Lifting device and AGV vehicle with the same

Abstract

The present disclosure provides a lifting device and an AGV vehicle with the same. The lifting device comprises at least one lifting link, a rotating disc and a lifting driving mechanism. The at least one lifting link is arranged obliquely relative to a fixed module. The lower end of the lifting link is rotatably and slidably connected to the fixed module, and the upper end of the lifting link is rotatably connected to a lifting module. The rotating disc is rotatably arranged between the fixed module and the lifting module. The rotating disc is provided with at least one opening for the at least one lifting link to pass through. The opening is configured to abut the lower end of the lifting link with one side hole wall as a contact hole wall. The normal projection of the contact hole wall on the rotating disc is in the shape of an Archimedes spiral. The lifting driving mechanism is drivingly connected to the rotating disc. The lifting driving mechanism is configured to drive the rotating disc to rotate. The lifting device is configured to drive the lifting link to lift the lifting module relative to the fixed module by rotating the rotating disc and sliding the lower end of the lifting link.

Description

Technical Field

[0001] This disclosure relates to the field of logistics warehousing and transportation equipment technology, and in particular to a lifting device and an AGV trolley having the device. Background Technology

[0002] Existing AGV (Automated Guided Vehicle) lifting and rotating structures typically include designs such as multi-screw, hollow screw, lifting barrel, screw with cam, multi-link, pneumatic cylinder, hydraulic cylinder, and electric cylinder. While all existing solutions can achieve their intended purpose, each has limitations and inherent drawbacks. Especially for small material handling AGVs, there is currently no perfect structure.

[0003] For existing AGVs, due to their unique characteristics, the center of the lifting and rotating structure, which is also the center of the entire vehicle body, has two sweeping docks (upper and lower). Therefore, the driving force for lifting cannot be placed in the exact center; off-center driving force can easily cause the lifting mechanism to jam. Thus, the design of the lifting and rotating structure is complex and difficult to implement. Existing solutions place the driving force around the center, such as a multi-screw structure, using three ball screws arranged at 120° to achieve the lifting action. However, it is difficult to ensure that all three screws bear force simultaneously during installation and debugging, resulting in a relatively short screw lifespan. The inherent drawback of the hollow screw structure is that the gears not only mesh but also move axially, leading to significant wear and severely impacting lifespan. The rotating barrel structure has poor resistance to off-center loads and is unsuitable for heavy-duty AGVs. Screw-cam and multi-link lifting methods are costly and difficult to debug. Pneumatic cylinders, hydraulic cylinders, and electric cylinders are not suitable for small material handling AGVs. Summary of the Invention

[0004] A primary objective of this disclosure is to overcome at least one of the deficiencies of the prior art and to provide a lifting device that can avoid the sweeping of the existing structure, does not use a lead screw, has lower installation and commissioning difficulty, and lower cost.

[0005] Another primary objective of this disclosure is to overcome at least one of the deficiencies of the prior art described above and to provide an AGV trolley having the aforementioned lifting device.

[0006] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0007] According to one aspect of this disclosure, a lifting device is provided, installed between a fixed module and a lifting module. The lifting device includes at least one lifting link, a turntable, and a lifting drive mechanism. At least one lifting link is inclined relative to the fixed module, with its lower end rotatably and slidably connected to the fixed module and its upper end rotatably connected to the lifting module. The turntable is rotatably disposed between the fixed module and the lifting module, and has at least one opening through which the at least one lifting link passes. The opening is configured such that one side of the opening wall acts as a contact wall against the lower end of the lifting link, and the orthographic projection of the contact wall onto the turntable forms an Archimedean spiral shape. The lifting drive mechanism is drively connected to the turntable and is configured to drive the turntable to rotate. The lifting device is configured to rotate the turntable, causing the lower end of the lifting link to slide, thereby driving the lifting module to rise and fall relative to the fixed module.

[0008] According to one embodiment of this disclosure, the fixing module is slidably provided with at least one lower hinge seat, and the lower end of at least one of the lifting links is rotatably connected to at least one of the lower hinge seats.

[0009] According to one embodiment of this disclosure, the fixing module is provided with at least one horizontal slide rail, and each horizontal slide rail is slidably provided with a horizontal slider, and at least one lower hinge seat is fixed to at least one horizontal slider.

[0010] According to one embodiment of this disclosure, each of the lower hinge seats is provided with a follower wheel, the follower wheel being located between the lower end of the lifting link and the contact hole wall of the opening, the contact hole wall abutting against the follower wheel.

[0011] According to one embodiment of this disclosure, the lifting module is fixedly provided with at least one upper hinge seat, and the upper end of at least one lifting link is rotatably connected to at least one upper hinge seat.

[0012] According to one embodiment of this disclosure, the lifting device includes a plurality of lifting links, which are evenly distributed in the circumferential direction of the turntable.

[0013] According to one embodiment of this disclosure, the lifting device includes two lifting links, which are centrally symmetrically distributed about the center of the turntable, and the two openings are centrally symmetrically distributed about the center of the turntable.

[0014] According to one embodiment of this disclosure, the orthographic projection of each of the lifting links on the turntable extends radially along the turntable, and the orthographic projection of the sliding path of the lower end of each of the lifting links relative to the fixing module on the turntable extends radially along the turntable.

[0015] According to one embodiment of this disclosure, the orthographic projection of the upper end of each lifting link on the turntable is closer to the center of the turntable than the orthographic projection of the lower end on the turntable.

[0016] According to one embodiment of this disclosure, a shaft hole is provided at the center of the turntable, and a rotating shaft protrudes upward from the fixing module, with at least a portion of the rotating shaft passing through the shaft hole. The turntable is rotatably mounted on the fixing module via a bearing, the outer ring of which is fixed to the turntable, and the inner ring of which is fixed to the rotating shaft.

[0017] According to one embodiment of this disclosure, the bearing is a deep groove ball bearing.

[0018] According to one embodiment of this disclosure, the turntable has a first tooth on its outer periphery, and the lifting drive mechanism includes a first drive motor and a first transmission gear. The first drive motor is located between the lifting module and the turntable. The first transmission gear is tractively connected to the first drive motor and meshes with the first tooth on the outer periphery of the turntable. The lifting drive mechanism is configured to drive the first transmission gear to rotate via the first drive motor, and to drive the turntable to rotate via the first transmission gear.

[0019] According to another aspect of this disclosure, an AGV (Automated Guided Vehicle) is provided, including a vehicle body, a traveling mechanism, and a cargo-carrying structure. The vehicle body includes a floor and a lifting platform. The lifting platform is vertically mounted on the floor via a lifting device proposed in this disclosure and described in the above embodiments.

[0020] According to one embodiment of this disclosure, the base plate is provided with a first upright plate, the first upright plate is provided with a guide rail extending vertically upward, the lifting plate is provided with a second upright plate, the second upright plate is provided with a guide block, and the guide block slides in cooperation with the guide rail.

[0021] According to one embodiment of this disclosure, the base plate is provided with a plurality of first upright plates, the lifting plate is provided with a plurality of second upright plates, and the plurality of guide rails on the plurality of first upright plates are respectively slidably engaged with a plurality of guide blocks on the plurality of second upright plates.

[0022] According to one embodiment of this disclosure, the AGV trolley further includes a rotary support plate and a rotary drive mechanism. The rotary support plate is rotatably disposed on the top of the lifting plate. The rotary drive mechanism is drively connected to the rotary support plate and is configured to drive the rotary support plate to rotate. The cargo-carrying structure is disposed on the rotary support plate. The AGV trolley is configured to rotate the cargo-carrying structure relative to the base plate by rotating the rotary support plate.

[0023] According to one embodiment of this disclosure, the rotary support plate has an annular structure, and a second tooth is provided on the inner circumference of the rotary support plate. The rotary drive mechanism includes a second drive motor and a second transmission gear. The second drive motor is disposed on the lifting plate. The second transmission gear is drively connected to the second drive motor and meshes with the second tooth on the inner circumference of the rotary support plate. The rotary drive mechanism is configured to drive the second transmission gear to rotate via the second drive motor, and to drive the rotary support plate to rotate via the second transmission gear.

[0024] As can be seen from the above technical solution, the advantages and positive effects of the lifting device and the AGV trolley equipped with the device proposed in this disclosure are as follows:

[0025] The lifting device disclosed herein includes a lifting linkage, a turntable, and a lifting drive mechanism. The lower end of the lifting linkage is rotatably and slidably connected to a fixed module, and the upper end is rotatably connected to a lifting module. The turntable has an opening, allowing one side of the opening wall to abut against the lower end of the lifting linkage. The lifting drive mechanism drives the turntable to rotate, causing the lower end of the lifting linkage to slide, thereby driving the lifting module to rise and fall relative to the fixed module. Accordingly, this disclosure utilizes a turntable and a lifting linkage to achieve lifting action, eliminating the need for lead screws or similar structures, significantly reducing installation and commissioning difficulty and costs, and successfully avoiding the risk of damage to the dock caused by existing structures. Attached Figure Description

[0026] The various objectives, features, and advantages of this disclosure will become more apparent from the following detailed description of preferred embodiments of the disclosure taken in conjunction with the accompanying drawings. The drawings are merely illustrative illustrations of the disclosure and are not necessarily drawn to scale. In the drawings, the same reference numerals always denote the same or similar parts. Wherein:

[0027] Figure 1 This is a perspective view of a lifting device installed on an AGV trolley according to an exemplary embodiment;

[0028] Figure 2 yes Figure 1 The front view;

[0029] Figure 3 yes Figure 2A cross-sectional view along line AA;

[0030] Figure 4 yes Figure 3 Enlarged view of section B;

[0031] Figure 5 yes Figure 1 A perspective view of the lifting linkage of the lifting device is shown;

[0032] Figure 6 yes Figure 1 A plan view of the lifting linkage of the lifting device is shown;

[0033] Figure 7 yes Figure 1 A perspective view of the turntable of the lifting device shown;

[0034] Figure 8 yes Figure 1 A perspective view of the lifting drive mechanism of the lifting device is shown;

[0035] Figure 9 yes Figure 1 A perspective view of the rotary drive mechanism of the lifting device is shown.

[0036] Figure 10 yes Figure 1 A three-dimensional view of the AGV's base plate is shown.

[0037] Figure 11 yes Figure 1 The lifting platform of the AGV trolley is shown.

[0038] The annotations in the attached figures are explained as follows:

[0039] 100. Base plate;

[0040] 110. Shaft;

[0041] 120. Horizontal slide rail;

[0042] 130. First upright board;

[0043] 131. Guide rail;

[0044] 200.Lifting plate;

[0045] 210. Second upright board;

[0046] 211. Guide block;

[0047] 310. Lifting linkage;

[0048] 311. Lower hinge seat;

[0049] 3111. Follower wheel;

[0050] 312. Upper hinge seat;

[0051] 320. Turntable;

[0052] 321. Opening;

[0053] 322. Shaft hole;

[0054] 323. First tooth;

[0055] 3211. Contact hole wall;

[0056] 330. Lifting drive mechanism;

[0057] 331. First drive motor;

[0058] 332. First transmission gear;

[0059] 333. First speed reducer;

[0060] 334. First transmission connection assembly;

[0061] 340. Bearings;

[0062] 341. Inner circle;

[0063] 342. Outer ring;

[0064] 343. Inner ring cap;

[0065] 344. Outer ring cap;

[0066] 350. Slewing support plate;

[0067] 351. Second tooth;

[0068] 360° Rotary drive mechanism;

[0069] 361. Second drive motor;

[0070] 362. Second transmission gear;

[0071] 363. Second speed reducer;

[0072] 364. Second transmission connection assembly;

[0073] 365. Mounting plate;

[0074] 366. Support column. Detailed Implementation

[0075] Typical embodiments embodying the features and advantages of this disclosure will be described in detail in the following description. It should be understood that this disclosure can have various variations in different embodiments without departing from the scope of this disclosure, and the descriptions and drawings therein are for illustrative purposes only and not intended to limit this disclosure.

[0076] In the following description of various exemplary embodiments of this disclosure, reference is made to the accompanying drawings, which form part of this disclosure, and which illustrate by way of example different exemplary structures, systems, and steps that can implement various aspects of this disclosure. It should be understood that other specific embodiments of the components, structures, exemplary devices, systems, and steps may be used, and structural and functional modifications may be made without departing from the scope of this disclosure. Furthermore, while the terms “above,” “between,” “within,” etc., may be used in this specification to describe different exemplary features and elements of this disclosure, these terms are used herein only for convenience, such as the orientation according to the examples described in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of this disclosure.

[0077] Lifting device implementation method

[0078] See Figure 1 The illustration shows a perspective view of the lifting device proposed in this disclosure installed on an AGV (Automated Guided Vehicle). In this exemplary embodiment, the lifting device proposed in this disclosure is described with reference to its application to an AGV. It will be readily understood by those skilled in the art that various modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to apply the relevant designs of this disclosure to other types of walking mechanisms or transportation equipment, and these changes shall still be within the scope of the principles of the lifting device proposed in this disclosure.

[0079] like Figure 1 As shown, in this embodiment, the lifting device proposed in this disclosure can be installed between the fixed module and the lifting module, allowing the lifting module to be vertically and vertically mounted on the fixed module. Taking an AGV (Automated Guided Vehicle) as an example, the lifting module can be the AGV's base plate 100, and the lifting module can be the AGV's lifting platform 200. In other embodiments, when this lifting device is applied to other types of traveling mechanisms or transport equipment, the fixed module and the lifting module can also be understood as other structures of the mechanism or equipment that can be relatively lifted. The lifting device includes a lifting linkage 310, a turntable 320, and a lifting drive mechanism 330. (See also...) Figures 2 to 8 As shown, Figure 2 China representatively shows Figure 1 The front view; Figure 3 China representatively shows Figure 2 A cross-sectional view along line AA; Figure 4 China representatively shows Figure 3 Enlarged view of section B; Figure 5 A perspective view of the lifting linkage 310 is shown in the figure. Figure 6 The image shows a representative plan view of the lifting linkage 310; Figure 7 A three-dimensional view of turntable 320 is shown in the image. Figure 8 A perspective view of the lifting drive mechanism 330 is shown in the figure. The structure, connection method, and functional relationship of the main components of the lifting device proposed in this disclosure will be described in detail below with reference to the above-mentioned figures.

[0080] like Figures 1 to 3 As shown, in this embodiment, the lifting link 310 is inclined relative to the fixed module. The lower end of the lifting link 310 is rotatably and slidably connected to the base plate 100 (fixed module), and the upper end of the lifting link 310 is rotatably connected to the lifting plate 200 (lifting module). A turntable 320 is rotatably disposed between the base plate 100 and the lifting module. The turntable 320 has an opening 321 through which the lifting link 310 passes. This opening 321 can abut against the lower end of the lifting link 310 with one side wall serving as a contact wall 3211. The orthographic projection of this contact wall 3211 on the turntable 320 forms an Archimedean spiral shape. A lifting drive mechanism 330 is driven by the turntable 320 to drive the turntable 320 to rotate. Through the above design, the lifting device proposed in this disclosure can slide the lower end of the lifting link 310 on the base plate 100 by rotating the turntable 320, thereby driving the lifting plate 200 to rise and fall relative to the base plate 100. Accordingly, this disclosure utilizes the turntable 320 and the lifting link 310 to achieve the lifting action, without using lead screws or similar structures, significantly reducing the difficulty and cost of installation and commissioning, and successfully avoiding the scrambling of existing structures.

[0081] like Figures 2 to 3 , Figures 5 to 6 As shown, in this embodiment, the lower end of the lifting link 310 is rotatably connected to a lower hinge seat 311, which is slidably mounted on the base plate 100. This allows the lower end of the lifting link 310 to be slidably and rotatably connected to the base plate 100 via the lower hinge seat 311. Specifically, the lower end of the lifting link 310 and the lower hinge seat 311 can be hinged together by a hinge shaft, and an oil-free bushing can be fitted onto the hinge shaft. The oil-free bushing can provide a function similar to a bearing. In other embodiments, the lower end of the lifting link 310 can also be rotatably and slidably connected to the base plate 100 using other structures, and is not limited to this embodiment.

[0082] Furthermore, such as Figure 2 and Figure 3 As shown, based on the design that the lower hinge seat 311 is slidably disposed on the base plate 100, in this embodiment, a horizontal slide rail 120 can preferably be disposed on the base plate 100, and the lower hinge seat 311 is disposed on the horizontal slide rail 120 and slides in cooperation with it.

[0083] Furthermore, based on the design of the sliding engagement between the lower hinge seat 311 and the horizontal slide rail 120, in this embodiment, a horizontal slider can preferably be provided on the horizontal slide rail 120, the horizontal slider slidingly engaging with the horizontal slide rail 120, and the lower hinge seat 311 fixed on the horizontal slider.

[0084] Furthermore, such as Figure 5 and Figure 6 As shown, based on the design that the lower end of the lifting link 310 is rotatably and slidably mounted on the base plate 100 via the lower hinge seat 311, in this embodiment, a follower wheel 3111 can preferably be provided on the lower hinge seat 311. The follower wheel 3111 is located between the lower end of the lifting link 310 and the contact hole wall 3211 of the opening 321. The contact hole wall 3211 abuts against the follower wheel 3111, thereby realizing the indirect pushing of the contact hole wall 3211 against the lower end of the lifting link 310.

[0085] like Figures 2 to 3 , Figures 5 to 6 As shown, in this embodiment, the upper end of the lifting link 310 is rotatably connected to an upper hinge seat 312, which is fixed to the lifting plate 200, thereby enabling the upper end of the lifting link 310 to be rotatably connected to the lifting plate 200 via the upper hinge seat 312. Specifically, the upper end of the lifting link 310 and the upper hinge seat 312 can be hinged together by a hinge shaft, and an oil-free bushing can be fitted onto the hinge shaft. In other embodiments, the upper end of the lifting link 310 can also be rotatably connected to the lifting plate 200 using other structures, and is not limited to this embodiment.

[0086] like Figure 1 , Figure 3 and Figure 7 As shown, in this embodiment, the lifting device preferably includes two lifting links 310. Specifically, these two lifting links 310 are approximately centrally symmetrically distributed with respect to the center of the turntable 320. Correspondingly, the turntable 320 has two openings for the two lifting links 310 to pass through and engage with their lower ends, and the two openings 321 are centrally symmetrically distributed with respect to the center of the turntable 320. Accordingly, by using the two lifting links 310, the lifting device proposed in this disclosure lifts the lifting plate 200 together with the two lifting links 310, further improving the stability of the lifting process and increasing the lifting weight of equipment such as AGV trolleys.

[0087] Furthermore, such as Figure 3As shown, based on the design of the lifting device including two lifting links 310, in this embodiment, the two lifting links 310 can preferably be designed such that the orthographic projection of each lifting link 310 on the turntable 320 extends radially along the turntable 320, and the orthographic projection of the sliding path of the lower end of each lifting link 310 relative to the base plate 100 on the turntable 320 extends radially along the turntable 320.

[0088] Furthermore, such as Figure 3 As shown, in this embodiment, the orthographic projection of the upper end of each lifting link 310 on the turntable 320 is closer to the center of the turntable 320 than the orthographic projection of the lower end on the turntable 320.

[0089] Furthermore, in this embodiment, the orthographic projection of each lifting link 310 on the turntable 320 can preferably extend radially along the turntable 320, and the orthographic projections of two lifting links 310 on the turntable 320 can preferably be collinear.

[0090] Furthermore, such as Figure 7 As shown, based on the design of the lifting device including two lifting links 310 and two openings 321 correspondingly opened on the turntable 320, in this embodiment, the two openings 321 can preferably have the same shape, and the two openings 321 are centrally symmetrically distributed with respect to the center of the turntable 320.

[0091] It should be noted that, in other embodiments, the lifting device proposed in this disclosure may include multiple lifting links 310 (i.e., two or more). Preferably, these lifting links 310 are evenly distributed along the circumference of the turntable 320. Correspondingly, multiple openings 321 may be formed on the turntable 320 to mate with the multiple lifting links 310. Alternatively, the lifting device proposed in this disclosure may include only a single lifting link 310.

[0092] like Figure 7 As shown, in this embodiment, the turntable 320 has a circular disc structure, and the opening 321 on the turntable 320 is an irregular hole. One side of the hole wall of the opening 321 serves as the contact hole wall 3211, abutting against the lower end of the lifting link 310. Specifically, the opening 321 can be roughly fan-shaped, and the side wall of the fan-shaped opening 321 near the outer periphery of the turntable 320 is in the shape of an Archimedean spiral (also known as a constant velocity spiral), that is, the trajectory generated by a point moving away from a fixed point at a constant speed while rotating around the fixed point at a constant angular velocity. The above-mentioned design of the contact hole wall 3211 of the opening 321, using the form of an Archimedean spiral, ensures that the distance from each point on the contact hole wall 3211 to the center of the turntable 320 changes at a constant speed when the turntable 320 rotates at a constant speed. Therefore, it can be ensured that the lifting and lowering speeds of the lifting link 310 remain uniform.

[0093] like Figure 4 and Figure 7 As shown, in this embodiment, a shaft hole 322 is provided at the center of the turntable 320, and a rotating shaft 110 protrudes upward from the base plate 100, with at least a portion of the rotating shaft 110 passing through the shaft hole 322. Based on this, the turntable 320 can preferably be rotatably mounted on the base plate 100 via a bearing 340. The outer ring 342 of the bearing 340 can be fixed to the turntable 320, and the inner ring 341 of the bearing 340 can be fixed to the rotating shaft 110.

[0094] Furthermore, such as Figure 4 As shown, based on the design that the turntable 320 and the base plate 100 are rotatably connected via the bearing 340, in this embodiment, the outer ring 342 of the bearing 340 can preferably be fixed to the bottom of the turntable 320 by the outer ring cap 344, that is, fixed at the position adjacent to the shaft hole 322 on the bottom of the turntable 320. Similarly, the inner ring 341 of the bearing 340 can preferably be fixed to the top of the rotating shaft 110 by the inner ring cap 343, that is, fixed to the outer periphery of the top of the rotating shaft 110.

[0095] Furthermore, based on the design that the turntable 320 and the base plate 100 are rotatably connected by the bearing 340, in this embodiment, the bearing 340 can preferably be a deep groove ball bearing.

[0096] like Figure 1 and Figure 7 As shown, in this embodiment, the outer periphery of the turntable 320 is provided with a first tooth 323. Based on this, the lifting drive mechanism 330 mainly includes a first drive motor 331 and a first transmission gear 332. Specifically, the first drive motor 331 is disposed between the lifting plate 200 and the turntable 320. The first transmission gear 332 is connected to the first drive motor 331 and meshes with the first tooth 323 on the outer periphery of the turntable 320. Accordingly, the lifting drive mechanism 330 can drive the first transmission gear 332 to rotate through the first drive motor 331, and drive the turntable 320 to rotate through the first transmission gear 332. When the turntable 320 rotates, its two openings 321 push against the lower ends of their respective lifting links 310 with their respective contact hole walls 3211, causing the lower ends of the two lifting links 310 to move towards each other, thereby lifting the lifting plate 200 using the lifting links 310.

[0097] Furthermore, such as Figure 8As shown, based on the design of the lifting drive mechanism 330 including a first drive motor 331 and a first transmission gear 332, in this embodiment, the lifting drive mechanism 330 may also preferably include a first reducer 333 and a first transmission connection assembly 334. Specifically, the first reducer 333 is disposed at the output end of the first drive motor 331 and is drive-connected to the first drive motor 331, and the first transmission connection assembly 334 is drive-connected between the output end of the first reducer 333 and the first transmission gear 332, so as to transmit the transmission torque output by the first reducer 333 to the first transmission gear 332.

[0098] It should be noted that the lifting devices shown in the accompanying drawings and described in this specification are merely a few examples of many lifting devices capable of employing the principles of this disclosure. It should be clearly understood that the principles of this disclosure are by no means limited to any details of the lifting devices shown in the accompanying drawings or described in this specification, or to any component of the lifting devices.

[0099] AGV (Automated Guided Vehicle) Implementation Methods

[0100] See Figure 1 This illustration represents a perspective view of the AGV (Automated Guided Vehicle) trolley according to this disclosure when equipped with the lifting device proposed in this disclosure. In this exemplary embodiment, the AGV trolley proposed in this disclosure is described using an AGV trolley in the field of logistics warehousing and transportation as an example. It will be readily understood by those skilled in the art that various modifications, additions, substitutions, deletions, or other changes may be made to the following specific embodiments to apply the relevant designs of this disclosure to AGV trolleys or other conveying equipment in other fields, and these changes remain within the scope of the principles of the AGV trolley proposed in this disclosure.

[0101] In this embodiment, the AGV (Automated Guided Vehicle) proposed in this disclosure mainly includes a vehicle body, a traveling mechanism, and a cargo-carrying structure. (See also...) Figure 2 , Figures 9 to 11 As shown, Figure 2 China representatively shows Figure 1 The front view; Figure 9 China representatively shows Figure 1 A perspective view of the rotary drive mechanism 360 of the lifting device is shown; Figure 10 China representatively shows Figure 1 A perspective view of the base plate 100 of the AGV trolley is shown; Figure 11 China representatively shows Figure 1 The lifting platform 200 of the AGV trolley is shown. The structure, connection method, and functional relationship of the main components of the AGV trolley proposed in this disclosure will be described in detail below with reference to the above-mentioned figures.

[0102] like Figure 1 and Figure 2As shown, in this embodiment, the AGV vehicle body mainly includes a base plate 100 and a lifting plate 200. The lifting plate 200 is vertically and flexibly mounted on the base plate 100 via a lifting device as described in this disclosure and detailed in the above embodiments. The lifting plate 200 is the lifting module in the above embodiments, and the base plate 100 is the fixing module in the above embodiments.

[0103] Furthermore, such as Figure 1 , Figure 2 , Figure 10 and Figure 11 As shown, in this embodiment, the base plate 100 can preferably be provided with a first upright plate 130, and a vertically upward extending guide rail 131 is provided on the first upright plate 130. Correspondingly, the lifting plate 200 can preferably be provided with a second upright plate 210, and a guide block 211 is provided on the second upright plate 210. The guide block 211 slides with the guide rail 131, thereby realizing the guiding function of the lifting plate 200 during the lifting process of the lifting device.

[0104] Furthermore, such as Figure 10 and Figure 11 As shown, the lifting plate 200 is designed to guide the lifting device relative to the base plate 100 through the sliding engagement of the guide rails 131 of the first upright plate 130 and the guide blocks 211 of the second upright plate 210. In this embodiment, the base plate 100 can preferably be provided with multiple first upright plates 130, and the lifting plate 200 can preferably be provided with multiple second upright plates 210. The multiple guide rails 131 on the multiple first upright plates 130 and the multiple guide blocks 211 on the multiple second upright plates 210 are respectively slidably engaged. Accordingly, the guiding function of the lifting plate 200 during the lifting process of the lifting device can be further optimized, and the lifting stability can be further improved.

[0105] Furthermore, such as Figure 1 and Figure 2 As shown, in this embodiment, the AGV trolley may preferably include a rotary support plate 350 and a rotary drive mechanism 360. Specifically, the rotary support plate 350 is rotatably disposed on the top of the lifting plate 200 (i.e., the side of the lifting plate 200 away from the base plate 100). The rotary drive mechanism 360 is drively connected to the rotary support plate 350 and is used to drive the rotary support plate 350 to rotate. Based on this, the cargo-carrying structure of the AGV trolley can preferably be disposed on the rotary support plate 350. Accordingly, the AGV trolley can drive the rotary support plate 350 to rotate via the rotary drive mechanism 360, so that the cargo-carrying structure can rotate relative to the lifting plate 200 and the base plate 100.

[0106] Furthermore, such as Figure 2 and Figure 9As shown, based on the design of the AGV trolley including a rotary support plate 350 and a rotary drive mechanism 360, in this embodiment, the rotary support plate 350 can preferably be approximately ring-shaped, and a second tooth 351 is provided on the inner circumference of the rotary support plate 350. Based on this, the rotary drive mechanism 360 mainly includes a second drive motor 361 and a second transmission gear 362. Specifically, the second drive motor 361 is mounted on the lifting plate 200. The second transmission gear 362 is connected to the second drive motor 361 and meshes with the second tooth 351 on the inner circumference of the rotary support plate 350. Accordingly, the rotary drive mechanism 360 can drive the second transmission gear 362 to rotate via the second drive motor 361, and drive the rotary support plate 350 to rotate via the second transmission gear 362. When the rotary support plate 350 rotates, it can drive the cargo structure to rotate.

[0107] Furthermore, such as Figure 9 As shown, based on the design of the rotary drive mechanism 360 including a second drive motor 361 and a second transmission gear 362, in this embodiment, the lifting drive mechanism 330 may also preferably include a second reducer 263 and a second transmission connection assembly 364. Specifically, the second reducer 263 is disposed at the output end of the second drive motor 361 and is drive-connected to the second drive motor 361, and the second transmission connection assembly 364 is drive-connected between the output end of the second reducer 263 and the second transmission gear 362, so as to transmit the transmission torque output by the second reducer 263 to the second transmission gear 362.

[0108] Furthermore, such as Figure 9 As shown, based on the design of the rotary drive mechanism 360 being mounted on the rotary support plate 350, the lifting drive mechanism 330 may also preferably include a mounting plate 365 and a support column 366. Specifically, the mounting plate 365 is mounted on the second transmission connection assembly 364, and the support column 366 is connected between the mounting plate 365 and the lifting plate 200.

[0109] It should be noted that the AGVs shown in the accompanying drawings and described in this specification are merely a few examples among many AGVs capable of employing the principles of this disclosure. It should be clearly understood that the principles of this disclosure are by no means limited to any details of the AGVs shown in the accompanying drawings or described in this specification, or to any component of the AGVs.

[0110] In summary, the lifting device disclosed herein includes a lifting linkage, a turntable, and a lifting drive mechanism. The lower end of the lifting linkage is rotatably and slidably connected to a fixed module, and the upper end is rotatably connected to a lifting module. The turntable has an opening, allowing one side of the opening wall to abut against the lower end of the lifting linkage. The lifting drive mechanism drives the turntable to rotate, causing the lower end of the lifting linkage to slide, thereby causing the lifting linkage to drive the lifting module to rise and fall relative to the fixed module. Accordingly, this disclosure utilizes a turntable and a lifting linkage to achieve the lifting action, eliminating the need for lead screws or similar structures, significantly reducing installation and commissioning difficulty and costs, and successfully avoiding the need for scrambling on existing structures.

[0111] The foregoing has described in detail and / or illustrated exemplary embodiments of the lifting device and AGV trolley having the device according to this disclosure. However, the embodiments of this disclosure are not limited to the specific embodiments described herein; rather, components and / or steps of each embodiment may be used independently and separately from other components and / or steps described herein. Each component and / or step of one embodiment may also be used in combination with other components and / or steps of other embodiments. In describing the elements / components / etc. described and / or illustrated herein, the terms “a,” “an,” and “the above” are used to indicate the presence of one or more elements / components / etc. The terms “comprising,” “including,” and “having” are used to indicate an open-ended inclusion and to mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc. Furthermore, the terms “first” and “second” in the claims and specification are used only as illustrative marks and are not intended to limit the numerical scope of the subject matter.

[0112] Although the lifting device and the AGV trolley having the device have been described according to different specific embodiments, those skilled in the art will recognize that modifications may be made to the implementation of the disclosure within the spirit and scope of the claims.

Claims

1. A lifting device, installed between a fixed module and a lifting module, characterized in that, The lifting device includes: Two lifting links are set at an angle relative to the fixed module. The lower end of the lifting link is rotatably and slidably connected to the fixed module, and the upper end is rotatably connected to the lifting module. The two lifting links are evenly distributed in the circumferential direction of the turntable. A turntable, rotatably disposed between the fixed module and the lifting module, has two openings for the two lifting rods to pass through. Each opening is configured such that one side of its wall acts as a contact wall against the lower end of the lifting rod. The orthographic projection of the contact wall onto the turntable forms an Archimedean spiral shape. A lifting drive mechanism is connected to the turntable, and the lifting drive mechanism is configured to drive the turntable to rotate. The lifting device is configured to rotate the turntable to slide the lower end of the lifting link, thereby driving the lifting module to rise and fall relative to the fixed module. Among them, the two lifting linkages are centrally symmetrically distributed with the center of the turntable as the center, and the two openings are centrally symmetrically distributed with the center of the turntable as the center; The fixed module is slidably provided with two lower hinge seats. The lower ends of the two lifting links are rotatably connected to the two lower hinge seats respectively. Each lower hinge seat is provided with a follower wheel. The follower wheel is located between the lower end of the lifting link and the contact hole wall of the opening. The contact hole wall abuts against the follower wheel.

2. The lifting device according to claim 1, characterized in that, The fixing module is provided with two horizontal slide rails, and each horizontal slide rail is provided with a horizontal slider that can slide on it. The two lower hinge seats are respectively fixed on the two horizontal sliders.

3. The lifting device according to claim 1, characterized in that, The lifting module is fixedly provided with two upper hinge seats, and the upper ends of the two lifting connecting rods are rotatably connected to the two upper hinge seats respectively.

4. The lifting device according to claim 1, characterized in that, The orthographic projection of each of the lifting links on the turntable extends radially along the turntable, and the orthographic projection of the sliding path of the lower end of each of the lifting links relative to the fixed module on the turntable extends radially along the turntable.

5. The lifting device according to claim 4, characterized in that, The projection of the upper end of each lifting link on the turntable is closer to the center of the turntable than the projection of the lower end on the turntable.

6. The lifting device according to claim 1, characterized in that, The turntable has a shaft hole at its center, and the fixing module has a rotating shaft protruding upwards. The rotating shaft passes through the shaft hole at least partially. The turntable is rotatably mounted on the fixing module via a bearing. The outer ring of the bearing is fixed to the turntable, and the inner ring of the bearing is fixed to the rotating shaft.

7. The lifting device according to claim 6, characterized in that, The bearing is a deep groove ball bearing.

8. The lifting device according to claim 1, characterized in that, The turntable has a first tooth on its outer periphery, and the lifting drive mechanism includes: A first drive motor is located between the lifting module and the turntable; and The first transmission gear is connected to the first drive motor and meshes with the first tooth on the outer periphery of the turntable; The lifting drive mechanism is configured to drive the first transmission gear to rotate via the first drive motor, and to drive the turntable to rotate via the first transmission gear.

9. An AGV (Automated Guided Vehicle) trolley, comprising a vehicle body, a traveling mechanism, and a cargo-carrying structure, wherein the vehicle body includes a floor plate and a lifting plate, characterized in that, The lifting plate is vertically mounted on the base plate by means of the lifting device described in any one of claims 1 to 8.

10. The AGV trolley according to claim 9, characterized in that, The base plate is provided with a first upright plate, and the first upright plate is provided with a guide rail extending vertically upward. The lifting plate is provided with a second upright plate, and the second upright plate is provided with a guide block, which slides in cooperation with the guide rail.

11. The AGV trolley according to claim 10, characterized in that, The base plate is provided with multiple first upright plates, and the lifting plate is provided with multiple second upright plates. Multiple guide rails on the multiple first upright plates are respectively slidably engaged with multiple guide blocks on the multiple second upright plates.

12. The AGV trolley according to claim 9, characterized in that, The AGV also includes: A rotary support plate is rotatably mounted on top of the lifting plate; and A rotary drive mechanism is connected to the rotary support plate, and the rotary drive mechanism is configured to drive the rotary support plate to rotate. The cargo-carrying structure is mounted on the slewing support plate; The AGV is configured to rotate the cargo structure relative to the base plate by rotating the slewing support plate.

13. The AGV trolley according to claim 12, characterized in that, The rotary support plate has a ring-shaped structure, and the inner circumference of the rotary support plate is provided with a second tooth. The rotary drive mechanism includes: A second drive motor is located on the lifting plate; and The second transmission gear is connected to the second drive motor and meshes with the second tooth on the inner circumference of the rotary support plate. The rotary drive mechanism is configured to drive the second transmission gear to rotate via the second drive motor, and to drive the rotary support plate to rotate via the second transmission gear.

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