阅读说明：本技术 一种agv举升机构及具有其的agv小车 (AGV lifting mechanism and have its AGV dolly ) 是由 李松 韦有溯 佟坤 于 2021-09-16 设计创作，主要内容包括：本发明涉及自动导向装置技术领域,具体涉及一种AGV举升机构及具有其的AGV小车。AGV举升机构,包括：举升件,举升件上设置有长条孔；驱动件,其输出端配合安装有传动轴,传动轴上固定安装有随动件,随动件与传动轴之间偏心设置,随动件与长条孔的部分内壁抵接配合；导向伸缩件,一端与举升件固定安装,导向伸缩件的伸缩方向与长条孔的长度方向垂直设置。通过驱动件带动传动轴转动,驱动件无需换向即可实现举升件的往复升降运动,且在升降过程中仅举升件自身升降运动,传动轴仅在原始位置上转动,在保证举升机构能够运动足够行程的同时使举升机构的整体结构更加紧凑,提升举升机构运行时整体的稳定性。(The invention relates to the technical field of automatic guiding devices, in particular to an AGV lifting mechanism and an AGV with the same. AGV lifting mechanism includes: the lifting piece is provided with a long hole; the output end of the driving piece is provided with a transmission shaft in a matching way, a follower is fixedly arranged on the transmission shaft, the follower and the transmission shaft are eccentrically arranged, and the follower is in butt joint with part of the inner wall of the elongated hole; one end of the guide telescopic piece is fixedly installed with the lifting piece, and the telescopic direction of the guide telescopic piece is perpendicular to the length direction of the strip hole. The driving piece drives the transmission shaft to rotate, the driving piece can realize the reciprocating lifting motion of the lifting piece without reversing, only the lifting piece can perform self lifting motion in the lifting process, the transmission shaft only rotates on the original position, the lifting mechanism can move for a sufficient stroke, the whole structure of the lifting mechanism is more compact, and the whole stability of the lifting mechanism during operation is improved.)

1. An AGV lifting mechanism comprising:

the lifting piece is provided with a long hole (3);

the output end of the driving piece is provided with a transmission shaft (6) in a matching way, a follower is fixedly arranged on the transmission shaft (6), the follower and the transmission shaft (6) are eccentrically arranged, and the follower is abutted and matched with part of the inner wall of the elongated hole (3);

one end of the guide telescopic piece is fixedly installed with the lifting piece, and the telescopic direction of the guide telescopic piece is perpendicular to the length direction of the strip hole (3).

2. AGV lifting mechanism according to claim 1, characterised in that the output of the drive member is fitted with a first gear wheel (8) and the drive shaft (6) is fitted with a second gear wheel (9), the first gear wheel (8) and the second gear wheel (9) being in meshing engagement.

3. AGV lifting mechanism according to claim 2, characterized in that the drive shaft (6) is coaxially mounted at both ends with pivoting wheels (10), the pivoting wheels (10) are fixedly mounted with followers, and each follower is equidistant from the corresponding axis of the pivoting wheel (10), and the followers are in one-to-one correspondence with the elongated holes (3).

4. AGV lifting mechanism according to any of claims 1 to 3, characterized in that at least one pair of transmission shafts (6) is arranged in parallel, and that a plurality of transmission shafts (6) are driven synchronously by synchronizers.

5. AGV lifting mechanism according to claim 4, characterized in that the synchronizing member includes a plurality of drive gears (11) and drive chain (12), drive gear (11) with drive shaft (6) one-to-one fixed connection, just drive gear (11) with drive shaft (6) coaxial arrangement, drive chain (12) in proper order with a plurality of drive gear (11) meshing cooperation.

6. AGV lifting mechanism according to any of claims 1-3, characterized in that a roller is rotatably mounted on the follower, which roller is in abutting engagement with the elongated hole (3).

7. AGV lifting mechanism according to any of claims 1 to 3, characterised in that the lifting member comprises a lifting tray (1) and a lifting plate (2) arranged perpendicular to the lifting tray (1), the elongated hole (3) being provided in the lifting plate (2).

8. An AGV lifting mechanism according to any one of claims 1 to 3 wherein said guide telescopes are spaced apart in plurality.

9. AGV lifting mechanism according to any of claims 1 to 3, characterised in that the guiding telescope is a guiding rod (13) and a guiding cylinder (14) coaxially and slidably engaged, the end of the guiding rod (13) remote from the guiding cylinder (14) being fixedly connected to the lifting member.

10. An AGV trolley characterized by an AGV lifting mechanism according to any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of automatic guiding devices, in particular to an AGV lifting mechanism and an AGV with the same.

Background

An AGV (Automated Guided Vehicle) is one type of mobile robot that can travel along a prescribed guidance path. In a modern logistics system, an AGV transporting vehicle is mainly used for storing and transporting various materials, and a lifting mechanism is an important component of the AGV transporting vehicle.

A lifting mechanism of an AGV in the prior art is a screw rod mechanism or a scissor fork mechanism. For the screw rod mechanism, the stability is insufficient, and other stable structures need to be designed to be matched to achieve the expected safety and reliability. And for the scissors fork mechanism, the occupied space is large, and the application of the AGV in a workshop is not facilitated.

Disclosure of Invention

Therefore, the invention aims to overcome the defects of large occupied space and poor stability of the lifting mechanism in the prior art, and provides the AGV lifting mechanism and the AGV trolley with the same.

In order to solve the above technical problem, the present invention provides an AGV lifting mechanism, including:

the lifting piece is provided with a long hole;

the output end of the driving piece is provided with a transmission shaft in a matching way, a follower is fixedly arranged on the transmission shaft, the follower and the transmission shaft are eccentrically arranged, and the follower is in butt joint with part of the inner wall of the elongated hole;

one end of the guide telescopic piece is fixedly installed with the lifting piece, and the telescopic direction of the guide telescopic piece is perpendicular to the length direction of the strip hole.

Optionally, the output end of the driving member is provided with a first gear, the transmission shaft is provided with a second gear, and the first gear and the second gear are in meshing fit.

Optionally, the two ends of the transmission shaft are coaxially provided with rotary supporting wheels, the rotary supporting wheels are fixedly provided with followers, the distance between each follower and the axis of the corresponding rotary supporting wheel is equal, and the followers and the elongated holes are matched in a one-to-one correspondence manner.

Optionally, at least one pair of transmission shafts is arranged in parallel, a plurality of transmission shafts are synchronously transmitted through the synchronizing member, and the second gear is coaxially mounted on one of the transmission shafts.

Optionally, the synchronizing member includes a plurality of transmission gears and a transmission chain, the transmission gears are fixedly connected with the transmission shafts in a one-to-one correspondence manner, the transmission gears and the transmission shafts are coaxially arranged, and the transmission chain is engaged with the plurality of transmission gears in sequence.

Optionally, a roller is rotatably mounted on the follower, and the roller is in abutting fit with the elongated hole.

Optionally, the lifting member includes a lifting tray and a lifting plate disposed perpendicular to the lifting tray, and the elongated hole is disposed on the lifting plate.

Optionally, the guide telescopic parts are arranged in plurality at intervals.

Optionally, the guiding telescopic part is a guiding rod and a guiding cylinder which are coaxially and in sliding fit, and one end of the guiding rod, which is far away from the guiding cylinder, is fixedly connected with the lifting part.

The invention also provides an AGV trolley which is provided with the AGV lifting mechanism.

The technical scheme of the invention has the following advantages:

1. the AGV lifting mechanism provided by the invention comprises: the lifting piece is provided with a long hole; the output end of the driving piece is provided with a transmission shaft in a matching way, a follower is fixedly arranged on the transmission shaft, the follower and the transmission shaft are eccentrically arranged, and the follower is in butt joint with part of the inner wall of the elongated hole; one end of the guide telescopic piece is fixedly installed with the lifting piece, and the telescopic direction of the guide telescopic piece is perpendicular to the length direction of the strip hole.

When AGV lifting mechanism moves, driving piece work drives the transmission shaft and rotates, the transmission shaft drives rather than the follower motion of eccentric settings, the follower is circular motion around the axis of transmission shaft under the drive of transmission shaft, through making the follower cooperate with the rectangular hole inside wall butt on the lifting piece, the follower can drive the reciprocating motion in rectangular hole when lifting piece motion in the motion process, because the restriction of direction extensible member, make the lifting piece can only follow the flexible direction motion of direction extensible member when the motion. In the operation process, the driving piece drives the transmission shaft to rotate, the driving piece can realize the reciprocating lifting motion of the lifting piece without reversing, and the lifting piece can be stabilized at the current position by locking after the driving piece stops working. The lifting piece can be driven to lift through rotation of the transmission shaft, only the lifting piece can perform lifting movement in the lifting process, the transmission shaft only rotates on the original position, the lifting mechanism can move for a sufficient stroke, the whole structure of the lifting mechanism is more compact, and the whole stability of the lifting mechanism during operation is improved.

2. According to the AGV lifting mechanism provided by the invention, the two ends of the transmission shaft are coaxially provided with the rotary supporting wheels, the rotary supporting wheels are fixedly provided with the followers, the distances between each follower and the axis of the corresponding rotary supporting wheel are equal, and the followers are correspondingly matched with the long holes one by one. The rotary supporting wheel is arranged on the transmission shaft, and the follower is connected with the transmission shaft through the rotary supporting wheel, so that the distance between the follower and the axis of the transmission shaft is increased, the radius of the circumference is larger when the follower moves circularly, and the movement stroke of the lifting piece is further increased.

3. According to the AGV lifting mechanism provided by the invention, at least one pair of transmission shafts are arranged in parallel, a plurality of transmission shafts are synchronously transmitted through the synchronizing part, and the second gear is coaxially arranged on one of the transmission shafts. Through setting up a plurality of transmission shafts for lifting member is supported by a plurality of followers jointly when elevating movement, can avoid lifting member when the unbalance loading, because lifting member's focus is not in lifting member's intermediate position, takes place the card between follower and the rectangular hole that lifting member both sides atress inequality leads to and hinders, further promotes lifting member's stability and the smooth degree of operation.

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 description of the embodiments or 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 other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a perspective view of an AGV lifting mechanism provided in an embodiment of the present invention.

FIG. 2 is another perspective view of an AGV lifting mechanism provided in an embodiment of the present invention.

FIG. 3 is a left side view of an AGV lifting mechanism provided in an embodiment of the present invention.

FIG. 4 is a front view of an AGV lifting mechanism provided in an embodiment of the present invention.

Description of reference numerals: 1. lifting the tray; 2. a lifting plate; 3. a strip hole; 4. a drive motor; 5. mounting a plate; 6. a drive shaft; 7. a follower post; 8. a first gear; 9. a second gear; 10. a rotating support wheel; 11. a transmission gear; 12. a drive chain; 13. a guide bar; 14. and a guide cylinder.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within 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", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular 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 should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Example 1

As shown in fig. 1 to 4, an AGV lifting mechanism provided in the present invention includes: lifting member, driving piece and direction extension piece.

The lifting piece comprises a round lifting tray 1 and four lifting plates 2 perpendicular to the lifting tray 1, strip holes 3 are formed in the four lifting plates 2, and the length direction of each strip hole 3 is parallel to the lifting tray 1 and arranged in the horizontal direction.

The driving motor 4 as a driving piece is fixedly arranged on the mounting plate 5, and the mounting plate 5 is arranged in parallel with the lifting tray 1. The transmission shaft 6 is installed in the output cooperation of driving motor 4, and fixed mounting has follow-up post 7 as the follower on the transmission shaft 6, and eccentric settings between follow-up post 7 and the transmission shaft 6, follow-up post 7 and the cooperation of the partial inner wall butt of rectangular hole 3. Specifically, a first gear 8 is installed at the output end of the driving piece, a second gear 9 is installed on the transmission shaft 6, and the first gear 8 is meshed with the second gear 9. The two ends of the transmission shaft 6 are coaxially provided with rotary supporting wheels 10, the following columns 7 are fixedly arranged on the rotary supporting wheels 10, the distances between the axes of each following column 7 and the corresponding rotary supporting wheel 10 are equal, and the following columns 7 are matched with the strip holes 3 in a one-to-one correspondence mode. In order to reduce the resistance between the follow-up column 7 and the strip hole 3 and avoid the jamming in the operation process, the roller is rotatably arranged on the follow-up column 7 and is in butt fit with the strip hole 3. The transmission shafts 6 are arranged in parallel, the pair of transmission shafts 6 are synchronously transmitted through two groups of synchronous parts, and the second gear 9 is coaxially arranged on one transmission shaft 6. The synchronizing part comprises two transmission gears 11 and a transmission chain 12, the two transmission gears 11 are fixedly connected with the two transmission shafts 6 in a one-to-one correspondence mode, the transmission gears 11 and the transmission shafts 6 are coaxially arranged, and the transmission chain 12 is meshed and matched with the two transmission gears 11 in sequence.

One end of the guide telescopic piece is fixedly installed on the lifting piece, the other end of the guide telescopic piece is fixedly installed on the installation plate 5, and the telescopic direction of the guide telescopic piece is perpendicular to the length direction of the strip hole 3. The direction extensible member interval is provided with a pair ofly, and a pair of direction extensible member is arranged along the length direction of transmission shaft 6, and a pair of direction extensible member all sets up between a pair of transmission shaft 6. The guide telescopic part is a guide rod 13 and a guide cylinder 14 which are coaxially and in sliding fit, one end of the guide rod 13, far away from the guide cylinder 14, is fixedly connected with the lifting part, and one end of the guide cylinder 14, far away from the guide rod 13, is fixedly connected with the mounting plate 5.

When the AGV lifting mechanism runs, the driving motor 4 works to drive the first gear 8 at the output end to rotate, the first gear 8 is meshed with the second gear 9 to drive the second gear 9 to rotate, and further the transmission shafts 6 which are fixed with the second gear 9 and coaxially connected synchronously rotate, and under the matching action of the transmission chain 12 and the two transmission gears 11, the two transmission shafts 6 synchronously rotate. Simultaneously, four rotary supporting wheels 10 at two ends of two transmission shafts 6 are driven to rotate, four follow-up columns 7 on the four rotary supporting wheels 10 move synchronously, and the follow-up columns 7 are driven by the respective rotary supporting wheels 10 to do circular motion in a vertical plane around the axis of the transmission shafts 6. Through making the follower and the 3 inside walls butt cooperations of rectangular hole on the lifting member, the follower can drive the lifting member motion in the motion process, simultaneously, along the length direction reciprocating motion of rectangular hole 3 in rectangular hole 3, because the restriction of direction extensible member for the lifting member can only move along the flexible direction of direction extensible member when moving. In the operation process, the driving motor 4 drives the transmission shaft 6 to rotate, the driving motor 4 can realize the reciprocating lifting motion of the lifting piece without reversing, and the lifting piece can be stabilized at the current position by locking after the driving motor 4 stops working. Rotate through transmission shaft 6 and can drive the piece that lifts, and only lift piece self elevating movement at the lift in-process, transmission shaft 6 only rotates on primary importance, makes lifting mechanism's overall structure compacter when guaranteeing that lifting mechanism can move enough strokes, and holistic stability when promoting lifting mechanism operation.

As an alternative embodiment, both ends of the transmission shaft 6 are vertically provided with a connecting rod, the connecting rod is fixedly provided with the following columns 7, the distances between each following column 7 and the corresponding axis of the transmission shaft 6 are equal, and the following columns 7 are correspondingly matched with the elongated holes 3 one by one.

As an alternative embodiment, the lifting member is a lifting bracket, the lifting bracket comprises a horizontally arranged support frame and abutting frames vertically arranged at two sides of the support frame, and the four elongated holes 3 are uniformly arranged on the abutting frames at two sides of the support frame.

As an alternative embodiment, the synchronizing member includes two transmission gears 11 and a mating gear, the two transmission gears 11 are fixedly connected with the two transmission shafts 6 in a one-to-one correspondence manner, the transmission gears 11 are coaxially arranged with the transmission shafts 6, the mating gear is arranged between the pair of transmission gears 11, and the transmission chains 12 are engaged and matched with the mating gear.

Example 2

The invention also provides an AGV trolley which is provided with the AGV lifting mechanism. Install AGV lifting mechanism in the top of AGV dolly body through the mounting panel. Because AGV lifting mechanism compact structure just can carry out the outrigger to the goods, at the AGV dolly in the workshop automatic operation transport goods in-process, can guarantee that the goods can be by the outrigger, and can not lead to the goods to take place to rock because lifting mechanism is shakiness and cause danger.

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 therefrom are within the scope of the invention.