CN208150870U - Scissors fork type jacking mechanism and AGV trolley - Google Patents
Scissors fork type jacking mechanism and AGV trolley Download PDFInfo
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- CN208150870U CN208150870U CN201820545458.9U CN201820545458U CN208150870U CN 208150870 U CN208150870 U CN 208150870U CN 201820545458 U CN201820545458 U CN 201820545458U CN 208150870 U CN208150870 U CN 208150870U
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- scissors fork
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- raising plate
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Abstract
The utility model discloses a kind of scissors fork type jacking mechanism and AGV trolley, scissors fork type jacking mechanism includes chassis, swing mechanism and scissors fork elevating mechanism；Scissors fork elevating mechanism is mounted on chassis, and the top that scissors pitches elevating mechanism is equipped with swing mechanism；Scissors fork elevating mechanism includes raising plate, two groups of scissors fork mechanisms and screw-threaded shaft elevator；Two groups of scissors fork mechanisms are installed in parallel on chassis, and the plane of movement of scissors fork mechanism is perpendicular to chassis；The lead screw top of screw-threaded shaft elevator is cut there are two plane is limited, and is provided on raising plate and the limit matched limit hole of plane；Swing mechanism includes rotation speed reducer, rotary pinion and pivoting support；Pivoting support has outer toothing；The aperture that rotation speed reducer output shaft passes through on raising plate is connected with rotary pinion, and the outer tooth engagement of rotary pinion and pivoting support realizes rotation；The upper surface of pivoting support is installed by cover board.The utility model both can smoothly jack cargo, can also realize that cargo is rotated relative to car body.
Description
Technical field
The utility model relates to logistics and storage robot field more particularly to a kind of scissors fork type jacking mechanism and AGV
Trolley.
Background technique
AGV is the abbreviation of (AutomatedGuidedVehicle), i.e. " automated guided vehicle ", refer to electromagnetism or
The homing guidances device such as optics, it can travel along defined guide path, can be realized the function of automatic, safe transfer, have
Effect replaces manpower, and working efficiency greatly improved, be used widely, especially in logistics, electric business, food, manufacturing industry etc.
Field.
Currently, in various kinds of equipment, common elevating mechanism：Hydraulicefficiency elevation structure, screw-threaded shaft elevator structure, chain-type lifting
Mechanism, rack-and-pinion elevating mechanism.And the usual figure of AGV robot is smaller, the volume of elevating mechanism used and space will be by
To more limitation.So the lifting body in AGV industry is applied mainly to have electric push rod mechanism, Electrohydraulic push rod mechanism at present,
Lead screw lifting body and scissors pitch mechanism.Although electric push rod mechanism structure is relatively easy and can be realized mandril and ramps,
But self-locking performance and stability are poor；Electrohydraulic push rod mechanism is easy to appear leakage, higher to seal request, after poor in self, rotation rise
It is easy the problems such as toppling.And although lead screw lifting body solves the stability problem of above-mentioned Xuan Sheng mechanism, but to machining
Technique and cost propose high requirement.
Utility model content
The purpose of this utility model is that in view of the deficiencies of the prior art, providing a kind of scissors fork type jacking mechanism and AGV
Trolley.
The purpose of this utility model is achieved through the following technical solutions：A kind of scissors fork type jacking mechanism, including
Chassis, swing mechanism and scissors pitch elevating mechanism；The scissors fork elevating mechanism is mounted on chassis, and scissors pitches elevating mechanism
Top is equipped with swing mechanism；
The scissors fork elevating mechanism includes raising plate, two groups of scissors fork mechanisms and screw-threaded shaft elevator；Two groups of scissors pitch machine
Structure is installed in parallel on chassis, and the plane of movement of scissors fork mechanism is perpendicular to chassis；The raising plate is mounted on two groups of scissors
It pitches in mechanism；The lead screw top of screw-threaded shaft elevator is cut there are two plane is limited, and is provided on raising plate and the limit matched limit of plane
Position hole, the locating shoulder face on lead screw top is bonded with raising plate lower surface；
The swing mechanism includes rotation speed reducer, rotary pinion and pivoting support；The pivoting support has external tooth
Structure, pivoting support are fixed on raising plate upper surface；Speed reducer output shaft is rotated to pass through the aperture on raising plate and rotate small tooth
Wheel is connected, and the outer tooth engagement of rotary pinion and pivoting support realizes rotation；The upper surface of pivoting support is installed by cover board.
Further, scissors fork mechanism includes first support bar and second support bar, first support bar and second
Strut is hinged by central pin shaft；
It is hinged by spacer pin positioned at the first support bar lower end in outside and the lifting body mounting base that is fixed on chassis,
Upper end is connected by pin shaft with bearing, and bearing outside diameter and raising plate lower surface are tangent；
Two second support bars positioned inside are fixed as one by two parallel round bars, second support bar upper end with
The lifting body mounting base being fixed on raising plate is hinged by spacer pin, and lower end is connected by pin shaft with bearing；
The limited block group in rectangular-ambulatory-plane is further fixed on the chassis, second support bar lower end institute connecting shaft holds and can limit
Sliding in the closed orbit of block group.
Further, rotary stopper detection lug is installed, installation rotary stopper is opened on the raising plate below the cover board
It closes, rotary stopper detection lug is corresponding with the position that rotary stopper switchs, and is used for swing mechanism reset detection.
Further, jacking-up spacing detection lug is installed, jacking-up spacing switch passes through jacking-up spacing below the raising plate
Switch bracket is fixed on chassis, and jacking-up spacing detection lug is corresponding with the position that jacking-up spacing switchs, for determining that scissors fork rises
The lifting travel of descending mechanism.
Further, universal wheel, directional wheel or crawler belt are housed below the chassis, the place for lifting body is shifted.
A kind of AGV trolley, including scissors fork type jacking mechanism, the left and right sides installation on the chassis of scissors fork type jacking mechanism
Driving unit, front-rear direction are respectively equipped with two groups of universal wheels, and chassis is also equipped with battery, the drive shaft of left and right sides driving unit
The central axis of line and swing mechanism and intersection.
The beneficial effects of the utility model：The utility model, as power source, both has lead screw using screw-threaded shaft elevator
The advantages of lifting body, at the same also had both scissors fork mechanism original height it is low, compact-sized, bearing capacity is big, the rigidity of structure is high,
Stable advantage, while having installed double optoelectronic switches additional, for detecting jacking upper limit and lower limit, guarantee that off-position is reliable.
The rectangular-ambulatory-plane closed orbit of limited block group provides dead limit up and down for entire lifting body, can effectively prevent its overtravel
Movement, guarantees the safety of the course of work.The utility model scissors fork type jacking mechanism and AGV trolley both can smoothly jack goods
Object can also realize that cargo is rotated relative to car body.
Detailed description of the invention
Fig. 1 is the three-dimensional structure schematic diagram with the AGV trolley of scissors fork type jacking mechanism；
Fig. 2 is the three-dimensional structure figure of scissors fork type jacking mechanism；
Fig. 3 is the three-dimensional structure figure of swing mechanism；
Fig. 4 is the three-dimensional structure figure of scissors fork mechanism；
Fig. 5 is the lead screw three-dimensional structure figure of screw-threaded shaft elevator；
In figure, 1. chassis；2. universal wheel；3. driving unit；4. swing mechanism；5. scissors pitches elevating mechanism；6. battery；7.
Jack motor；8. jacking speed reducer；9. jacking speed reducer mounting bracket；10. shaft coupling；11. screw-threaded shaft elevator；12. lead screw liter
Drop machine mounting bracket；13. jacking-up spacing switch bracket；14. jacking-up spacing switchs；15. lifting body mounting base；16. scissors is pitched
Mechanism；17. limited block group；18. bearing；19. raising plate；20. jacking-up spacing detection lug；21. rotating electric machine；22. rotation is slowed down
Machine；23. rotary pinion；24. pivoting support；25. cover board；26. rotary stopper detection lug；27. rotary stopper switchs；28. the
One support rod；29. central pin shaft；30. pin shaft；31. spacer pin；32. second support bar；33. round bar.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments.
As shown in Figs 1-4, the utility model discloses a kind of scissors fork type jacking mechanisms, including chassis 1, swing mechanism 4
Elevating mechanism 5 is pitched with scissors；The scissors fork elevating mechanism 5 is mounted at the center on chassis 1, and scissors pitches the upper of elevating mechanism 5
Side is equipped with swing mechanism 4；The utility model both can smoothly jack cargo, can also realize that cargo is rotated relative to car body.
The scissors fork elevating mechanism 5 includes 19, two groups of scissors fork mechanisms 16, screw-threaded shaft elevator 11, jacking electricity of raising plate
Machine 7, jacking speed reducer 8, jacking speed reducer mounting bracket 9 and shaft coupling 10；Jack motor 7, jacking speed reducer 8, shaft coupling 10
The power unit of scissors fork elevating mechanism 5 is constituted with screw-threaded shaft elevator 11；Two groups of scissors fork mechanisms 16 are installed in parallel in chassis 1
On, and the plane of movement of scissors fork mechanism 16 is perpendicular to chassis 1；The jacking speed reducer mounting bracket 9 is fixed on chassis 1,
The jacking speed reducer 8 is mounted in jacking speed reducer mounting bracket 9；The raising plate 19 is mounted on two groups of scissors fork mechanisms 16
On；The input terminal for jacking the output axis connection jacking speed reducer 8 of motor 7, jacks the output shaft and screw-threaded shaft elevator 11 of speed reducer 8
Input shaft connected by shaft coupling 10；As shown in figure 5,34 top of lead screw of screw-threaded shaft elevator 11 is cut there are two limit plane,
It is provided on raising plate 19 and the limit matched limit hole of plane, the locating shoulder face on 34 top of lead screw and 19 following table face paste of raising plate
It closes, 11 bottom end of screw-threaded shaft elevator is fixed on chassis 1 by screw-threaded shaft elevator mounting bracket 12；Screw-threaded shaft elevator 11 passes through lead screw
34 act on raising plate 19, pitch mechanism 16 by scissors and support its axial movement, to realize jacking movement.
Scissors fork mechanism 16 includes first support bar 28 and second support bar 32, and first support bar 28 and second support
Bar 32 is hinged by central pin shaft 29；Pacify with the One On The Chassis lifting body is fixed on 28 lower end of first support bar positioned at outside
It is hinged by spacer pin 31 to fill seat 15, upper end is connected by pin shaft 30 with bearing 18,18 outer diameter of bearing and 19 lower surface of raising plate
It is tangent；Two second support bars 32 positioned inside are fixed as one by two parallel round bars 33, in second support bar 32
The lifting body mounting base 15 held and be fixed on raising plate 19 is hinged by spacer pin 31, and lower end passes through pin shaft 30 and bearing 18
It is connected；It is further fixed on the limited block group 17 in rectangular-ambulatory-plane on the chassis 1,32 lower end institute connecting shaft of second support bar holds 18 can be
Sliding in the closed orbit of limited block group 17.Meanwhile the rectangular-ambulatory-plane closed orbit of limited block group 17, mechanism, which is pitched, for entire scissors mentions
Dead limit up and down has been supplied, its overtravel can be effectively prevent to move, guarantee the safety of the course of work.
The swing mechanism 4 includes rotating electric machine 21, rotation speed reducer 22, rotary pinion 23 and pivoting support 24, is returned
Rotation mechanism 4 realizes revolution up and down using pivoting support 24；The pivoting support 24 has outer toothing, and pivoting support 24 is fixed on
19 upper surface of raising plate；Rotating electric machine 21 is connected with rotation speed reducer 22, and rotation speed reducer 22 is mounted on 19 lower surface of raising plate,
The aperture that the output shaft of rotation speed reducer 22 passes through on raising plate 19 is connected with rotary pinion 23, rotary pinion 23 and jacking
There is gap, the outer tooth engagement of rotary pinion 23 and pivoting support 24 realizes rotation between plate 19；The upper table of pivoting support 24
Cover board 25 is installed in face, for bearing a heavy burden.
Rotary stopper detection lug 26 is installed, installation rotary stopper switch on the raising plate 19 below the cover board 25
27, rotary stopper detection lug 26 is corresponding with the position of rotary stopper switch 27, is used for 4 reset detection of swing mechanism.
Jacking-up spacing detection lug 20 is installed, jacking-up spacing switch 14 is switched by jacking-up spacing below the raising plate 19
Bracket 13 is fixed on chassis 1, and jacking-up spacing detection lug 20 is corresponding with the position of jacking-up spacing switch 14, for determining that scissors is pitched
The lifting travel of elevating mechanism 5.
Universal wheel, directional wheel or crawler belt are housed, the place for lifting body is shifted below the chassis 1.
The invention also discloses a kind of AGV trolley, including scissors fork type jacking mechanism, scissors fork type jacking mechanism
Driving unit 3 is installed in the left and right sides on chassis 1, and front-rear direction is also respectively equipped with two groups of universal wheels 2, and chassis 1 is also equipped with battery 6,
The driving wheel axis of left and right sides driving unit 3 and the central axis of swing mechanism 4 and intersection.
The principles of the present invention and the course of work are as follows：
AGV trolley with scissors fork type jacking mechanism is in actual work, and battery 6 is powered to entire AGV, by vehicle-mounted
Controller controls driving unit 3, and driving unit 3 provides the driving dynamics of vehicle, and universal wheel 2 moves arrival with driving unit 3
Immediately below frame；Scissors pitches elevating mechanism 5 and lifts raising plate 19 upwards under the effect of screw-threaded shaft elevator 11, and scissors fork mechanism 16 is being pushed up
The effect of support is primarily served during rising；If you need to change direction, the driving unit 2 positioned at 1 two sides of chassis passes through differential motion
Realize spinning movement, while rotating electric machine 21 drives the entire rotation of swing mechanism 4 that cover board 25 is driven to realize opposite direction with respect to vehicle body
Rotation, to realize that cargo is as you were, vehicle body rotation is changed direction.
When jacking motor 7 rotates, by jacking speed reducer 8, shaft coupling 10, drive screw-threaded shaft elevator 11 is moved, top
Lead screw pushes raising plate 19 to move upwards, and raising plate 19 drives scissors fork mechanism 16 to move upwards, first support bar 28 and second
Become larger between support rod 32 with acute angle formed by horizontal plane, the bearing 18 of lower section in the rectangular-ambulatory-plane track of limited block group 17 to
Interior Slideslip, scissors fork mechanism 16 play the role of support.In addition, installing double jacking-up spacings additional by jacking-up spacing switch bracket 13
Switch 14, for detecting lifting limit up and down, guaranteeing elevating mechanism, off-position is reliable up and down.In entire lifting process swing mechanism 4
It is opposing stationary, it does not rotate.
Rotating electric machine 21 amplifies torque by rotation speed reducer 22 in swing mechanism 4, and driving rotary pinion 23 rotates, leads to
Crossing engagement system drives pivoting support 24 and cover board 25 to rotate.Rotary stopper switch 27 is housed, under cover board 25 below raising plate 19
Side is equipped with rotary stopper detection lug 26, is used for swing mechanism reset detection.Wherein 24 structure of pivoting support is more special, is turntable
Bearing arrangement.Since swing mechanism 4 pitches the power resources of elevating mechanism 5 in different motor and its transmission system, institute from scissors
Can be achieved to act respectively.
The above, the only preferred embodiment of the utility model, are not intended to limit the utility model, all according to this
The technical spirit of utility model any trickle amendment, equivalent replacement and improvement to the above embodiments should be included in this
Within the protection scope of utility model technical solution.
Claims (6)
1. a kind of scissors fork type jacking mechanism, which is characterized in that pitch elevating mechanism including chassis (1), swing mechanism (4) and scissors
(5)；Scissors fork elevating mechanism (5) is mounted on chassis (1), and the top that scissors pitches elevating mechanism (5) is equipped with swing mechanism
(4)；
Scissors fork elevating mechanism (5) includes raising plate (19), two groups of scissors forks mechanism (16) and screw-threaded shaft elevator (11)；Two
Group scissors fork mechanism (16) is installed in parallel on chassis (1), and the plane of movement of scissors fork mechanism (16) is perpendicular to chassis (1)；
The raising plate (19) is mounted on two groups of scissors forks mechanism (16)；There are two lead screw (34) top of screw-threaded shaft elevator (11) is cut
Plane is limited, is provided on raising plate (19) and the limit matched limit hole of plane, the locating shoulder face and top on lead screw (34) top
The fitting of lift slab (19) lower surface；
The swing mechanism (4) includes rotation speed reducer (22), rotary pinion (23) and pivoting support (24)；The revolution branch
(24) are held with outer toothing, pivoting support (24) is fixed on raising plate (19) upper surface；Rotation speed reducer (22) output shaft is worn
The aperture crossed on raising plate (19) is connected with rotary pinion (23), and rotary pinion (23) and the external tooth of pivoting support (24) are nibbled
It closes；The upper surface of pivoting support (24) is installed by cover board (25).
2. a kind of scissors fork type jacking mechanism according to claim 1, which is characterized in that scissors fork mechanism (16) packet
First support bar (28) and second support bar (32) are included, first support bar (28) and second support bar (32) pass through central pin shaft
(29) hinged；
First support bar (28) lower end positioned at outside passes through limit with the lifting body mounting base (15) being fixed on chassis (1)
Sell (31) hingedly, upper end is connected by pin shaft (30) with bearing (18), and bearing (18) outer diameter and raising plate (19) lower surface are tangent；
Two second support bars (32) positioned inside are fixed as one by two parallel round bars (33), second support bar
(32) upper end passes through spacer pin (31) hingedly with the lifting body mounting base (15) being fixed on raising plate (19), and lower end passes through pin
Axis (30) is connected with bearing (18)；
The limited block group (17) in rectangular-ambulatory-plane is further fixed on the chassis (1), second support bar (32) lower end institute connecting shaft is held
It (18) being capable of the sliding in the closed orbit of limited block group (17).
3. a kind of scissors fork type jacking mechanism according to claim 1, which is characterized in that installation below the cover board (25)
Have rotary stopper detection lug (26), rotary stopper switch (27), rotary stopper detection lug (26) are installed on the raising plate (19)
It is corresponding with the rotary stopper switch position of (27), it is used for swing mechanism (4) reset detection.
4. a kind of scissors fork type jacking mechanism according to claim 1, which is characterized in that peace below the raising plate (19)
Equipped with jacking-up spacing detection lug (20), jacking-up spacing switch (14) is fixed on chassis (1) by jacking-up spacing switch bracket (13)
On, jacking-up spacing detection lug (20) is corresponding with the jacking-up spacing switch position of (14), for determining scissors fork elevating mechanism (5)
Lifting travel.
5. a kind of scissors fork type jacking mechanism according to claim 1, which is characterized in that be equipped with below the chassis (1)
Universal wheel, directional wheel or crawler belt, the place for scissors fork type jacking mechanism are shifted.
6. a kind of AGV trolley, which is characterized in that including scissors fork type jacking mechanism, the chassis (1) of scissors fork type jacking mechanism
Driving unit (3) are installed in the left and right sides, and front-rear direction is respectively equipped with two groups of universal wheels (2), and chassis (1) is also equipped with battery (6), left
The driving wheel axis of right two sides driving unit (3) and the central axis of swing mechanism (4) and intersection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820545458.9U CN208150870U (en) | 2018-04-17 | 2018-04-17 | Scissors fork type jacking mechanism and AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820545458.9U CN208150870U (en) | 2018-04-17 | 2018-04-17 | Scissors fork type jacking mechanism and AGV trolley |
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| Publication Number | Publication Date |
|---|---|
| CN208150870U true CN208150870U (en) | 2018-11-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820545458.9U Active CN208150870U (en) | 2018-04-17 | 2018-04-17 | Scissors fork type jacking mechanism and AGV trolley |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108285107A (en) * | 2018-04-17 | 2018-07-17 | 浙江科钛机器人股份有限公司 | Scissors fork type jacking mechanism and AGV trolleies |
| CN111297585A (en) * | 2020-03-23 | 2020-06-19 | 江苏理工学院 | Lifting device and wheelchair |
| CN112390199A (en) * | 2020-11-17 | 2021-02-23 | 浙江工业大学 | Omnidirectional AGV with independent lifting and rotating platform function and control method |
| CN114475862A (en) * | 2022-03-08 | 2022-05-13 | 任谦 | AGV dolly in slight uneven place of adaptation |
-
2018
- 2018-04-17 CN CN201820545458.9U patent/CN208150870U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108285107A (en) * | 2018-04-17 | 2018-07-17 | 浙江科钛机器人股份有限公司 | Scissors fork type jacking mechanism and AGV trolleies |
| CN111297585A (en) * | 2020-03-23 | 2020-06-19 | 江苏理工学院 | Lifting device and wheelchair |
| CN112390199A (en) * | 2020-11-17 | 2021-02-23 | 浙江工业大学 | Omnidirectional AGV with independent lifting and rotating platform function and control method |
| CN114475862A (en) * | 2022-03-08 | 2022-05-13 | 任谦 | AGV dolly in slight uneven place of adaptation |
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