Power wheel driving type lifting column and AGV lifting system applying same

Abstract

The utility model relates to the technical field of AGV (Automatic Guided Vehicle) manufacturing, in particular to a power wheel driving type lifting column and an AGV lifting system applying the same. The power wheel driving type lifting column comprises a base, a screw and nut transmission assembly, a synchronizing wheel, a rotary resistance reducing assembly and a rotation stopping sleeve. And the transmission nut is sleeved in the cavity of the base. The rotary resistance reducing assembly is used for being matched with a transmission nut and is assembled in the cavity of the base. The power wheel is used for driving the transmission nut. The rotation stopping sleeve and the transmission screw are sleeved and fixed into a whole, the freedom degree of circumferential rotation motion of the transmission screw is limited, and only the freedom degree of axial displacement motion is reserved. Therefore, on one hand, the power wheel driving type lifting column is simple in design structure, few in transmission component and compact in structure; and on the other hand, the power wheel driving type lifting column has good transmission efficiency and has the self-locking characteristic, and it means that the power wheel loses the rotating torque effect, and the object carrying platform can also be maintained at the initial height position.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV carrier manufacturing, in particular to a power wheel-driven lifting column and an AGV lifting system applying the same. Background Art

[0002] According to the definition of Japanese JISD6801: an AGV carrier is an automatically operated industrial vehicle powered by a battery. The running path and destination of the AGV carrier can be controlled by a management program, and it has strong maneuverability.

[0003] In modern manufacturing, the efficiency and intelligence level of the logistics link have a crucial impact on production efficiency. When facing high-intensity and high-beat handling tasks, a certain manufacturer decided to introduce an AGV carrier with a lifting function. Based on AMR vehicle management, traffic conditions, and transportation task instructions, the system can achieve efficient transportation flow optimization. In terms of the current industry situation, the common structures of AGV lifting platforms include: chain drive lifting type, hydraulic cylinder lifting type, rack and pinion lifting type, etc. However, there are various problems in the production or specific application, specifically: the design structure of the chain drive lifting type is relatively complex, with high noise, and it is not suitable for AGV carriers with limited internal space; the hydraulic lifting type has a risk of oil leakage, and it is difficult to ensure the synchronism of the lifting movement when multiple hydraulic cylinders lift synchronously, and it has extremely high requirements for the hydraulic system and components, and it is also not suitable for AGV carriers with a compact structure; the rack and pinion lifting type has a complex structure, but its lifting capacity is weak. Therefore, it is urgent for technical personnel to solve the above problems. Summary of the Utility Model

[0004] Therefore, in view of the above existing problems and defects, the designers of the present utility model collected relevant materials, through multi-party evaluation and consideration, and through continuous experiments and modifications by technical personnel with many years of R & D experience in this industry, finally led to the emergence of the power wheel-driven lifting column.

[0005] In order to solve the above technical problems, the present utility model relates to a power wheel-driven lifting column, which includes a base, a screw-nut transmission assembly, a synchronous wheel, a rotary resistance reduction assembly, and a rotation stop sleeve. The screw-nut transmission assembly is composed of a transmission screw and a transmission nut. The transmission nut is sleeved in the cavity of the base. The rotary resistance reduction assembly is used to match the transmission nut, and it is assembled in the cavity of the base. The power wheel is used to provide a rotational torque support for the continuous circumferential rotational movement of the transmission nut, and its central axis coincides with the central axis of the transmission nut. The rotation stop sleeve is sleeved on and fixed to the transmission screw, and the circumferential rotational movement freedom of the transmission screw is restricted, and only the axial displacement movement freedom is retained.

[0006] As a further improvement of the technical solution disclosed by the present utility model, the base is preferably a split design structure, which includes a seat body and an end cover that are detachably assembled into one body. At a set height position, the inner side wall of the seat body extends inward to form a first annular blocking flange. The rotation resistance reduction assembly includes a first bearing, an inner spacer, an outer spacer, and a second bearing. The first bearing and the second bearing are both nested in the cavity of the seat body, and the two are spaced by means of the inner spacer and the outer spacer. During the circumferential rotation movement of the transmission nut, the first bearing and the second bearing perform rotational movement synchronously. The first bearing and the second bearing respectively abut against the first annular blocking flange and the end cover, and the axial displacement movement freedom of the rotation resistance reduction assembly is limited to zero.

[0007] As a further improvement of the technical solution disclosed by the present utility model, the rotation resistance reduction assembly further includes a shaft sleeve. The shaft sleeve is sleeved on the transmission nut and is detachably fixed into one body by means of a first screw. Along its length direction, the transmission nut is sequentially composed of a large-diameter section and a small-diameter section. A plurality of first mounting through holes for the first screw to pass through are provided on the large-diameter section. Correspondingly, a plurality of first internal threaded holes for the first screw to be screwed into are provided on the end face of the shaft sleeve. The first bearing and the second bearing are both directly sleeved on the small-diameter section. The large-diameter section abuts against the shaft sleeve and continues to extend outwards by a set distance, and the axial displacement movement freedom of the first bearing is limited. At a set height position, the outer side wall of the shaft sleeve extends outwards to form a second annular blocking flange for limiting the axial displacement movement freedom of the second bearing.

[0008] As a further improvement of the technical solution disclosed by the present utility model, the power wheel-driven lifting column further includes a second screw. The power wheel and the shaft sleeve are sleeved together and are detachably fixed into one body by means of a plurality of second screws. A plurality of second mounting through holes for the second screw to pass through are provided on the power wheel. Correspondingly, a plurality of second internal threaded holes for the second screw to be screwed into are provided on the other end face of the shaft sleeve.

[0009] Furthermore, the present utility model also discloses an AGV lifting system, which includes a load platform, a synchronous belt transmission mechanism, and a jacking and lifting unit. The jacking and lifting unit includes 4 of the above-mentioned power wheel-driven lifting columns that cooperate to lift the load platform. The synchronous belt transmission mechanism is matched with the jacking and lifting unit. The 4 power wheel-driven lifting columns are actuated due to the action of the rotational torque, and the respective transmission screws synchronously perform axial displacement movement.

[0010] As a further improvement to the technical solution disclosed by the present utility model, the synchronous belt drive mechanism includes a load-bearing plate, 1 driving synchronous pulley, 4 driven synchronous pulleys, 1 synchronous belt, and 1 reduction motor. The load-bearing plate is fixed integrally with the chassis of the AGV carrier. The reduction motor is used to drive the driving synchronous pulley to perform circumferential rotational motion, and it takes the load-bearing plate as the installation basis. The synchronous belt is driven by the driving synchronous pulley. The driven synchronous pulleys equivalently replace the power wheels, and they synchronously perform circumferential rotational motion under the action of the rotational torque transmitted via the synchronous belt.

[0011] As a further improvement to the technical solution disclosed by the present utility model, the synchronous belt drive mechanism further includes a tension pulley assembly. Under the continuous action of the tension pulley assembly, the tension force of the synchronous belt is maintained within a reasonable value range.

[0012] The working principle of the power-wheel-driven lifting column disclosed by the present utility model is generally as follows: The screw-nut transmission assembly uses a transmission screw and a transmission nut to transmit motion, which is a mechanical transmission that converts rotational motion into linear motion. The power wheel and the transmission nut synchronously and continuously perform circumferential rotational motion under the action of the rotational torque, and the rotational motion of the transmission nut is converted into the linear motion of the transmission screw. Multiple transmission screws cooperate to enable the load-carrying platform to perform lifting motion, which is conducive to realizing the automatic loading and unloading operations of goods.

[0013] In practical applications, the power-wheel-driven lifting column disclosed by the present utility model can at least achieve the following beneficial technical effects:

[0014] 1) The power-wheel-driven lifting column has a simple design structure, few transmission components, and a compact structure, with extremely high transmission reliability and stability, and is conducive to its small-space assembly with the vehicle frame;

[0015] 2) Due to the design characteristics of the transmission screw and the transmission nut, the power-wheel-driven lifting column has good transmission efficiency and a self-locking characteristic, which means that when the power wheel loses the action of the rotational torque, the load-carrying platform can also be maintained at the initial height position. On the one hand, it ensures the smoothness and safety of goods transportation; on the other hand, it is conducive to reducing the energy consumption required by the power-wheel-driven lifting column and facilitating the realization of the energy-saving and emission-reduction design goal;

[0016] 3) The transmission screw has good stiffness and good axial load capacity, which can effectively avoid the occurrence of structural problems of the power-wheel-driven lifting column itself caused by overloading. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a three-dimensional schematic diagram of the AGV lifting system disclosed in the present invention.

[0019] Figure 2 It is also a three-dimensional schematic diagram of the AGV lifting system disclosed in the present invention (in the state where the load-carrying plate is hidden).

[0020] Figure 3 It is a three-dimensional schematic diagram of one perspective of the synchronous belt drive mechanism in the AGV lifting system disclosed in the present invention (in the state where it is assembled with the lifting and supporting unit).

[0021] Figure 4 It is a three-dimensional schematic diagram of another perspective of the synchronous belt drive mechanism in the AGV lifting system disclosed in the present invention (in the state where it is assembled with the lifting and supporting unit).

[0022] Figure 5 It is a three-dimensional schematic diagram of the power wheel-driven lifting column disclosed in the present invention.

[0023] Figure 6 is Figure 5 the top view of.

[0024] Figure 7 is Figure 6 the A-A cross-sectional view of.

[0025] Figure 8 is Figure 7 the partial enlarged view I of.

[0026] Figure 9 is Figure 7 the partial enlarged view II of.

[0027] Figure 10 It is a three-dimensional schematic diagram of the seat body in the power wheel-driven lifting column disclosed in the present invention.

[0028] Figure 11 It is a three-dimensional schematic diagram of the transmission nut in the power wheel-driven lifting column disclosed in the present invention (the transmission screw assembled with it is schematically shown in double-dashed lines).

[0029] Figure 12 It is a three-dimensional schematic diagram of one perspective of the shaft sleeve in the power wheel-driven lifting column disclosed in the present invention.

[0030] Figure 13 It is a three-dimensional schematic diagram of another perspective of the central sleeve of the power wheel-driven lifting column disclosed by the present utility model.

[0031] 1 - Load platform; 11 - Load rack; 2 - Synchronous belt drive mechanism; 21 - Load-bearing plate; 22 - Driving synchronous pulley; 23 - Driven synchronous pulley; 24 - Guide pulley; 25 - Synchronous belt; 26 - Reduction motor; 27 - Tensioning wheel assembly; 271 - Tensioning wheel; 3 - Lifting and supporting unit; 31 - Power wheel-driven lifting column; 311 - Base; 3111 - Seat body; 31111 - First annular retaining flange; 3112 - End cover; 312 - Screw-nut transmission assembly; 3121 - Transmission screw; 3122 - Transmission nut; 31221 - Large-diameter section; 312211 - First mounting through-hole; 31222 - Small-diameter section; 313 - Rotation resistance reduction assembly; 3131 - First bearing; 3132 - Inner spacer; 3133 - Outer spacer; 3134 - Second bearing; 3135 - Sleeve; 31351 - First internal threaded hole; 31352 - Second annular retaining flange; 31353 - Second internal threaded hole; 314 - Anti-rotation sleeve; 315 - First screw; 316 - Second screw. Specific embodiments

[0032] The following further elaborates on the content of the present utility model in detail in combination with specific embodiments. Figure 1 、 Figure 2 Three-dimensional schematic diagrams of two different states of the AGV lifting system disclosed in the present utility model are respectively shown. It can be seen that it mainly consists of a load platform 1, a synchronous belt drive mechanism 2, and a lifting and supporting unit 3, etc. Among them, the lifting and supporting unit 3 includes 4 lifting columns, which cooperate to lift the load platform 1 in the height direction. The synchronous belt drive mechanism 2 is matched with the lifting and supporting unit. The 4 lifting columns act synchronously under the action of the rotational torque, and the load platform 1 can perform the lifting and lowering movement.

[0033] Such as Figure 3 、 4As shown in the figure, the synchronous belt drive mechanism 2 includes a load-bearing plate 21, one driving synchronous pulley 22, four driven synchronous pulleys 23, four guide pulleys 24, one synchronous belt 25, one reduction motor 26, and a set of tensioning pulley assemblies 27. The load-bearing plate 21 is detachably fixed to the chassis of the AGV carrier. The reduction motor 26 is used to drive the driving synchronous pulley 22 to perform a circumferential rotational motion, and it takes the load-bearing plate 21 as the installation base. The synchronous belt 25 is driven by the driving synchronous pulley 22. The guide pulleys 24 are used in pairs with the driven synchronous pulleys 23, and they are used to control the motion trajectory of the synchronous belt 25 and prevent deviation. The driven synchronous pulleys 23 perform circumferential rotational motions synchronously under the action of the rotational torque transmitted through the synchronous belt 25. The tensioning pulley assembly 27 is arranged on one side of the driving synchronous pulley 22, and its main structural body is a tensioning pulley 271. Under the continuous action of the tensioning pulley 271, the tension of the synchronous belt 25 is maintained within a reasonable value range. And the tensioning pulley 271 is designed to be adjustable. In practical applications, when it is necessary to adjust the tension of the synchronous belt 25, only need to drag the tensioning pulley 271 to perform a planar displacement motion until the tension of the synchronous belt 25 meets the design requirements. The whole operation process is convenient and efficient.

[0034] It is known that the lifting column can adopt a designed structure to realize the lifting and jacking of the load platform 1. However, here a power wheel-driven lifting column 31 with economic practicality, compact space, low noise, high transmission efficiency, low failure rate and convenient maintenance is recommended. The specific designed structure is as follows: As Figure 5 、 6 、as shown in Figure 7, the power wheel-driven lifting column 31 is mainly composed of a base 311, a screw-nut transmission assembly 312, a power wheel (equivalent to replacing the above-mentioned driven synchronous pulley 23), a rotary drag reduction assembly 313, and a rotation stop sleeve 314, etc. Among them, the screw-nut transmission assembly 312 is composed of a transmission screw 3121 and a transmission nut 3122 that are engaged by means of a thread pair. The transmission nut 3122 is sleeved in the cavity of the base 311. The rotary drag reduction assembly 313 is used to match the transmission nut 3122, and it is assembled in the cavity of the base 311. The driven synchronous pulley 23 is used to provide rotational torque support for the continuous circumferential rotational motion of the transmission nut 3122, and its central axis coincides with the central axis of the transmission nut 3122. The rotation stop sleeve 314 is sleeved on and fixed to the transmission screw 3121, and the circumferential rotational freedom of the transmission screw 3121 is restricted, and only the axial displacement freedom is retained.

[0035] The working principle of the power wheel-driven lifting column 31 disclosed by the present utility model is generally as follows: The screw-nut transmission assembly 312 uses a transmission screw 3121 and a transmission nut 3122 to transmit motion, which is a mechanical transmission that converts rotational motion into linear motion. The driven synchronous pulley 23 and the transmission nut 3122 continuously perform circumferential rotational motion synchronously under the action of the rotational torque, and the rotational motion of the transmission nut 3122 is converted into the linear motion of the transmission screw 3121. Multiple transmission screws 3121 cooperate to enable the load platform 1 to perform lifting motion, which is conducive to realizing the automatic loading and unloading operations of goods.

[0036] By adopting the above technical solutions, on the one hand, the design structure of the power wheel-driven lifting column 31 is simple, with fewer transmission components and a compact structure, having extremely high transmission reliability and stability, and being conducive to its small-space assembly with the vehicle frame; on the other hand, due to the design characteristics of the transmission screw 3121 and the transmission nut 3122, the power wheel-driven lifting column 31 has good transmission efficiency and a self-locking characteristic, that is, it means that even if the driven synchronous pulley 23 loses the action of the rotational torque, the load platform 1 can still be maintained at the initial height position. On the one hand, it ensures the smoothness and safety of goods transportation; on the other hand, it is conducive to reducing the energy consumption required by the power wheel-driven lifting column 31 and facilitating the realization of the energy-saving and emission-reduction design goal;

[0037] Here, it should also be noted that the transmission screw 3121 has good stiffness and good axial load capacity, which can effectively avoid the occurrence of structural problems of the power wheel-driven lifting column 31 itself caused by overloading.

[0038] For the considerations of reducing the non-working running resistance of the transmission nut 3122 and improving the transmission efficiency of the screw-nut transmission assembly 312, as a further optimization of the above technical solutions, as shown in Figure 5 、 6 、7, the base 311 is preferably a split design structure, which includes a seat body 3111 and an end cover 3112 that are detachably assembled into one body. At a set height position, the inner side wall of the seat body 3111 extends inward to form a first annular blocking flange 31111 (as shown in Figure 10As shown in the figure. The rotation resistance reduction assembly 313 is mainly composed of a first bearing 3131, an inner spacer 3132, an outer spacer 3133, a second bearing 3134 and other parts. Among them, the first bearing 3131 and the second bearing 3134 are both nested in the cavity of the seat body 3111, and the two are spaced by means of the inner spacer 3132 and the outer spacer 3133. During the circumferential rotation movement of the drive nut 3122, the first bearing 3131 and the second bearing 3134 perform rotary movements synchronously. The first bearing 3131 and the second bearing 3134 respectively abut against the first annular abutting flange 31111 and the end cover 3112 one by one, and the degree of freedom of axial displacement movement of the rotation resistance reduction assembly 313 is limited to zero.

[0039] consisting of Figure 5 , 6 As can also be clearly seen from Fig. 7, the rotation resistance reduction assembly 313 is also provided with a bushing 3135. The bushing 3135 is sleeved on the drive nut 3122 and is detachably fixed as a whole by means of the first screw 315. Along its length direction, the drive nut 3122 is sequentially composed of a large-diameter section 31221 and a small-diameter section 31222 (as shown in Figure 11 ). A plurality of first mounting through holes 312211 for the first screw 315 to pass through are provided on the large-diameter section 31221. Correspondingly, a plurality of first internal threaded holes 31351 for the first screw 315 to be screwed into are provided on the end face of the bushing 3135. Under the combined action of the inner spacer 3132 and the outer spacer 3133, the first bearing 3131 and the second bearing 3134 are sleeved on the small-diameter section 31222 at a set distance. The large-diameter section 31221 is in contact with the bushing 3135 and continues to extend outward by a set distance, and the degree of freedom of axial displacement movement of the first bearing 3131 is limited (as shown in Figure 8 ). At a set height position, the outer side wall of the bushing 3135 extends outward to form a second annular abutting flange 31352 for limiting the degree of freedom of axial displacement movement of the second bearing 3134 (as shown in Figure 9 ). The bushing 3135 is made of a material with lower hardness and better wear resistance. The bushing 3135 is in interference fit with the first bearing 3131 and the second bearing 3134, and is in clearance fit with the drive nut 3122. In this way, the phenomenon that the service life of the drive nut 3122 is shortened due to direct wear from the first bearing 3131 and the second bearing 3134 can be effectively avoided. However, no matter what, it is still impossible to avoid the wear of the bushing 3135, but the bushing 3135 is easier to process and form than the drive nut 3122.

[0040] Similarly, as shown in Figure 5 , 6, as shown in 7, the power wheel-driven lifting column 31 is further provided with a second screw 316. The driven synchronous wheel 23 and the shaft sleeve 3135 are sleeved together and are detachably fixed as a whole by means of a plurality of second screws 316. A plurality of second mounting through holes (not shown in the figure) for the second screws 316 to pass through are provided in the driven synchronous wheel 23. Correspondingly, a plurality of second internal threaded holes 31353 into which the second screws 316 are screwed are provided on the other end surface of the shaft sleeve 3135 (as shown in Figure 13 ).

[0041] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A power wheel driven lifting column, characterized in that: It includes a base, a screw-nut transmission assembly, a power wheel, a rotational resistance reduction assembly and a stop sleeve; the screw-nut transmission assembly consists of a transmission screw and a transmission nut; the transmission nut is sleeved in the cavity of the base; the rotational resistance reduction assembly is used to match the transmission nut, which is assembled in the cavity of the base; the power wheel is used to provide rotational torque support for the continuous circumferential rotational motion of the transmission nut, and its central axis coincides with the central axis of the transmission nut; the stop sleeve is sleeved on the transmission screw and fixed as a whole, so that the circumferential rotational motion freedom of the transmission screw is restricted, and only the axial displacement motion freedom is retained.

2. The power wheel driven lifting column according to claim 1, characterized in that The base is a split design structure, which includes a seat body and an end cover that can be detachably assembled into one body; at a set height position, the inner side wall of the seat body extends inward to form a first annular stop flange; the rotational resistance reduction component includes a first bearing, an inner spacer, an outer spacer and a second bearing; the first bearing and the second bearing are both nested in the cavity of the seat body, and the two are spaced by the inner spacer and the outer spacer; in the process of the transmission nut performing circumferential rotation motion, the first bearing and the second bearing synchronously perform rotational motion; the first bearing and the second bearing respectively correspond to the first annular stop flange and the end cover, and the axial displacement movement freedom of the rotational resistance reduction component is limited to zero.

3. The power wheel driven lifting column according to claim 2, characterized in that The rotary resistance reduction component also includes a sleeve; the sleeve is fitted with the transmission nut and is detachably fixed as a whole by means of a first screw; along its length direction, the transmission nut is sequentially composed of a large diameter section and a small diameter section; a first mounting through hole for a plurality of the first screws to pass through is provided on the end face of the large diameter section, and a first internal threaded hole for a plurality of the first screws to be screwed in is provided on the sleeve in a relative position; the first bearing and the second bearing are both directly fitted on the small diameter section; the large diameter section is in contact with the sleeve and continues to extend outward by a set distance, so that the axial displacement movement freedom of the first bearing is restricted; at a set height position, the outer wall of the sleeve extends outward to form a second annular stop flange for limiting the axial displacement movement freedom of the second bearing.

4. The power wheel driven lifting column according to claim 3, characterized in that , also includes a second screw; the power wheel and the shaft sleeve are fitted together and are detachably fixed as a whole by means of a plurality of the second screws; a plurality of second mounting through holes for the second screws to pass through are opened on the other end face of the power wheel, and relatively speaking, a plurality of second internal threaded holes for the second screws to be screwed into are opened on the shaft sleeve.

5. An AGV lifting system, characterized in that: It includes a loading platform, a synchronous belt transmission mechanism and a lifting and supporting unit; the lifting and supporting unit includes four power wheel driven lifting columns as described in any one of claims 1 to 4 and which cooperate to lift the loading platform; the synchronous belt transmission mechanism is matched with the lifting and supporting unit, and the four power wheel driven lifting columns are actuated by the rotational torque, so that the transmission screws belonging to each of them can synchronously perform axial displacement movements.

6. The AGV lifting system according to claim 5, characterized in that The synchronous belt transmission mechanism includes a load-bearing plate, an active synchronous wheel, four driven synchronous wheels, a synchronous belt and a reduction motor; the load-bearing plate is fixed as a whole with the chassis of the AGV transporter; the reduction motor is used to drive the active synchronous wheel to perform circumferential rotational motion, and it uses the load-bearing plate as an installation base; the synchronous belt is driven by the active synchronous wheel; the driven synchronous wheel replaces the power wheel in position, and it performs circumferential rotational motion synchronously due to the rotational torque transmitted through the synchronous belt.

7. The AGV lifting system according to claim 6, characterized in that The synchronous belt transmission mechanism also includes a tensioning wheel assembly; under the continuous action of the tensioning wheel assembly, the tensioning force of the synchronous belt can be maintained within a reasonable value range.

Images