CN220723494U - Jacking rotary device for AGV - Google Patents
Jacking rotary device for AGV Download PDFInfo
- Publication number
- CN220723494U CN220723494U CN202321955082.6U CN202321955082U CN220723494U CN 220723494 U CN220723494 U CN 220723494U CN 202321955082 U CN202321955082 U CN 202321955082U CN 220723494 U CN220723494 U CN 220723494U
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- jacking
- rotating
- link
- link mechanism
- gear
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- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000009467 reduction Effects 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 description 16
- 230000001603 reducing effect Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
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Abstract
The utility model discloses a jacking and rotating device for an AGV, which comprises a jacking component and a rotating component, wherein the jacking component comprises a lifting shaft, a lifting shaft and a lifting shaft; the jacking component comprises a driving mechanism, a first parallelogram link mechanism positioned on the frame and a second parallelogram link mechanism positioned on the first parallelogram link mechanism, wherein the driving mechanism is connected to the first parallelogram link mechanism, the second parallelogram link mechanism comprises a bearing plate, and a jacking limit rod is arranged between the second parallelogram link mechanism and the frame; the rotating assembly comprises a rotating motor and a slewing bearing which is in rotating fit with the bearing plate, and a transmission part is arranged between the rotating motor and the slewing bearing, so that the jacking and rotating stability is ensured.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a jacking and rotating device for an AGV.
Background
An AGV is a short name of an automatic guided vehicle, that is, a transfer robot equipped with an automatic guiding device such as an electromagnetic or photoelectric device, capable of automatically traveling along a predetermined guiding path, and having programming and mode selecting devices, safety protection, and various transfer functions.
Among the prior art, the AGV with jacking rotation function can realize the jacking and the rotation of goods, makes the corresponding station of butt joint that the goods can be better, has improved work efficiency. However, the jacking rotary AGV in the prior art is complex in structure, and the jacking and rotating actions are unstable, so that the goods fall or incline to influence the working efficiency.
Disclosure of Invention
In order to solve the technical problems, the utility model provides a jacking and rotating device for an AGV.
The utility model adopts the following technical scheme:
the jacking and rotating device for the AGV comprises a jacking component and a rotating component; the jacking component comprises a driving mechanism, a first parallelogram link mechanism positioned on the frame and a second parallelogram link mechanism positioned on the first parallelogram link mechanism, wherein the driving mechanism is connected to the first parallelogram link mechanism, the second parallelogram link mechanism comprises a bearing plate, and a jacking limit rod is arranged between the second parallelogram link mechanism and the frame; the rotating assembly comprises a rotating motor and a slewing bearing which is in rotating fit with the bearing plate, and a transmission part is arranged between the rotating motor and the slewing bearing.
Preferably, the first parallelogram linkage mechanism comprises a first connecting rod and a second connecting rod hinged on the frame and a third connecting rod hinged between the first connecting rod and the second connecting rod.
Preferably, the second parallelogram link mechanism comprises a fourth link rod and a fifth link rod which are hinged to two ends of the third link rod, and the fourth link rod and the fifth link rod are hinged to a bearing plate.
Preferably, a fixed rod is arranged on the frame, and a jacking limiting rod is arranged between the fourth connecting rod and the fixed rod.
Preferably, the second connecting rod comprises a connecting rod part and a tooth-shaped part, and the driving mechanism is provided with a transmission gear meshed with the tooth-shaped part.
Preferably, the driving mechanism further comprises a driving motor body, a rotating gear positioned at the driving end of the driving motor body, and a reducing gear meshed with the rotating gear, wherein the transmitting gear and the reducing gear are coaxially arranged.
Preferably, the rotating motor is mounted on the bearing plate, and the slewing bearing comprises a mounting part arranged on the bearing plate and a slewing part in rotating fit with the mounting part.
Preferably, the rotary motor is provided with a driving gear, and the slewing bearing surface is provided with teeth meshed with the driving gear.
Preferably, a zero sensor is arranged on the bearing plate.
Preferably, the bearing plate is provided with a positioning sensor.
Compared with the prior art, the utility model has the following advantages: the utility model provides a jacking and rotating device for an AGV, which drives a slewing bearing to rotate through a rotating motor arranged on a bearing plate to realize the rotation of an object above the AGV.
Drawings
Fig. 1 is a schematic view of a part of a jacking rotation device.
Fig. 2 is a schematic structural view of the jacking rotation device.
Fig. 3 is a schematic view of another view angle structure of the jacking rotation device.
Fig. 4 is a first motion schematic of the jacking swivel.
Fig. 5 is a second motion schematic of the jacking swivel.
Fig. 6 is a third motion schematic of the jacking swivel.
In the figure, a driving mechanism 1, a transmission gear 11, a driving motor body 12, a rotation gear 13, a reduction gear 14, a first parallelogram link mechanism 2, a first link 21, a second link 22, a link portion 221, a tooth portion 222, a second parallelogram link mechanism 3, a carrier plate 31, a fourth link 32, a fifth link 33, a lifting and positioning lever 4, a rotation motor 5, a slewing bearing 6, a mounting portion 61, a slewing portion 62, a fixed lever 7, a zero sensor 8, and a positioning sensor 9.
Detailed Description
In order to facilitate understanding of the technical scheme of the present utility model, the following detailed description is made with reference to the accompanying drawings and specific embodiments.
Example 1
1-3, a jacking and rotating device for an AGV comprises a jacking assembly and a rotating assembly, wherein the jacking assembly is used for jacking a bearing plate 31, and the rotating assembly is used for rotating a slewing bearing 6;
the jacking assembly comprises a driving mechanism 1, a first parallelogram link mechanism 2 positioned on the frame and a second parallelogram link mechanism 3 positioned on the first parallelogram link mechanism 2, wherein the driving mechanism 1 is connected to the first parallelogram link mechanism 2 and is used for driving the first parallelogram link mechanism 2 to move so as to drive the second parallelogram link mechanism 3 to move, the second parallelogram link mechanism 3 comprises a bearing plate 31, a jacking limit rod 4 is arranged between the second parallelogram link mechanism 3 and the frame, and the jacking limit rod 4 is used for limiting the movement track of the second parallelogram link mechanism 3, so that the bearing plate 31 vertically rises or is close to vertically rises during jacking;
the rotating assembly comprises a rotating motor 5 and a slewing bearing 6 which is in rotating fit with the bearing plate 31, and a transmission member is arranged between the rotating motor 5 and the slewing bearing 6.
In the utility model, the slewing bearing 6 is driven to rotate by the rotating motor 5 arranged on the bearing plate 31 to realize the rotation of an object above, in addition, the driving mechanism 1 drives the first parallelogram linkage mechanism 2 to move, and further drives the second parallelogram linkage mechanism 3 to move to lift the bearing plate 31, so that the lifting and rotating stability is ensured.
The first parallelogram linkage mechanism 2 comprises a first connecting rod 21 and a second connecting rod 22 hinged on the frame and a third connecting rod hinged between the first connecting rod 21 and the second connecting rod 22, and the first connecting rod 21, the second connecting rod 22, the third connecting rod and the frame form the first parallelogram linkage mechanism 2.
The second parallelogram linkage 3 comprises a fourth connecting rod 32 and a fifth connecting rod 33 which are hinged at two ends of the third connecting rod, the fourth connecting rod 32 and the fifth connecting rod 33 are hinged with a bearing plate 31, and the third connecting rod, the fourth connecting rod 32, the fifth connecting rod 33 and the bearing plate 31 form the second parallelogram linkage 3.
The frame is provided with a fixed rod 7, and a jacking limiting rod 4 is arranged between the fourth connecting rod 32 and the fixed rod 7 and used for limiting the movement track of the fourth connecting rod 32 so as to limit the movement track of the second parallelogram link mechanism 3.
Specifically, as shown in fig. 4, the point a is a hinge point of the second link 22 and the third link, and the point B is a hinge point of the second link 22 and the frame; during jacking, the driving mechanism 1 starts to work, so that the second connecting rod 22 is driven to perform clockwise movement in the direction shown in fig. 4, namely, the point A rotates clockwise around the point B, so that the third connecting rod is driven to move upwards and rightwards (namely, the arrow direction), and the movement of the third connecting rod is parallel movement because the first connecting rod 21, the second connecting rod 22, the third connecting rod and the frame form the first parallelogram linkage mechanism 2.
As shown in fig. 5, the point C is the hinge point of the first link 21, the third link and the fourth link 32, the point D is the hinge point of the fourth link 32 and the carrier plate 31, and the point E is the hinge point of the fifth link 33 and the carrier plate 31.
As shown in fig. 6, one end of the lifting limiting rod 4 is hinged with the fourth connecting rod 32 at the point D, and the other end is hinged with the fixed rod 7 at the point F, i.e. the lifting limiting rod 4 can only rotate around the point F in a certain angle range, the lifting limiting rod 4 has a two-section bending structure, and when not lifted, one section hinged with the point D is in a horizontal state or is in a state close to the horizontal state;
when jacking, the driving mechanism 1 starts to work, so as to drive the second connecting rod 22 to perform clockwise movement in the direction shown in fig. 4, so as to drive the third connecting rod to move in the right upper direction, as the jacking limiting rod 4 can only rotate around the point F, the point D rotates around the point F, and the jacking limiting rod 4 is hinged to one section of the point D in a horizontal state or a near horizontal state, the movement direction of the point D is vertical upwards or near vertical upwards, and as the third connecting rod is parallel movement, the movement direction of the bearing plate 31 is vertical upwards or near vertical upwards.
Since the point D rotates around the point F, there is a small track of rightward movement of the carrier plate 31 when it is lifted.
The second connecting rod 22 comprises a connecting rod part 221 and a tooth-shaped part 222, the driving mechanism 1 is provided with a transmission gear 11 meshed with the tooth-shaped part 222, and the driving mechanism 1 drives the transmission gear 11 to rotate, so that the second connecting rod 22 is driven to rotate through gear meshing.
The driving mechanism 1 further comprises a driving motor body 12, a rotating gear 13 positioned at the driving end of the driving motor body 12 and a reduction gear 14 meshed with the rotating gear 13, wherein the transmission gear 11 and the reduction gear 14 are coaxially arranged, and the number of teeth of the reduction gear 14 is larger than that of teeth of the rotating gear 13 to realize a reduction effect;
when jacking is carried out, the output end of the driving motor body 12 rotates clockwise to drive the rotating gear 13 to rotate clockwise, and the gear is meshed to drive the reduction gear 14 to rotate anticlockwise, so that the transmission gear 11 coaxial with the reduction gear is rotated anticlockwise, and the second connecting rod 22 is driven to rotate clockwise.
In order to improve the speed reducing effect, the number of teeth of the transmission gear 11 is also smaller than that of the speed reducing gear 14; meanwhile, a speed reducer can be additionally arranged at the output end of the driving motor body 12, and the output end of the speed reducer is connected with the rotating gear 13 for improving the speed reducing effect.
The rotating motor 5 is installed on the bearing plate 31, the slewing bearing 6 comprises an installation portion 61 arranged on the bearing plate 31 and a slewing portion 62 in a rotating fit with the installation portion 61, and the rotating motor 5 drives the slewing portion 62 to rotate through a transmission piece, so that the goods are driven to rotate.
In this embodiment, a driving gear is disposed on the rotating motor 5, and teeth meshed with the driving gear are disposed on the surface of the rotating portion 62; or the rotation motor 5 and the turning part 62 are driven by a belt.
The bearing plate 31 is provided with a zero sensor 8, and the bearing plate 31 facing the upper side of the slewing bearing 6 is used for judging whether the bearing plate 31 returns to the initial position.
The bearing plate 31 is provided with a positioning sensor 9 for acquiring a deviation value between the center of the jacking assembly and the center of the article to be borne, and matching with the AGV chassis adjustment center.
The lifting limit sensor is arranged below the bearing plate 31 and can be used for limiting the movement degree of each connecting rod on the first parallelogram link mechanism 2 and the second parallelogram link mechanism 3, and the lifting height is adjusted, namely, once a certain connecting rod moves to a certain degree, the movement is stopped, and the lifting is stopped.
The foregoing is merely a preferred embodiment of the present utility model, and the scope of the utility model is defined by the claims, and those skilled in the art should also consider the scope of the present utility model without departing from the spirit and scope of the utility model.
Claims (10)
1. The jacking and rotating device for the AGV is characterized by comprising a jacking component and a rotating component;
the jacking assembly comprises a driving mechanism (1), a first parallelogram link mechanism (2) positioned on the frame and a second parallelogram link mechanism (3) positioned on the first parallelogram link mechanism (2), wherein the driving mechanism (1) is connected to the first parallelogram link mechanism (2), the second parallelogram link mechanism (3) comprises a bearing plate (31), and a jacking limiting rod (4) is arranged between the second parallelogram link mechanism (3) and the frame;
the rotating assembly comprises a rotating motor (5) and a slewing bearing (6) which is in rotating fit with the bearing plate (31), and a transmission piece is arranged between the rotating motor (5) and the slewing bearing (6).
2. The jacking rotation device for an AGV according to claim 1, wherein the first parallelogram link mechanism (2) includes a first link (21) hinged to the frame, a second link (22), and a third link hinged between the first link (21) and the second link (22).
3. The jacking rotating device for the AGV according to claim 2, wherein the second parallelogram link mechanism (3) comprises a fourth link (32) and a fifth link (33) hinged at two ends of the third link, and a carrier plate (31) is hinged on the fourth link (32) and the fifth link (33).
4. A jacking and rotating device for an AGV according to claim 3, characterized in that the frame is provided with a fixing rod (7), and a jacking limit rod (4) is arranged between the fourth connecting rod (32) and the fixing rod (7).
5. The jacking rotating device for an AGV according to claim 2, wherein the second link (22) includes a link portion (221) and a toothed portion (222), and the driving mechanism (1) is provided with a transmission gear (11) engaged with the toothed portion (222).
6. The jacking rotating device for the AGV according to claim 5, wherein the driving mechanism (1) further comprises a driving motor body (12), a rotating gear (13) located at the driving end of the driving motor body (12), and a reduction gear (14) meshed with the rotating gear (13), and the transmission gear (11) is coaxially arranged with the reduction gear (14).
7. The jacking and rotating device for an AGV according to claim 1, wherein the rotating motor (5) is mounted on the carrier plate (31), and the slewing bearing (6) includes a mounting portion (61) provided on the carrier plate (31) and a slewing portion (62) rotatably fitted to the mounting portion (61).
8. The jacking rotating device for the AGV according to claim 7, wherein the rotating motor (5) is provided with a driving gear, and the surface of the slewing bearing (6) is provided with teeth meshed with the driving gear.
9. The jacking and rotating device for an AGV according to claim 1, characterized in that the carrier plate (31) is provided with a zero sensor (8).
10. The jacking and rotating device for an AGV according to claim 1, characterized in that the carrier plate (31) is provided with a positioning sensor (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321955082.6U CN220723494U (en) | 2023-07-25 | 2023-07-25 | Jacking rotary device for AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321955082.6U CN220723494U (en) | 2023-07-25 | 2023-07-25 | Jacking rotary device for AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220723494U true CN220723494U (en) | 2024-04-05 |
Family
ID=90496302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321955082.6U Active CN220723494U (en) | 2023-07-25 | 2023-07-25 | Jacking rotary device for AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220723494U (en) |
-
2023
- 2023-07-25 CN CN202321955082.6U patent/CN220723494U/en active Active
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