CN209008732U

CN209008732U - A kind of rotating mechanism for submarine AGV

Info

Publication number: CN209008732U
Application number: CN201821796481.1U
Authority: CN
Inventors: 黄鸣柳
Original assignee: Shanghai Wisdom Intelligent Equipment Co Ltd
Current assignee: Shanghai Wisdom Intelligent Equipment Co Ltd
Priority date: 2018-02-06
Filing date: 2018-02-06
Publication date: 2019-06-21
Anticipated expiration: 2028-02-06
Also published as: CN208593455U

Abstract

A kind of rotating mechanism for submarine AGV, the rotating mechanism makes AGV have the function of that original place is turned round, the rotating mechanism includes a motor, the motor is fixedly connected with fixed plate, the motor by be sleeved on fixed plate first perforation on Coupling Shaft and toothed disc driving coupling, the fixed plate has boss, the first needle bearing and deep groove ball bearing are successively arranged in boss periphery, driven tooth wheel disc is placed on the outside of deep groove ball bearing, the gear of toothed disc is meshed with the gear of driven tooth wheel disc, the second needle bearing is additionally provided on driven tooth wheel disc, toothed disc baffle is placed in above the second needle bearing, it is fixed on the boss in the fixed plate, rotation raising plate is fixed on driven tooth wheel disc, it rotates and limit film is housed on raising plate, four buphthalmos wheels are set on rotation four holes of raising plate, in the fixed plate It is additionally provided with optoelectronic switch.

Description

A kind of rotating mechanism for submarine AGV

It is on 2 6th, 2018, utility model entitled " one that the application, which is application No. is the 201820201964.6, applying date, Kind turns round the divisional application of the submarine AGV " of function with original place.

Technical field

The utility model belongs to AGV technical field, in particular to a kind of rotating mechanism for submarine AGV.

Background technique

Same applicant discloses a kind of " submarine AGV operation system in the patent document of Publication No. CN107450554A System, the AGV are used for the Transport cargo rack in a preset space, and the AGV has laser radar, and AGV passes through the laser radar The position of barrier is obtained, the operational mode of the operating system includes: that the AGV is made in the pre-set space with starting point The position of whole barriers in the operation area is obtained by the operation area of the laser radar scanning AGV on AGV for origin Information, and these location informations one static map of formation is stored in memory, as spy needed for AGV operation navigation Sign matching map；When the AGV executes carrying task, operating system is that AGV planning includes starting point, the fortune of transit point and terminal Walking along the street diameter, at runtime, laser radar thereon continually scans for ambient enviroment to the AGV, the real-time surrounding features point that will acquire It is compared with the static map prestored, and combines AGV mileage and angle change, determine the real-time location coordinates of AGV.Into one Step, the top of the AGV is equipped with the lifting body of insertion AGV installation, after the AGV finds the shelf for needing to carry, from The main bottom part down for piercing shelf, the lifting body movement, the shelf is jacked up, and ship the shelves to specific bit It sets.Further, reflective strip is posted on the foot of the shelf, the laser radar of the AGV identifies the reflective strip, and AGV is with this After the locational space for determining shelf, from the position and attitude of main modulation itself, hide into the bottom part down of shelf.Further, The aligning structure that there is the lifting body and bottom shelf of the AGV pairing to use is used to help accurate realization and the shelf of AGV Contraposition jacking, prevent the not appearance the shelf position of centre of gravity the case where of the Jacking point of lifting body ".However, the AGV of above scheme After finding the shelf of needs, be typically only capable to it is straight it is straight go out, in the case where some limited spaces, for shelf carrying not It is enough convenient, it is unable to satisfy special AGV running needs.

Utility model content

The embodiments of the present invention provide a kind of rotating mechanism for submarine AGV, it is therefore intended that solve existing Submarine AGV can only the straight limitation directly gone out after lifting shelf.

One of the embodiments of the present invention, a kind of rotating mechanism for submarine AGV, the rotating mechanism make AGV Have the function of that original place is turned round, the rotating mechanism includes a motor, which is fixedly connected with fixed plate, and the motor passes through The Coupling Shaft and toothed disc driving coupling being sleeved in the first perforation of fixed plate.

The fixed plate has boss, is successively arranged with the first needle bearing and deep groove ball bearing in boss periphery, driven Toothed disc is placed on the outside of deep groove ball bearing, and the gear of toothed disc is meshed with the gear of driven tooth wheel disc.

The second needle bearing is additionally provided on driven tooth wheel disc, toothed disc baffle is placed in above the second needle bearing, is fixed on On boss in the fixed plate.

Rotation raising plate is fixed on driven tooth wheel disc, rotates and limit film is housed on raising plate, in rotation raising plate four Four buphthalmos wheels are set on hole.

Optoelectronic switch is additionally provided in the fixed plate.

Embodiment according to the present utility model, the utility model has the beneficial effects that in the jacking of existing AGV navigation vehicle In mechanism, the mechanism of rotation function added, enable AGV trolley can also be in shelf after rising and fixing with shelf Navigation vehicle oneself is rotated into an angle in the case where remaining stationary, this usual angle is 90 degree.

Detailed description of the invention

The following detailed description is read with reference to the accompanying drawings, the utility model illustrative embodiments above-mentioned and other Objects, features and advantages will become prone to understand.In the accompanying drawings, it is practical new that this is shown by way of example rather than limitation Several embodiments of type, in which:

Fig. 1 is rotating mechanism schematic diagram in the utility model embodiment.

Fig. 2 is rotating mechanism schematic diagram in the utility model embodiment.

Fig. 3 is the AGV schematic diagram that rotating mechanism is equipped in the utility model embodiment.

Fig. 4 is the AGV schematic diagram that rotating mechanism is equipped in the utility model embodiment.

Fig. 5 is rotating mechanism decomposition diagram in the utility model embodiment.

100 --- rotating mechanism, 200 --- AGV,

1 --- motor, 2 --- fixed plate, 3 --- optoelectronic switch, 4 --- Coupling Shaft, 5 --- toothed disc, 6 --- first Needle bearing, 7 --- deep groove ball bearing, 8 --- driven tooth wheel disc, 9 --- the second needle bearing, 10 --- toothed disc baffle, 11 --- rotation raising plate, 12 --- buphthalmos wheel, 13 --- limit film.

Specific embodiment

As illustrated in fig. 1 and 2, the stereoscopic schematic diagram of the rotating mechanism of the utility model.

As shown in Figures 3 and 4, the utility model embodiment, AGV has the lifting body for Transport cargo rack, in jack A rotating mechanism is also equipped on structure, rotating mechanism effect is: after AGV is slipped under shelf, jacked shelf, in shelf In the case where remaining stationary, so that AGV itself is rotated by 90 °.

Rotating mechanism exploded view as shown in Figure 5, one of the utility model embodiment.The rotating mechanism includes an electricity Machine, the motor are fixedly connected with fixed plate, the motor by be sleeved on fixed plate first perforation on Coupling Shaft and gear Disk driving coupling.The fixed plate has boss, is successively arranged with the first needle bearing and deep groove ball bearing in boss periphery, from Movable tooth wheel disc is placed on the outside of deep groove ball bearing, and the gear of toothed disc is meshed with the gear of driven tooth wheel disc.On driven tooth wheel disc It is additionally provided with the second needle bearing, toothed disc baffle is placed in above the second needle bearing, is fixed on the boss in the fixed plate. Rotation raising plate is fixed on driven tooth wheel disc, rotates and limit film is housed on raising plate, is set on rotation four holes of raising plate Set four buphthalmos wheels.Optoelectronic switch is additionally provided in the fixed plate.

Whole rotating mechanism is installed on the lifting body of AGV navigation vehicle.Rotating mechanism includes that motor is fixed on fixed plate On, Coupling Shaft is housed on motor shaft, fixed toothed disc in Coupling Shaft, be cased on the another side boss of fixed plate needle bearing and Deep groove ball bearing, driven tooth wheel disc are placed on the outside of deep groove ball bearing, on driven tooth wheel disc along with after a needle bearing by tooth Wheel disc baffle is placed in above needle bearing, is fixed on the boss in fixed plate.

Deep groove ball bearing ensures that the friction between driven tooth wheel disc and boss reduces, needle bearing ensure driven tooth wheel disc and Friction between fixed plate and toothed disc baffle reduces.Rotation raising plate is fixed on driven tooth wheel disc, is rotated on raising plate Equipped with limit film, four buphthalmos wheels are placed on four holes.Optoelectronic switch is fixed in fixed plate.

The gear of the rotation of motor rotation driven gear disk, toothed disc gear and driven tooth wheel disc is meshed, driven tooth Wheel disc starts to rotate, and drives the rotation raising plate being fixed on driven tooth wheel disc, when the limit film on rotation raising plate touches After optoelectronic switch, rotary motion stops.

The control method turned round for the original place AGV is, by AGV industrial personal computer issue instruction carry out self rotation of navigation vehicle with And the counter-rotating of rotating mechanism, the motor of rotating mechanism start operation, until touching, to optoelectronic switch, optoelectronic switch sends letter Breath informs industrial personal computer, stops operating.

It is worth noting that being created although foregoing teachings describe the utility model by reference to several specific embodiments Spirit and principle, it should be appreciated that, it is not limited to the specific embodiments disclosed for the utility model, draws to various aspects Divide and does not also mean that the feature in these aspects cannot combine, it is this to divide the convenience merely to statement.The utility model purport Covering various modifications and equivalent arrangements included in spirit and scope of the appended claims.

Claims

1. a kind of rotating mechanism for submarine AGV, the rotating mechanism make AGV have the function of that original place is turned round, feature exists In the rotating mechanism includes a motor, which is fixedly connected with fixed plate, and the motor is by being sleeved on fixed plate Coupling Shaft and toothed disc driving coupling in first perforation,

The fixed plate has boss, is successively arranged with the first needle bearing and deep groove ball bearing, driven gear in boss periphery Disk is placed on the outside of deep groove ball bearing, and the gear of toothed disc is meshed with the gear of driven tooth wheel disc,

The second needle bearing is additionally provided on driven tooth wheel disc, toothed disc baffle is placed in above the second needle bearing, is fixed on described On boss in fixed plate,

Rotation raising plate is fixed on driven tooth wheel disc, rotates and limit film is housed on raising plate, in rotation four holes of raising plate Four buphthalmos wheels of upper setting,

Optoelectronic switch is additionally provided in the fixed plate.