CN211035077U

CN211035077U - Bear AGV that lifts

Info

Publication number: CN211035077U
Application number: CN201921424718.8U
Authority: CN
Inventors: 王世鑫; 杨建雄; 赵新宇
Original assignee: Huaxiao Precision Suzhou Co ltd
Current assignee: Huaxiao Precision Suzhou Co ltd
Priority date: 2019-08-29
Filing date: 2019-08-29
Publication date: 2020-07-17
Anticipated expiration: 2029-08-29

Abstract

The utility model provides a bear AGV that lifts, it includes frame, two sets of lifting mechanism, panel and the board of lifting. The two groups of lifting mechanisms are arranged on two sides in the frame, and each group of lifting mechanisms comprises a linear driver; the panel is covered on the frame and is provided with a yield interval for lifting the driving end of the linear driver; the lifting plate is covered on the panel, and the lower surfaces of the two ends of the lifting plate are connected with the driving end of the linear driver and driven by the linear driver to do lifting motion. The two ends of the lifting plate are directly connected with the driving ends and perform lifting motion under the synchronous driving of the linear drivers, and the lifting mechanism is simple, high in transmission efficiency, easy to control the lifting height and high in lifting precision.

Description

Bear AGV that lifts

Technical Field

The utility model relates to an automatic change delivery technical field, concretely relates to bear AGV that lifts.

Background

Backpack AGV is the automated guided transporting vehicle who places goods such as tray, work or material rest, workbin on the AGV automobile body and carry. Current backpack AGV's lifting mechanism passes through the motor and links to each other with the speed reducer, and the both ends of speed reducer series connection axle link to each other with the one end of first chain and second chain respectively, and the other end of first chain and second chain links to each other with the first lifting unit and the second lifting unit around the automobile body respectively, and first chain and second chain drive first lifting unit and second lifting unit synchronous revolution to make the cam of individual subassembly lift the platform of lifting on the AGV in step. The backpack AGV lifting mechanism has the advantages of complex transmission, low transmission efficiency and low lifting precision.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming the transmission of backpack AGV lifting mechanism among the prior art complicacy, transmission efficiency is low, the defect that the precision of lifting is low.

Therefore, the utility model provides a bear and lift AGV, include

A frame;

the at least two groups of lifting mechanisms are arranged on two sides of the interior of the frame; each set of lifting mechanisms comprises a linear driver;

the panel is covered on the frame and is provided with a yield interval for lifting the driving end of the linear driver;

the lifting plate is covered on the panel; and two ends of the lifting plate are connected with the driving end of the linear driver and driven by the linear driver to do lifting motion.

Optionally, foretell bear and lift the AGV, linear actuator is the electric jar, lift the both ends of board with the lead screw of electric jar links to each other.

Optionally, foretell AGV is lifted on back, the lead screw is kept away from the one end of electric cylinder body and is equipped with unsteady joint, the both ends of lifting plate are fixed float on the joint.

Optionally, the piggyback lifting AGV as described above, the lifting mechanism further comprising

The supporting frames are arranged on two sides of the linear driver along the width direction of the lifting plate;

the follow-up shaft is slidably arranged on the support frame in a penetrating way; the top end of the follow-up shaft is connected with the lifting plate, and the lifting plate drives the follow-up shaft to move synchronously when lifting.

Optionally, in the backpack lifting AGV, the lifting plate is provided with a positioning pin hole matched with a positioning block on the object to be transported.

Optionally, in the above-mentioned piggyback lifting AGV, the positioning pin hole is in an inverted cone shape, and the hole diameter is big end down.

Optionally, foretell AGV is lifted on back, be equipped with the buffer block on the support frame, the upper surface of buffer block is higher than the upper surface of panel.

Optionally, in the piggyback lifting AGV described above, corner support mechanisms are provided at four corners of the frame floor.

Optionally, in the backpack lifting AGV described above, the ground supporting mechanism includes a fixed frame, a push rod motor and a follower assembly; the push rod motor is vertically fixed on the fixing frame; the follow-up component is connected with an output shaft of the push rod motor and is driven by the push rod motor to do vertical and vertical linear motion.

Optionally, the above piggyback lifting AGV, the frame side is provided with a wireless charging receiver.

The utility model discloses technical scheme has following advantage:

1. the utility model provides a bear and lift AGV, the both ends of the board of lifting are direct to be connected with linear actuator's drive end, and the board of lifting is elevating movement under two linear actuator's synchronous drive, and lifting mechanism is simple, transmission efficiency is high, lifts high easy control, lifts the precision height.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a three-dimensional structure diagram of a backpack lifting AGV according to embodiment 1 of the present invention;

FIG. 2 is a schematic view of the internal structure of FIG. 1;

FIG. 3 is a top view of a piggyback lifting AGV as provided in embodiment 1 of the present invention;

FIG. 4 is a schematic structural view of the lifting mechanism of FIG. 1;

FIG. 5 is a schematic structural view of the supporting mechanism of the ground corner in FIG. 1;

description of reference numerals:

a 1-vehicle frame; a 2-panel; a 3-lifting board; a 31-dowel holes; a 411-lead screw; a 412-electric cylinder block; a 421-first linker; a 422-second linker; a 43-support; a 44-follower shaft; a 45-buffer block; a 5-baseplate; a 6-high frequency power supply box;

1-a fixed mount; 11-a first side panel; 12-a second side panel; 21-a motor; 22-a push rod; 31-a connecting sleeve; 32-a fixed seat; 33-a backing plate; 34-a spring; 35-polyurethane cushion block; 4-a first fastener; 5-linear bearing.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Example 1

The present embodiment provides a piggyback lifting AGV, as shown in fig. 1-3, which includes a frame a1, two sets of lifting mechanisms, a fascia a2, and a lift plate a 3.

Two groups of lifting mechanisms are arranged at two sides in the frame a1, and each group of lifting mechanism comprises a linear driver; the panel a2 is arranged on the frame a1 in a covering manner and is provided with a yield interval for the driving end of the linear driver to lift; the lifting plate a3 is covered on the panel a2, and the lower surfaces of the two ends of the lifting plate a3 are connected with the driving end of the linear driver and driven by the linear driver to do lifting motion. The two ends of the lifting plate a3 are directly connected with the driving ends and are driven by the linear drivers to move up and down synchronously, the lifting mechanism is simple, the transmission efficiency is high, the lifting height is easy to control, and the lifting precision is high.

Specifically, the linear actuator is an electric cylinder including a lead screw a411 and an electric cylinder body a 412. As shown in fig. 4, the lifting mechanism further includes a floating joint, a support bracket a43 and a follower shaft a 44. Wherein the floating joint comprises a first joint a421 and a second joint a 422. The first joint a421 is located in the second joint a422 and is in threaded fit with the screw rod a411 of the electric cylinder, the second joint a422 is sleeved on the first joint a421, a certain movable gap exists between the second joint a422 and the first joint a421 in the circumferential direction and in the up-down direction, the lifting plate a3 is fixed on the second joint a422, the lifting plate a3 and the second joint a422 are connected in a floating manner, and the lifting plate a3 is lifted synchronously by the electric cylinders on the left side and the right side of the lifting plate. When the electric cylinder lifting heights on the two sides are not consistent, the heights of the left side and the right side of the lifting plate a3 are not consistent, if the lifting plate a3 is directly and rigidly connected with the electric cylinder screw rod a411, and the height difference exists on the left side and the right side of the lifting plate a3, the lifting plate a3 is easily blocked or deadly blocked, so that effective lifting cannot be realized, and meanwhile, an electric cylinder motor is damaged. The floating joint can effectively prevent the lifting plate a3 from being blocked or deadly clamped during lifting, and an electric cylinder is protected.

The supporting frames a43 are symmetrically arranged on two sides of the floating joint along the width direction of the lifting plate a3, an oilless bushing is arranged on the supporting frame a43 in a penetrating mode, the follow-up shaft a44 is arranged in an inner hole of the oilless bushing in a penetrating mode, the upper surface of the follow-up shaft a44 is connected with the lifting plate a3, and the follow-up shaft a44 is driven to move synchronously when the lifting plate a3 moves up and down. The floating joint can ensure that the lifting plate a3 has a certain degree of inclination along the width direction during the lifting process, and the following shaft a44 can synchronously lift along with the lifting plate a3 to reduce the inclination phenomenon of the lifting plate a3 and ensure that the lifting process is kept stable. The follow-up shaft a44 slides in the oilless bush, the friction is small, and the lifting movement is smooth.

The four corners of the lifting plate a3 are respectively provided with a positioning pin hole a31, and the positioning pin hole a31 is used for matching with a positioning block on an object to be carried. The diameter of the positioning pin hole a31 is big end down and is reverse taper. For example, waiting to transport the thing for the skip, skip bottom four corners department is equipped with the cylindrical locating piece with location pinhole a31 complex, and during the transport skip, the AGV moves under the skip, and electric cylinder drive lifts board a3 and rises, and the locating piece is pegged graft and is realized skip and AGV's location in location pinhole a31, prevents at the AGV in-process that transports the skip that the skip rocks and shifts. When the horizontal distance between the positioning block and the positioning pin hole a31 is deviated, the positioning pin hole a31 with a large upper part and a small lower part can enable the positioning block to slide into the positioning pin hole a31 from the edge of the positioning pin hole a31 to realize positioning.

According to the backpack lifting AGV with the structure, the two electric cylinders drive the integral lifting plate a3 to lift, so that objects with large load area can be lifted, the lifting weight is large, the position control of the electric cylinders is accurate, and the lifting precision is high.

The supporting frame a43 is further provided with a buffer block a45, the positioning pin hole a31 is located right above the buffer block a45, and the upper surface of the buffer block a45 is slightly higher than the upper surface of the panel. The buffer block a45 is made of polyurethane material, and can prevent the lifting plate a3 from descending too low and prevent the lifting plate from extruding the panel to cause the deformation of the panel, thereby playing the role of protecting the panel.

AGV adopts wireless charging mode, is equipped with wireless charging receiver at AGV frame a1 side, and wireless charging receiver periphery cover is equipped with the ya keli board, guarantees automobile body wholeness. The AGV is provided with a portable charging support, conveniently carries high frequency power supply box a6, and charges simply swiftly.

As shown in fig. 3, the four corners of the frame bottom plate a5 are respectively provided with a ground angle supporting mechanism, and the ground angle supporting mechanism comprises a fixed frame, a push rod motor and a follow-up component; the push rod motor is vertically fixed on the fixing frame; the follow-up component is connected with an output shaft of the push rod motor and is driven by the push rod motor to do vertical and vertical linear motion. AGV relies on the steering wheel drive, there is certain clearance between steering wheel and the automobile body, the steering wheel is fixed motionless through the band-type brake after arriving the appointed place, but the AGV automobile body still can continue to move the certain distance forward under the inertial action this moment, the AGV automobile body stops unstably, ground angle supporting mechanism's setting is stopped the back at the AGV, its bottom stable contact ground of follow-up subassembly downstream, the AGV automobile body supports fixedly through ground angle supporting mechanism, effectively avoid the automobile body to rock, realize that AGV's is stopped steadily.

Specifically, as shown in fig. 5, the push rod motor includes a motor 21 and a push rod 22. The follow-up component comprises a connecting sleeve 31, a fixed seat 32 and an elastic piece.

The connecting sleeve 31 is sleeved on the circumferential outer wall surface of the end of the push rod 22, and the elastic member is arranged in the inner cavity of the connecting sleeve 31, for example, the elastic member is a spring 34. The bottom butt of push rod 22 is at the top of spring 34, and the push rod motor passes through spring 34 and gives follow-up mechanism with power transmission, and when push rod 22 drove the vertical downstream of follow-up subassembly, the setting of spring 34 can reduce the impact force between push rod 22 and the adapter sleeve 31, protects the push rod motor and can prolong its life, can the noise abatement simultaneously.

The fixed seat 32 is sleeved on the circumferential outer wall surface of the connecting sleeve 31; through holes are respectively formed in the fixing seat 32, the connecting sleeve 31 and the push rod 22, the first fastening piece 4 penetrates through the through holes in the fixing seat 32, the connecting sleeve 31 and the push rod 22 to be fixedly connected, the fixing seat 32, the connecting sleeve 31 and the push rod 22 equivalently form a whole, the follow-up component can move synchronously along with the push rod 22, and for example, the first fastening piece 4 is a screw.

The bottom of adapter sleeve 31 is equipped with backing plate 33, and the bottom of backing plate 33 is equipped with soft cushion, and for example, soft cushion is polyurethane cushion 35, and the setting of polyurethane cushion 35 can increase the frictional force of follow-up subassembly and ground, makes the stable ground angle supporting mechanism fix subaerial, can avoid damaging backing plate 33 and ground simultaneously, plays certain guard action to backing plate 33 and ground.

The connecting sleeve 31 is provided with a guide member on the circumferential outer wall surface, for example, the guide member is a linear bearing 5. The top of the linear bearing 5 is provided with a protruding platform which is provided with a mounting hole, during mounting, the protruding platform is fixed on a bottom plate a5 of the AGV through fasteners such as bolts, and the linear bearing 5 plays a role in guiding the connecting sleeve 31 along with the upward or downward movement of the push rod 22, so that the connecting sleeve 31 moves up and down perpendicular to the AGV body.

The bottom of the first side plate 11 and the bottom of the second side plate 12 of the fixing frame 1 are respectively provided with a horizontal bending part which is bent outwards, a mounting hole is formed in the horizontal bending part, the fixing frame is mounted on an AGV bottom plate a5 through the mounting hole in the horizontal bending part, and the corner supporting mechanism is firmly fixed on the AGV bottom plate a5 through the linear bearing 5 and the horizontal bending part.

As a first alternative of the embodiment 1, the lifting mechanisms can be three groups, four groups, five groups, etc., and the number of the lifting mechanisms can be adjusted according to the length of the lifted object. When the lifting mechanism has three or five groups of single groups, one group is positioned in the middle of the frame, and the rest groups are symmetrically distributed on two sides of the workshop; when the lifting mechanisms are provided with four groups of equal even numbers, the lifting mechanisms are symmetrically distributed on two sides of the frame, and the synchronous lifting is realized by controlling the synchronous action of the electric cylinders through the electric cylinder controller.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims

1. Bear AGV that lifts, its characterized in that includes

A vehicle frame (a 1);

at least two groups of lifting mechanisms are arranged on two sides inside the frame (a 1); each set of lifting mechanisms comprises a linear driver;

the panel (a2) is covered on the frame (a1) and is provided with a yield interval for the driving end of the linear driver to lift;

a lifting plate (a3) which is arranged on the panel (a2) in a covering manner; and two ends of the lifting plate (a3) are connected with the driving end of the linear driver and driven by the linear driver to do lifting motion.

2. Backpack lifting AGV according to claim 1, characterized in that the linear drive is an electric cylinder, the two ends of the lifting plate (a3) being connected to the screw (a411) of the electric cylinder.

3. Backpack lifting AGV according to claim 2, characterized in that the end of the screw (a411) remote from the cylinder block (a412) is provided with a floating joint, to which the two ends of the lifting plate (a3) are fixed.

4. The piggyback lifting AGV of any one of claims 1-3, wherein the lifting mechanism further comprises

Support frames (a43) provided on both sides of the linear actuator in the width direction of the lifting plate (a 3);

the follow-up shaft (a44) is slidably arranged on the support frame (a43) in a penetrating way; the top end of the follow-up shaft (a44) is connected with the lifting plate (a3), and the lifting plate (a3) drives the follow-up shaft (a44) to move synchronously when moving up and down.

5. A piggyback lifting AGV according to any one of claims 1 to 3, wherein the lifting plate (a3) is provided with locating pin holes (a31) for cooperating with locating blocks on the item to be handled.

6. The piggyback lifting AGV of claim 5, wherein said registration pin holes (a31) are reverse tapered with a large upper and small lower diameter.

7. The piggyback lifting AGV of claim 4 wherein said support rack (a43) has a bump stop (a45) on it, the upper surface of said bump stop (a45) being higher than the upper surface of said fascia.

8. A piggyback lifting AGV according to any one of claims 1 to 3, wherein the floor (a5) of the chassis (a1) is provided with corner supports at four corners.

9. The piggyback lifting AGV of claim 8, wherein the floor support mechanism comprises a mount (1), a push rod motor and a follower assembly; the push rod motor is vertically fixed on the fixing frame (1); the follow-up component is connected with an output shaft of the push rod motor and is driven by the push rod motor to do vertical and vertical linear motion.

10. A piggyback lifting AGV according to any one of claims 1 to 3, wherein the frame (a1) is provided with wireless charging receivers on its sides.