CN207953863U - A kind of AGV jackings tolerance structure - Google Patents
A kind of AGV jackings tolerance structure Download PDFInfo
- Publication number
- CN207953863U CN207953863U CN201820233823.2U CN201820233823U CN207953863U CN 207953863 U CN207953863 U CN 207953863U CN 201820233823 U CN201820233823 U CN 201820233823U CN 207953863 U CN207953863 U CN 207953863U
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- connector
- agv
- top plate
- jackings
- tolerance structure
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Abstract
The utility model is related to mobile robot fields, disclose a kind of AGV jackings tolerance structure, including robot chassis, lifting body and top plate, and lifting body includes two groups, is respectively arranged on robot chassis both sides；Lifting body includes driving device, driving beam and connecting shaft, and the output end of driving device is fixedly connected with driving beam one end, and the driving beam other end is fixedly connected with the connecting shaft；Tolerance structure further includes the first connector and the second connector, and the first connector and the second connector are fixedly arranged on the top plate both sides respectively, and the first connector or second connector are equipped with waist-shaped hole, and connecting shaft is connect with the waist-shaped hole clearance fit.A kind of AGV provided by the utility model, which is jacked, uses tolerance structure, and i.e. can compensate for lateral length caused by since push-rod electric machine is asynchronous error occurs to the waist-shaped hole on the first connector or the second connector, prevents the stuck problem of top plate.
Description
Technical field
The utility model is related to mobile robot fields, more particularly to a kind of AGV jacking tolerance structures.
Background technology
Currently, the mode of mobile robot transport cargo mainly has backpack, submersible and towed etc., backpack is main
There are fixed goods shelf formula backpack and jacking backpack two major classes；Common jacking backpack mechanism passes through gear using motor
Trapezoidal nut is driven to realize that the lifting of lifting body, structure include driving motor, transmission gear, trapezoidal nut etc., it is complicated,
Of high cost, control is complicated；Existing jacking backpack mechanism has mostly used push-rod electric machine and has pushed up the dynamic of top plate realization promotion
Make, guide rail is oriented to.
But existing push-rod electric machine is when push up, and due to control, product differentiation, structure etc., both sides push rod
It is asynchronous that motor will appear jacking, thus causes push-rod electric machine stuck or top plate cannot achieve the action of jacking and decline.
Invention content
The utility model is directed to disadvantages mentioned above in the prior art, provides a kind of AGV jackings tolerance structure, solves to move
Push-rod electric machine is stuck, top plate cannot achieve jacking and lowering action etc. caused by push-rod electric machine jacking is asynchronous in mobile robot
Problem, it is simple and reliable for structure, while a kind of AGV trolleies being provided.
In order to solve the above-mentioned technical problem, the utility model is addressed by following technical proposals：
A kind of AGV jacking uses the tolerance structure, including robot chassis, lifting body and top plate, the lifting body to include
Two groups, it is respectively arranged on robot chassis both sides；The lifting body includes driving device, driving beam and connecting shaft, described
The output end of driving device is fixedly connected with described driving beam one end, and the driving beam other end is fixed with the connecting shaft to be connected
It connects；The tolerance structure further includes the first connector and the second connector, and first connector and second connector divide
Be not fixedly arranged on the top plate both sides, first connector or second connector are equipped with waist-shaped hole, the connecting shaft with
The waist-shaped hole clearance fit connection.
Further, the lifting body further includes supporting beam and guide rail, and the supporting beam is solid with the robot chassis
Fixed connection, the guide rail are fixedly arranged in the supporting beam, and the driving beam is slidably connected with the guide rail.
Further, the driving device is push-rod electric machine.
Further, further include motor driver for controlling the push-rod electric machine, the motor driver with it is described
Push-rod electric machine is electrically connected.
Further, further include detection switch and controller, the detection switch be fixedly arranged in the driving beam and with institute
Controller electrical connection is stated, the controller is electrically connected with the motor driver, and the detection switch is for detecting the top plate
Angle of inclination.
A kind of AGV trolleies, the AGV trolleies include the AGV jacking tolerance structures as described in preceding any one.
Compared with prior art, the beneficial effects of the utility model are：
First connector and the junction of connecting shaft are circular hole with merging and can relatively rotate, the second connector and connecting shaft
Junction coordinates for waist-shaped hole；Or first connector and connecting shaft be waist-shaped hole cooperation, the company of the second connector and connecting shaft
The place of connecing is circular hole can relatively rotate with merging；Waist-shaped hole on first connector or the second connector can compensate for due to push rod
There is error in lateral length caused by motor is asynchronous, prevents the stuck problem of top plate.
Invention is further described in detail with reference to the accompanying drawings and detailed description.
Description of the drawings
Fig. 1 is the front view of the utility model；
Fig. 2 is the right view of the utility model；
Fig. 3 is the top plate initial position schematic diagram of the utility model；
Fig. 4 is the top plate final position schematic diagram of the utility model.
In figure：1, robot chassis；2, guide rail；3, supporting beam；4, top plate；5, the first connector；6, driving beam；7, push rod
Motor；8, end connection on motor；9, end connection under motor；10, motor driver；11, detection lug fixing piece；12, it detects
Piece；13, detection switch；14, motor axis pin；15, connecting shaft；16, the second connector；17, waist-shaped hole.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the present invention is described further, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of AGV jackings tolerance structure, including robot chassis 1, lifting body
With top plate 4, there are two lifting bodies, is respectively arranged on 1 both sides of robot chassis；Lifting body includes driving device, 6 He of driving beam
Connecting shaft 15, driving device are fixedly connected with robot chassis 1, and the output end of driving device is fixedly connected with 6 one end of driving beam
To drive driving beam 6 to be lifted, 6 other end of driving beam is fixedly connected with connecting shaft 15；It further include the first connector 5 and second
Connector 16, the first connector 5 and the second connector 16 are fixedly arranged on 4 both sides of top plate, the first connector 5 or the second connector respectively
16 are equipped with waist-shaped hole 17, and connecting shaft 15 is connected with waist-shaped hole 17.It is set on the first connector 5 or the second connector 16
Waist-shaped hole 17 is set, lateral length caused by since push-rod electric machine 7 is asynchronous is can compensate for and error occurs, prevent top plate 4 stuck.
Lifting body further includes supporting beam 3 and guide rail 2, and supporting beam 3 is fixedly connected with robot chassis 1, and guide rail 18 is fixed
In in supporting beam 3, driving beam 6 is slidably connected with guide rail 18.
In the preferred embodiment, driving device is push-rod electric machine 7, further includes being driven for controlling the motor of push-rod electric machine 7
Device 10, motor driver 10 are fixedly arranged on robot chassis 1, and are electrically connected with push-rod electric machine 7, further include detection switch 13, control
Device and detection lug 12 processed, detection switch 13 are fixedly arranged in driving beam 6 and are electrically connected with the controller, controller and motor driver 10
Electrical connection, detection switch 13 are used to detect the angle of inclination of top plate 4, and detection lug 12 is fixedly arranged on top plate 4, and detection switch 13 is used for
Detect the angle of inclination of top plate 4.
Supporting beam 3 is mounted on the both sides on robot chassis 1, each one of left and right, and driving beam 6 is connected by guide rail 2 and supporting beam 3
It connects, driving beam 6 can be moved up and down by guide rail 2；Push-rod electric machine 7 and end connection 9 under end connection 8, motor on motor are logical
The connection of motor axis pin 14 is crossed, end connection 8 is fixed in driving beam 6 on motor, and end connection 9 is fixed on robot bottom under motor
On disk 1；Driving beam 6 and the first connector 5, the second connector 16 are connected by connecting shaft 15
Further include detection lug fixing piece 11 and detection lug 12, detection lug 12 is mounted on first by detection lug fixing piece 11 and connects
On fitting 5 or the second connector 16, in the preferred embodiment, detection lug 12 is mounted on no waist by detection lug fixing piece 11
On the connector in shape hole 17, detection switch 13 is fixed in driving beam 6.
Robot jacks process：Host computer issues jacking order, the push-rod electric machine 7 of the left and right sides by motor driver 10
It stretches out simultaneously, driving beam 6 is pushed to rise, then top plate 4 rises, execution；
Robot declines process：After the transport in place of top plate 4, host computer issues decline order by motor driver 10, left
The push-rod electric machine 7 of right both sides simultaneously declines, and driving beam 6 is pushed to decline, and top plate 4 declines, execution.
During robot work, another when normally can not jack or decline if side push-rod electric machine 7 breaks down
The action of side push-rod electric machine 7 can be such that top plate 4 tilts, and after angle of inclination exceeds a certain range, the material on top plate 4 can slide or incline
It turns over；To solve this problem, detection device, including detection lug 12, detection lug fixing piece 11 and detection switch 13, detection are provided with
Piece 12 is connected as one by detection lug fixing piece 11, the first connector 5 and top plate 4.
Detection lug 12 has certain width, and detection switch 13 is optoelectronic switch, when 4 horizontality of top plate, detection lug
12 block detection switch 13, and detection switch 13 obtains signal；Host computer obtains signal；When top plate 4 is tilted beyond a certain range, coupon
12 width can not block detection switch 13,13 inactivating signal of detection switch；Host computer stops the action of push-rod electric machine 7 immediately after obtaining signal
Or change the speed of service of push-rod electric machine 7；It can ensure that the tendency angle of top plate 4 in controlled range, prevents on top plate 4
Cargo is tumbled.
Detection switch 13 can also be microswitch, and when top plate 4 is in horizontality, detection lug 12 contacts fine motion
Switch, detection switch 13 obtain signal, and when top plate 4 tilts, microswitch loses signal, and host computer stops immediately after obtaining signal
Throw-out lever motor 7 acts or changes the speed of service of push-rod electric machine 7；The tendency angle of top plate 4 can be ensured in controlled range
It is interior, prevent the cargo on top plate 4 from tumbling.
The utility model further includes a kind of AGV trolleies including foregoing tolerance structure.
The above embodiment is only preferred embodiments of the present invention, cannot be protected with this to limit the utility model
Range, the variation of any unsubstantiality that those skilled in the art is done on the basis of the utility model and replacing belongs to
In the utility model range claimed.
Claims (6)
1. a kind of AGV jackings tolerance structure, including robot chassis, lifting body and top plate, the lifting body include two
Group is respectively arranged on robot chassis both sides；
The lifting body includes driving device, driving beam and connecting shaft, the output end of the driving device and the driving beam
One end is fixedly connected, and the driving beam other end is fixedly connected with the connecting shaft；
It is characterized in that, the tolerance structure further includes the first connector and the second connector, first connector and described
Second connector is respectively arranged on the top plate both sides, and first connector or second connector are equipped with waist-shaped hole, institute
Connecting shaft is stated to connect with the waist-shaped hole clearance fit.
2. AGV jackings tolerance structure as described in claim 1, which is characterized in that the lifting body further includes supporting beam
And guide rail, the supporting beam are fixedly connected with the robot chassis, the guide rail is fixedly arranged in the supporting beam, the driving
Beam is slidably connected with the guide rail.
3. AGV jackings tolerance structure as claimed in claim 1 or 2, which is characterized in that the driving device is push rod electricity
Machine.
4. AGV jackings tolerance structure as claimed in claim 3, which is characterized in that further include for controlling the push rod electricity
The motor driver of machine, the motor driver are electrically connected with the push-rod electric machine.
5. AGV jackings tolerance structure as claimed in claim 4, which is characterized in that further include detection switch and controller, institute
It states detection switch to be fixedly arranged in the driving beam and be electrically connected with the controller, the controller and motor driver electricity
Connection, the detection switch are used to detect the angle of inclination of the top plate.
6. a kind of AGV trolleies, which is characterized in that the AGV trolleies include the tops AGV as described in claim 1-5 any one
It rises and uses tolerance structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820233823.2U CN207953863U (en) | 2018-02-09 | 2018-02-09 | A kind of AGV jackings tolerance structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820233823.2U CN207953863U (en) | 2018-02-09 | 2018-02-09 | A kind of AGV jackings tolerance structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207953863U true CN207953863U (en) | 2018-10-12 |
Family
ID=63738491
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820233823.2U Active CN207953863U (en) | 2018-02-09 | 2018-02-09 | A kind of AGV jackings tolerance structure |
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| Country | Link |
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| CN (1) | CN207953863U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110817734A (en) * | 2019-09-08 | 2020-02-21 | 坎德拉（深圳）科技创新有限公司 | Jacking device and intelligent delivery robot |
-
2018
- 2018-02-09 CN CN201820233823.2U patent/CN207953863U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110817734A (en) * | 2019-09-08 | 2020-02-21 | 坎德拉（深圳）科技创新有限公司 | Jacking device and intelligent delivery robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220311 Address after: Room 101-110, 1st floor, building 8, Jinsheng Industrial Park, 611 Dongguan Road, Binjiang District, Hangzhou, Zhejiang 310000 Patentee after: HANGZHOU IPLUS TECH CO.,LTD. Address before: 310000 three, 3, 66, 68, 70, Dongxin Avenue, Binjiang District, Hangzhou, Zhejiang. Patentee before: HANGZHOU NANJIANG ROBOTICS Co.,Ltd. |
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| TR01 | Transfer of patent right |