CN217437690U - Rotary lifting mechanism suitable for AGV - Google Patents
Rotary lifting mechanism suitable for AGV Download PDFInfo
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- CN217437690U CN217437690U CN202221396780.2U CN202221396780U CN217437690U CN 217437690 U CN217437690 U CN 217437690U CN 202221396780 U CN202221396780 U CN 202221396780U CN 217437690 U CN217437690 U CN 217437690U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The utility model relates to a rotatory lifting mechanism suitable for AGV. According to the technical scheme provided by the utility model, the rotary lifting mechanism suitable for the AGV comprises a rotary mechanism with rotary capacity and a lifting mechanism used for driving the rotary mechanism to lift; the lifting mechanism comprises a plurality of lifting arm units which are used for being connected with the rotating mechanism in an adaptive mode, a lifting arm movement driving unit which is used for driving the lifting arm units to move and a lifting guide unit which is used for guiding the lifting arm units to move; the lifting arm unit comprises a lifting arm which is in adaptive connection with the rotating mechanism and can swing below the rotating mechanism, and when the lifting arm movement driving unit drives the lifting arm to swing under the guiding action of the lifting guide unit, the lifting arm drives the rotating mechanism to ascend or descend. The utility model discloses can effectively realize lifting and rotatory, at the in-process make full use of space that lifts, stability is high, safe and reliable.
Description
Technical Field
The utility model relates to a rotatory lifting devices, especially a rotatory lifting mechanism suitable for AGV.
Background
AGVs are Automated Guided vehicles, meaning Automated Guided vehicles, which are one type of mobile robot that can travel along a prescribed route. In the current logistics system, the application of the transport type AGV is more and more extensive, and the lifting rotating device is an important component of the robot.
In the prior art, the lifting mechanism of the AGV is mostly a link mechanism or a screw rod mechanism. For link mechanism, its occupation space is great, is unfavorable for make full use of AGV body space, influences the application of AGV in the commodity circulation trade. For the screw rod mechanism, a corresponding guide mechanism needs to be designed to be matched to improve the stability of the screw rod mechanism, so that the cost is high and the stability is insufficient.
Disclosure of Invention
The utility model aims at overcoming the not enough of existence among the prior art, providing a rotatory lifting mechanism suitable for AGV, its compact structure can effectively realize lifting and rotatory, at the in-process make full use of space that lifts, and stability is high, safe and reliable.
According to the technical scheme provided by the utility model, the rotary lifting mechanism suitable for the AGV comprises a rotary mechanism with rotary capacity and a lifting mechanism used for driving the rotary mechanism to lift;
the lifting mechanism comprises a plurality of lifting arm units which are used for being connected with the rotating mechanism in an adaptive mode, a lifting arm movement driving unit which is used for driving the lifting arm units to move and a lifting guide unit which is used for guiding the lifting arm units to move;
the lifting arm unit comprises a lifting arm which is in adaptive connection with the rotating mechanism and can swing below the rotating mechanism, and when the lifting arm movement driving unit drives the lifting arm to swing under the guiding action of the lifting guide unit, the lifting arm drives the rotating mechanism to ascend or descend;
the lifting arm unit is assembled on the lifting support base plate; the lifting arm units in the lifting mechanism are distributed on the lifting support base plate in a triangular shape, and the lifting arm units correspond to the lifting guide units one by one.
The lifting arm unit further comprises a lifting arm seat fixedly assembled on the lifting support base plate, the first end of the lifting arm is hinged to the lifting arm seat, the second end of the lifting arm is provided with a lifting arm guide wheel used for lifting the guide unit to be matched, and the lifting arm guide wheel is matched with the lifting guide unit to guide the swinging of the lifting arm.
When the lifting arm units in the lifting mechanism are distributed on the lifting support base plate in a triangular shape, the lifting mechanism also comprises a lifting driving connecting shaft and a lifting driven connecting shaft, wherein,
the lifting driving connecting shaft is connected with the corresponding lifting arms of the two lifting arm units, and the lifting driven connecting shaft is connected with at least one lifting arm of one lifting arm unit;
the lifting arm motion driving unit synchronously drives the lifting driving connecting shaft and the lifting driven connecting shaft to rotate so as to drive all lifting arms in the lifting mechanism to synchronously swing through the lifting driving connecting shaft and the lifting driven connecting shaft.
The lifting arm movement driving unit comprises a lifting motor and a lifting driving connecting mechanism,
the lifting driving connecting mechanism comprises a lifting driving first chain and a lifting driving second chain, wherein an output shaft of a lifting motor is in adaptive connection with a second gear of a driving shaft on a lifting driving connecting shaft through the lifting driving first chain, and the lifting driving second chain is in adaptive connection with a first gear of the driving shaft on the lifting driving connecting shaft and a gear of a driven connecting shaft on the lifting driven connecting shaft.
The lifting support base plate is characterized by further comprising a lifting limiting mechanism used for limiting the lifting of the rotating mechanism and/or a descending limiting mechanism used for limiting the descending of the rotating mechanism, wherein the lifting limiting mechanism and the descending limiting mechanism are assembled on the lifting support base plate.
The rotating mechanism comprises a rotating connecting bottom plate which is used for being connected with the lifting mechanism in an adaptive manner and a rotating unit body which can rotate on the rotating connecting bottom plate, wherein,
the lifting guide unit is fixed on the lower surface of the rotary connecting bottom plate, which is adjacent to the lifting mechanism, the lifting arm is in adaptive connection with the rotary connecting bottom plate through the lifting guide unit, and when the lifting arm swings, the rotary connecting bottom plate and the rotary unit body on the rotary connecting bottom plate are driven to lift.
The rotary unit body comprises a rotary support arranged on the rotary connecting bottom plate, a rotary driving mechanism used for driving the rotary support outer ring body to rotate and a rotary jacking table top capable of synchronously rotating along with the rotary support outer ring body, and the rotary jacking table top is positioned above the rotary connecting bottom plate and the rotary support outer ring body.
Still including being used for acquireing the material information acquisition mechanism of transporting material information, wherein, material information acquisition mechanism include the camera frame and assemble in camera on the frame, the camera frame is fixed in on the lifting support bottom plate.
The utility model has the advantages that: the lifting arm unit comprises a lifting arm, the lifting arm is connected with the rotating mechanism in an adaptive mode and is driven to swing, the position state of the rotating mechanism can be determined according to the position state of the second end after the lifting arm swings, and the rotating mechanism is driven to lift. Because whole lift in-process all need not utilize screw mechanism, at the in-process make full use of space that lifts, stability is high, safe and reliable.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a perspective view of the present invention.
Fig. 3 is a schematic diagram of the rotating mechanism of the present invention after rotating.
Fig. 4 is a schematic diagram of a jacking state of the lifting mechanism to the rotating mechanism.
Fig. 5 is a schematic view of another jacking state of the lifting mechanism of the present invention relative to the rotating mechanism.
FIG. 6 is a schematic view of the rotary jacking table of FIG. 1 with the jacking table top removed.
Fig. 7 is a schematic view of an operating state of the lifting mechanism of the present invention.
Fig. 8 is a schematic view of another working state of the lifting mechanism of the present invention.
Fig. 9 is a schematic view of the connection and cooperation of the lifting driving connecting shaft of the present invention.
Fig. 10 is a schematic view of the connection and cooperation of the lifting driven connecting shaft of the present invention.
Fig. 11 is a schematic view of an embodiment of the lifting guide unit of the present invention.
Description of the reference numerals: 1-lifting support base plate, 2-lifting motor, 3-rotating motor, 4-supporting outer ring body, 5-rotating lifting table surface, 6-antiskid rubber pad, 7-rotating connection base plate, 8-guide shaft, 9-camera, 10-lifting upper sealing plate, 11-camera frame, 12-lifting arm seat, 13-lifting arm, 14-driving shaft first gear, 15-lifting driving first chain, 16-detection support, 17-proximity switch, 18-lifting guide rail, 19-buffer rod, 20-rotating driving gear, 21-lifting arm guide wheel, 22-supporting inner ring body, 23-lifting driving connection shaft, 24-lifting driving second chain, 25-driving shaft second gear, 26-driven connection shaft gear, 27-lifting driven connecting shaft, 28-guide rail side plate, 29-guide rail groove, 30-approach switch plate and 31-guide shaft sleeve.
Detailed Description
The invention is further described with reference to the following specific drawings and examples.
As shown in fig. 1, 2, 3, 4 and 5: in order to effectively realize lifting and rotation, fully utilize space in the lifting process and improve the lifting stability, the utility model comprises a rotating mechanism with rotating capacity and a lifting mechanism for driving the rotating mechanism to lift;
the lifting mechanism comprises a plurality of lifting arm units which are used for being connected with the rotating mechanism in an adaptive mode, a lifting arm movement driving unit which is used for driving the lifting arm units to move and a lifting guide unit which is used for guiding the lifting arm units to move;
the lifting arm unit comprises a lifting arm 13 which is connected with the rotating mechanism in a matching mode and can swing below the rotating mechanism, and when the lifting arm movement driving unit drives the lifting arm 13 to swing under the guiding action of the lifting guiding unit, the lifting arm 13 drives the rotating mechanism to ascend or descend.
Specifically, rotary mechanism has rotatory ability, can drive through rotary mechanism and arrange in rotary mechanism goes up the rotation of material, can drive rotary mechanism's lift through lifting mechanism, and rotary mechanism and lifting mechanism's concrete cooperation and corresponding effect all are unanimous with current AGV dolly, and the AGV dolly possesses lifting power and rotation capacity promptly, specifically is unanimous with the working method of current AGC dolly.
The embodiment of the utility model provides an in, lifting mechanism includes a plurality of arm units that lift, lifts guide unit and at least one arm motion drive unit that lifts, and wherein, lifting mechanism can drive the arm unit motion of lifting through lifting arm unit and rotary mechanism adaptation connection, through lifting arm motion drive unit, can lead the motion of lifting arm unit through lifting guide unit, specifically, lifts the motion of arm unit, specifically indicates the lift of the rotary mechanism that the drive is connected.
In specific implementation, the lifting arm units may take the same form, and generally, each lifting arm unit at least includes one lifting arm 13, wherein the lifting arm unit is connected with the rotating mechanism in an adaptive manner, that is, the lifting arm unit is connected with the rotating mechanism through the lifting arm 13. The motion of the lifting arm drives the lifting of the rotating mechanism, i.e. the lifting of the connected rotating mechanism is driven by the swinging of the lifting arm 13. Of course, when the lifting arm 13 swings, the lifting guide unit needs to be used for guiding to improve the stability and reliability of the lifting of the driving rotation mechanism, that is, after the lifting arm 13 swings, the driving rotation mechanism is lifted or lowered according to the swinging direction of the lifting arm 13.
As shown in fig. 7 and 8, the lifting support base plate 1 is further included, and a lifting arm unit is mounted on the lifting support base plate 1; the lifting arm units in the lifting mechanism are distributed on the lifting support base plate 1 in a triangular shape, and the lifting arm units correspond to the lifting guide units one by one.
The embodiment of the utility model provides an in, lift supporting baseplate 1 and be flat, lift supporting baseplate 1 and be located rotary mechanism under, utilize to lift supporting baseplate 1 and can support the arm unit that lifts in the lifting mechanism.
In order to improve the stability and reliability of the lifting of the rotating mechanism, the distribution state of the lifting arm units in the lifting mechanism on the lifting support base plate 1 is configured to be triangular distribution, specifically, at least three lifting arm units exist, and the distribution positions of the lifting arm units on the lifting support base plate 1 can form three vertexes of a triangle. In the specific implementation, when the lifting arms 13 in the lifting arm units are guided in a swinging mode, the lifting arm units correspond to the lifting guide units one by one, namely one lifting guide unit is utilized to correspond to one lifting arm unit.
Furthermore, the lifting arm unit further comprises a lifting arm seat 12 fixedly assembled on the lifting support base plate 1, a first end of the lifting arm 13 is hinged to the lifting arm seat 12, a second end of the lifting arm 13 is provided with a lifting arm guide wheel 21 adapted to the lifting guide unit, and the lifting arm guide wheel 21 is matched with the lifting guide unit to guide the swinging of the lifting arm 13.
In the embodiment of the present invention, the lifting arm bases 12 are fixed on the lifting support base plate 1, and certainly, the lifting arm bases 12 on the lifting support base plate 1 are also distributed in a triangular shape, specifically, as shown in fig. 7 and 8, the lifting support base plate 1 is square, two lifting arm bases 12 are arranged at the first end of the lifting support base plate 1, and two lifting arm bases 12 are arranged in the central area of the second end of the lifting support base plate 1; the two lifting arm mounts 12 at the second end of the lifting support base plate 1 are adjacent to each other and between the two lifting arm mounts 12 at the second end of the lifting support base plate 1. Specifically, the lifting arms 13 are in one-to-one correspondence with the lifting arm seats 12, and when four lifting arm seats 12 are arranged on the lifting support base plate 1, there are four lifting arms 13 and four lifting guide units corresponding to the lifting arms 13.
In order to meet the requirement of swinging the lifting arm 13, a first end of the lifting arm 13 is hinged with the lifting arm seat 12, and is connected with the rotating mechanism in a matching way by using a second end of the lifting arm 13, wherein a lifting arm guide wheel 21 is arranged at the second end of the lifting arm 13, the lifting arm guide wheel 21 is positioned outside the second end of the lifting arm 13, and the lifting arm guide wheel 21 can rotate at the second end of the lifting arm 13 to realize rolling contact between the lifting arm guide wheel 21 and a lifting guide unit, namely rolling contact between the lifting arm guide wheel 21 and the lifting guide unit is used to realize swinging guide of the lifting arm 13 on the lifting arm seat 12.
When the lifting guide unit is used, the lifting guide unit is fixed on the rotating mechanism, namely, the lifting guide unit is lifted along with the rotating mechanism. Fig. 11 shows a specific embodiment of the lifting guide unit, wherein the lifting guide unit is elongated and has a guide rail groove 29 therein for allowing the lifting arm guide wheel 21 to travel, and the lifting guide unit is fixed to the rotating mechanism by a guide rail side plate 28. The specific situation of the lifting guide unit is based on the requirement of matching with the lifting arm guide wheel 21 and realizing the swinging guide of the lifting arm 13.
Furthermore, when the lifting arm units in the lifting mechanism are distributed on the lifting support base plate 1 in a triangular shape, the lifting mechanism further comprises a lifting driving connecting shaft 23 and a lifting driven connecting shaft 27, wherein,
the corresponding lifting arms 13 of the two lifting arm units are connected through a lifting driving connecting shaft 23, and at least one lifting arm 13 of one lifting arm unit is connected through a lifting driven connecting shaft 27;
the lifting arm movement driving unit synchronously drives the lifting driving connecting shaft 23 and the lifting driven connecting shaft 27 to rotate so as to drive all the lifting arms 13 in the lifting mechanism to synchronously swing through the lifting driving connecting shaft 23 and the lifting driven connecting shaft 27.
In order to drive the synchronous swing of the lifting arms 13 in the triangular distribution lifting arm unit, the embodiment of the present invention includes a lifting driving connecting shaft 23 and a lifting driven connecting shaft 27 in the lifting mechanism, the lifting driving connecting shaft 23 and the lifting driven connecting shaft 27 are located above the lifting supporting base plate 1, wherein the lifting driving connecting shaft 23 and the lifting driven connecting shaft 27 are parallel to each other.
As shown in fig. 7, 8 and 9, the two lifting arms 13 at the first end of the lifting support base plate 1 are connected by the lifting driving connecting shaft 23, and the two lifting arms 13 at the second end of the lifting support base plate 1 are connected by the lifting driven connecting shaft 27, wherein the two lifting arms 13 connected by the lifting driving connecting shaft 23 are respectively located at two ends of the lifting driving connecting shaft 23, the lifting driving connecting shaft 23 passes through the corresponding lifting arm seat 12 and then is fixed with the lifting arms 13, and when the lifting driving connecting shaft 23 rotates, the lifting arms 13 fixedly connected with the lifting driving connecting shaft 23 rotate synchronously, so that the lifting arms 13 at the first end of the lifting support base plate 1 can swing on the corresponding lifting arm seats 12.
As shown in fig. 7, 8 and 10, since the two lifting arms 13 at the second end of the lifting support base plate 1 are adjacent to each other, one end of the lifting driven connecting shaft 27 passes through the lifting arm base 12 and then is fixed with the two corresponding lifting arms 13, so that when the lifting driven connecting shaft 27 rotates, the lifting arms 13 connected with the lifting driven connecting shaft 27 rotate synchronously, and the lifting arms 13 at the second end of the lifting support base plate 1 swing on the corresponding lifting arm bases 12.
In order to drive all the lifting arms 13 to swing synchronously, the lifting arm movement driving unit comprises a lifting motor 2 and a lifting driving connecting mechanism,
the lifting driving connecting mechanism comprises a lifting driving first chain 15 and a lifting driving second chain 24, wherein an output shaft of the lifting motor 2 is in adaptive connection with a driving shaft second gear 25 on the lifting driving connecting shaft 23 through the lifting driving first chain 15, and the lifting driving second chain 24 is in adaptive connection with a driving shaft first gear 14 on the lifting driving connecting shaft 23 and a driven connecting shaft gear 26 on a lifting driven connecting shaft 27.
The embodiment of the utility model provides an in, lift motor 2 can adopt the current form commonly used, is used for providing the power of lifting through lift motor 2. The lifting motor 2 can be connected with the lifting driving connecting shaft 23 and the lifting driven connecting shaft 27 through a lifting driving connecting mechanism so as to drive the lifting driving connecting shaft 23 and the lifting driven connecting shaft 27 to synchronously rotate.
As shown in fig. 7, 8, 9 and 10, a first driving shaft gear 14 and a second driving shaft gear 25 are provided on the lifting driving connecting shaft 23, and a driven connecting shaft gear 26 is provided on the lifting driven connecting shaft 27, wherein the first driving shaft gear 14 and the second driving shaft gear 25 are located between two end portions of the lifting driving connecting shaft 23, the driven connecting shaft gear 26 is located at one end of the lifting driven connecting shaft 27, and the other end of the lifting driven connecting shaft 27 is correspondingly connected to two lifting arms 13 at the second end of the lifting support base plate 1.
In specific implementation, the output shaft of the lifting motor 2 is connected with the second driving shaft gear 25 on the lifting driving connecting shaft 23 in an adaptive manner through the first lifting driving chain 15, the second lifting driving chain 24 is connected with the first driving shaft gear 14 on the lifting driving connecting shaft 23 and the driven connecting shaft gear 26 on the lifting driven connecting shaft 27 in an adaptive manner, and specifically, the specific connection and matching form between the gears and the chains is consistent with that of the prior art.
When the lifting arm 13 needs to swing, the lifting motor 2 needs to be controlled to work. When the lifting motor 2 drives the lifting arm 13 to swing, the output shaft of the lifting motor 2 is in a forward rotation-reverse rotation working state, if the rotating mechanism is lifted, the output shaft of the lifting motor 2 is in a forward rotation state, and the rotating mechanism is lowered, the output shaft of the lifting motor 2 is in a reverse rotation state, and vice versa, that is, the second end of the lifting arm 13 is driven to move towards the direction of lifting the supporting base plate 1 or move towards the direction far away from the lifting supporting base plate 1 through different steering directions of the output shaft of the lifting motor 2.
As is apparent from the above description, since the lifting arm 13 swings to raise and lower the drive rotation mechanism, the rotation mechanism is controlled to be in different positions when the positions of the lifting arm 13 after swinging are different. In an embodiment, the swinging of the lifting arm 13 may be performed by moving the second end of the lifting arm 13 around the first end of the lifting arm 13. The projection heights of the lifting arms 13 in the vertical direction are different, and the positions of the rotating mechanisms are different, so that the purpose of driving the rotating mechanisms to lift is achieved.
As shown in fig. 4 and 7, the first end of the lifting arm 13 and the second end of the lifting arm 13 are approximately vertically distributed, and in this case, the projected height of the lifting arm 13 in the vertical direction may approximately correspond to the length of the lifting arm 13, and the lifting arm 13 is used to drive the rotating mechanism to be at the highest position. As shown in fig. 5 and 8, the second end of the lifting arm 13 is adjacent to the lifting support base plate 1, and at this time, the projection height of the lifting arm 13 in the vertical direction is small, and the rotating mechanism is driven to be in a lower position by the lifting arm 13.
When the lifting mechanism works, the rotating mechanism is driven to be in any position between the low position and the high position according to the position of the second end of the lifting arm 13, and the position of the rotating mechanism after lifting can be determined after the position of the second end of the lifting arm 13 is determined, wherein the position of the rotating mechanism after lifting can specifically refer to the height between the rotating mechanism and the lifting support base plate 1; when the second end of the lifting arm 13 is in the high position, the height distance between the rotating mechanism and the lifting support base plate 1 is large, and when the second end of the lifting arm 13 is in the low position, the rotating mechanism is close to the lifting support base plate 1.
Therefore, according to the target position of the rotating mechanism, the lifting motor 2 drives the lifting arm 13 to swing as required, so that the rotating mechanism can be controlled to be in the target position according to the position of the second end of the lifting arm 13 after swinging. When the lifting arm needs to be further lifted or lowered, namely, the position state of the second end of the lifting arm 13 is adjusted according to the forward rotation or the reverse rotation of the lifting motor 2.
To sum up, the embodiment of the utility model provides an in, can drive through lifting motor 2 and lift arm 13 and swing, according to the position state of lifting arm 13 swing back second end, can confirm rotary mechanism's position state, realize drive rotary mechanism's lift. Because whole lift in-process all need not utilize screw mechanism, at the in-process make full use of space that lifts, stability is high, safe and reliable.
Furthermore, the lifting support device also comprises a lifting limiting mechanism used for limiting the lifting of the rotating mechanism and/or a descending limiting mechanism used for limiting the descending of the rotating mechanism, and the lifting limiting mechanism and the descending limiting mechanism are both assembled on the lifting support base plate 1.
The embodiment of the utility model provides an in, utilize the stop gear that rises to rotary mechanism to carry on spacingly, utilize the decline stop gear to rotary mechanism spacing to improve rotary mechanism's stability and reliability that goes up and down. The specific case of the ascending position restricting mechanism and the descending position restricting mechanism will be described in detail below.
As shown in fig. 4 and 5, the ascending limiting mechanism includes a guide shaft 8 and a guide shaft sleeve 31 disposed on the lifting support base plate 1, a length direction of the guide shaft 8 is perpendicular to the lifting support base plate 1, and the guide shaft 8 can move along the length direction of the guide shaft 8 relative to the lifting support base plate 1 through the guide shaft sleeve 31. In specific implementation, the guide shafts 8 are symmetrically distributed on the lifting support base plate 1.
During specific implementation, the first end of the guide shaft 8 is fixedly connected with the rotating mechanism, the second end of the guide shaft 8 is in a free state, and the second end of the guide shaft 8 is provided with a guide shaft end plate matched with the guide shaft sleeve 31. When the lifting arm 13 drives the rotating mechanism to lift, the first end of the guide shaft 8 is far away from the lifting support base plate 1 along with the rotating mechanism, and at this time, the guide shaft end plate at the second end of the guide shaft 8 is close to the lower end of the guide shaft sleeve 31. After the guide end plate contacts with the guide shaft sleeve 31, the lifting of the rotating mechanism is limited by the contact and the matching of the guide end plate and the guide shaft sleeve 31.
When the rotating mechanism is in a descending state, the first end of the guide shaft 8 approaches to the lifting support base plate 1 along with the rotating mechanism, at the moment, the guide shaft end plate at the second end of the guide shaft 8 can be far away from the guide shaft sleeve 31, namely, at the moment, the descending of the rotating mechanism cannot be influenced by the whole ascending limiting mechanism.
As shown in fig. 4, 5, 6, 7 and 8, the descending limiting mechanism includes buffer rods 19, the buffer rods 19 are symmetrically distributed on the lifting support base plate 1, and the length direction of the buffer rods 19 is perpendicular to the plane of the lifting support base plate 1. The lower end of the buffer rod 19 is fixed with the lifting support base plate 1, and the upper end of the buffer rod 19 has elastic telescopic capacity.
When the rotating mechanism descends and contacts with the upper end of the buffer rod 19, the descending state of the rotating mechanism can be buffered by utilizing the elastic expansion of the upper end of the buffer rod 19, and when the upper end of the buffer rod 19 is pressed, the descending limit of the rotating mechanism can be limited by utilizing the buffer rod 19.
In summary, when the lifting arm 13 is used to drive the rotating mechanism to lift, the highest position of the rotating mechanism that is lifted is the lifting limit position determined by the lifting limit mechanism, and the lowest position of the rotating mechanism that is lowered is the lowering limit position determined by the lowering limit mechanism. The lifting position of the rotating mechanism is between a lifting limit position and a descending limit position.
The lifting mechanism further comprises a lifting position detection mechanism for acquiring the position state of the rotating mechanism during lifting, wherein the working state of the lifting arm driving unit in the lifting mechanism is controlled according to the position state of the lifting mechanism during lifting acquired by the lifting position detection mechanism.
In order to improve the accurate control of the lifting position of the rotating mechanism, the lifting mechanism further comprises a lifting position detection mechanism, and the position state of the lifting mechanism during lifting is acquired by the lifting position detection mechanism, so that a basis is provided for controlling the working state of a lifting arm driving unit in the lifting mechanism. The following describes the lifting position detection mechanism in detail.
As shown in fig. 4, 5, 7 and 8, the lifting position detecting mechanism includes a detecting bracket 16 mounted on the rotating mechanism, a proximity switch plate 30 mounted on the lifting support base plate 1, and a plurality of proximity switches 17 mounted on the proximity switch plate 30; fig. 4, 5, 7 and 8 show the case where two proximity switches 17 are provided on the proximity switch plate 30, and the two proximity switches 17 are distributed up and down on the proximity switch plate 30.
The detection support 16 needs to be capable of being matched with the proximity switch 17, when the detection support 16 is assembled on the rotating mechanism, the detection support 16 can lift above the lifting support base plate 1, and after the detection support 16 lifts, the detection support 16 can trigger the corresponding proximity switch 17 on the proximity switch plate 30. The position state of the lifting mechanism in the lifting process can be determined according to the triggered state of the proximity switch 17 on the proximity switch plate 30.
In specific implementation, when the detection bracket 16 triggers the proximity switch 17 to determine the position state of the rotating mechanism, the triggered position of the proximity switch 17 may be specifically configured as required, so as to effectively determine the position of the rotating mechanism, which is not described herein again.
As shown in fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6, the rotating mechanism includes a rotating connection base plate 7 adapted to be connected to the lifting mechanism, and a rotating unit body capable of rotating on the rotating connection base plate 7, wherein,
the lifting guide unit is fixed on the lower surface of the rotary connection bottom plate 7 adjacent to the lifting mechanism, the lifting arm 13 is connected with the rotary connection bottom plate 7 in a matching mode through the lifting guide unit, and when the lifting arm 13 swings, the rotary connection bottom plate 7 and the rotary unit body on the rotary connection bottom plate 7 are driven to lift.
In the embodiment of the present invention, the rotating mechanism is connected to the lifting mechanism via the rotating connection bottom plate 7, i.e. connected to the lifting arm 13 in the lifting mechanism, and at this time, the lifting guiding unit is fixed to the lower surface of the rotating connection bottom plate 7 adjacent to the lifting mechanism. When the lifting arm 13 swings, the whole rotating mechanism is driven to lift through the rotary connecting bottom plate 7.
Further, the rotating unit body comprises a slewing bearing arranged on the rotating connection bottom plate 7, a rotation driving mechanism for driving the supporting outer ring body 4 of the slewing bearing to rotate and a rotating jacking table surface 5 capable of synchronously rotating along with the supporting outer ring body 4, and the rotating jacking table surface 5 is positioned above the rotating connection bottom plate 7 and the supporting outer ring body 4.
In the embodiment of the present invention, the rotary unit body includes a rotary support, wherein the rotary support includes a support outer ring body 4 and a support inner ring body 22 located at the inner ring of the support outer ring body 4, wherein the support inner ring body 22 is fixed on the front surface of the rotary connection bottom plate 7. The outer bearing ring 4 is sleeved on the inner bearing ring 22, the outer bearing ring 4 is supported on the rotary connecting bottom plate 7, and the outer bearing ring 4 can rotate relative to the inner bearing ring 22.
As for the rotation driving mechanism, fig. 2, 4 and 5 show a case where the rotation driving mechanism employs the rotating electrical machine 3, the output shaft of the rotating electrical machine 3 is provided with a rotation driving gear 20, and the rotation driving gear 20 is engaged with the outer support ring body 4, so that the outer support ring body 4 is driven to rotate when the output shaft of the rotating electrical machine 3 rotates.
The rotary jacking table top 5 is fixedly connected with the supporting outer ring body 4, so that when the supporting outer ring body 4 rotates, the rotary jacking table top 5 rotates synchronously with the supporting outer ring body 4, as shown in fig. 1 and 3, which shows the rotary jacking table top 5 after rotating. In addition, set up anti-skidding rubber pad 6 on rotating jacking mesa 5, utilize anti-skidding rubber pad 6 can improve the anti-skidding ability of rotating jacking mesa 5, avoid the condition such as sideslip to appear in the during operation.
In specific implementation, the center areas of the rotary jacking table top 5 and the anti-skid rubber pad 6 are both provided with a through hole, the center area of the rotary jacking table top 5 is provided with a lifting upper sealing plate 10, and the lifting upper sealing plate 10 is fixed with the inner ring body 22 of the support. Of course, an upper plate hole is also provided in the central region where the upper plate 10 is lifted, and the upper plate hole penetrates through the upper plate 10.
The material information acquisition mechanism is used for acquiring information of transported materials, and is positioned below the rotating mechanism; the material information of the material arranged on the rotating mechanism is acquired through the material information acquiring mechanism.
In the embodiment of the present invention, the material information acquiring mechanism includes the camera 9 and is used for supporting the camera frame 11 of the camera 9, the camera frame 11 is assembled on the lifting support base plate 1. The working view of the camera 9 corresponds to the upper plate aperture which lifts the upper plate 10. The camera 9 can acquire material information of the material placed on the rotary jacking table top 5, for example, the camera 9 acquires information such as a bar code, a two-dimensional code or an image on the material, and corresponding material information is determined according to the bar code, the two-dimensional code, the image and the like, the material information generally can include position information such as the type of the material and the purpose of material conveying, and the specific situation of the material information can be determined according to actual application requirements. After the information such as the bar code, the two-dimensional code or the image is acquired through the camera 9, the corresponding material information can be determined by adopting the technical means commonly used in the technical field, and the specific mode and process for determining the material information can be selected as required, which is not repeated herein.
After the camera 9 acquires the material information, the efficiency and the reliability of conveying the material by using the AGV can be accurately controlled. Certainly, in specific implementation, according to the material information acquired by the camera 9, the AGV can be controlled by adopting a common technical means in the technical field, and a specific conveying control mode and process can be selected as required.
Claims (8)
1. A rotary lifting mechanism suitable for an AGV comprises a rotating mechanism with rotating capacity and a lifting mechanism used for driving the rotating mechanism to lift; the method is characterized in that:
the lifting mechanism comprises a plurality of lifting arm units which are used for being connected with the rotating mechanism in an adaptive mode, a lifting arm movement driving unit which is used for driving the lifting arm units to move and a lifting guide unit which is used for guiding the lifting arm units to move;
the lifting arm unit comprises a lifting arm (13) which is in adaptive connection with the rotating mechanism and can swing below the rotating mechanism, and the lifting arm motion driving unit drives the lifting arm (13) to ascend or descend through the lifting arm (13) when swinging under the guiding action of the lifting guide unit;
the lifting arm unit is assembled on the lifting support base plate (1); the lifting arm units in the lifting mechanism are distributed on the lifting support base plate (1) in a triangular shape, and the lifting arm units correspond to the lifting guide units one by one.
2. The rotary lift mechanism for an AGV of claim 1 further including: the lifting arm unit further comprises a lifting arm seat (12) fixedly assembled on the lifting support base plate (1), the first end of the lifting arm (13) is hinged to the lifting arm seat (12), the second end of the lifting arm (13) is provided with a lifting arm guide wheel (21) used for lifting the guide unit, and the lifting arm guide wheel (21) is matched with the lifting guide unit to guide the swinging of the lifting arm (13).
3. The rotary lift mechanism for an AGV of claim 2 further comprising: when the lifting arm units in the lifting mechanism are distributed on the lifting support base plate (1) in a triangular shape, the lifting mechanism also comprises a lifting driving connecting shaft (23) and a lifting driven connecting shaft (27), wherein,
the corresponding lifting arms (13) of the two lifting arm units are connected through a lifting driving connecting shaft (23), and at least one lifting arm (13) of one lifting arm unit is connected through a lifting driven connecting shaft (27);
the lifting arm movement driving unit synchronously drives the lifting driving connecting shaft (23) and the lifting driven connecting shaft (27) to rotate, so that all lifting arms (13) in the lifting mechanism are driven to synchronously swing through the lifting driving connecting shaft (23) and the lifting driven connecting shaft (27).
4. A rotary lift mechanism for an AGV according to claim 3 wherein: the lifting arm movement driving unit comprises a lifting motor (2) and a lifting driving connecting mechanism,
the lifting driving connecting mechanism comprises a lifting driving first chain (15) and a lifting driving second chain (24), wherein an output shaft of the lifting motor (2) is in adaptive connection with a driving shaft second gear (25) on the lifting driving connecting shaft (23) through the lifting driving first chain (15), and the lifting driving second chain (24) is in adaptive connection with a driving shaft first gear (14) on the lifting driving connecting shaft (23) and a driven connecting shaft gear (26) on the lifting driven connecting shaft (27).
5. A rotary lift mechanism for an AGV according to any of claims 1 to 4, wherein: the lifting mechanism is characterized by further comprising a lifting limiting mechanism used for limiting the lifting of the rotating mechanism and/or a descending limiting mechanism used for limiting the descending of the rotating mechanism, wherein the lifting limiting mechanism and the descending limiting mechanism are both assembled on the lifting supporting base plate (1).
6. A rotary lift mechanism for an AGV according to any of claims 1 to 4, wherein: the rotating mechanism comprises a rotating connection bottom plate (7) which is used for being connected with the lifting mechanism in an adaptive mode and a rotating unit body which can rotate on the rotating connection bottom plate (7),
the lifting guide unit is fixed on the lower surface, close to the lifting mechanism, of the rotary connection bottom plate (7), the lifting arm (13) is connected with the rotary connection bottom plate (7) in an adaptive mode through the lifting guide unit, and when the lifting arm (13) swings, the rotary connection bottom plate (7) and the rotary unit body on the rotary connection bottom plate (7) are driven to lift.
7. The rotary lift mechanism for an AGV of claim 6 further comprising: the rotary unit body comprises a rotary support arranged on the rotary connection bottom plate (7), a rotary driving mechanism used for driving the rotary support outer ring body (4) to rotate and a rotary jacking table surface (5) capable of synchronously rotating along with the rotary support outer ring body (4), and the rotary jacking table surface (5) is positioned above the rotary connection bottom plate (7) and the rotary support outer ring body (4).
8. A rotary lift mechanism for an AGV according to any of claims 1 to 4, wherein: the material information acquisition mechanism is used for acquiring material information for transportation, and comprises a camera frame (10) and a camera (9) assembled on the camera frame (10), wherein the camera frame (10) is fixed on the lifting support bottom plate (1).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221396780.2U CN217437690U (en) | 2022-06-06 | 2022-06-06 | Rotary lifting mechanism suitable for AGV |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221396780.2U CN217437690U (en) | 2022-06-06 | 2022-06-06 | Rotary lifting mechanism suitable for AGV |
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| CN217437690U true CN217437690U (en) | 2022-09-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114873509A (en) * | 2022-06-06 | 2022-08-09 | 中科微至科技股份有限公司 | AGV is with rotatory lifting devices |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114873509A (en) * | 2022-06-06 | 2022-08-09 | 中科微至科技股份有限公司 | AGV is with rotatory lifting devices |
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