Rotary jacking mechanism for AGV (Automatic Guided Vehicle)

Abstract

The rotary jacking mechanism for the AGV comprises a supporting disc, an inner gear ring is rotationally connected into the supporting disc, the top end face of the inner gear ring is fixedly connected with a tray, a rotary motor and a jacking motor are arranged on the bottom end face of the supporting disc, and an output shaft of the rotary motor is rotationally supported on the supporting disc; an output shaft of the jacking motor is rotatably supported on the supporting disc, a rotating driving tooth is arranged at the end of the output shaft and meshed with the inner gear ring, the output shaft of the jacking motor is rotatably supported on the supporting disc, a jacking driving tooth is arranged at the end of the output shaft and meshed with a jacking driven tooth, and the jacking driven tooth is connected to the top end of the jacking lead screw. The jacking lead screw is rotationally supported on the supporting disc through a bearing, the lower portion of the jacking lead screw is connected with a nut base in a matched mode, the nut base is fixed to a supporting base, the bottom end face of the supporting base is fixedly connected with a frame of the AGV, and two scissor fork mechanisms which are symmetrically distributed are further arranged between the supporting disc and the frame.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of AGV dolly, especially a rotating jacking mechanism for AGV dolly. BACKGROUND

[0002] AGV is Automated Guided Vehicle, and it is a kind of robot for carrying goods, it can realize the automatic transportation of goods or workpiece by special landmark navigation.In many high degree of automation factories and logistics, express delivery company, a large number of AGV dolly will be used.

[0003] When realizing the transportation of workpiece by AGV dolly, AGV dolly needs to make various steering actions in addition to linear motion, and in order to adapt to relatively small space, the steering mechanism of traditional AGV dolly is extremely flexible, and its turning radius is very small, and some AGV dolly can even make the action of rotating in place.

[0004] However, when the traditional AGV dolly moves, the goods carried on it also make corresponding actions, so the posture of goods in the movement process often affects the flexibility of AGV dolly movement, resulting in that the advantage of small radius steering of AGV dolly cannot be fully exerted;Especially when the delivery space is extremely small, AGV dolly needs to move back and forth several times, and after adjusting the posture of goods, the goods can be delivered into the goods space, which seriously affects the work efficiency.

[0005] Therefore, a method or device capable of solving the above problems is needed. UTILITY MODEL CONTENT

[0006] The utility model discloses in order to solve the above insufficient of prior art, propose a kind of simple structure, design ingenious, layout reasonable, the mechanism that can drive tray make jacking action and rotating action relative to frame.

[0007] The technical solution of the utility model is: a rotating jacking mechanism for AGV dolly, characterized by: the mechanism includes the support disc 1 of the cross section of circle, the inner gear ring 2 is rotatably connected in the support disc 1, the top end surface of inner gear ring 2 is fixedly connected with tray 3, the bottom end surface of support disc 1 is provided with rotating motor 4 and jacking motor 5,

[0008] The output shaft of rotating motor 4 is rotatably supported on support disc 1, rotating driving tooth 6 is arranged on the end portion of the output shaft, rotating driving tooth 6 and inner gear ring 2 are engaged with each other,

[0009] The output shaft of the jacking motor 5 is rotatably supported on the support disc 1, and a jacking driving tooth 7 is arranged at the end of the output shaft, the jacking driving tooth 7 is engaged with a jacking driven tooth 8, the jacking driven tooth 8 is connected to the top end of a jacking screw 9, the jacking screw 9 is rotatably supported on the support disc 1 through a bearing, a nut seat 10 is connected to the lower part of the jacking screw 9, the nut seat 10 is fixed on a support base 11, the bottom end surface of the support base 11 is fixedly connected with a frame 12 of the AGV trolley, and two symmetrical scissors mechanisms 13 are arranged between the support disc 1 and the frame 12,

[0010] A limiting step 14 is arranged at the bottom end of the jacking screw 9, the frame 12 and the support base 11 are both provided with a giving hole through which the limiting step 14 passes, and the top end surface of the limiting step 14 can be in contact with the bottom end surface of the nut seat 10.

[0011] Compared with the prior art, the utility model has the advantages of:

[0012] The rotating jacking mechanism for the AGV trolley has the advantages of simple structure, ingenious design and reasonable layout, and can solve the problems of the traditional AGV trolley when conveying workpieces, can drive the tray supporting the workpieces to move longitudinally, can drive the tray to rotate relative to the frame, and can realize the lifting and lowering of the workpieces to complete the picking and placing actions of the workpieces, and the rotating action can adjust the posture of the workpieces (relative to the frame) in space, and the rotating action combined with the advancing action of the AGV trolley can enable the AGV trolley to convey the workpieces into a relatively narrow space and can perform obstacle avoidance during the advancing process, effectively saving the movement space of the AGV trolley and improving the work efficiency. Meanwhile, the rotating jacking mechanism is simple in manufacturing process and low in manufacturing cost, so it has multiple advantages and is particularly suitable for popularization and application in the field, and has a very broad market prospect. BRIEF DESCRIPTION OF DRAWINGS

[0013] Fig. 1 is a schematic diagram of the three-dimensional structure of the embodiment of the utility model (from the top view direction).

[0014] Fig. 2 is a schematic diagram of the three-dimensional structure of the embodiment of the utility model (from the bottom view direction).

[0015] Fig. 3 is a schematic diagram of the working state of the embodiment of the utility model.

[0016] Fig. 4 is a sectional view of the embodiment of the utility model. DETAILED DESCRIPTION

[0017] The specific implementation manner of the utility model will be described below with reference to the drawings. As shown inFigs. 1 to 4 The utility model discloses a rotary jacking mechanism for AGV dolly, it includes the support disc 1 of cross section is round, the inner gear ring 2 of rotation connection is included in support disc 1, and the top end surface of inner gear ring 2 is fixedly connected with tray 3, the bottom end surface of support disc 1 is provided with rotary motor 4 and jacking motor 5,

[0018] The output shaft of rotary motor 4 is rotatably supported on support disc 1, and rotary driving tooth 6 is arranged on the end of the output shaft, rotary driving tooth 6 is meshed with inner gear ring 2,

[0019] The output shaft of jacking motor 5 is rotatably supported on support disc 1, and jacking driving tooth 7 is arranged on the end of the output shaft, jacking driving tooth 7 is meshed with jacking driven tooth 8, jacking driven tooth 8 is connected to the top end of jacking lead screw 9, jacking lead screw 9 is rotatably supported on support disc 1 through bearing, and the lower part of jacking lead screw 9 is matchedly connected with nut seat 10, nut seat 10 is fixed to support base 11, and the bottom end surface of support base 11 is fixedly connected with the frame 12 of AGV dolly, and two symmetrical distribution scissors mechanisms 13 are further arranged between support disc 1 and frame 12,

[0020] The bottom end of jacking lead screw 9 is provided with a limiting step 14, and the bottom end surface of jacking lead screw 9 can contact the bottom end surface of nut seat 10.

[0021] The working process of the rotary jacking mechanism for AGV dolly is as follows: the goods or workpieces to be transported are placed on tray 3, and at this time, the workpieces are completely lifted by AGV dolly, when AGV dolly moves, the workpieces move together, in the initial state, tray 3 is at a relatively high position;

[0022] When AGV dolly moves to the discharging position, after the sensor on AGV dolly is triggered, it is judged that the current position is the discharging position, and the discharging operation should be performed, and then the control module of AGV dolly sends a command to jacking motor 5, jacking motor 5 drives jacking driving tooth 7 to rotate, and then drives jacking driven tooth 8 and jacking lead screw 9 to rotate, because the lower part of jacking lead screw 9 is matchedly connected with nut seat 10, and nut seat 10 is fixedly connected with support base 11 (i.e. fixedly connected with frame 12), therefore, the rotation of jacking lead screw 9 is converted into linear motion along the longitudinal direction, and then drives support disc 1 to descend as a whole, at this time, the workpieces fall on the rack arranged at the discharging position, and are separated from tray 3, and then AGV dolly exits the discharging position, and the transportation and discharging operation of the workpieces are completed; while tray 3 performs the lifting operation, the two scissors mechanisms 13 perform corresponding operations, which can play the role of auxiliary support and stability;

[0023] When the tray 3 needs to drive the workpiece to rotate, the control module sends a command to the rotating motor 4, the rotating motor 4 drives the rotating main gear 6 to rotate, and then drives the inner gear ring 2 meshed with the rotating main gear 6 to rotate relative to the support disc 1, since the tray 3 is fixedly connected with the inner gear ring 2, the above-mentioned action will drive the tray 3 and the workpiece thereon to rotate together, and the rotating angle can be controlled by the output number of revolutions of the rotating motor 4;

[0024] Since the workpiece can rotate 360° in the circumferential direction relative to the frame 12, the AGV trolley installed with the rotating jacking mechanism is very flexible when transporting the workpiece, and can realize more complex actions, for example, when the workpiece needs to be placed in a relatively narrow space, the AGV trolley can drive the workpiece to directly enter the space, after the workpiece is placed, the AGV trolley itself rotates 180° to turn around, the tray 3 in the mechanism rotates adaptively with the rotating action of the AGV trolley, and also rotates 180° relative to the frame 12 (does not move relative to the ground), then the AGV trolley can directly exit from the above-mentioned narrow space;

[0025] Similarly, the mechanism can drive the workpiece to rotate to any angle and stop, cooperate with the movement of the AGV trolley, so as to realize the actions of obstacle avoidance and posture adjustment in the transportation process, so that the AGV trolley can more flexibly and conveniently realize the transportation of the workpiece.

Claims

1. A rotating jacking mechanism for an AGV vehicle, characterized in that: The mechanism comprises a support disc (1) with a circular cross section, an inner gear ring (2) is rotatably connected in the support disc (1), the top end surface of the inner gear ring (2) is fixedly connected with a tray (3), a rotary motor (4) and a jacking motor (5) are arranged on the bottom end surface of the support disc (1), the output shaft of the rotary motor (4) is rotatably supported on the support disc (1), a rotary driving tooth (6) is arranged on the end of the output shaft, the rotary driving tooth (6) is in mesh with the inner gear ring (2), the output shaft of the jacking motor (5) is rotatably supported on the support disc (1), a jacking driving tooth (7) is arranged on the end of the output shaft, the jacking driving tooth (7) is in mesh with a jacking driven tooth (8), the jacking driven tooth (8) is connected to the top end of a jacking lead screw (9), the jacking lead screw (9) is rotatably supported on the support disc (1) through a bearing, a nut seat (10) is connected to the lower part of the jacking lead screw (9), the nut seat (10) is fixed on a support base (11), the bottom end surface of the support base (11) is fixedly connected with a frame (12) of an AGV trolley, two symmetrically distributed scissors mechanisms (13) are further arranged between the support disc (1) and the frame (12), the bottom end of the jacking lead screw (9) is provided with a limiting step (14), the frame (12) and the support base (11) are both provided with a giving hole through which the limiting step (14) passes, and the top end surface of the limiting step (14) can be in contact with the bottom end surface of the nut seat (10).

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