CN207845070U - A kind of lifting device, transfer type automated guided vehicle - Google Patents
A kind of lifting device, transfer type automated guided vehicle Download PDFInfo
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- CN207845070U CN207845070U CN201721395594.6U CN201721395594U CN207845070U CN 207845070 U CN207845070 U CN 207845070U CN 201721395594 U CN201721395594 U CN 201721395594U CN 207845070 U CN207845070 U CN 207845070U
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Abstract
The embodiments of the present invention disclose a kind of lifting device, transfer type automated guided vehicle, are related to mobile robot technology field, lifting cargo is steady and can effectively save energy consumption.Including：Pedestal is equipped with first driving means and the first rotary body on the base, and the first rotary body includes rotating part and support portion, and the support portion of the first rotary body is fixed on the base, and the first transmission device is equipped between the first rotary body rotating part and first driving means；The rotating part of first rotary body is equipped with the first screw member, and the first screw member is relatively fixed with the first rotary body rotating part；It is connected with the second screw member with the first screw member；Guide pad stop mechanism or guide post stop mechanism are equipped on second screw member, the guide pad stop mechanism or guide post stop mechanism are circumferentially rotated for limiting second screw member.The utility model is suitable for various lifting mechanisms or mechanically.
Description
Technical field
The utility model is related to mobile robot technology field more particularly to a kind of lifting device, transfer type homing guidances
Transport vehicle.
Background technology
AGV is the abbreviation of (Automated Guided Vehicle), implies that " automated guided vehicle ", refers to being equipped with
Electricity magnetically or optically waits homing guidances device, it can be travelled along defined guide path, has safeguard protection and various transfers
The transport vehicle of function, AGV belong to the scope of wheeled mobile robot (WMR, Wheeled Mobile Robot).
Since mobile robot can replace or assist to a certain extent human labour, it is increasingly used in object
In stream carrying or the cargo handling of factory transport, the lifting device in existing mobile robot generally comprises screw rod and nut,
When screw rod lifts object as lifting member, since screw rod can not only move up and down under nut drive, while circular-rotation is gone back,
It is also subject to centrifugal forces in lifting process that this allows for cargo, and lifting is not steady enough.In order to solve the above technical problems, logical
Two motors can be often set, and a motor is as driving device to drive lifting component to move up and down, another is as lock
Only motor makees circular-rotation to limit lifting component in lifting process, to eliminate the effect of centrifugal force, enables cargo
Steady lifting.
In the process of implementing the utility model, inventor has found above-mentioned improved technology due to using electric motor locking, although
Cargo is steadily lifted, but lifting device energy consumption is increased.
Invention content
In view of this, the utility model embodiment provides a kind of lifting device, lifting cargo is steady, and can effectively save energy
Consumption.
In order to achieve the above objectives, the embodiments of the present invention adopt the following technical scheme that：
In a first aspect, a kind of lifting device of the utility model embodiment, including：Pedestal is equipped with first on the base
Driving device and the first rotary body, first rotary body include rotating part and support portion, the support portion of first rotary body
It fixes on the base, the first transmission device is equipped between the first rotary body rotating part and the first driving means；
The rotating part of first rotary body is equipped with the first screw member, and first is equipped on first screw member
Screw thread, first screw member are relatively fixed with the first rotary body rotating part；
It is connected with the second screw member with first screw member, second screw member is equipped with the second spiral shell
Line, second screw thread are matched with first screw thread；
Guide pad stop mechanism or guide post stop mechanism, the guide pad stop bit are equipped on second screw member
Mechanism or guide post stop mechanism are circumferentially rotated for limiting second screw member.
Optionally, first screw member is feed screw nut, and second screw member is leading screw；The feed screw nut
It is relatively fixed with the rotating part of first rotary body, the leading screw coordinates with the feed screw nut, and the feed screw nut is with institute
When stating the rotating part rotation of the first rotary body, the leading screw can move up and down.
Optionally, the leading screw is hollow structure；
The guide pad stop mechanism includes：
Guide cylinder is located in the hollow structure of the leading screw and fixes company with the support portion of the pedestal or the first rotary body
It connects；
Guide protrusions are located on the guiding drum outer wall；
It is oriented to groove, is located on the inner wall of the hollow structure of the leading screw, and matched with the guide protrusions, wherein
The trend for being oriented to groove is consistent with the axis direction of the leading screw；Alternatively,
The guide post stop mechanism includes：
Pilot hole is located in the leading screw wall, and the pilot hole is axial consistent with the leading screw axis direction；
Guide post is located on the support portion of the pedestal or the first rotary body, the axial direction of the guide post and the leading screw
Axis direction is consistent, and is inserted into the pilot hole.
Optionally, first screw member is leading screw, and second screw member is feed screw nut；The leading screw and institute
The rotating part for stating the first rotary body is relatively fixed, and the feed screw nut coordinates with the leading screw, and the leading screw is revolved with described first
When the rotating part rotation of swivel, the feed screw nut can move up and down.
Optionally, the guide post stop mechanism includes：
Pilot hole is located in the feed screw nut wall, and the axial direction of the pilot hole is consistent with the leading screw axis direction；
Guide post is located on the support portion of the pedestal or the first rotary body, the axial direction of the guide post and the leading screw
Axis direction is consistent, and is inserted into the pilot hole.
Optionally, be equipped with the second rotary body at the top of second screw member, second rotary body include rotating part with
Support portion, the support portion of second rotary body is fixedly connected with second screw member, on the support portion of the second rotary body
It is also associated with the second driving device, the second transmission is equipped between the rotating part of second rotary body and second driving device
Device.
Optionally, it is equipped with support plate at the top of second screw member, the support plate is equipped with the second rotary body and the
Two driving devices, second driving device are set to the side of second rotary body, and second rotary body includes rotating part
With support portion, the support portion of second rotary body is fixedly connected with second screw member, and second rotary body returns
The second transmission device is equipped between transfer part and second driving device.
Optionally, feed screw nut seat, the leading screw spiral shell are fixed in the end of the rotating part of first rotary body upward
Mother is fixed on the feed screw nut seat.
Optionally, the lower section of the leading screw is equipped with the mechanical position limitation portion of the leading screw.
Optionally, it is equipped with lifting limit sensors on the base；
The catch of lifting limit sensors is installed on the support portion of second rotary body；
The lifting limit sensors are located on the leading screw to the travel paths of the catch.
Optionally, the end of the rotating part of second rotary body upward is fixedly connected with table top.
Optionally, the table top is rectangular；
The support plate is equipped with rotary stopper sensor.
Optionally, the first driving means are first motor, and first rotary body is the first slewing bearing, institute
The rotating part for stating the first rotary body is the outer ring of first slewing bearing, outside the outer ring of first slewing bearing
Week is equipped with tooth；First transmission device includes：First retarder and be connected with the output shaft of first retarder first
Drive gear, wherein the input shaft of first retarder is connected with the output shaft of the first motor, first sliding tooth
The tooth of wheel is meshed with the tooth of the outer ring periphery of first slewing bearing.
Optionally, second rotary body is the second slewing bearing, and the rotating part of second rotary body is described
The outer ring of second slewing bearing, second driving device are the second motor, the outer ring of second slewing bearing
Periphery is equipped with tooth；Second transmission device includes：Second retarder and be connected with the output shaft of second retarder
Two driving gears, wherein the input shaft of second retarder is connected with the output shaft of second motor, second driving
The tooth of gear is meshed with the tooth of the outer ring periphery of second slewing bearing.
Second aspect, a kind of transfer type automated guided vehicle of the utility model embodiment, including any institute of first aspect
The lifting device stated.
Optionally, the leading screw is hollow ball screw；
First lens assembly is installed in the hollow structure of the leading screw, for the automated guided vehicle itself
It is positioned；And/or
Second lens assembly is installed in the hollow structure of the leading screw, for institute on the automated guided vehicle
The shelf born are positioned.
A kind of lifting device of the utility model embodiment, transfer type automated guided vehicle, by being used as lifting described
Guide pad stop mechanism or guide post stop mechanism are set on the second screw member of component, limit the second screw member in week
It is rotated up, lifting cargo can be made steady, compared with the prior art the middle lock circumferentially rotated as lift members using motor
Locking mechanism can effectively save energy consumption.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structural schematic diagram of lifting device in the embodiments of the present invention one；
Fig. 2 is the sectional view of the utility model lifting device embodiment one；
Fig. 3 is guide cylinder structural schematic diagram described in the utility model embodiment one；
Fig. 4 is screw structure schematic diagram described in the utility model embodiment one；
Fig. 5 is another angled arrangement schematic diagram of the embodiments of the present invention lifting device；
Fig. 6 is another structural schematic diagram of the utility model embodiment lifting device.
Specific implementation mode
A kind of lifting device of the utility model embodiment is described in detail below in conjunction with the accompanying drawings.
It will be appreciated that the described embodiments are only a part of the embodiments of the utility model, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The all other embodiment obtained, shall fall within the protection scope of the present invention.
Embodiment one
Shown in Fig. 1 and Fig. 2, the utility model embodiment provides a kind of lifting device, can individually use, can also
A subsystem as other machineries uses, and can be suitably used for various needs and realizes the occasion of lifting and/or rotation function or set
In standby, various transfer type guide transport lorries are particularly suitable for, including：Pedestal 1 is equipped with first driving means 2 on the pedestal 1
With the first rotary body 3, first rotary body 3 includes rotating part and support portion, and the support portion of first rotary body is fixed on
On the pedestal 1, the first transmission device is equipped between the first rotary body rotating part and the first driving means 2；It is described
The rotating part of first rotary body 3 is equipped with the first screw member 4, and the first screw thread is equipped on first screw member 4, described
First screw member 4 is relatively fixed with 3 rotating part of the first rotary body；It is connected with first screw member 4
Two screw members 5, second screw member 5 are equipped with the second screw thread, and second screw thread 5 matches with first screw thread 4
It closes；Guide pad stop mechanism or guide post stop mechanism, the guide pad stop mechanism are equipped on second screw member 5
Or guide post stop mechanism is circumferentially rotated for limiting second screw member 5.
When the first driving means 2 drive first rotary body 3 rotating part rotate when, be fixed thereon first
Screw member rotates therewith, and the second screw member 5 being connected with it is driven only to move up and down (due to described therewith
Guide pad stop mechanism or guide post stop mechanism limit circumferentially rotating for the second screw member 5), it avoids due to circumferential direction
Rotate the unstable phenomenon of lifting caused by the centrifugal force generated.
In the present embodiment, it is to be understood that in contrast, i.e., the rotating part of first rotary body and support portion are
Both the rotating part and support portion can relatively rotate, and due to usually fixing one of them when in use, make another part can phase
It is concise to describe to fixed partial relative rotation, the present embodiment by application, the part of rotation is known as rotating part, Gu
Fixed part is known as support portion；The first driving means 2 are to provide the machinery of power source, abbreviation engine, such as electricity
Machine, internal combustion engine, steam engine etc.；First transmission device is described in the power for providing first driving means 2 passes to
The intermediary agency of first rotary body rotating part includes the movement provided to passing power machine or changes engine and is provided
The mechanism of the mode of movement, any component of direction or speed or component composition, the transmission device can be：Four-bar mechanism,
One or several kinds in gear drive, chain-drive mechanism, tape handler and ratchet mechanism.
A kind of lifting device of the utility model embodiment, by being set on second screw member for being used as lift members
Guide pad stop mechanism or guide post stop mechanism are set, the second screw member is limited and rotates in the circumferential, it can be so that lifting goods
Object is steady, and the middle lockable mechanism circumferentially rotated as lift members using motor, can effectively save energy consumption compared with the prior art.
Further, since the utility model embodiment lifting device uses guide pad stop mechanism or guide post stop bit machine
Structure, structure is relatively simple with respect to electric motor locking, and correspondingly, its failure rate is relatively low during frequent use, reliably
Property is higher.
Shown in Fig. 2, Fig. 3 and Fig. 4, in the present embodiment, as a preferred embodiment, first screw member 4 is
Feed screw nut, second screw member 5 are leading screw；The feed screw nut and the rotating part of the first rotary body are opposite solid
Fixed, the leading screw coordinates with the feed screw nut, described when the feed screw nut is rotated with the rotating part of first rotary body
Leading screw can move up and down；Since lead screw pair sport efficiency is high and fever is small, lifting efficiency can be effectively improved.Preferably, the silk
Thick stick is ball-screw；Static-pressure lead screw can also be used in the leading screw, when using static-pressure lead screw when, need be arranged oil supply system, and
Feed screw nut helicla flute both ends setting gear end, to make spiral shell of the hydraulic oil cycle full of the leading screw with feed screw nut cooperation transmission
In spin slot, to form the oil film of one layer of abatement frictional force.In this embodiment, execution machine of the lead screw pair as lifting device
Structure realizes lifting cargo, in addition, can also illustratively can using other executing agencies as the mode for realizing lifting object
The mode of replacement has other motion threads, the engineering guide rail that up and down motion can be achieved and guide block matching mechanism etc..The lifting dress
Set and can be used alone, can also be applied to it is various mechanically, with realize lifting and rotating object function be illustratively used for
On transfer type automated guided vehicle, in the process of running due to the transport vehicle, itself and cargo are loaded or are placed and need standard
It determines position, generally can make transport vehicle knot when in order to make to be applied on the transport vehicle by mounting and positioning device on the transport vehicle
Structure is compact, it is preferable that the leading screw is hollow leading screw, can positioning device, such as camera etc. be installed on the silk in this way
In thick stick so that need compact mechanical structure position, using the device.
Shown in Fig. 1 and Fig. 2, in the present embodiment, since feed screw nut material cost is higher, it is produced into reduce
This, can be arranged other for meeting mechanical property and performance between the feed screw nut and the first rotary body rotating part
Transition structure, to shorten feed screw nut length, to reduce production cost, it is preferable that the rotating part court of first rotary body
On end be fixed with feed screw nut seat 9, the feed screw nut is fixed on the feed screw nut seat 9.Due to feed screw nut seat 9
Material cost be less than the feed screw nut material cost, and leading screw auxiliary driving performance can be met, can effectively reduce production
Cost.
In the present embodiment, the lifting device can be used alone, can also be applied to it is various mechanically, with realize lifting
And rotating object function is illustratively used for transfer type automated guided vehicle, since the transport vehicle is in operational process
In, itself and cargo, which are loaded or placed, to be needed to be accurately positioned, generally can on the transport vehicle mounting and positioning device, in order to make to answer
When on the transport vehicle, keep transport vehicle compact-sized, it is preferable that the leading screw is hollow leading screw, i.e., leading screw is hollow knot
Positioning device, such as camera etc. can be installed in the leading screw by structure in this way so that need it is positioning, using the device
Compact mechanical structure.
Shown in Fig. 2, Fig. 3 and Fig. 4, in the present embodiment, when first screw member is feed screw nut, the second screw thread
When component is leading screw, as a preferred embodiment, the guide pad stop mechanism for making to circumferentially rotate for leading screw described in locking
Including：Guide cylinder 10 is located in the hollow structure of the leading screw and fixes company with the support portion of the pedestal or the first rotary body
It connects；Guide protrusions 11 are located on 10 outer wall of the guide cylinder；It is oriented to groove 12, is located at the inner wall of the hollow structure of the leading screw
On, and matched with the guide protrusions 11, wherein the axis direction phase one of the trend and the leading screw for being oriented to groove 12
It causes；
Alternatively, when being circumferentially rotated for leading screw described in locking using the guide post stop mechanism, the guide post
Stop mechanism includes：Pilot hole is located in the leading screw wall, and the pilot hole is axial consistent with the leading screw axis direction；It leads
Xiang Zhu is located on the support portion of the pedestal or the first rotary body, the axial direction of the guide post and the leading screw axis direction one
It causes, and is inserted into the pilot hole.In the present embodiment, no matter the guide pad stop mechanism or guide post stop bit machine are used
Structure, basic principle are identical, i.e., are all to limit the component for lifting using pure mechanic structure to circumferentially rotate.Pass through
The guide pad stop mechanism is set so that guide cylinder 10 is fixed with respect to pedestal with guide protrusions 11, and the guiding is tied
Structure is connected by the guide protrusions and the guiding groove, the rotation of leading screw 5 is limited, when the feed screw nut 4 exists
When being rotated under the driving of first motor, the leading screw 5 can only rise or decline, to lift object.Preferably, the guiding is convex
It plays 11 and uses high molecular material, have the advantages that wear-resisting, self-lubricating etc. is a variety of, while overall structure is simple and reliable.It needs to illustrate
It is, it is essentially identical using the guide post stop mechanism and above-mentioned guide pad stop mechanism principle and effect in the present embodiment, it can
Cross-referenced, details are not described herein again.
In addition, those skilled in the art know, as the specific mechanical structure for realizing a certain function, due to a wherein component
Differences, another set-up mode for coordinating the parts to work with it, the structure etc. such as replacement, set-up mode also can mutually strain
Change.Shown in Fig. 2, such as：It is described to realize that the component of lifting be silk as an alternative embodiment in the present embodiment
Thick stick nut, concrete structure are：First screw member 4 is leading screw, and the second screw member 5 is feed screw nut, the leading screw
It is relatively fixed with the rotating part of first rotary body, the feed screw nut and the leading screw coordinate, and the leading screw is with described the
When the rotating part rotation of one rotary body, the feed screw nut can move up and down.Correspondingly, when using lifting tool described in the embodiment
It is described for limiting the concrete structure for being used for the component (embodiment is feed screw nut) of lifting and circumferentially rotating when body realization method
Also it is varied from；Specially preferably with the guide post stop mechanism, including：Pilot hole is located in the feed screw nut wall,
The axial direction of the pilot hole is consistent with the leading screw axis direction；Guide post is located at the support of the pedestal or the first rotary body
In portion, the axial direction of the guide post is consistent with the leading screw axis direction, and is inserted into the pilot hole.It should be noted that
The guide pad stop mechanism may be used, only its structure is varied from, and the feature for being set to leading screw surface needs to be arranged
Feed screw nut surface, when groove is arranged, needs in the circumferential direction of the feed screw nut outer surface since feed screw nut is located at outside
One lantern ring or similar structures are set, the groove are set to the set ring inner surface, but the body of lifting device can be increased in this way
Product.
Shown in Fig. 1, Fig. 2 and Fig. 5, in the present embodiment, as a preferred embodiment, at the top of second screw member
Equipped with the second rotary body, second rotary body includes rotating part and support portion, the support portion of second rotary body with it is described
Second screw member is fixedly connected, and the second driving device, second rotary body are also associated on the support portion of the second rotary body
Rotating part and second driving device between be equipped with the second transmission device.In the present embodiment, second rotary body is with before
It states that the first rotation body structure is similar, can refer to the explanation for the first rotation body portion, details are not described herein again.Second rotation
The support portion of swivel can stretch out one cantilever of setting on the face close with second screw member, and second driving is filled
It installs and is placed on the cantilever, naturally it is also possible to using other specific implementation structures, this is not construed as limiting.The utility model is implemented
Lifting mechanism and rotating mechanism are dexterously integrated into one by example by being equipped with the second rotary body at the top of second screw member
A integral module, using the first driving means drive second screw member (including：Leading screw or feed screw nut) up and down
Movement lifting object, at this point, holding up object using second rotary body as lifting work platform；When needing article for rotation
When, drive second rotary body to realize rotation function using second driving device；It will be lifted by using above structure
Organically permeate an integral module with rotating mechanism, can realize original place lifting and rotation function, and simple in structure；
Further, it since the lifting is organically integrated into an integral module with rotating mechanism, that is, uses whole
Modularized design can carry out multiple combinations using this integral module as the module of versatility and other product elements, constitute
New module, to easily generate the series of products of a variety of different function or identical function, different performance, and can be effective
The functional reliability of lifting device is improved, failure rate is reduced.
Shown in Fig. 2, in the present embodiment, it is preferable that second screw member, 5 top can also be equipped with support plate 6, institute
It states support plate 6 and is equipped with second rotary body, 8 and second driving device 7, second driving device 8 is set to described second and revolves
The side of swivel, second rotary body include rotating part and support portion, the support portion of second rotary body and described second
Screw member is fixedly connected, and the second transmission is equipped between the rotating part of second rotary body and second driving device and is filled
It sets.
Shown in Fig. 1, Fig. 2 and Fig. 5, in the present embodiment, it is preferable that be equipped with lifting limit sensing on the pedestal 1
Device 14；The catch 15 of lifting limit sensors is installed on the support portion of second rotary body 8；The lifting limit sensing
Device is located on the leading screw to the travel paths of the catch.The present embodiment can also be equipped with lifting sensor on the pedestal 1
Seat 13, for fixing the lifting limit sensors 14.In this way, the up and down motion range of lifting is determined, can effectively protect
Demonstrate,prove the accuracy of lift height positioning.
In the present embodiment, it is preferable that when second screw member is leading screw, the leading screw machine is equipped with below the leading screw
Tool limiting section 8；Alternatively, when second screw member is feed screw nut, the feed screw nut is equipped with below the feed screw nut
Mechanical position limitation portion 8.The mechanical position limitation portion can be leading screw baffle ring, can also be other limiting devices, such as compressed spring；
The support plate 6 plays the role of mechanical position limitation due to being located at 5 upper end of the leading screw, the stroke also moved downward to leading screw 5, when adopting
When using leading screw baffle ring as mechanical position limitation portion, the leading screw baffle ring is used as leading screw up and down motion mechanical position limitation with the support plate 6
Structure can prevent from, when limit sensors failure effectively cannot limit movement travel, parts capable of effectively being avoided to collide or anticipate
Outer accident occurs.
Shown in Fig. 1, Fig. 5 and Fig. 6, in the present embodiment, it is preferable that the rotating part of second rotary body 8 is upward
End is fixedly connected with table top 16.When second rotary body is the second slewing bearing, i.e., described second revolving support
The end of the outer ring of bearing 8 upward is fixedly connected with table top 16.The table top 16 is in direct contact with object, as lifting object
Its size can be freely arranged in platform, the table top, by the way that table top is arranged, there is the contact area of bigger with the object of lifting, can be with
Lift or rotate higher volume of object.Preferably, the table top is rounded or rectangle；It is described when the table top is rectangle
Support plate 6 is equipped with rotation sensor seat 17, and the rotation sensor seat 17 is equipped with rotary stopper sensor 18.Pass through setting
The rotary stopper sensor, can be accurately positioned the orientation of table top 16.Preferably, it is provided with telltale mark on the table top, institute
It can be protrusion or groove to state telltale mark, and the telltale mark is used cooperatively with the rotary stopper sensor 18, to standard
The orientation of true locating table 16.Preferably, the table top is rounded.Since table top 16 is provided in round, in use, do not need
The positioning in orientation is carried out to it, it is arbitrary towards all within the scope of 360 degree, therefore, the rotation sensor seat 17 can be saved
And rotary stopper sensor 18.
Shown in Fig. 1 and Fig. 5, in the present embodiment, it is preferable that the first driving means and the second driving device are electricity
The motor that the first driving means use in order to express easily is known as first motor by machine below, and second driving is filled
It sets the motor used and is known as the second motor；Preferably, when first rotary body is the first slewing bearing, described first
The rotating part of rotary body is the outer ring of first slewing bearing, and the outer ring periphery of first slewing bearing is equipped with
Tooth；First transmission device includes：First retarder and the first sliding tooth being connected with the output shaft of first retarder
Wheel 19, wherein the input shaft of first retarder is connected with the output shaft of the first motor, the first driving gear
Tooth is meshed with the tooth of the outer ring periphery of first slewing bearing.
The outer ring periphery of first slewing bearing 3 is equipped with tooth；First transmission device includes：First retarder
Be connected with the output shaft of first retarder first driving gear 19, wherein the input shaft of first retarder with
The output shaft of the first motor is connected, the outer ring of the tooth and first slewing bearing 3 of the first driving gear 19
The tooth of periphery is meshed；And/or second rotary body 8 is the second slewing bearing, the rotating part of second rotary body
For the outer ring of second slewing bearing, second driving device 7 is the second motor, second slewing bearing
Outer ring periphery be equipped with tooth；Second transmission device includes：Second retarder and output shaft phase with second retarder
The second driving gear even, wherein the input shaft of second retarder is connected with the output shaft of second motor, and described the
The tooth of two driving gears is meshed with the tooth of the outer ring periphery of second slewing bearing.Pass through gear passing power, energy
Enough make transmission more steady.As another alternative embodiment, first transmission device includes first pulley, first revolution
The outer ring periphery of bearing support 3 is equipped with race, the use of the first pulley and first pivoting support bearing 3 synchronize bring into
Row transmission, likewise, similar toothed belt transmission can also be used in second transmission structures；Using embodiment technical side
Case needs the position of adjustment lifting motor and retarder according to actual needs.7 preferred direct current of the first motor 2 and the second motor
Motor lifts loading demands according to practical, and one or several motor groups can be used with second motor 7 in the first motor 2
It closes and uses.In the present embodiment, since first motor controls the lifting function up and down of leading screw, the second motor is controlling rotational work
Can, control logic is simple, without two motors, control can be achieved with single lifting or rotation function simultaneously, it is not easy to occur
Failure, reliability are high.
In order to clearly and completely illustrate the utility model embodiment, lifting or rotation now are realized to the embodiment technical solution
Turn operation principle be described in detail it is as follows, but it should be recognized that cannot function as to the description of the embodiment operation principle
Limitation to the utility model other embodiment scheme：
Lift principle：The first motor is converted to the torque (power) for meeting need of work by retarder reduction of speed, into
One step drives the first driving gear 19 to rotate, due to the first driving gear 19 and 3 outer ring of the first pivoting support bearing
Periphery intermeshing, the inner ring of the first pivoting support bearing fixes on the base, first pivoting support bearing
Outer ring drives gear 19 to rotate with described first, to drive the feed screw nut rotation for being secured to connection, since leading screw is in institute
The restriction effect of the guide protrusions and the key of guide frame is stated, can only be moved up and down along the guide groove, therefore, feed screw nut
Rotation drives the leading screw to move up and down, to realize lifting object.In lifting process, the lifting limit sensors to
The leading screw up and down motion range is limited, when lifting limit sensors failure or failure, the support plate and silk
Thick stick baffle ring limits screw travel as mechanical stop limiter, leads to parts collision or leading screw and leading screw spiral shell to avoid beyond stroke
Mother, which is detached from, occurs contingency.
Principle of Rotating：Similarly, second motor be converted to by retarder reduction of speed meet need of work torque it is (dynamic
Power), it is further driven to the second driving gear 20 and rotates, due to the second driving gear 20 and the second pivoting support axis
The periphery intermeshing of 7 outer rings is held, the inner ring of the second pivoting support bearing is fixed in the support plate, the second revolution branch
The outer ring for holding bearing drives gear 20 to rotate with described second, with rotating object, in order to smoothly lift higher volume of object
Body, the table top by being fixed on second pivoting support bearing outer ring upper end are used as pallet, by described in rotary course
Rotation sensor controls table top rotational orientation, makes land length or width facing towards a certain orientation, to accurately fill
Carry or place object.
Embodiment two
The utility model embodiment provides a kind of transfer type automated guided vehicle, including described in any embodiment of front
Lifting device.Normally, the transfer type automated guided vehicle can generally be arranged the path of vehicle and stop on the ground
Vehicle positioning mark, such as Quick Response Code or magnetic stripe/magnetic nail, are arranged reading Quick Response Code by onboard corresponding position or magnetic stripe/magnetic are followed closely
Device can be realized along desired trajectory operation and accurate stopping；The mark can be also set on the shelf；Preferably, institute
It is hollow ball screw to state leading screw；The device for reading the mark is installed in the leading screw hollow structure, it is preferable that in institute
It states and the first lens assembly is installed in the hollow structure of leading screw, for itself being positioned to the automated guided vehicle；With/
Or,
Second lens assembly is installed in the hollow structure of the leading screw, for institute on the automated guided vehicle
The shelf born are positioned.When it is described be identified as magnetic stripe/magnetic nail when, magnetic stripe/magnetic can also be installed in the hollow structure
Follow closely reader.The ball-screw uses hollow ball screw, not only has ball-screw frictional resistance small, and efficient wait passes
System advantage, meanwhile, larger power and torque axially and radially can be born, whole structure is simplified.Preferably, the bottom
It is provided with multiple grooves on seat 1；In this way.The harness of lens assembly can easily pass through from groove, with external electrical part into
Row connection.
It should be noted that herein, the emphasis of the scheme described between each embodiment is different, but each reality
Apply example again in the presence of certain relationship that is mutually related, it, can be cross-referenced between each embodiment when understanding the utility model；
In addition, table is being stated when technical characteristic element is fixed on another technical characteristic element in the embodiment of the present application, can be straight
It connects and is in direct contact with another technical characteristic element surface, can also be in the presence of other technical characteristic element placed in the middle.In addition, all
Relational terms such as first and second etc are used merely to distinguish an entity or operation with another entity or operation
Come, without necessarily requiring or implying between these entities or operation, there are any actual relationship or orders.Moreover,
The terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that including a series of
The process, method, article or equipment of element includes not only those elements, but also includes that other being not explicitly listed are wanted
Element, or further include for elements inherent to such a process, method, article, or device.The case where not limiting more
Under, the element that is limited by sentence " including one ... ", it is not excluded that including the element process, method, article or
There is also other identical elements in person's equipment.
Above description is only a specific implementation of the present invention, but the scope of protection of the utility model is not limited to
In this, any one skilled in the art within the technical scope disclosed by the utility model, the change that can be readily occurred in
Change or replace, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should be with right
It is required that protection domain subject to.
Claims (16)
1. a kind of lifting device, which is characterized in that including：Pedestal is equipped with first driving means and the first rotation on the base
Swivel, first rotary body include rotating part and support portion, and the support portion of first rotary body is fixed on the base,
The first transmission device is equipped between the first rotary body rotating part and the first driving means；
The rotating part of first rotary body is equipped with the first screw member, and the first spiral shell is equipped on first screw member
Line, first screw member are relatively fixed with the first rotary body rotating part；
It is connected with the second screw member with first screw member, second screw member is equipped with the second screw thread,
Second screw thread is matched with first screw thread；
Guide pad stop mechanism or guide post stop mechanism, the guide pad stop mechanism are equipped on second screw member
Or guide post stop mechanism is circumferentially rotated for limiting second screw member.
2. lifting device according to claim 1, which is characterized in that first screw member is feed screw nut, described
Second screw member is leading screw；The rotating part of the feed screw nut and first rotary body is relatively fixed, the leading screw and institute
Feed screw nut cooperation is stated, when the feed screw nut is rotated with the rotating part of first rotary body, the leading screw can move up and down.
3. lifting device according to claim 2, which is characterized in that
The leading screw is hollow structure；
The guide pad stop mechanism includes：
Guide cylinder is located in the hollow structure of the leading screw and is fixedly connected with the support portion of the pedestal or the first rotary body；
Guide protrusions are located on the guiding drum outer wall；
It is oriented to groove, is located on the inner wall of the hollow structure of the leading screw, and matched with the guide protrusions, wherein described
The trend for being oriented to groove is consistent with the axis direction of the leading screw；Alternatively,
The guide post stop mechanism includes：
Pilot hole is located in the leading screw wall, and the pilot hole is axial consistent with the leading screw axis direction；
Guide post is located on the support portion of the pedestal or the first rotary body, the axial direction of the guide post and the leading screw axis
Direction is consistent, and is inserted into the pilot hole.
4. lifting device according to claim 1, which is characterized in that first screw member be leading screw, described second
Screw member is feed screw nut；The rotating part of the leading screw and first rotary body is relatively fixed, the feed screw nut and institute
Leading screw cooperation is stated, when the leading screw is rotated with the rotating part of first rotary body, the feed screw nut can move up and down.
5. lifting device according to claim 4, which is characterized in that the guide post stop mechanism includes：
Pilot hole is located in the feed screw nut wall, and the axial direction of the pilot hole is consistent with the leading screw axis direction；
Guide post is located on the support portion of the pedestal or the first rotary body, the axial direction of the guide post and the leading screw axis
Direction is consistent, and is inserted into the pilot hole.
6. according to any lifting device of claim 2 to 5, which is characterized in that be equipped at the top of second screw member
Second rotary body, second rotary body include rotating part and support portion, the support portion of second rotary body and described second
Screw member is fixedly connected, and the second driving device is also associated on the support portion of the second rotary body, and second rotary body returns
The second transmission device is equipped between transfer part and second driving device.
7. according to any lifting device of claim 2 to 5, which is characterized in that be equipped at the top of second screw member
Support plate, the support plate are equipped with the second rotary body and the second driving device, and second driving device is set to described second
The side of rotary body, second rotary body include rotating part and support portion, the support portion of second rotary body and described the
Two screw members are fixedly connected, and the second transmission is equipped between the rotating part of second rotary body and second driving device and is filled
It sets.
8. lifting device according to claim 2, which is characterized in that at the rotating part end upward of first rotary body
Portion is fixed with feed screw nut seat, and the feed screw nut is fixed on the feed screw nut seat.
9. lifting device according to claim 2, which is characterized in that the lower section of the leading screw is equipped with the machinery of the leading screw
Limiting section.
10. lifting device according to claim 6, which is characterized in that be equipped with lifting limit sensors on the base；
The catch of lifting limit sensors is installed on the support portion of second rotary body；
The lifting limit sensors are located on the leading screw to the travel paths of the catch.
11. lifting device according to claim 7, which is characterized in that the end of the rotating part of second rotary body upward
Portion is fixedly connected with table top.
12. lifting device according to claim 11, which is characterized in that the table top is rectangular；
The support plate is equipped with rotary stopper sensor.
13. lifting device according to claim 3, which is characterized in that the first driving means are first motor, described
First rotary body is the first slewing bearing, and the rotating part of first rotary body is the outer of first slewing bearing
The outer ring periphery of circle, first slewing bearing is equipped with tooth；First transmission device includes：First retarder and with institute
State the first driving gear that the output shaft of the first retarder is connected, wherein the input shaft of first retarder and described first
The output shaft of motor is connected, and the tooth and the tooth of the outer ring periphery of first slewing bearing of the first driving gear are mutually nibbled
It closes.
14. lifting device according to claim 7, which is characterized in that second rotary body is the second revolving support axis
It holds, the rotating part of second rotary body is the outer ring of second slewing bearing, and second driving device is second
The outer ring periphery of motor, second slewing bearing is equipped with tooth；Second transmission device includes：Second retarder and with
The second driving gear that the output shaft of second retarder is connected, wherein the input shaft of second retarder and described the
The output shaft of two motors is connected, the tooth phase of the tooth and the outer ring periphery of second slewing bearing of the second driving gear
Engagement.
15. a kind of transfer type automated guided vehicle, which is characterized in that lifted including preceding claims 1-14 any one of them
Rise device.
16. transfer type automated guided vehicle according to claim 15, which is characterized in that including preceding claims 2
To 14 any lifting devices；
The leading screw is hollow ball screw；
First lens assembly is installed in the hollow structure of the leading screw, for being carried out to the automated guided vehicle itself
Positioning；And/or
Second lens assembly is installed in the hollow structure of the leading screw, for being born on the automated guided vehicle
Shelf positioned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721395594.6U CN207845070U (en) | 2017-10-26 | 2017-10-26 | A kind of lifting device, transfer type automated guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721395594.6U CN207845070U (en) | 2017-10-26 | 2017-10-26 | A kind of lifting device, transfer type automated guided vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN207845070U true CN207845070U (en) | 2018-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721395594.6U Active CN207845070U (en) | 2017-10-26 | 2017-10-26 | A kind of lifting device, transfer type automated guided vehicle |
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| Country | Link |
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| CN (1) | CN207845070U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111332980A (en) * | 2018-12-18 | 2020-06-26 | 北京京东尚科信息技术有限公司 | Transport vehicle and lifting mechanism thereof |
| CN112062045A (en) * | 2020-09-17 | 2020-12-11 | 杭州海康机器人技术有限公司 | Rotary lifting device |
| CN112147935A (en) * | 2020-09-25 | 2020-12-29 | 劢微机器人科技(深圳)有限公司 | Method, device and equipment for controlling fork arm of unmanned forklift and storage medium |
| CN113521615A (en) * | 2021-06-28 | 2021-10-22 | 福建侨龙应急装备股份有限公司 | Fluid conveying device middle arm frame limiting device and fire engine |
| CN113559445A (en) * | 2021-06-28 | 2021-10-29 | 福建侨龙应急装备股份有限公司 | Cantilever crane anticreep device and fire engine among fluid conveying device |
| CN113797472A (en) * | 2021-06-28 | 2021-12-17 | 福建侨龙应急装备股份有限公司 | Boom structure of fluid conveying device |
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2017
- 2017-10-26 CN CN201721395594.6U patent/CN207845070U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111332980A (en) * | 2018-12-18 | 2020-06-26 | 北京京东尚科信息技术有限公司 | Transport vehicle and lifting mechanism thereof |
| CN111332980B (en) * | 2018-12-18 | 2023-03-10 | 北京京东乾石科技有限公司 | Transport vehicle and lifting mechanism thereof |
| CN112062045A (en) * | 2020-09-17 | 2020-12-11 | 杭州海康机器人技术有限公司 | Rotary lifting device |
| CN112062045B (en) * | 2020-09-17 | 2021-10-29 | 杭州海康机器人技术有限公司 | Rotary lifting device |
| CN112147935A (en) * | 2020-09-25 | 2020-12-29 | 劢微机器人科技(深圳)有限公司 | Method, device and equipment for controlling fork arm of unmanned forklift and storage medium |
| CN112147935B (en) * | 2020-09-25 | 2022-04-08 | 劢微机器人科技(深圳)有限公司 | Method, device and equipment for controlling fork arm of unmanned forklift and storage medium |
| CN113521615A (en) * | 2021-06-28 | 2021-10-22 | 福建侨龙应急装备股份有限公司 | Fluid conveying device middle arm frame limiting device and fire engine |
| CN113559445A (en) * | 2021-06-28 | 2021-10-29 | 福建侨龙应急装备股份有限公司 | Cantilever crane anticreep device and fire engine among fluid conveying device |
| CN113797472A (en) * | 2021-06-28 | 2021-12-17 | 福建侨龙应急装备股份有限公司 | Boom structure of fluid conveying device |
| CN113559445B (en) * | 2021-06-28 | 2023-08-11 | 福建侨龙应急装备股份有限公司 | Cantilever crane anticreep device and fire engine in fluid conveyor |
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Address after: 310051 5th floor, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310051 5th floor, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |