WO2020029505A1 - 一种升降装置及agv搬运车 - Google Patents

一种升降装置及agv搬运车 Download PDF

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Publication number
WO2020029505A1
WO2020029505A1 PCT/CN2018/121788 CN2018121788W WO2020029505A1 WO 2020029505 A1 WO2020029505 A1 WO 2020029505A1 CN 2018121788 W CN2018121788 W CN 2018121788W WO 2020029505 A1 WO2020029505 A1 WO 2020029505A1
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WIPO (PCT)
Prior art keywords
jacking
driving
base
rotary
chassis
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PCT/CN2018/121788
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English (en)
French (fr)
Inventor
彭银华
夏仕平
张凯
Original Assignee
深圳市井智高科机器人有限公司
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Application filed by 深圳市井智高科机器人有限公司 filed Critical 深圳市井智高科机器人有限公司
Publication of WO2020029505A1 publication Critical patent/WO2020029505A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions

Definitions

  • the present application relates to a lifting device and an AGV transporter using the lifting device, and belongs to the technical field of logistics automation equipment.
  • the AGV handling trolley currently used in unmanned warehouses has a slow lifting speed of the shelves. 5 Seeing that the lifting device of the AGV transport trolley mostly drives a gear with a large width to move up and down through a small gear to complete the lifting function of the cargo; however, because its rotating parts and lifting parts are the same device, Deformation easily occurs under pressure, and more serious wear occurs. In serious cases, it is easy to cause the lifting device to fail, and the connection of the lifting device and the vehicle body is very inconvenient for disassembly and routine maintenance.
  • the driving mechanism of some AGV transport trolleys has high requirements for the flatness of the site, and cannot meet the requirements of up / downhill in some scenarios. 5 See the drive mechanism of some AGV transport trolleys use damping springs to stabilize the small fluctuations on the ground to maintain smooth operation. Under the premise that the site is relatively flat, there are 5 AGV trolleys that can successfully complete the task of cargo handling, but the existing drive mechanism can only adapt to small fluctuations on the ground (generally no more than 2.5MM / m). Compare the site conditions Prone to slipping when bad
  • an object of the present application is to provide a lifting device with a simple structure, a small driving torque when lifting an article, and a smooth lifting device, and an unmanned transport trolley using the lifting device.
  • a lifting device includes at least one set of a screw rod mechanism provided on a base and a jacking rotary driving mechanism for driving the screw rod mechanism to rotate;
  • the jacking rotary driving mechanism includes a jacking motor fixedly mounted on the base, A jacking gear which is drivingly connected to the motor shaft of the jacking motor, a jacking gear which is drivingly connected to the output end of the jacking gear, and a jacking gear which is arranged on the base and meshes with the jacking gear;
  • Rod mechanism 2 includes A nut seat provided on the base is rotated, and a screw rod threadedly connected to the nut seat is provided; the outer periphery of the nut seat or the outer periphery of the screw rod is provided with transmission teeth that are engaged with the jacking disc.
  • the above-mentioned lifting device has a simple structure, in particular, the screw rod mechanism is driven to rotate by a jacking rotary driving mechanism, thereby driving the screw rod or the nut seat to rise or fall, making the entire lifting process easy to operate, requiring a small torque, and operating. smooth.
  • the number of the screw mechanism is 2 to 8 groups.
  • the base is provided with two mounting cavities for movably mounting the lower end of the screw, and the base is located at the center of the two mounting cavities.
  • the middle of the wire is provided with a rotating shaft for installing a jacking gear.
  • the base is provided with four mounting cavities that are rectangularly arranged and are used to move the lower end of the screw.
  • the base is located at the center of the rectangle formed by the four mounting cavities, and is provided with a rotation shaft for installing a jacking gear.
  • the base is provided with the number and the screw mechanism.
  • the same number of mounting cavities are used to move the lower end of the mounting screw.
  • the mounting cavities are arranged in a regular polygon.
  • the base is located at the center of the regular polygon formed by the mounting cavity.
  • a rotation mechanism is further included; the rotation mechanism includes a rotating toothed disc bearing disc fixedly connected to the top of the screw rod or the top of the nut seat, and is rotatably provided on the rotating toothed disc Rotary toothed disc of the carrier disc, a rotary motor fixed to the carrier disc of the rotary toothed disc, a rotary reducer drivingly connected to the motor shaft of the rotary motor, and a rotation drivingly connected to the output end of the rotary reducer and meshing with the rotary toothed disc gear.
  • the rotary electric machine and the rotary reducer are both fixed on the lower end surface of the rotary gear disc bearing disc; the rotary gear disc bearing disc is provided with a mounting hole for placing the rotary gear.
  • a top plate fixed on the upper end surface of the rotary toothed plate is further included.
  • the application also provides an AGV truck including a chassis, the lifting device as described above provided at the upper end of the chassis, and a drive device provided at the lower end of the chassis.
  • the driving device includes two A driving mechanism is provided on the left and right sides of the chassis, and a front driven mechanism is provided on the front end of the chassis.
  • the driving mechanism includes a driving mounting seat fixed on a side surface of the upper end of the chassis, and a driving wheel rocker arm provided on the driving mounting seat is rotated along the lateral direction of the chassis 3, and a driving motor provided on the front end of the driving wheel rocker arm A driving reducer provided at the front end of the driving wheel rocker arm and drivingly connected to the motor shaft of the driving motor, a driving wheel provided at the front end of the driving wheel rocker arm and drivingly connected to the output end of the driving reducer, and a driving wheel rocker arm A rear driven wheel at the rear end; a rear driven mounting hole for mounting a rear driven wheel is provided at a rear portion of the side end of the chassis, and a mounting gap for a driving motor, a driving reducer and a driving wheel is provided at a middle portion of the side end; The lower ends of the driving wheel and the rear driven wheel are located on the same horizontal plane.
  • the front driven mechanism includes a driven mounting seat fixed on the front side of the upper end of the chassis, a driven wheel swing arm that is perpendicular to the side of the chassis and rotates on the driven mounting seat, and two separately provided Front driven wheels on the left and right sides of the driven wheel rocker arm; a front driven mounting hole for mounting the front driven wheel is provided at the front of the side of the chassis; the driving wheel, the rear driven wheel, and the lower parts of the two front driven wheels The end faces are on the same horizontal plane.
  • FIG. 1 is a schematic structural diagram of a lifting device according to a specific embodiment 1 of the present application.
  • FIG. 2 is a schematic structural diagram of a base in a lifting device according to a specific embodiment 1 of the present application;
  • FIG. 3 is a schematic structural diagram of a lifting device according to a specific embodiment 4 of the present application.
  • FIG. 4 is a schematic structural diagram of a rotating mechanism in a lifting device according to a specific embodiment 4 of the present application.
  • FIG. 5 is a schematic structural diagram of a specific AGV van according to a specific embodiment 5 of the present application.
  • FIG. 6 is a schematic structural diagram of a driving mechanism in an AGV van according to a specific embodiment 5 of the present application.
  • FIG. 7 is a schematic structural diagram of a front driven mechanism in an AGV van according to a specific embodiment 5 of the present application.
  • a lifting device 100a includes four sets of a screw mechanism 110 provided on a base 140, and a jacking rotation driving mechanism 120 for driving the screw mechanism 110 to rotate.
  • the lead screw mechanism 110 includes a lead screw 111 rotatably provided on the base 140 and provided with transmission teeth on the outer periphery. , And a nut seat 112 threadedly connected to the screw shaft 111. 4
  • the lifting rotation driving mechanism 120 includes a lifting motor 121 fixed to the base 140, a lifting reducer 122 drivingly connected to a motor shaft of the lifting motor 121, and a A jacking gear 123 drivingly connected to the output end, and a jacking gear 124 which is provided on the base 140 and meshes with both the jacking gear 123 and the screw shaft 111.
  • the base 140 is provided with four mounting cavities that are rectangularly arranged and used to move the lower end of the mounting screw 111.
  • the base 140 is provided at the center of the rectangle formed by the four mounting cavities.
  • the rotary shaft of the jacking gear 124 is installed.
  • the above-mentioned lifting device has a simple structure, in particular, the screw rod is driven to rotate by a jacking rotation driving mechanism, thereby driving the nut seat to rise or fall. At this time, the nut seat plays a role of supporting the load.
  • the lifting process is easy to operate, requires less torque, and runs smoothly.
  • the structure of the lifting device provided in this embodiment is basically the same as that in Embodiment 1, except that the outer periphery of the nut seat is provided with transmission teeth that mesh with the jacking gear plate, and the outer periphery of the screw rod is not provided.
  • this embodiment can also solve the same technical problem, but provides another structure.
  • the jacking rotation driving mechanism drives the nut seat to rotate, thereby driving the screw rod to rise or fall.
  • the screw rod plays a role of supporting the load.
  • the structure of the lifting device provided in this embodiment is basically the same as that in Embodiment 1, except that the number of screw mechanisms is different.
  • the base is provided with two mounting cavities for movably mounting the lower end of the screw, and the base is located at the middle of the center line of the two mounting cavities for mounting jacks.
  • Rotary shaft of the chainring is provided.
  • the base is provided with the same number of mounting cavities as the number of the screw mechanism and is used to movably install the lower end of the screw, the mounting cavity is a regular polygon It is provided that the base is located at the center of the regular polygon formed by the mounting cavity, and is provided with a rotation shaft for mounting the lifting gear.
  • Embodiment 1 Compared with Embodiment 1, because the number of screw mechanisms is different, the complexity of the structure is different, and the smoothness of the operation is slightly different. The more the number of screw mechanisms, the smoother the operation, but the more complicated the structure. .
  • Example 4 With reference to FIG. 1 to FIG. 4, this embodiment also provides a lifting device 100b, which is basically the same in structure as that in Embodiment 1 except that it further includes a rotation mechanism 130.
  • the rotating mechanism 130 includes a rotating toothed disc bearing plate 131 fixedly connected to the top of the nut seat 112, and the rotating toothed disc 132 provided on the rotating toothed disc bearing plate 131 is rotatably fixed to the rotation.
  • the rotary sprocket carrier plate 131 is provided with a mounting hole for mounting the rotary gear 135
  • it further comprises a top plate 150 fixed on the upper end surface of the rotary tooth plate 132.
  • the above lifting device is provided with a rotating mechanism on the basis of Embodiment 1.
  • the rotating toothed disk provided on the rotating toothed disk carrying disk is rotated by the rotating motor, so that the The direction adjustment is very convenient, that is, the rotating and turning of the carried object is realized.
  • an AGV transport vehicle includes a chassis 200, an elevating device 100b provided in the upper end of the chassis 200 as in Embodiment 4, and a driving device 300 disposed at the lower end of the chassis 100.
  • the driving device 300 includes two driving mechanisms 310 respectively disposed on the left and right sides of the chassis 200, and a front driven mechanism 320 disposed at the front end of the chassis 200.
  • the driving mechanism 310 includes a driving mounting base 311 fixed to the side of the upper end of the chassis 200, and a driving wheel rocker arm 312 provided on the driving mounting base 311 along the lateral direction of the chassis 200, A driving motor 313 provided at the front end of the driving wheel rocker arm 312, provided at the driving wheel rocker arm 312
  • a driving reducer 314 at the front end and drivingly connected to the motor shaft of the driving motor 313 is provided at the front end of the driving wheel rocker arm 312 and is connected to the driving reducer 314
  • the driving wheel 315 which is drivingly connected to the output end and the rear driven wheel 316 provided at the rear end of the driving wheel rocker arm 312; the rear end of the side end of the chassis 200 is provided with a rear driven mounting hole for mounting the rear driven wheel 316.
  • a mounting gap for mounting the driving motor 313, the driving speed reducer 314, and the driving wheel 315 is provided in the middle of the end; the lower ends of the driving wheel 315 and the rear driven wheel 316 are located on the same horizontal plane.
  • the front driven mechanism 320 includes a driven mounting base 321 fixed on the front side of the upper end of the chassis 200, perpendicular to the side direction of the chassis 200, and rotates a driven wheel swing arm provided on the driven mounting base 321.
  • 322 and Two front driven wheels 323 respectively provided on the left and right sides of the driven wheel rocker arm 322; the front end of the side of the chassis 200 is provided with a front driven mounting hole for mounting the front driven wheel 323; the driving wheel 315, the rear driven The lower ends of the moving wheel 6316 and the two front driven wheels 323 are located on the same horizontal plane.
  • the above-mentioned AGV transporter adopts the above-mentioned lifting device, the entire lifting process of the article is simple and convenient, and the torque required to lift the article is small, and the operation is stable; moreover, the driving device of the above structure It can adapt to large-scale fluctuations on the ground (not more than 10MM / m), it is not prone to slippage during operation, and it can complete uphill and downhill.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

一种升降装置(100a)及AGV搬运车，属于物流自动化设备技术领域。一种升降装置(100a)，包括至少一组设于底座(140)的丝杆机构(110)，以及驱动丝杆机构(110)转动的顶升旋转驱动机构(120)；顶升旋转驱动机构(120)包括固设于底座(140)的顶升电机(121)，与顶升电机(121)的电机轴传动连接的顶升减速机(122)，与顶升减速机(122)的输出端传动连接的顶升齿轮(123)，以及转动设于底座(140)且与顶升齿轮(123)啮合的顶升齿盘(124)；丝杆机构(110)包括转动设于底座(140)的螺母座(112)，以及与螺母座(112)螺纹连接的丝杆(111)；螺母座(112)的外周或丝杆(111)的外周设有与顶升齿盘(124)啮合的传动齿。升降装置(100a)结构简单，顶升物品时需要的驱动力矩小，并且运行平稳。

Description

发明名称:一种升降装置及 AGV搬运车
[0001] 本申请是以申请号为 201810892318.3、 申请日为 2018年 8月 7日的中国专利申请 为基础， 并主张其优先权， 该申请的全部内容在此作为整体引入本申请中。
[0002] 技术领域
[0003] 本申请涉及一种升降装置， 以及采用了该升降装置的 AGV搬运车， 属于物流 自动化设备技术领域。
[0004] 背景技术
[0005] 目前在无人仓库中使用的 AGV搬运小车， 其货架的顶升速度较慢。 5见有 AGV 搬运小车的顶升装置大都通过一个小齿轮带动一个宽度较大的齿轮进行上下运 动， 完成对货物的顶升功能； 但由于其转动部件和顶升部件是同一装置， 在货 物的压力下容易发生变形， 进而发生较严重的磨损， 严重时容易导致顶升装置 失效， 并且顶升装置和车体连接在一起非常不方便拆装和日常维护。
[0006] 另外， 5见有的 AGV搬运小车的驱动机构对场地的平整度要求较高， 并且不能 完成某些场景上 /下坡的要求。 5见有的 AGV搬运小车的驱动机构用减震弹簧来平 抑地面的微小起伏， 以保持运行平稳。 在场地较平整的前提下， 5见有 AGV小车 可以顺利完成货物搬运的任务要求， 但是现有的驱动机构只能适应地面的微小 起伏波动 （一般不超过 2.5MM/米） ， 在场地条件比较恶劣时容易发生打滑现象
[0007] 申请内容
[0008] 为了解决上述现有技术的缺陷， 本申请的目的是提供一种结构简单， 顶升物品 时驱动力矩小并且平稳的升降装置， 以及采用了该升降装置的无人搬运小车。
[0009] 为达到上述目的， 本申请的技术方案是：
[0010] 一种升降装置， 包括至少一组设于底座的丝杆机构， 以及驱动丝杆机构转动的 顶升旋转驱动机构； 所述顶升旋转驱动机构包括固设于底座的顶升电机， 与顶 升电机的电机轴传动连接的顶升减速机， 与顶升减速机的输出端传动连接的顶 升齿轮， 以及转动设于底座且与顶升齿轮啮合的顶升齿盘； 所述丝杆机构 2包括 转动设于底座的螺母座， 以及与螺母座螺纹连接的丝杆； 所述螺母座的外周或 丝杆的外周设有与顶升齿盘啮合的传动齿。
[0011] 上述的升降装置， 结构简单， 尤其是通过顶升旋转驱动机构驱动丝杆机构转动 ， 从而带动丝杆或螺母座上升或下降， 使得整个升降过程操作简便， 需要的力 矩小， 而且运行平稳。
[0012] 进一步的， 为了保证升降运行的平稳性， 所述丝杆机构的数量为 2~8组。
[0013] 进一步的， 为了简化结构， 方便组装， 当丝杆机构的数量为两组时， 所述底座 设有两个用于活动安装丝杆下端的安装腔， 底座位于两个安装腔中心连线的中 间处设有用于安装顶升齿盘的转动轴； 当丝杆机构的数量为四组时， 所述底座 设有四个呈矩形设置且用于活动安装丝杆下端的安装腔， 所述底座位于四个安 装腔形成的矩形的中心处设有用于安装顶升齿盘的转动轴； 当丝杆机构的数量 为 3或 5~8组时， 所述底座设有数量与丝杆机构的数量相同且用于活动安装丝杆 下端的安装腔， 所述的安装腔呈正多边形设置， 所述底座位于安装腔形成的正 多边形的中心处设有用于安装顶升齿盘的转动轴。
[0014] 进一步的， 为了能够实现转动承载的物品的方向， 还包括旋转机构； 所述的旋 转机构包括与丝杆顶端或螺母座顶端固定连接的旋转齿盘承载盘， 转动设于旋 转齿盘承载盘的旋转齿盘， 固设于旋转齿盘承载盘的旋转电机， 与旋转电机的 电机轴传动连接的旋转减速机， 以及与旋转减速机的输出端传动连接且与旋转 齿盘啮合的旋转齿轮。
[0015] 进一步的， 为了简化结构， 所述旋转电机和旋转减速机均固设于旋转齿盘承载 盘下端面； 所述旋转齿盘承载盘设有用于安放所述旋转齿轮的安装孔。
[0016] 进一步的， 为了方便物品的放置， 还包括固设于旋转齿盘上端面的顶盘。 本申 请还提供了一种 AGV搬运车， 包括底盘， 设于底盘上端的如上所述的升降装置 ， 以及设于底盘下端的驱动装置。
[0017] 上述的 AGV搬运车， 由于采用了上述的升降装置， 物品的整个升降过程操作 简便， 而且顶升物品需要的力矩小， 运行平稳。
[0018] 进一步的， 为了简化结构， 更为了能适应地面的较大幅度的波动 （不超过 10M M/米） ， 运行时不容易发生打滑现象， 能够完成上下坡， 所述驱动装置包括两 个分别设于底盘左右两侧的驱动机构， 以及设于底盘前端的前从动机构。
[0019] 进一步的， 所述驱动机构包括固设于底盘上端侧面的驱动安装座， 沿底盘 3侧 面方向且转动设于驱动安装座的驱动轮摇臂， 设于驱动轮摇臂前端的驱动电机 ， 设于驱动轮摇臂前端且与驱动电机的电机轴传动连接的驱动减速机， 设于驱 动轮摇臂前端且与驱动减速机的输出端传动连接的驱动轮， 以及设于驱动轮摇 臂后端的后从动轮； 所述底盘的侧端后部设有用于安装后从动轮的后从动安装 孔， 侧端中部设有用于安装驱动电机、 驱动减速机和驱动轮的安装缺口； 所述 驱动轮和后从动轮的下端面位于同一水平面。
[0020] 进一步的， 所述前从动机构包括固设于底盘上端前侧的从动安装座， 垂直于底 盘侧面方向且转动设于从动安装座的从动轮摇臂， 以及两个分别设于从动轮摇 臂左右两侧的前从动轮； 所述底盘侧端前部设有用于安装前从动轮的前从动安 装孔； 所述驱动轮、 后从动轮和两个前从动轮的下端面位于同一水平面。
[0021] 下面结合附图和具体实施例对本申请作进一步描述。
[0022] 附图说明
[0023] 图 1为本申请具体实施例 1一种升降装置的结构示意图；
[0024] 图 2为本申请具体实施例 1一种升降装置中底座的结构示意图；
[0025] 图 3为本申请具体实施例 4一种升降装置的结构示意图；
[0026] 图 4为本申请具体实施例 4一种升降装置中旋转机构的结构示意图；
[0027] 图 5为本申请具体实施例 5—种 AGV搬运车的结构示意图；
[0028] 图 6为本申请具体实施例 5—种 AGV搬运车中驱动机构结构示意图；
[0029] 图 7为本申请具体实施例 5—种 AGV搬运车中前从动机构的结构示意图。
[0030] 具体实施方式
[0031] 为了更充分理解本申请的技术内容， 下面结合具体实施例对本申请的技术方案 进一步介绍和说明， 但不局限于此。
[0032] 实施例 1
[0033] 如图 1所示， 一种升降装置 100a， 包括四组设于底座 140的丝杆机构 110， 以及 驱动丝杆机构 110转动的顶升旋转驱动机构 120。
[0034] 具体的， 所述丝杆机构 110包括转动设于底座 140且外周设有传动齿的丝杆 111 ， 以及与丝杆 111螺纹连接的螺母座 112。 4
[0035] 具体的， 所述顶升旋转驱动机构 120包括固设于底座 140的顶升电机 121， 与顶 升电机 121的电机轴传动连接的顶升减速机 122， 与顶升减速机 122的输出端传 动连接的顶升齿轮 123， 以及转动设于底座 140且与顶升齿轮 123和丝杆 111均啮 合的顶升齿盘 124。
[0036] 更具体的， 如图 2所示， 底座 140设有四个呈矩形设置且用于活动安装丝杆 111 下端的安装腔， 底座 140位于四个安装腔形成的矩形的中心处设有用于安装顶升 齿盘 124的转动轴。
[0037] 综上所述： 上述的升降装置， 结构简单， 尤其是通过顶升旋转驱动机构驱动丝 杆转动， 从而带动螺母座上升或下降， 此时螺母座起到了支撑承载物的作用， 整个升降过程操作简便， 需要的力矩小， 而且运行平稳。
[0038] 实施例 2
[0039] 本实施例提供的升降装置， 结构基本与实施例 1相同， 不同之处在于螺母座的 外周设有与顶升齿盘啮合的传动齿， 丝杆的外周没有设置。
[0040] 与实施例 1相比， 本实施例也能解决相同的技术问题， 但提供了另一种结构， 此时， 顶升旋转驱动机构驱动螺母座转动， 从而带动丝杆上升或下降， 此时丝 杆起到了支撑承载物的作用。
[0041] 实施例 3
[0042] 本实施例提供的升降装置， 结构基本与实施例 1相同， 不同之处在于丝杆机构 的数量不同。
[0043] 当丝杆机构的数量为两组时， 所述底座设有两个用于活动安装丝杆下端的安装 腔， 底座位于两个安装腔中心连线的中间处设有用于安装顶升齿盘的转动轴。
[0044] 当丝杆机构的数量为 3或 5~8组时， 所述底座设有数量与丝杆机构的数量相同 且用于活动安装丝杆下端的安装腔， 所述的安装腔呈正多边形设置， 所述底座 位于安装腔形成的正多边形的中心处设有用于安装顶升齿盘的转动轴。
[0045] 与实施例 1相比， 由于丝杆机构的数量不同， 从而结构的复杂程度不同， 运行 的平稳性也稍有不同， 丝杆机构的数量越多， 运行越平稳， 但结构越复杂。
[0046] 实施例 4 [0047] 结合图 1~图4所示， 本实施例也提供了一种升降装置 100b， 结构基本与实 5施 例 1相同， 不同点在于还包括旋转机构 130。
[0048] 具体的， 如图 4所示， 旋转机构 130包括与螺母座 112顶端固定连接的旋转齿盘 承载盘 131， 转动设于旋转齿盘承载盘 131的旋转齿盘 132， 固设于旋转齿盘承载 盘 131的旋转电机 133， 与旋转电机 133的电机轴传动连接的旋转减速机 134， 以 及与旋转减速机 134的输出端传动连接且与旋转齿盘 132啮合的旋转齿轮 135。
[0049] 更具体的， 所述旋转齿盘承载盘 131设有用于安放所述旋转齿轮 135的安装孔
[0050] 更进一步的， 还包括固设于旋转齿盘 132上端面的顶盘 150。
[0051] 综上所述： 上述的升降装置， 在实施例 1的基础上增设了旋转机构， 转动设于 旋转齿盘承载盘的旋转齿盘， 被旋转电机驱动转动， 使得对旋转齿盘的方向调 整非常方便， 亦即实现了对承载的物品进行旋转转向。
[0052] 实施例 5
[0053] 结合图 1~图7所示， 一种 AGV搬运车， 包括底盘 200， 设于底盘 200上端的如 实施例 4中的升降装置 100b， 以及设于底盘 100下端的驱动装置 300。
[0054] 具体的， 参照图 5所示， 驱动装置 300包括两个分别设于底盘 200左右两侧的驱 动机构 310， 以及设于底盘 200前端的前从动机构 320。
[0055] 更具体的， 参照图 6所示， 驱动机构 310包括固设于底盘 200上端侧面的驱动安 装座 311， 沿底盘 200侧面方向且转动设于驱动安装座 311的驱动轮摇臂 312, 设 于驱动轮摇臂 312前端的驱动电机 313 , 设于驱动轮摇臂 312
前端且与驱动电机 313的电机轴传动连接的驱动减速机 314, 设于驱动轮摇臂 312 前端且与驱动减速机 314
的输出端传动连接的驱动轮 315 , 以及设于驱动轮摇臂 312后端的后从动轮 316; 所述底盘 200的侧端后部设有用于安装后从动轮 316的后从动安装孔， 侧端中部 设有用于安装驱动电机 313、 驱动减速机 314和驱动轮 315的安装缺口； 所述驱动 轮 315和后从动轮 316的下端面位于同一水平面。
[0056] 参照图 7所示， 前从动机构 320包括固设于底盘 200上端前侧的从动安装座 321 ， 垂直于底盘 200侧面方向且转动设于从动安装座 321的从动轮摇臂 322， 以及 两个分别设于从动轮摇臂 322左右两侧的前从动轮 323 ; 所述底盘 200侧端前部 设有用于安装前从动轮 323的前从动安装孔； 所述驱动轮 315、 后从动轮 6316和 两个前从动轮 323的下端面位于同一水平面。
[0057] 综上所述： 上述的 AGV搬运车， 由于采用了上述的升降装置， 物品的整个升 降过程操作简便， 而且顶升物品需要的力矩小， 运行平稳； 还有， 上述结构的 驱动装置， 能适应地面的较大幅度的波动 （不超过 10MM/米） ， 运行时不容易 发生打滑现象， 能够完成上下坡。
[0058] 上述仅以实施例来进一步说明本申请的技术内容， 以便于读者更容易理解， 但 不代表本申请的实施方式仅限于此， 任何依本申请所做的技术延伸或再创造， 均受本申请的保护。 本申请的保护范围以权利要求书为准。
发明概述
技术问题
问题的解决方案
发明的有益效果

Claims

权利要求书
[权利要求 1] 种升降装置， 其特征在于： 包括至少一组设于底座的丝杆机构， 以 及驱动丝杆机构转动的顶升旋转驱动机构； 所述顶升旋转驱动机构包 括固设于底座的顶升电机， 与顶升电机的电机轴传动连接的顶升减速 机， 与顶升减速机的输出端传动连接的顶升齿轮， 以及转动设于底座 且与顶升齿轮啮合的顶升齿盘； 所述丝杆机构包括转动设于底座的螺 母座， 以及与螺母座螺纹连接的丝杆； 所述螺母座的外周或丝杆的外 周设有与顶升齿盘啮合的传动齿。
[权利要求 2] 根据权利要求 1所述的升降装置， 其特征在于： 所述丝杆机构的数量 为 2~8组。
[权利要求 3] 根据权利要求 2所述的升降装置， 其特征在于： 当丝杆机构的数量为 两组时， 所述底座设有两个用于活动安装丝杆下端的安装腔， 底座位 于两个安装腔中心连线的中间处设有用于安装顶升齿盘的转动轴； 当 丝杆机构的数量为四组时， 所述底座设有四个呈矩形设置且用于活动 安装丝杆下端的安装腔， 所述底座位于四个安装腔形成的矩形的中心 处设有用于安装顶升齿盘的转动轴； 当丝杆机构的数量为 3或 5~8组 时， 所述底座设有数量与丝杆机构的数量相同且用于活动安装丝杆下 端的安装腔， 所述的安装腔呈正多边形设置， 所述底座位
于安装腔形成的正多边形的中心处设有用于安装顶升齿盘的转动轴。
[权利要求 4] 根据权利要求 1~3任一项所述的升降装置， 其特征在于： 还包括旋转 机构； 所述的旋转机构包括与丝杆顶端或螺母座顶端固定连接的旋转 齿盘承载盘， 转动设于旋转齿盘承载盘的旋转齿盘， 固设于旋转齿盘 承载盘的旋转电机， 与旋转电机的电机轴传动连接的旋转减速机， 以 及与旋转减速机的输出端传动连接且与旋转齿盘啮合的旋转齿轮。
[权利要求 5] 根据权利要求 4所述的升降装置， 其特征在于： 所述旋转电机和旋转 减速机均固设于旋转齿盘承载盘下端面； 所述旋转齿盘承载盘设有用 于安放所述旋转齿轮的安装孔。
[权利要求 6] 根据权利要求 4所述的升降装置， 其特征在于： 还包括固设于旋转齿 盘上端面的顶盘。
[权利要求 7] 一种 AGV搬运车， 其特征在于： 包括底盘， 设于底盘上端的如权利 要求 1~6任一项所述的升降装置， 以及设于底盘下端的驱动装置。
[权利要求 8] 根据权利要求 7所述的 AGV搬运车， 其特征在于： 所述驱动装置包 括两个分别设于底盘左右两侧的驱动机构， 以及设于底盘前端的前从 动机构。
[权利要求 9] 根据权利要求 8所述的 AGV搬运车， 其特征在于： 所述驱动机构包 括固设于底盘上端侧面的驱动安装座， 沿底盘侧面方向且转动设于驱 动安装座的驱动轮摇臂， 设于驱动轮摇臂前端的驱动电机， 设于驱动 轮摇臂前端且与驱动电机的电机轴传动连接的驱动减速机， 设于驱动 轮摇臂前端且与驱动减速机的输出端传动连接的驱动轮， 以及设于驱 动轮摇臂后端的后从动轮； 所述底盘的侧端后部设有用于安装后从动 轮的后从动安装孔， 侧端中部设有用于安装驱动电机、 驱动减速机和 驱动轮的安装缺口； 所述驱动轮和后从动轮的下端面位于同一水平面
[权利要求 10] 根据权利要求 9所述的 AGV搬运车， 其特征在于： 所述前从动机构 包括固设于底盘上端前侧的从动安装座， 垂直于底盘侧面方向且转动 设于从动安装座的从动轮摇臂， 以及两个分别设于从动轮摇臂左右两 侧的前从动轮； 所述底盘侧端前部设有用于安装前从动轮的前从动安 装孔； 所述驱动轮、 后从动轮和两个前从动轮的下端面位于同一水平 面。
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