CN106737640B - Lifting type positioning pin device - Google Patents
Lifting type positioning pin device Download PDFInfo
- Publication number
- CN106737640B CN106737640B CN201611249509.5A CN201611249509A CN106737640B CN 106737640 B CN106737640 B CN 106737640B CN 201611249509 A CN201611249509 A CN 201611249509A CN 106737640 B CN106737640 B CN 106737640B
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- main body
- driving mechanism
- groove
- connecting rod
- rod
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- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 40
- 230000002441 reversible effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract description 4
- 238000012545 processing Methods 0.000 abstract description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/108—Bearings specially adapted therefor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a lifting type positioning pin device which comprises a guide main body, a positioning pin main body arranged in the guide main body and a driving mechanism with an output rotating shaft, wherein the driving mechanism is connected with the positioning pin main body through a swinging rod, one end of the swinging rod is sleeved on the output rotating shaft of the driving mechanism in a relatively fixed manner in the circumferential direction, and the other end of the swinging rod is provided with a strip-shaped sliding groove; the locating pin main body is inserted with a connecting rod, and one end of the connecting rod is embedded into and limited in the chute of the swing rod; the guide main body is provided with a strip-shaped through groove for the connecting rod to pass through. According to the invention, the driving mechanism, the positioning pin main body and the guiding main body with the guiding function are connected through the swing rod, so that the stability of the lifting movement of the positioning pin main body in the using process can be effectively ensured; the use of a reset spring, a gear and other fine components which are easy to damage is avoided, the structure of the device is greatly simplified, the requirements of the part processing technology and the installation difficulty are reduced, and the production cost is reduced.
Description
Technical Field
The invention relates to the technical field of positioning tools, in particular to a lifting type positioning pin device.
Background
An automated guided vehicle (AGV, automated Guided Vehicle) is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of traveling along a predetermined guidance path, having safety protection and various transfer functions, and belongs to the category of wheeled mobile robots. In a site where a material is required to be transferred in a factory or the like, an AGV and a material rack are connected through a lifting pin device arranged on the AGV. In the use, on the one hand, the lifting pin device needs to meet the requirements on the use precision and stability of an AGV, and on the other hand, in order to facilitate popularization and application, the conditions of easy processing, assembly and installation are met as much as possible.
The Chinese patent with publication number CN103753516A and publication date 2014, 4 and 30 discloses a lifting pin device, which comprises a base, a guide main body arranged on the base, a spring sleeved on the outer wall of the guide main body, a sliding sleeve sleeved on the outer wall of the guide main body, a balance ring sleeved on the outer wall of the guide main body, a lifting pin body arranged in the guide main body, a driving device and a screw rod arranged on the base; the lifting pin body is connected with the balance ring, the balance ring is located under the sliding sleeve and movably connected with the sliding sleeve, the screw rod penetrates through the sliding sleeve and is in threaded connection with the sliding sleeve, one end of the spring is connected with the sliding sleeve, and the other end of the spring is connected with the base. The device is applied to solve the problems that the lifting pin body is easy to damage and the stress is unbalanced. However, the lifting pin device has a complex structure, is difficult to install, and has high requirements on the part process, so that the cost of the device is high.
Disclosure of Invention
The invention aims to provide the lifting type positioning pin device which is simple and reasonable in structure and easy to assemble, and can ensure stable operation and reduce production cost.
In order to achieve the above purpose, the lifting type positioning pin device provided by the invention comprises a guide main body, a positioning pin main body arranged in the guide main body and a driving mechanism with an output rotating shaft, wherein the driving mechanism is connected with the positioning pin main body through a swinging rod, one end of the swinging rod is fixedly sleeved on the output rotating shaft of the driving mechanism in a circumferential direction relatively, and the other end of the swinging rod is provided with a strip-shaped sliding groove; the locating pin main body is inserted with a connecting rod, and one end of the connecting rod is embedded into and limited in the chute of the swing rod; the guide main body is provided with a strip-shaped through groove for the connecting rod to pass through.
Preferably, the guide body has a hollow cylindrical structure, and the through groove of the guide body extends along the axial direction of the guide body.
Preferably, the end part of the connecting rod connected with the swing rod is sleeved with a ball bearing, and the ball bearing is embedded and limited in a chute of the swing rod.
Preferably, the lifting type positioning pin device further comprises a main body frame, wherein the main body frame comprises a top plate and a middle through type outer cylinder connected with the top plate, and a connecting plate for installing a driving mechanism is connected to the outer side wall of the outer cylinder; the outer cylinder is sleeved outside the guide main body and is provided with a strip-shaped through groove for the connecting rod to pass through, and the through groove of the outer cylinder extends along the axial direction of the outer cylinder; and a through hole for the top of the locating pin main body to pass through is formed in the top plate.
Preferably, one side of the connecting plate is provided with the swing rod, and the other side of the connecting plate is provided with a positioning pin main body and a driving mechanism connected to the connecting plate through bolts; the connecting plate is provided with a strip-shaped through groove for the connecting rod to pass through, and the through groove of the connecting plate extends along the lifting movement path of the connecting rod; the connecting plate is provided with a through hole for the output rotating shaft of the driving mechanism to pass through.
Preferably, the lifting type positioning pin device further comprises a proximity detection mechanism, the proximity detection mechanism comprises at least two proximity sensors and detection bolts connected to the positioning pin body, and the proximity sensors are arranged corresponding to two ends of lifting movement strokes of the detection bolts.
The connecting rod traverses the locating pin main body, one end of the connecting rod is connected with the swing rod, and the other end of the connecting rod is provided with the detection bolt.
Preferably, the lifting type positioning pin device further comprises a proximity detection mechanism, wherein the proximity detection mechanism comprises at least two proximity sensors and detection bolts connected to the positioning pin main body, and the proximity sensors are arranged corresponding to two ends of lifting movement strokes of the detection bolts; the detection support used for installing the proximity sensor is further connected to the outer side wall of the outer cylinder, a strip-shaped through groove is formed in the detection support, the through groove of the detection support extends along the lifting movement path of the detection bolt, and the proximity sensor is locked on the through groove of the detection support through a nut.
Preferably, a pin key position is arranged on the output rotating shaft of the driving mechanism, and the pin key position is matched with a pin hole arranged at the end part of the swing rod so as to realize the relative fixation of the output rotating shaft of the driving mechanism and the end part of the swing rod.
Preferably, the driving mechanism is a forward and reverse rotation motor.
According to the lifting type locating pin device provided by the technical scheme, the driving mechanism is connected with the locating pin main body and the guide main body with the guide function through the swing rod, so that the driving mechanism pulls the connecting rod through the swing rod, the locating pin main body is driven to move up and down, the connection between the components is compact, and the stability of the lifting motion of the locating pin main body in the using process can be effectively ensured; compared with the prior art, the device has the advantages that the use of the screw rod, the gear and other fine components which are easy to consume is avoided, the structure of the device is greatly simplified, the processing technology requirements and the installation difficulty of parts are reduced, and therefore the production cost is reduced.
Drawings
FIG. 1 is a schematic perspective view of a lift pin assembly of the present invention;
FIG. 2 is an exploded view of a part of the structure of the lift pin assembly of the present invention;
FIG. 3 is another perspective view of the lift pin assembly of the present invention;
FIG. 4 is a side view of the lift pin assembly of the present invention;
FIG. 5 is a schematic view of the cross-sectional structure A-A of FIG. 4.
The device comprises a 1-guiding main body, a 2-positioning pin main body, a 3-driving mechanism, a 4-swing rod, a 5-connecting rod, a chute of a 6-swing rod, a through groove of a 7-guiding main body, an 8-ball bearing, a 9-main body frame, a 10-top plate, an 11-outer cylinder, a 12-connecting plate, a 13-outer cylinder, a 14-connecting plate, a 15-proximity sensor, a 16-detection bolt, a 17-detection bracket and a 18-detection bracket.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Referring to fig. 1-5, the lifting type positioning pin device provided by the invention comprises a guiding main body 1, a positioning pin main body 2 arranged in the guiding main body 1, and a driving mechanism 3 with an output rotating shaft. In this embodiment, the driving mechanism 3 employs a forward/reverse motor. The driving mechanism 3 is connected with the positioning pin main body 2 through the swing rod 4, one end of the swing rod 4 is sleeved on an output rotating shaft of the driving mechanism 3 in a relatively fixed mode in the circumferential direction, specifically, a pin key position is arranged on the output rotating shaft of the driving mechanism 3, and the pin key position is matched with a pin hole formed in the end portion of the swing rod so as to achieve the relatively fixed mode of the output rotating shaft of the driving mechanism and the end portion of the swing rod. The other end of the swing rod 4 is provided with a strip-shaped chute; the locating pin main body 2 is inserted with a connecting rod 5, and one end of the connecting rod 5 is embedded into and limited in a chute 6 of the swing rod. The guide main body is provided with a strip-shaped through groove for the connecting rod to pass through. Based on the scheme, the driving mechanism 3, the locating pin main body 2 and the guide main body 1 with the guide function are connected through the swing rod 4, so that the driving mechanism 3 pulls the connecting rod 5 through the swing rod 4, the locating pin main body 2 is driven to move up and down, the connection between the components is compact, and the stability of the lifting movement of the locating pin main body in the use process can be effectively ensured; compared with the prior art, the device has the advantages that the use of the screw rod, the gear and other fine components which are easy to consume is avoided, the structure of the device is greatly simplified, the processing technology requirements and the installation difficulty of parts are reduced, and therefore the production cost is reduced.
Referring to fig. 2, the guide body 1 has a hollow cylindrical structure, and the through groove 7 of the guide body extends along the axial direction of the guide body to limit the moving path of the connecting rod 5. One end of the connecting rod 5 inserted on the locating pin main body 2 passes through the through groove 7 of the guide main body and is embedded and limited in the chute 6 of the swing rod. The guide main body 1 is sleeved outside the positioning pin main body 2, and limits the positioning pin main body 2, so that the positioning pin main body 2 only has the axial movement freedom degree relative to the guide main body 1.
Referring to fig. 2 and 5, the end of the connecting rod 5 connected with the swing rod 4 is sleeved with a ball bearing 8, and the ball bearing 8 is embedded and limited in the sliding groove 6 of the swing rod. By installing the ball bearing 8 at the end of the connecting rod 5, the end of the connecting rod 5 can freely rotate in the chute 6 of the swing rod, so that the energy loss and mechanical damage caused by sliding friction between the end of the connecting rod 5 and the through groove are avoided, and the connection between the end of the connecting rod 5 and the through groove is more flexible. The end part of the connecting rod 5 is provided with a pin key or a clamp spring protrusion matched with a concave position on the ball bearing 8, or the end part of the connecting rod 5 is provided with a concave position matched with the pin key on the ball bearing 8, so that the end part of the connecting rod 5 and the ball bearing 8 are positioned relatively in the circumferential direction.
When the lifting type locating pin device is operated, the swing rod 4 is driven by the driving mechanism 3 to perform forward and reverse reciprocating rotary motion, so that the connecting rod 5 with the end part embedded in the sliding groove 6 of the swing rod is pulled to perform up and down reciprocating lifting motion along the through groove 7 of the guiding main body, and the connecting rod 5 drives the locating pin main body 2 to perform lifting motion along the axial direction of the guiding main body. The driving mechanism 3 converts the rotation motion of the output rotating shaft into the lifting motion of the positioning pin main body 2 through the transmission of the swing rod 4, so that finer components which are easy to wear, such as a screw rod, a gear, a spring and the like and are common in the positioning pin device are avoided.
Referring to fig. 2, the lifting type positioning pin device further includes a main body frame 9, where the main body frame 9 includes a top plate 10 and a middle through type outer cylinder 11 connected to the top plate 10. The outer side wall of the outer cylinder 11 is connected with a connecting plate 12 for installing the driving mechanism 3. The outer cylinder 11 is sleeved on the guiding main body 1, and preferably, the outer cylinder 11 and the guiding main body 1 can be connected by adopting a fixing bolt so as to be relatively fixed. The outer cylinder 11 is provided with a strip-shaped through groove for the connecting rod to pass through, the through groove 13 of the outer cylinder extends along the axial direction of the outer cylinder, one end of the connecting rod 5 inserted on the locating pin main body sequentially passes through the through groove 7 of the guide main body and the through groove 13 of the outer cylinder, and then is embedded into and limited in the sliding groove 6 of the swing rod. The top plate 10 is provided with a through hole for the top of the locating pin main body 2 to pass through.
Referring to fig. 1, a swing rod 4 is installed on one side of the connecting plate 12, and a positioning pin main body 2 and a driving mechanism 3 connected to the connecting plate 12 by bolts are arranged on the other side of the connecting plate 12; the connecting plate 12 is provided with a strip-shaped through groove for the connecting rod to pass through, and the through groove 14 of the connecting plate extends along the lifting movement path of the connecting rod 5; the connecting plate 12 is provided with a through hole for the output rotating shaft of the driving mechanism 3 to pass through. The relative positions of the positioning pin main body 2 and the driving mechanism 3 are fixed through the main body frame 9, so that the connection of each component is more compact and stable.
Referring to fig. 3, 4 and 5, the lifting locating pin device further includes a proximity detection mechanism, the proximity detection mechanism includes at least two proximity sensors 15 and a detection bolt 16 connected to the locating pin main body 2, and the proximity sensors 15 are disposed corresponding to two ends of the lifting movement stroke of the detection bolt 16. The proximity sensor 15 is used for monitoring the lifting motion of the positioning pin main body 2 in the running process, feeding back the lifting motion signal of the positioning pin main body 2 to the controller of the lifting positioning pin device, and facilitating the controller to control the switch of the lifting positioning pin device. In the present embodiment, the proximity sensor 15 obtains the movement data of the dowel body 2 by monitoring the detection bolt 16 fixed to the dowel body 2. Preferably, the connecting rod 5 traverses the locating pin main body 2, one end of the connecting rod 5 is connected with the swing rod 4, and the other end is provided with the detecting bolt 16. The outer side wall of the outer cylinder 11 is also connected with a detection bracket 17 for installing a proximity sensor 15, the detection bracket 17 is provided with a strip-shaped through groove, a through groove 18 of the detection bracket extends along the lifting movement path of the detection bolt 16, and the proximity sensor 15 is locked on the through groove 18 of the detection bracket through a nut. The through groove 18 of the detecting bracket is used for fine-tuning the position of the proximity sensor 15 before the lifting type locating pin device operates, so that the position corresponds to the movement stroke of the detecting bolt 16, and the detection is more accurate.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (7)
1. The lifting type positioning pin device is characterized by comprising a guide main body, a positioning pin main body arranged in the guide main body and a driving mechanism with an output rotating shaft, wherein the driving mechanism is connected with the positioning pin main body through a swinging rod, one end of the swinging rod is sleeved on the output rotating shaft of the driving mechanism in a relatively fixed manner in the circumferential direction, and the other end of the swinging rod is provided with a strip-shaped sliding groove; the locating pin main body is inserted with a connecting rod, and one end of the connecting rod is embedded into and limited in the chute of the swing rod; the guide main body is provided with a strip-shaped through groove for the connecting rod to pass through;
the guide main body is of a hollow cylindrical structure, and the through groove of the guide main body extends along the axial direction of the guide main body;
the device also comprises a main body frame, wherein the main body frame comprises a top plate and a middle through type outer cylinder connected with the top plate, and a connecting plate for installing a driving mechanism is connected to the outer side wall of the outer cylinder; the outer cylinder is sleeved outside the guide main body and is provided with a strip-shaped through groove for the connecting rod to pass through, and the through groove of the outer cylinder extends along the axial direction of the outer cylinder; the top plate is provided with a through hole for the top of the positioning pin main body to pass through;
one side of the connecting plate is provided with the swing rod, and the other side of the connecting plate is provided with a positioning pin main body and a driving mechanism connected to the connecting plate through bolts; the connecting plate is provided with a strip-shaped through groove for the connecting rod to pass through, and the through groove of the connecting plate extends along the lifting movement path of the connecting rod; the connecting plate is provided with a through hole for the output rotating shaft of the driving mechanism to pass through.
2. The lifting locating pin device according to claim 1, wherein the end portion of the connecting rod connected with the swing rod is sleeved with a ball bearing, and the ball bearing is embedded and limited in a sliding groove of the swing rod.
3. The lift pin assembly of claim 1, further comprising a proximity detection mechanism comprising at least two proximity sensors and a detection bolt coupled to the pin body, the proximity sensors being disposed corresponding to both ends of a lift travel of the detection bolt.
4. A lifting locating pin device according to claim 3, wherein the connecting rod traverses the locating pin body, one end of the connecting rod is connected with the swing rod, and the other end is provided with a detection bolt.
5. The lifting dowel device of claim 1, further comprising a proximity detection mechanism comprising at least two proximity sensors and a detection bolt connected to the dowel body, the proximity sensors being disposed corresponding to both ends of the lifting movement stroke of the detection bolt; the detection support used for installing the proximity sensor is further connected to the outer side wall of the outer cylinder, a strip-shaped through groove is formed in the detection support, the through groove of the detection support extends along the lifting movement path of the detection bolt, and the proximity sensor is locked on the through groove of the detection support through a nut.
6. The lifting locating pin device according to claim 1, wherein a pin key position is arranged on an output rotating shaft of the driving mechanism, and the pin key position is matched with a pin hole arranged at the end part of the swing rod so as to realize the relative fixation of the output rotating shaft of the driving mechanism and the end part of the swing rod.
7. The lift pin assembly of any one of claims 1-6, wherein the drive mechanism is a reversible motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611249509.5A CN106737640B (en) | 2016-12-29 | 2016-12-29 | Lifting type positioning pin device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611249509.5A CN106737640B (en) | 2016-12-29 | 2016-12-29 | Lifting type positioning pin device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737640A CN106737640A (en) | 2017-05-31 |
| CN106737640B true CN106737640B (en) | 2023-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611249509.5A Active CN106737640B (en) | 2016-12-29 | 2016-12-29 | Lifting type positioning pin device |
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| CN (1) | CN106737640B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107067987B (en) * | 2017-06-06 | 2022-10-21 | 深圳市洲明科技股份有限公司 | Connecting mechanism for LED display screen box body |
| CN108177147B (en) * | 2018-01-18 | 2019-10-11 | 东莞理工学院 | Be applied to all direction movement robot in intelligent warehouse |
| CN109270928A (en) * | 2018-05-02 | 2019-01-25 | 江苏冠宇机械设备制造有限公司 | Intelligent homing guidance AGV trolley |
| CN112659188B (en) * | 2021-01-14 | 2022-12-13 | 北京昕众生物科技有限公司 | Fixed program manipulator capable of testing autonomously |
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| EP2110220A2 (en) * | 2008-04-14 | 2009-10-21 | Fill Gesellschaft m.b.H. | Device for manufacturing moulded parts, in particular of moulded foam parts |
| CN103753516A (en) * | 2013-12-26 | 2014-04-30 | 广州市远能物流自动化设备科技有限公司 | Lifting pin device |
| JP2014156171A (en) * | 2013-02-15 | 2014-08-28 | Tokio:Kk | Car coupling structure |
| CN104310285A (en) * | 2014-09-17 | 2015-01-28 | 谭明 | Intermittent lifting mechanism |
| CN204281228U (en) * | 2014-11-10 | 2015-04-22 | 深圳市欧铠机器人有限公司 | The lifting trailer coupling of transfer robot |
| CN205114997U (en) * | 2015-10-16 | 2016-03-30 | 深圳力子机器人有限公司 | AGV dolly automatic rising drive mechanism |
| CN205151703U (en) * | 2015-12-10 | 2016-04-13 | 山东济宁金易德机械有限公司 | Well lid is walling crib hoisting device for restoration |
| CN206335576U (en) * | 2016-12-29 | 2017-07-18 | 广州市远能物流自动化设备科技有限公司 | A kind of lift dowel device |
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2016
- 2016-12-29 CN CN201611249509.5A patent/CN106737640B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2110220A2 (en) * | 2008-04-14 | 2009-10-21 | Fill Gesellschaft m.b.H. | Device for manufacturing moulded parts, in particular of moulded foam parts |
| JP2014156171A (en) * | 2013-02-15 | 2014-08-28 | Tokio:Kk | Car coupling structure |
| CN103753516A (en) * | 2013-12-26 | 2014-04-30 | 广州市远能物流自动化设备科技有限公司 | Lifting pin device |
| CN104310285A (en) * | 2014-09-17 | 2015-01-28 | 谭明 | Intermittent lifting mechanism |
| CN204281228U (en) * | 2014-11-10 | 2015-04-22 | 深圳市欧铠机器人有限公司 | The lifting trailer coupling of transfer robot |
| CN205114997U (en) * | 2015-10-16 | 2016-03-30 | 深圳力子机器人有限公司 | AGV dolly automatic rising drive mechanism |
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| Publication number | Publication date |
|---|---|
| CN106737640A (en) | 2017-05-31 |
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