31 | A kind of rotating lifting device and apply its transfer robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107055389A (en) * | 2017-05-31 | 2017-08-18 | 广东嘉腾机器人自动化有限公司 | A kind of rotating lifting device and apply its transfer robot |
| CN108357844A (en) * | 2018-02-06 | 2018-08-03 | 上海艾逻思智能设备有限公司 | A kind of submarine AGV lifting bodies |
| CN108946569A (en) * | 2018-09-10 | 2018-12-07 | 广东嘉腾机器人自动化有限公司 | A kind of design method and lifting device of lifting device transmission mechanism |
| CN109704231A (en) * | 2018-11-30 | 2019-05-03 | 安徽智训机器人技术有限公司 | A kind of intelligent transfer car(buggy) for intelligence manufacture workshop |
| CN110155906A (en) * | 2018-02-11 | 2019-08-23 | 北京京东尚科信息技术有限公司 | The lifting mechanism and AGV transport vehicle of AGV transport vehicle |
| CN110194101A (en) * | 2019-06-17 | 2019-09-03 | 珠海格力智能装备有限公司 | Positioning device and transportation equipment |
-
2017
- 2017-05-31 CN CN201720624743.5U patent/CN206955555U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107055389A (en) * | 2017-05-31 | 2017-08-18 | 广东嘉腾机器人自动化有限公司 | A kind of rotating lifting device and apply its transfer robot |
| CN108357844A (en) * | 2018-02-06 | 2018-08-03 | 上海艾逻思智能设备有限公司 | A kind of submarine AGV lifting bodies |
| CN110155906A (en) * | 2018-02-11 | 2019-08-23 | 北京京东尚科信息技术有限公司 | The lifting mechanism and AGV transport vehicle of AGV transport vehicle |
| CN108946569A (en) * | 2018-09-10 | 2018-12-07 | 广东嘉腾机器人自动化有限公司 | A kind of design method and lifting device of lifting device transmission mechanism |
| CN109704231A (en) * | 2018-11-30 | 2019-05-03 | 安徽智训机器人技术有限公司 | A kind of intelligent transfer car(buggy) for intelligence manufacture workshop |
| CN110194101A (en) * | 2019-06-17 | 2019-09-03 | 珠海格力智能装备有限公司 | Positioning device and transportation equipment |
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