CN213537177U - Latent lifting structure of little spirit - Google Patents
Latent lifting structure of little spirit Download PDFInfo
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- CN213537177U CN213537177U CN202021790809.6U CN202021790809U CN213537177U CN 213537177 U CN213537177 U CN 213537177U CN 202021790809 U CN202021790809 U CN 202021790809U CN 213537177 U CN213537177 U CN 213537177U
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- lifting
- gear
- slewing bearing
- driving motor
- lifting cylinder
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Abstract
The utility model discloses a latent lifting structure of a sprite, which comprises a sprite carrying robot and a lifting structure arranged on a moving chassis of the sprite carrying robot; the lifting structure comprises a slewing bearing, a lifting cylinder, a lifting disc, a rotary driving mechanism and a lifting driving mechanism; the slewing bearing is movably arranged on the movable chassis; the lifting cylinder is sleeved on the slewing bearing and is in threaded connection with the slewing bearing; the rotation driving mechanism is fixed on the movable chassis and is meshed and connected with the lifting cylinder so as to drive the lifting cylinder to rotate; the lifting driving mechanism is in meshed connection with the slewing bearing so as to drive the slewing bearing to rotate; the rotary driving mechanism is matched with the lifting driving mechanism to enable the lifting cylinder to lift up and down or to rotate relative to the moving chassis; the jacking disc is provided with an octagonal disc and a plurality of magnet pieces; the utility model discloses simple structure, convenient to use, stability is good.
Description
Technical Field
The utility model relates to an intelligent storage field, in particular to smart's structure of lifting of hiding.
Background
The sprite transfer robot is an AGV vehicle which is held in a hidden state, that is, an "automatic guided vehicle", and is a vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and which has safety protection and various transfer functions. With the development of electronic and control technologies, AGV technology is also continuously advancing, and is developing towards better performance, cheaper cost and higher degree of freedom.
Along with human cost's rising and enterprise technical specification's requirement, AGV becomes important handling tool gradually, and traditional backpack AGV only can transport the material, and people often can add other hardware equipment and cooperate the AGV to use in order to enlarge AGV's range of application to improve its price/performance ratio.
At present, the warehouse of goods flow is more and more intelligent, automatic and diversified, in the intelligent warehouse, the AGV trolley is usually used for carrying goods and goods shelves, the lifting device is usually integrated on the AGV, so that the AGV has the lifting function, when the AGV reaches the destination, the loading and unloading can be carried out only by using the lifting mechanism, thereby reducing the cost of loading and unloading, and in the practical use, the AGV with the lifting and rotating functions not only can realize the function of lifting the goods, but also can realize the function that goods are not rotated relative to the ground, so the AGV is popular with customers, but the AGV which circulates in the market at present generally has the defects of complex structure of a rotating lifting device and the like, therefore, there is a need for a smart latent lifting structure with simple structure, easy operation and good stability, which can lift and rotate the goods shelf or goods and at the same time can make the goods shelf or goods shelf not rotate relative to the ground.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the not enough of prior art, providing a simple structure, convenient to use and the good little smart of stability lift the structure of hiding, realize lifting and rotatory of goods shelves or goods, enable goods or goods shelves ground irrotational relatively simultaneously.
In order to realize the purpose of the utility model, the utility model discloses a technical scheme realize as follows: a latent lifting structure of a sprite comprises a sprite robot and a lifting structure arranged on a moving chassis of the sprite robot; the lifting structure comprises a slewing bearing, a lifting cylinder, a lifting disc, a rotary driving mechanism and a lifting driving mechanism; the slewing bearing is movably arranged on the movable chassis; the lifting cylinder is sleeved on the slewing bearing and is in threaded connection with the slewing bearing;
the jacking disc is connected to the jacking cylinder; an octagonal plate is arranged on the jacking circular plate; the jacking circular disc is provided with a plurality of magnet pieces which are uniformly arranged around the outer side of the octagonal disc;
the rotation driving mechanism is fixed on the movable chassis and is meshed and connected with the lifting cylinder so as to drive the lifting cylinder to rotate; the lifting driving mechanism is fixed on the movable chassis and is meshed and connected with the slewing bearing so as to drive the slewing bearing to rotate; the rotary driving mechanism is matched with the lifting driving mechanism to enable the lifting cylinder to lift up and down or to rotate relative to the moving chassis;
the rotary driving mechanism comprises a mounting plate, a rotary driving motor and a rotary gear, the mounting plate is of a Z-shaped structure, and the mounting plate comprises a first fixing part, a first supporting part and a first mounting part which are arranged from bottom to top; two ends of the first supporting part are respectively connected with the first fixing part and the first mounting part; the first fixing part is connected with the movable chassis, the rotary driving motor is arranged on the lower side of the first mounting part, an output shaft of the rotary driving motor upwards penetrates through the first mounting part, the rotary gear is arranged on the upper side of the first mounting part and is connected with the output shaft of the rotary driving motor, and the rotary gear is meshed with the lifting cylinder; under the drive of the rotary drive motor, the rotary gear drives the lifting cylinder to rotate;
the lifting driving mechanism comprises a fixed seat, a lifting driving motor and a lifting gear, the fixed seat is of a Z-shaped structure, and the fixed seat comprises a second fixed part, a second supporting part and a second mounting part which are sequentially arranged from bottom to top; the second fixing part is fixed on the movable chassis in a screw punching mode; the lifting driving motor is arranged on the upper side of the second mounting part, an output shaft of the lifting driving motor downwards penetrates through the second mounting part, and the lifting gear is arranged on the lower side of the second mounting part and is connected with the output shaft of the lifting driving motor; the lifting gear is meshed with the slewing bearing, and the lifting gear drives the slewing bearing to rotate under the driving of the lifting driving motor.
Preferably, the rotary driving motor is locked, and the lifting driving motor drives the slewing bearing to rotate through the lifting gear, so as to drive the lifting cylinder to lift up and down; the rotary driving motor drives the lifting cylinder to rotate through the rotary gear, and the lifting driving motor drives the slewing bearing to rotate reversely through the lifting gear, so that the lifting cylinder rotates relative to the moving chassis.
Preferably, the lifting cylinder is of a cylindrical structure penetrating up and down, an inner ring of the lifting cylinder is provided with an internal thread, an outer ring of the lifting cylinder is provided with a first gear, and the rotating gear is in meshed connection with the first gear; the outer ring of the upper end of the slewing bearing is provided with an external thread which is matched and connected with the internal thread, the outer ring of the lower end of the slewing bearing is provided with a first gear, and the first gear is meshed and connected with the lifting gear.
Preferably, a positioning part is arranged on the outer ring of the slewing bearing at a position close to the second gear; and a connecting plate is arranged around the periphery of the positioning part, and the connecting plate is fixed on the movable chassis and is movably connected with the positioning part.
Preferably, a plurality of limiting blocks used for limiting the lifting cylinder to move downwards are evenly arranged on the upper side face of the connecting plate, and each limiting block comprises a first limiting block, a second limiting block and a third limiting block.
Preferably, two ends of the second supporting portion are respectively connected with the second fixing portion and the second mounting portion; one end of the upper side face of the second fixing portion, which is close to the second supporting portion, is provided with a plurality of connecting pieces of triangular structures, each connecting piece comprises a first connecting piece and a second connecting piece which are arranged oppositely, and the first connecting pieces and the second connecting pieces are connected with the second supporting portion.
Preferably, second installation department downside is close to the one end of second supporting part is equipped with the connecting block of a plurality of triangle-shaped structures, the connecting block is including relative first connecting block and the second connecting block that sets up, first connecting block and second connecting block all with the second supporting part is connected.
Preferably, the magnet pieces include a first magnet piece, a second magnet piece, a third magnet piece, and a fourth magnet piece.
Advantageous effects
Compared with the prior art, the utility model discloses the beneficial effect who gains does: the utility model provides a simple structure and convenient to use's smart lifting structure of hiding, smart transfer robot dives into the target goods below, through the utility model discloses a lifting structure lifts the goods, promptly the rotatory driving motor lock is died, lifting driving motor drives slewing bearing through lifting gear and rotates, thereby makes lifting cylinder hold in the palm the goods through the jacking disc and upwards lift, and in the same way, when smart transfer robot moved to the target position, through the utility model discloses a lifting structure descends the goods to ground; in addition, when the movable chassis rotates, the rotary driving motor drives the lifting cylinder to rotate through the rotary gear, and meanwhile, the lifting driving motor drives the slewing bearing to rotate reversely through the lifting gear, so that the lifting cylinder can hold goods through the lifting disc and rotate relative to the movable chassis, namely the goods do not rotate relative to the ground; the slewing bearing is provided with a connecting plate and a second connecting plate, and the connecting plate and the second connecting plate are arranged to limit the slewing bearing, so that the slewing bearing is movably arranged on the moving chassis, the swinging of the slewing bearing generated by rotation is reduced, and the stability of the slewing bearing is improved; the fixed seat is provided with a connecting sheet and a connecting block, so that the connection stability of the second fixed part and the second mounting part with the second supporting part is improved, and the service life of the fixed seat is prolonged; be equipped with the octagon dish and a plurality of wind on the jacking disc the magnet piece of octagon dish outside evenly distributed, when carrying goods shelves, the octagon dish cooperates bottom the goods shelves, and goods shelves are inhaled to a plurality of magnet pieces simultaneously, can effectively reduce rocking that produces when carrying goods shelves, stability when improving transport goods shelves.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view illustrating the installation of the slewing bearing of the present invention on the chassis;
fig. 3 is a side view of the installation of the slewing bearing of the present invention on the chassis;
fig. 4 is a schematic view of the connection between the lifting cylinder and the rotating structure of the present invention;
fig. 5 is a schematic view of the connection between the slewing bearing and the lifting mechanism of the present invention;
fig. 6 is a schematic view of the connection between the lifting cylinder and the pivoting support of the present invention;
fig. 7 is a schematic view of the overall structure of the rotary drive mechanism of the present invention;
fig. 8 is a schematic view of the overall structure of the lifting driving mechanism of the present invention;
the technical characteristics corresponding to the marks in the attached drawings are as follows: 1-a sprite handling robot, 11-a mobile chassis, 2-a lifting cylinder, 21-a second gear, 3-a pivoting support, 31-a first gear, 32-a positioning part, 33-a connecting plate, 34-a first stopper, 35-a second stopper, 36-a third stopper, 4-a rotary driving mechanism, 41-a mounting plate, 411-a first fixing part, 412-a first supporting part, 413-a first mounting part, 42-a rotary driving motor, 43-a rotary gear, 5-a lifting driving mechanism, 51-a fixing seat, 511-a second fixing part, 512-a second supporting part, 513-a second mounting part, 514-a first connecting piece, 515-a second connecting piece, 516-a first connecting piece, 52-a lifting driving motor, 53-lifting gear, 6-lifting disk and 61-octagonal disk.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:
as shown in fig. 1, 2, 3 and 6, a latent lifting structure of a sprite comprises a sprite robot 1 and a lifting structure mounted on a moving chassis 11 of the sprite robot 1; the lifting structure comprises a slewing bearing 3, a lifting cylinder 2, a lifting disc 6, a rotary driving mechanism 4 and a lifting driving mechanism 5; the slewing bearing 3 is movably arranged on the movable chassis 11; the lifting cylinder 2 is of a vertically-penetrating cylindrical structure, an inner ring of the lifting cylinder 2 is provided with an internal thread (not shown in the attached drawing), an outer ring of the upper end of the slewing bearing 3 is provided with an external thread (not shown in the attached drawing) which is matched and connected with the internal thread, and the lifting cylinder 2 is sleeved on the slewing bearing 3 and is in threaded connection with the slewing bearing 3;
as shown in fig. 1, the jacking disc 6 is connected to the lifting cylinder 2, and an octagonal plate 61 is arranged on the jacking disc 6; the jacking disk 6 is provided with a plurality of magnet pieces uniformly arranged around the outer side of the octagonal disk 61, and each magnet piece comprises a first magnet piece 62, a second magnet piece 63, a third magnet piece 64 and a fourth magnet piece 65. The setting of above-mentioned structure is convenient for when carrying goods shelves, octagon dish 61 and goods shelves bottom cooperation, goods shelves are inhaled to a plurality of magnet pieces simultaneously, can effectively reduce rocking that produces when carrying goods shelves, stability when improving the transport goods shelves.
As shown in fig. 1 and 4, the rotation driving mechanism 4 is fixed on the moving chassis 11 and is engaged with the lifting cylinder 2 to drive the lifting cylinder 2 to rotate; the rotation driving mechanism 4 includes a mounting plate 41, a rotation driving motor 42, and a rotation gear 43;
as shown in fig. 7, the mounting plate 41 has a "Z" shape, and the mounting plate 41 includes a first fixing portion 411, a first supporting portion 412 and a first mounting portion 413 from bottom to top; both ends of the first supporting portion 412 are respectively connected to the first fixing portion 411 and the first mounting portion 413; the first fixing portion 411 is connected to the moving chassis 11, so that the mounting plate 41 is fixed to the moving chassis 11.
As shown in fig. 7, the rotary driving motor 4 is disposed at the lower side of the first mounting portion 413 and the output shaft thereof passes through the first mounting portion 413 upward, the rotary gear 43 is disposed at the upper side of the first mounting portion 413 and is connected to the output shaft of the rotary driving motor 42, the rotary gear 43 is engaged with the lifting cylinder 2, specifically, the outer ring of the lifting cylinder 2 is provided with a first gear 21, and the rotary gear 43 is engaged with the first gear 21; under the driving of the rotary driving motor 42, the rotary gear 43 drives the lifting cylinder 2 to rotate.
As shown in fig. 1 and 5, the lifting driving mechanism 5 is fixed on a moving chassis 11 and is engaged with the slewing bearing 3 to drive the slewing bearing 3 to rotate; specifically, the lifting driving mechanism 5 includes a fixed seat 51, a lifting driving motor 52 and a lifting gear 53;
as shown in fig. 8, the fixing base 51 is a "Z" shaped structure, and the fixing base 51 includes a second fixing portion 511, a second supporting portion 512 and a second mounting portion 513 sequentially arranged from bottom to top; the second fixing portion 511 is fixed on the movable chassis 11 by means of screw drilling; the lifting driving motor 5 is arranged on the upper side of the second mounting part 513, the output shaft of the lifting driving motor passes through the second mounting part 513 downwards, and the lifting gear 53 is arranged on the lower side of the second mounting part 513 and is connected with the output shaft of the lifting driving motor 52; the above-described arrangement facilitates installation of the lift driving motor 52 and the lift gear 53.
As shown in fig. 8, both ends of the second supporting portion 512 are connected to the second fixing portion 511 and the second mounting portion 513, respectively; one end of the upper side of the second fixing portion 511, which is close to the second supporting portion 512, is provided with a plurality of triangular structures 514 and a second connecting piece 515, which are connected to the second supporting portion 512. The first connecting piece 514 and the second connecting piece 515 are arranged to increase the connection stability between the second fixing portion 511 and the second supporting portion 512, and prolong the service life of the fixing seat 51.
As shown in fig. 8, a plurality of triangular connection blocks are arranged at one end of the lower side of the second mounting portion 513 close to the second supporting portion 512, the connection blocks include a first connection block 516 and a second connection block (not shown in the drawings) which are oppositely arranged, and the first connection block 516 and the second connection block are both connected with the second supporting portion 512; the arrangement of the first connection block 516 and the second connection block increases the stability of connection between the second mounting portion 513 and the second supporting portion 512, and prolongs the service life of the fixing seat 51.
As shown in fig. 5, the lifting gear 53 is in meshed connection with the slewing bearing 3, specifically, the outer ring of the lower end of the slewing bearing 3 is provided with a second gear 31, and the second gear 31 is in meshed connection with the lifting gear 53. Under the driving of the lifting driving motor 52, the lifting gear 52 drives the slewing bearing 3 to rotate.
As shown in fig. 2 and 3, a positioning portion 32 is provided at a position on the outer ring of the slewing bearing 3 near the second gear 31; a connecting plate 33 is arranged around the periphery of the positioning portion 32, the connecting plate 33 is fixed on the movable chassis 11, and the connecting plate 33 is movably connected with the positioning portion 32 to limit the slewing bearing 3, so that the slewing bearing 3 is movably arranged on the movable chassis 11, the swinging of the slewing bearing 3 during rotation is reduced, and the stability of the slewing bearing 3 is improved.
As shown in fig. 2 and fig. 3, a plurality of limit blocks for limiting the downward movement of the lifting cylinder 2 are uniformly arranged on the upper side surface of the connecting plate 33, and the limit blocks include a first limit block 34, a second limit block 35 and a third limit block 36. The first limiting block 34, the second limiting block 35 and the third limiting block 36 are arranged to limit the lifting cylinder 2 and limit the lifting cylinder 2 to move downwards.
The utility model discloses a theory of operation does: the elfin transfer robot 1 is submerged under the goods, and the rotary driving mechanism 4 is matched with the lifting driving mechanism 5, so that the lifting cylinder 2 supports the goods to lift up and down or rotate relative to the moving chassis 11 through the lifting disc 6; specifically, the rotary driving motor 42 is locked, and the lifting driving motor 52 drives the slewing bearing 3 to rotate through the lifting gear 53, so that the lifting cylinder 2 lifts the goods upwards through the lifting disc 6; similarly, when the sprite transfer robot moves to the target position, the goods shelf is descended to the ground through the lifting structure of the utility model; in addition, when the moving chassis 11 rotates, the rotation driving motor 4 drives the lifting cylinder 2 to rotate through the rotation gear 43, and the lifting driving motor 52 drives the slewing bearing 3 to rotate in the opposite direction through the lifting gear 53, so that the lifting cylinder 2 holds the goods and rotates relative to the moving chassis 11, that is, the goods do not rotate relative to the ground.
The above description is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered by the scope of the present application. Variations and modifications to the above-described embodiments may occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (8)
1. A latent lifting structure of a sprite comprises a sprite robot and a lifting structure arranged on a moving chassis of the sprite robot; the lifting structure comprises a slewing bearing, a lifting cylinder, a lifting disc, a rotary driving mechanism and a lifting driving mechanism; the method is characterized in that: the slewing bearing is movably arranged on the movable chassis; the lifting cylinder is sleeved on the slewing bearing and is in threaded connection with the slewing bearing;
the jacking disc is connected to the jacking cylinder; an octagonal plate is arranged on the jacking circular plate; the jacking circular disc is provided with a plurality of magnet pieces which are uniformly arranged around the outer side of the octagonal disc;
the rotation driving mechanism is fixed on the movable chassis and is meshed and connected with the lifting cylinder so as to drive the lifting cylinder to rotate; the lifting driving mechanism is fixed on the movable chassis and is meshed and connected with the slewing bearing so as to drive the slewing bearing to rotate; the rotary driving mechanism is matched with the lifting driving mechanism to enable the lifting cylinder to lift up and down or to rotate relative to the moving chassis;
the rotary driving mechanism comprises a mounting plate, a rotary driving motor and a rotary gear, the mounting plate is of a Z-shaped structure, and the mounting plate comprises a first fixing part, a first supporting part and a first mounting part which are arranged from bottom to top; two ends of the first supporting part are respectively connected with the first fixing part and the first mounting part; the first fixing part is connected with the movable chassis, the rotary driving motor is arranged on the lower side of the first mounting part, an output shaft of the rotary driving motor upwards penetrates through the first mounting part, the rotary gear is arranged on the upper side of the first mounting part and is connected with the output shaft of the rotary driving motor, and the rotary gear is meshed with the lifting cylinder; under the drive of the rotary drive motor, the rotary gear drives the lifting cylinder to rotate;
the lifting driving mechanism comprises a fixed seat, a lifting driving motor and a lifting gear, the fixed seat is of a Z-shaped structure, and the fixed seat comprises a second fixed part, a second supporting part and a second mounting part which are sequentially arranged from bottom to top; the second fixing part is fixed on the movable chassis in a screw punching mode; the lifting driving motor is arranged on the upper side of the second mounting part, an output shaft of the lifting driving motor downwards penetrates through the second mounting part, and the lifting gear is arranged on the lower side of the second mounting part and is connected with the output shaft of the lifting driving motor; the lifting gear is meshed with the slewing bearing, and the lifting gear drives the slewing bearing to rotate under the driving of the lifting driving motor.
2. A latency lift structure of a sprite as claimed in claim 1, wherein: the rotary driving motor is locked, and the lifting driving motor drives the slewing bearing to rotate through the lifting gear so as to drive the lifting cylinder to lift up and down; the rotary driving motor drives the lifting cylinder to rotate through the rotary gear, and meanwhile, the lifting driving motor drives the slewing bearing to rotate reversely through the lifting gear, so that the lifting cylinder rotates relative to the moving chassis.
3. A latency lift structure of a sprite as claimed in claim 1, wherein: the lifting cylinder is of a cylindrical structure which penetrates through the lifting cylinder from top to bottom, an inner ring of the lifting cylinder is provided with an internal thread, an outer ring of the lifting cylinder is provided with a first gear, and the rotating gear is in meshed connection with the first gear; the outer ring of the upper end of the slewing bearing is provided with an external thread which is matched and connected with the internal thread, the outer ring of the lower end of the slewing bearing is provided with a second gear, and the second gear is meshed and connected with the lifting gear.
4. A sprite latent lifting structure as claimed in claim 3 wherein: a positioning part is arranged on the outer ring of the slewing bearing, which is close to the second gear; and a connecting plate is arranged around the periphery of the positioning part, and the connecting plate is fixed on the movable chassis and is movably connected with the positioning part.
5. A sprite latent lifting structure as claimed in claim 4 wherein: the upper side face of the connecting plate is evenly provided with a plurality of limiting blocks used for limiting the lifting cylinder to move downwards, and each limiting block comprises a first limiting block, a second limiting block and a third limiting block.
6. A latency lift structure of a sprite as claimed in claim 1, wherein: two ends of the second supporting part are respectively connected with the second fixing part and the second mounting part; one end of the upper side face of the second fixing portion, which is close to the second supporting portion, is provided with a plurality of connecting pieces of triangular structures, each connecting piece comprises a first connecting piece and a second connecting piece which are arranged oppositely, and the first connecting pieces and the second connecting pieces are connected with the second supporting portion.
7. A sprite latent lifting structure as claimed in claim 6 wherein: second installation department downside is close to the one end of second supporting part is equipped with the connecting block of a plurality of triangle-shaped structures, the connecting block is including relative first connecting block and the second connecting block that sets up, first connecting block and second connecting block all with the second supporting part is connected.
8. A latency lift structure of a sprite as claimed in claim 1, wherein: the magnet pieces include a first magnet piece, a second magnet piece, a third magnet piece and a fourth magnet piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021790809.6U CN213537177U (en) | 2020-08-24 | 2020-08-24 | Latent lifting structure of little spirit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021790809.6U CN213537177U (en) | 2020-08-24 | 2020-08-24 | Latent lifting structure of little spirit |
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| Publication Number | Publication Date |
|---|---|
| CN213537177U true CN213537177U (en) | 2021-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021790809.6U Active CN213537177U (en) | 2020-08-24 | 2020-08-24 | Latent lifting structure of little spirit |
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| Country | Link |
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| CN (1) | CN213537177U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113651262A (en) * | 2021-08-27 | 2021-11-16 | 珠海格力智能装备有限公司 | Climbing mechanism and robot |
-
2020
- 2020-08-24 CN CN202021790809.6U patent/CN213537177U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113651262A (en) * | 2021-08-27 | 2021-11-16 | 珠海格力智能装备有限公司 | Climbing mechanism and robot |
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