A compact high-torque lifting mechanism and AGV

Abstract

The present invention discloses a compact large torque lifting mechanism and an AGV, the compact large torque lifting mechanism comprises a lifting mechanism body, the up and down directions are defined by the normal use state of the lifting mechanism body, the lifting mechanism body comprises a motor, a lead screw, a lead screw nut and a lifting frame, the lead screw is a hollow structure, the motor is built inside the lead screw, the motor is configured to drive the lead screw to rotate around itself, the lower end of the lead screw can be rotatably connected to the lead screw support seat, the lead screw nut is threadedly connected to the lead screw, and the lifting frame is fixed to the lead screw nut. The present invention has the characteristics of compact structure under the premise of ensuring the output torque, thereby saving the volume of the AGV and greatly improving the utilization rate of the storage space.

Description

Technical Field

[0001] The present invention relates to the technical field of AGVs, and in particular to a compact high-torque lifting mechanism and an AGV. Background Art

[0002] An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guidance device that can transport goods along a specified route and has a safety protection device. It is a logistics equipment widely used in warehousing logistics or production workshops.

[0003] The lifting mechanism is one of the important mechanisms of the AGV vehicle. At present, the lifting mechanism used by the AGV vehicle is large in size and complex in structure in order to meet the torque requirements, which increases the size of the AGV vehicle and affects the utilization rate of the storage space. Therefore, it is urgently needed to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide a compact high-torque lifting mechanism and an AGV in order to solve the problem that the lifting mechanism of the existing AGV vehicle is complex in structure and large in size.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A compact high-torque lifting mechanism includes a lifting mechanism body, and the up and down directions are defined by the normal use state of the lifting mechanism body. The lifting mechanism body includes a motor, a screw, a screw nut and a lifting frame. The screw is a hollow structure, and the motor is built into the interior of the screw. The motor is configured to drive the screw to rotate around itself. The lower end of the screw can be rotatably connected to the screw support seat, the screw nut is threadedly connected to the screw, and the lifting frame is fixed to the screw nut.

[0007] As a preferred solution of the present invention, it also includes a harmonic reducer, which is built into the inside of the screw and located on the upper part of the motor. The output shaft of the motor is transmission-connected to the wave generator of the harmonic reducer, and the flexible wheel end of the harmonic reducer is transmission-connected to the screw.

[0008] As a preferred solution of the present invention, the flexspline end of the harmonic reducer is connected to a flexspline output fixing flange, and the upper end of the lead screw is fixedly connected to the flexspline output fixing flange.

[0009] As a preferred solution of the present invention, the jacking mechanism body also includes a guide limit device, a guide groove is opened on the outer wall of the jacking frame, the guide groove is arranged along the vertical direction, and the guide limit device is located in the guide groove.

[0010] As a preferred solution of the present invention, the guide and limiting device is a cam bearing follower.

[0011] As a preferred solution of the present invention, a motor support frame is arranged in the screw, the lower end of the motor support frame is fixed on the motor fixing seat, the motor is built into the motor support frame, and the motor support frame fixes the motor via a motor fixing flange.

[0012] As a preferred solution of the present invention, the motor support frame is connected to the rigid wheel end of the harmonic reducer through the motor fixing flange.

[0013] As a preferred solution of the present invention, a lifting support plate is connected to the top of the lifting frame, and in an initial state, the upper end surface of the flexible pulley output fixing flange is not higher than the upper end surface of the lifting support plate.

[0014] As a preferred solution of the present invention, the lower end of the lead screw is rotatably connected to the lead screw support seat via a bearing.

[0015] An AGV comprises a lifting mechanism, wherein the lifting mechanism is a compact high-torque lifting mechanism.

[0016] The beneficial effect of the present invention is that, compared with the prior art, the present invention greatly reduces the volume while ensuring the output torque, has the characteristics of compact structure, and can save the volume of AGV, greatly improve the utilization rate of storage space, realize the lifting of large loads by small motors, and reduce energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the cross-sectional structure of a compact high-torque lifting mechanism;

[0018] Figure 2 It is a three-dimensional structural schematic diagram of a compact high-torque lifting mechanism;

[0019] Figure 3 It is a structural schematic diagram of the jacking frame.

[0020] In the figure:

[0021] 1. Motor; 2. Harmonic reducer; 3. Screw; 4. Screw nut; 5. Lifting frame; 6. Motor support frame; 7. Motor fixing seat; 8. Motor fixing flange; 9. Rigid wheel fixing flange; 10. Flexible wheel output fixing flange; 11. Cross roller bearing; 12. Screw support seat; 13. Lifting support plate; 14. Cam bearing follower; 15. Fixing frame; 16. Guide groove. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and through specific implementation methods. It should be understood that the embodiments described herein are only used to explain the present invention, rather than to limit the present invention.

[0023] Embodiment 1

[0024] Please refer to Figures 1 to 3 As shown, Figure 1 It is a schematic diagram of the cross-sectional structure of a compact high-torque lifting mechanism; Figure 2 It is a three-dimensional structural schematic diagram of a compact high-torque lifting mechanism; Figure 3 It is a structural schematic diagram of the jacking frame.

[0025] In this embodiment, a compact high-torque lifting mechanism includes a lifting mechanism body, and the up and down directions are defined by the normal use state of the lifting mechanism body. The lifting mechanism body includes a motor 1, a harmonic reducer 2, a screw 3, a screw nut 4 and a lifting frame 5. The output shaft of the motor 1 is drivingly connected to the wave generator of the harmonic reducer 2. The screw 3 is a hollow structure. The motor 1 is built into the screw 3, the harmonic reducer 2 is built into the screw 3, and the harmonic reducer 2 is located at the upper part of the motor 1. Specifically, a motor support frame 6 is provided in the screw 3, the lower end of the motor support frame 6 is fixed to the motor fixing seat 7, and the upper end of the motor support frame 6 is fixedly connected to a motor fixing flange 8, the motor 1 is built in the motor support frame 6, and the upper end of the motor 1 is connected to the The motor fixing flange 8 is fixedly connected, and the upper end of the motor fixing flange 8 is fixedly connected with a rigid wheel fixing flange 9, and the rigid wheel fixing flange 9 is connected to the rigid wheel end of the harmonic reducer 2, and the flexible wheel end of the harmonic reducer 2 is connected with a flexible wheel output fixing flange 10, the upper end of the lead screw 3 is fixedly connected to the flexible wheel output fixing flange 10, and the lower end of the lead screw 3 is rotatably connected to the lead screw support seat 12 through a cross roller bearing 11, the lead screw nut 4 is threadedly connected to the lead screw 3, the lifting frame 5 is fixed on the lead screw nut 4, and the top end of the lifting frame 5 is connected with a lifting support plate 13, the area of ​​the upper end surface of the lifting support plate 13 is larger than the area of ​​the upper end surface of the lifting frame 5, and in the initial state, the upper end surface of the lifting support plate 13 is flush with the upper end surface of the flexible wheel output fixing flange 10.

[0026] In order to ensure that the lifting frame 5 can move up and down, in this embodiment, the lifting mechanism body also includes a cam bearing follower 14, and the cam bearing follower 14 is installed on the fixed frame 15. A guide groove 16 is opened on the outer wall of the lifting frame 5, and the guide groove 16 is arranged in the vertical direction. The roller of the cam bearing follower 14 is located in the guide groove 16. Furthermore, there are two cam bearing followers 14, which are arranged symmetrically. Correspondingly, two guide grooves 16 are opened on the outer wall of the lifting frame 5.

[0027] The above-mentioned compact high-torque lifting mechanism places the motor 1 inside the screw 3 of the hollow structure. The motor 1 is connected to the harmonic reducer 2, and the screw 3 is driven to rotate through the harmonic reducer 2, thereby driving the screw nut 4 to move up and down, and the screw nut 4 is guided by the cam bearing follower 14, so as to realize the function of lifting goods. Since the harmonic reducer 2 has a large transmission ratio and a small size, the motor 1 and the harmonic reducer 2 can be placed inside the screw 3 of the hollow structure, saving the installation space of the entire lifting mechanism body, thereby reducing the equipment size of the AGV vehicle, thereby increasing the space for placing goods in the logistics warehouse and improving the utilization rate of the storage space.

[0028] This embodiment also discloses an AGV, including a lifting mechanism, wherein the lifting mechanism is a compact high-torque lifting mechanism as described above.

[0029] Embodiment 2

[0030] like Figure 1-Figure 3 As shown, this embodiment provides a compact high-torque jacking mechanism, including a jacking mechanism body, wherein the up and down directions are defined by the jacking mechanism body in a normal use state, and the jacking mechanism body includes a motor 1, a lead screw 3, a lead screw nut 4 and a jacking frame 5.

[0031] Among them, the screw 3 is a hollow structure, and the motor 1 is built into the inside of the screw 3. Specifically, the output shaft of the motor 1 is coaxial with the screw 3. The motor 1 can drive the screw 3 to rotate around itself. The lower end of the screw 3 is rotatably connected to the screw support seat 12. In order to ensure smooth rotation, specifically, the lower end of the screw 3 is rotatably connected to the screw support seat 12 through a bearing 11, the screw nut 4 is threadedly connected to the screw 3, and the jacking frame 5 is fixed on the screw nut 4.

[0032] Specifically, a connecting plate fixedly connected to the inner wall of the lead screw 3 can be provided inside the lead screw 3, and the output shaft of the motor 1 is connected to the connecting plate in a transmission manner. The motor 1 drives the connecting plate to drive the lead screw 3 to rotate, and the lead screw 3 drives the lead screw nut 4 to rotate, thereby driving the lifting frame 5 to move up and down. Since the motor 1 is placed inside the lead screw 3 with a hollow structure, the installation space of the entire lifting mechanism body is saved, thereby increasing the space for placing goods in the logistics warehouse, improving the utilization rate of the storage space, realizing the lifting of a large load by a small motor, and reducing energy consumption.

[0033] Furthermore, in the present embodiment, the compact high-torque lifting mechanism also includes a harmonic reducer 2, which is built into the interior of the lead screw 3, and the harmonic reducer 2 is located on the upper part of the motor 1, the output shaft of the motor 1 is transmission-connected to the wave generator of the harmonic reducer 2, the flexible wheel end of the harmonic reducer 2 is transmission-connected to the lead screw 3, and the harmonic reducer 2 is driven by the motor 1 to drive the lead screw 3 to rotate.

[0034] Specifically, in the present embodiment, the flexible wheel end of the harmonic reducer 2 is connected with a flexible wheel output fixing flange 10, and the upper end of the lead screw 3 is fixedly connected to the flexible wheel output fixing flange 10. The harmonic reducer 2 is driven by the motor 1, which drives the flexible wheel output fixing flange 10 and thus drives the lead screw 3 to rotate. Among them, the harmonic reducer 2 has the characteristics of a large transmission ratio and a small size, which is convenient for being arranged inside the lead screw 3, and can ensure the torque required for the rotation of the lead screw 3. In other embodiments, other types of reducers can also be selected, and no excessive restrictions are made here. By setting the flexible wheel output fixing flange 10, it is convenient for the flexible wheel end of the harmonic reducer 2 to be connected to the lead screw 3.

[0035] Furthermore, the lifting mechanism body also includes a guide limit device, a guide groove 16 is opened on the outer wall of the lifting frame 5, the guide groove 16 is arranged in the vertical direction, and the guide limit device is located in the guide groove 16. Through the above arrangement, the lifting frame 5 can be limited when the lifting frame 5 moves with the lead screw nut 4, ensuring that the lifting frame 5 can only move up and down along the extension direction of the guide groove 16, but cannot rotate, thereby ensuring that the object is stably and reliably lifted and lowered using the compact high-torque lifting mechanism. Specifically, the guide limit device is a cam bearing follower.

[0036] Furthermore, in this embodiment, at least one cam bearing follower 14 is provided. In this way, the limiting effect on the lifting frame 5 can be further improved. Of course, in other embodiments, multiple cam bearing followers 14 can be provided, and the guide grooves 16 are provided one by one with the cam bearing followers 14, and the specific number is not limited too much here.

[0037] Further, a motor support frame 6 is provided in the lead screw 3, the lower end of the motor support frame 6 is fixed on the motor fixing seat 7, the motor fixing seat 7 is fixedly connected to the lead screw support seat 12, the upper portion of the motor support frame 6 is fixedly connected with a motor fixing flange 8, the motor 1 is built into the motor support frame 6, and the motor 1 is fixedly connected to the motor support frame 6 via the motor fixing flange 8. The motor fixing seat 7 and the motor support frame 6 can be integrally formed to ensure the connection strength between the motor support frame 6 and the motor fixing plate 7.

[0038] In this embodiment, the motor 1 and the motor fixing flange 8 are an integrated structure. Since the motor fixing flange 8 is located at the output end of the motor 1, the motor 1 is fixed by setting the motor support frame 6. The weight of the motor 1 and the vibration and force generated during the rotation of the motor 1 are transmitted to the screw support seat 12 through the motor support frame 6 and the motor fixing seat 7. Through the above arrangement, on the one hand, the difficulty of fixing the motor 1 is reduced, the installation of the motor 1 is convenient, and the structure is compact; on the other hand, the vibration and torque generated by the operation of the motor 1 can be attenuated and absorbed through the motor support frame 6, the motor fixing seat 7 and the screw support seat 12, so as to ensure the normal operation of the motor 1.

[0039] Further, the motor support frame 6 is connected to the rigid wheel end of the harmonic reducer 2 through the motor fixing flange 8 to fix the harmonic reducer 2. Specifically, the upper end of the motor fixing flange 8 is fixedly connected with a rigid wheel fixing flange 9, and the rigid wheel fixing flange 9 is connected to the rigid wheel end of the harmonic reducer 2. The harmonic reducer 2 is connected to the motor fixing flange 8 through the rigid wheel fixing flange 9, and thus connected to the motor support frame 6. The mass of the harmonic reducer 2 can be transferred to the support seat of the lead screw 3 through the rigid wheel fixing flange 9, the motor fixing flange 8, the motor support frame 6 and the motor fixing seat 7. Through the above arrangement, on the one hand, the difficulty of fixing and installing the harmonic reducer 2 is reduced, which is convenient for the installation of the harmonic reducer 2, while ensuring a compact structure; on the other hand, the vibration generated by the operation of the harmonic reducer 2 can be attenuated and absorbed through the motor support frame 6, the motor fixing seat 7 and the lead screw support seat 12, ensuring the normal operation of the harmonic reducer 2. The motor fixing flange 8 and the rigid wheel fixing flange 9 can be an integrated structure, which is convenient for installation, reduces the installation process, and ensures the connection strength between the motor fixing flange 8 and the rigid wheel fixing flange 9.

[0040] Furthermore, a lifting support plate 13 is connected to the top of the lifting frame 5, and in the initial state, the upper end surface of the flexible pulley output fixing flange 10 is not higher than the upper end surface of the lifting support plate 13. When an object to be lifted is placed on the upper end surface of the lifting support plate 13, the object to be lifted is in full contact with the upper end surface of the lifting support plate 13, and the relative position is stable, which is convenient for subsequent lifting of the object.

[0041] The above embodiments are only to illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. Without departing from the spirit and scope of the present invention, the present invention may be subjected to various changes and modifications, which are within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims.

Claims

1. A compact high-torque lifting mechanism, comprising a lifting mechanism body, characterized in that: The up and down directions are defined by the normal use state of the lifting mechanism body. The lifting mechanism body includes a motor, a lead screw, a lead screw nut and a lifting frame. The lead screw is a hollow structure. The motor is built into the lead screw. The motor is configured to drive the lead screw to rotate around itself. The lower end of the lead screw is rotatably connected to the lead screw support seat. The lead screw nut is threadedly connected to the lead screw, and the lifting frame is fixed to the lead screw nut; it also includes a harmonic reducer, which is built into the lead screw. The flexible wheel end of the harmonic reducer is connected to a flexible wheel output fixing flange, and the top of the lifting frame is connected to a lifting support plate. In the initial state, the upper end surface of the flexible wheel output fixing flange is not higher than the upper end surface of the lifting support plate; the harmonic reducer is located on the upper part of the motor, and the output shaft of the motor is drivingly connected to the wave generator of the harmonic reducer, and the flexible wheel end of the harmonic reducer is drivingly connected to the lead screw.

2. A compact high-torque lifting mechanism according to claim 1, characterized in that: The lifting mechanism body also includes a guide limit device. A guide groove is opened on the outer wall of the lifting frame. The guide groove is arranged along the vertical direction. The guide limit device is located in the guide groove.

3. A compact high-torque lifting mechanism according to claim 2, characterized in that: The guide limit device is a cam bearing follower.

4. A compact high-torque lifting mechanism according to claim 1, characterized in that: A motor support frame is arranged inside the lead screw, the lower end of the motor support frame is fixed on a motor fixing seat, the motor is built in the motor support frame, and the motor support frame fixes the motor via a motor fixing flange.

5. A compact high-torque lifting mechanism according to claim 4, characterized in that: The motor support frame is connected to the rigid wheel end of the harmonic reducer through the motor fixing flange.

6. A compact high-torque lifting mechanism according to claim 1, characterized in that: The lower end of the lead screw is rotatably connected to the lead screw support seat through a bearing.

7. An AGV, characterized in that: It comprises a lifting mechanism, and the lifting mechanism is a compact high-torque lifting mechanism according to any one of claims 1 to 6.

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