Connecting rod lifting AGV

Abstract

The present invention provides a connecting rod lifting AGV trolley, including a chassis frame, the upper part of which is connected to a lifting base with an elevated mounting surface, and a group of parallel four-bar mechanisms are respectively arranged on the left and right sides above the chassis frame, and each group of parallel four-bar mechanisms is a parallelogram connected by four hinges; each parallelogram has two hinges at the upper and lower parts, and the two hinges at the lower part are respectively hinged to the lifting base through a short swing rod, and a hinge at the upper part is hinged to a fixed connecting rod fixed on the lifting base through a long swing rod; a hinge at the lower part of one of the parallelograms is hinged through a driving connecting rod and a rocker connected to the lifting motor transmission, and the two groups of parallel four-bar mechanisms correspond to each other to form two upper and lower parallel horizontal planes, and a lifting platform is arranged at the upper horizontal plane, and the lifting motor drives the parallel four-bar mechanism to swing back and forth to realize the lifting of the lifting platform. The present invention adopts a parallel four-bar mechanism, which has the advantages of good balance, high transmission efficiency, and large load capacity.

Description

Technical Field

[0001] The invention relates to the technical field of AGV trolley devices, in particular to a connecting rod lifting type AGV trolley. Background Art

[0002] Most AGVs are equipped with a lifting platform to meet the requirements of loading and unloading during logistics, warehousing and transportation. However, most existing lifting platforms use screw thread transmission, which has high precision but complex design. When the load is too large, it will damage the precision and affect the control. Therefore, it is not suitable for the transportation of objects with excessive load. In addition, the lifting mechanism of the existing lifting platform mostly directly uses screw lifting. In order to maintain the balance of the platform, multiple screw mechanisms need to be driven simultaneously to achieve balanced support. Such a structure occupies a large space in the vehicle and brings difficulties to the layout of other components. At the same time, such a structure uses multiple screw mechanisms and synchronous pulleys, which is complex in structure and high in cost. For structures that do not directly use screw lifting, such as screw transmission structures driven by motor gear synchronous belts, although the stability is improved, it still cannot avoid the disadvantages of complex mechanisms and large space in the vehicle, which hinders the intelligent design of the car and hinders the large-scale production of the car in terms of intelligent identification and intelligent positioning. In addition, the design of the driven wheel usually adopts a method of fixed connection with the frame chassis, resulting in poor buffering performance of the vehicle body and poor adaptability to transporting large load objects. Therefore, it is necessary to design an intelligent warehousing and transportation AGV that is simple, practical, and has a reasonable spatial layout. Summary of the invention

[0003] The purpose of the present invention is to provide a connecting rod lifting type AGV trolley to address the problems existing in the prior art, avoid the use of a screw mechanism, optimize the problem of the vehicle body space layout while solving the balance problem, improve the stability of the trolley lifting structure, and provide in-vehicle space for the installation design of intelligent identification components.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A connecting rod lifting AGV trolley, comprising a chassis frame, the chassis frame is a frame-shaped structure, a lifting base with an elevated mounting surface is connected to the upper part of the chassis frame, a set of parallelogram mechanisms are arranged on the upper left and right sides of the chassis frame, each set of the parallelogram mechanisms is a parallelogram connected by four hinges; each parallelogram has two hinges at the upper and lower parts, the two hinges at the lower part are respectively hinged to the lifting base through a short swing rod, and the one hinge at the upper part is hinged to a fixed connecting rod fixed to the lifting base through a long swing rod;

[0006] A hinge point at the lower part of one of the parallelograms is simultaneously hinged to one end of a rocker through a driving connecting rod, and the other end of the rocker is drivingly connected to a lifting motor;

[0007] The two groups of parallel four-bar mechanisms correspond to each other to form two upper and lower parallel horizontal planes. A lifting platform is arranged on the upper horizontal plane. The lifting motor provides power to drive the parallel four-bar mechanism to swing back and forth to realize the lifting of the lifting platform.

[0008] The front end of the jacking base is directly hinged to the chassis frame, and the rear end is movably connected to the chassis frame through the chassis connecting frame; a front driven wheel frame and a rear driven wheel frame are provided at the front and rear ends of the lower part of the chassis frame, and the middle part of the front driven wheel frame is rotatably connected to the chassis frame through the front wheel frame connecting shaft, so that when the front driven wheel frame rotates around the front wheel frame connecting shaft, it swings left and right relative to the chassis frame; the middle part of the rear driven wheel frame at the rear end is rotatably connected to the rear end of the chassis connecting frame through the rear wheel frame connecting shaft, and the front end of the chassis connecting frame is hinged to the chassis frame, so that when the rear driven wheel frame rotates around the rear wheel frame connecting shaft, it swings left and right relative to the chassis frame, and can also follow the chassis connecting frame to swing up and down around the hinge point where it is hinged with the chassis frame; the front driven wheel frame and the rear driven wheel frame are used for installing front and rear driven wheels respectively.

[0009] The two fixed links are respectively fixed on both sides of the front end of the jacking base, and the top of the fixed link is provided with a hinge point for rotating one end of the long swing rod; the two sides of the jacking base are provided with a hinge support three for connecting the chassis frame, a hinge support one connected to the short swing rod, and a hinge support two with a height higher than the hinge support one, and the hinge support two is rotatably connected to the chassis connecting frame through a connecting frame swing rod.

[0010] A rotating platform is installed on the upper part of the lifting platform through a slewing bearing. The slewing bearing is driven to rotate by a gear transmission assembly, thereby driving the rotating platform to rotate around the central axis of the slewing bearing.

[0011] The outer ring of the slewing bearing is provided with a gear surface, and the gear transmission assembly includes a pinion meshing with the gear surface and a transmission gear installed coaxially with the pinion; a slewing motor is installed on the jacking platform through a slewing motor frame, and an output shaft gear meshing with the transmission gear is installed on the output shaft.

[0012] The rotating platform is an annular structure with a hole in the middle. A through hole is provided in the middle of the jacking platform, in which a retaining ring frame with a hole in the middle is provided. The top of the retaining ring frame extends into the through hole of the rotating platform, and the top surface of the retaining ring frame is lower than the top surface of the rotating platform.

[0013] The lifting base is also provided with two reinforcing support rods, the reinforcing support rods are located below the parallel four-bar mechanism, and the two reinforcing support rods are provided with camera brackets for installing the camera.

[0014] The bottom surface of the retaining ring frame is connected to the top of the camera bracket, a through hole is opened in the middle of the camera bracket, and two upper and lower camera mounting positions are arranged at the bottom of the camera bracket. The camera lens of the upper camera mounting position can shoot objects on the rotating platform through the through hole in the middle of the camera bracket, the through hole in the middle of the retaining ring frame, and the through hole in the middle of the rotating platform, so as to obtain the object position information; the camera lens of the lower camera mounting position can shoot the markers on the ground below the chassis frame, so as to obtain the AGV position information.

[0015] The structure of each parallel four-bar mechanism includes three-section connecting rods, both ends of which are respectively hinged to the bottom end of a front and rear connecting rod, and are simultaneously hinged to one end of the short swing rod at the hinge point; the top ends of the four front and rear connecting rods of the two parallel four-bar mechanisms are respectively hinged to a platform corner connecting block, and the four corners of the jacking platform are respectively engaged with the four platform corner connecting blocks; the three-section connecting rods are bent, the middle part is a horizontal rod section, the two ends of the horizontal rod section are respectively bent downward and extended to form a vertical rod section, and the vertical rod section at one end is inclined, so that the cross-section of the three-section connecting rod is surrounded by a right-angle trapezoid.

[0016] Driving wheels and main drive motors connected to the transmission are symmetrically installed on the left and right sides of the middle part of the chassis frame; laser radar devices for obstacle avoidance and power supply devices for powering all drive motors of the AGV vehicle are respectively installed on the front and rear ends of the upper part of the chassis frame.

[0017] The beneficial effects of the present invention are as follows:

[0018] The present invention adopts a parallel four-bar mechanism as a lifting component to realize the lifting of the jacking platform and the rotating platform. Compared with the screw thread transmission structure, it has the advantages of good balance, high transmission efficiency, simple and stable structure, large load capacity, etc.

[0019] The invention ensures the stability of the upper plane of the parallelogram mechanism by a long swing rod and a fixed connecting rod, and ensures the stability of the lower plane of the parallelogram mechanism by a three-section connecting rod structural design, thereby improving the stability of the jacking platform.

[0020] The lifting motor of the present invention provides torque for the parallel four-bar mechanism through only one rotating pair, and the power output is stable and efficient.

[0021] The present invention raises the camera installation surface through the special design of the chassis frame and the jacking base, providing a larger space for camera installation. By installing two upper and lower cameras, the objects on the platform and the information on the ground where the trolley is walking can be photographed and identified, thereby helping the trolley to obtain object loading and unloading information and trolley position information.

[0022] The front and rear driven wheels of the present invention have left-right swinging performance, and the rear driven wheel has front-back swinging performance, which improves the followability of the driven wheels, improves the flexible deformation capacity of the wheel frame structure, and strengthens the buffering performance of the vehicle body.

[0023] The rotating platform of the present invention can rotate horizontally, which is convenient for docking of objects.

[0024] The present invention has relatively low manufacturing cost, large installation space for intelligent controls, and is convenient for industrial large-scale production. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0026] Figure 2 This is a partial exploded structural diagram of the present invention after the driving wheel and the main drive motor are hidden.

[0027] Figure 3 for Figure 2 Another perspective of .

[0028] Figure 4 It is a schematic diagram of the installation structure of the parallel four-bar mechanism of the present invention.

[0029] Figure 5 The side view of the present invention is shown without the power supply device.

[0030] Figure 6 It is a structural schematic diagram of the jacking base of the present invention.

[0031] Figure 7 It is a structural schematic diagram of the chassis frame of the present invention.

[0032] Figure 8 It is a schematic diagram of the installation structure of the camera bracket of the present invention.

[0033] Fig. 9 It is a structural schematic diagram of the jacking platform of the present invention in a lowered state.

[0034] Fig.10 It is a structural schematic diagram of the jacking platform of the present invention in a raised state.

[0035] In the figure: 1. rotating platform; 2. laser radar device; 3. front driven wheel frame; 4. chassis frame; 5. driving wheel; 6. power supply device; 7. lifting platform; 8. retaining ring frame; 9. pinion; 10. rear driven wheel frame; 11. front wheel frame connecting shaft; 12. fixed connecting rod; 13. rocker; 14. driving connecting rod; 15. short swing rod; 16. platform angle connecting block; 17. chassis connecting frame; 18. long swing rod; 19. three-section connecting rod; 20. rear wheel frame connecting shaft; 21. front and rear connecting rods; 22. gear Surface; 23. Speed ​​reducer; 24. Lifting motor; 25. Lifting base; 26. Installing vertical plate; 27. Connecting frame swing arm; 28. Strengthening support rod; 29. ​​Hinge support two; 30. Hinge support one; 31. Lifting motor mounting seat; 32. Camera bracket; 33. Rotating motor; 34. Rotating motor frame; 35. Transmission gear; 36. Rotating bearing; 37. Main drive motor; 41. Chassis connecting hinge support; 42. Front wheel frame connecting shaft seat; 43. Main drive motor bearing seat mounting hole; 44. Hinge support three. DETAILED DESCRIPTION

[0036] The specific implementation of the present invention is described below with reference to the accompanying drawings.

[0037] like Figure 1 , Figure 2 and Figure 4 , Figure 6 As shown, the connecting rod lifting AGV trolley of this embodiment includes a chassis frame 4, which is a frame-shaped structure. A lifting base 25 with an elevated mounting surface is connected to the upper part of the chassis frame 4, and a set of parallel four-bar mechanisms are respectively arranged on the left and right sides above the chassis frame 4, and each set of parallel four-bar mechanisms is a parallelogram formed by connecting four hinges;

[0038] Each parallelogram has two hinge points, one at the top and one at the bottom. The two hinge points at the bottom are hinged to a hinge support 30 on the lifting base 25 through a short swing rod 15, and the other hinge point at the top is hinged to a fixed connecting rod 12 fixed to the lifting base 25 through a long swing rod 18.

[0039] A hinge point at the lower part of one of the parallelograms is hinged to one end of a rocker 13 through a driving connecting rod 14, and the other end of the rocker 13 is drivingly connected to a lifting motor 24;

[0040] The two sets of parallel four-bar mechanisms correspond to each other to form two upper and lower parallel horizontal planes. A lifting platform 7 is provided on the upper horizontal plane. The lifting motor 24 provides power to drive the parallel four-bar mechanism to swing forward and backward along the front and rear directions of the vehicle, thereby realizing the up and down lifting of the lifting platform 7.

[0041] Specifically, Figure 2As shown, the output shaft of the lifting motor 24 is connected to a reducer 23. Specifically, the output shaft of the lifting motor 24 is connected to the reducer 23, and the other end of the rocker 13 is fixedly connected to the reducer 23 via a flat key.

[0042] like Figure 2 , Figure 3 , Figure 6 and Figure 7 As shown, the front end of the jacking base 25 is directly hinged to the chassis frame 4, and the rear end is movably connected to the chassis frame 4 through the chassis connecting frame 17; the front and rear ends of the lower part of the chassis frame 4 are provided with a front driven wheel frame 3 and a rear driven wheel frame 10, and the middle part of the front driven wheel frame 3 is rotatably connected to the chassis frame 4 through the front wheel frame connecting shaft 11, so that when the front driven wheel frame 3 rotates around the front wheel frame connecting shaft 11, it swings left and right relative to the chassis frame 4;

[0043] The middle part of the rear driven wheel frame 10 is rotatably connected to the rear end of the chassis connecting frame 17 through the rear wheel frame connecting shaft 20, and the front end of the chassis connecting frame 17 is hinged to the chassis frame 4, so that when the rear driven wheel frame 10 rotates around the rear wheel frame connecting shaft 20, it swings left and right relative to the chassis frame 4, and can also swing up and down following the chassis connecting frame 17 around the hinge point where it is hinged with the chassis frame 4;

[0044] The front driven wheel frame 3 and the rear driven wheel frame 10 are used to install the front and rear driven wheels respectively.

[0045] Specifically, the front and rear driven wheels are all universal wheels.

[0046] like Figure 6 As shown, two fixed connecting rods 12 are respectively fixed on both sides of the front end of the jacking base 25, and the top of the fixed connecting rod 12 is provided with a hinge point for one end of the long swing rod 18 to rotate;

[0047] The lifting base 25 is provided with a hinge support 3 44 for connecting the chassis frame 4, a hinge support 1 30 for connecting the short swing rod 15, and a hinge support 2 29 having a height higher than the hinge support 1 30. The hinge support 2 29 is connected to the chassis frame 4 by the following method: Figure 3 The connecting frame swing arm 27 shown is rotatably connected to the chassis connecting frame 17.

[0048] like Figure 2 As shown, a rotating platform 1 is installed on the upper part of the jacking platform 7 through a slewing bearing 36 . The slewing bearing 36 is driven to rotate by a gear transmission assembly, thereby driving the rotating platform 1 to rotate around the central axis of the slewing bearing 36 .

[0049] The outer ring of the slewing bearing 36 is provided with a gear surface 22, and the gear transmission assembly includes a pinion 9 meshing with the gear surface 22 and a transmission gear 35 coaxially mounted with the pinion 9;

[0050] like Figure 5As shown, a rotary motor 33 is installed on the jacking platform 7 through a rotary motor frame 34, and an output shaft gear meshing with a transmission gear 35 is installed on the output shaft of the rotary motor 33.

[0051] Specifically, the transmission gear 35 and the output shaft gear are single gears or a driving gear pair can be used. The driving gear pair and the transmission gear 35 provide a large torque for the slewing bearing 36 through the pinion 9. The rotating platform 1 and the slewing bearing 36 are axially connected together, and the rotating platform 1 is driven to rotate through the slewing bearing 36.

[0052] Specifically, the gear transmission structure is simple and has high transmission efficiency. The output shaft gear installed on the output shaft of the rotary motor 33 is horizontally meshed with the transmission gear 35, which saves vertical space, has high space utilization, and is convenient for the installation of the rotary motor 33.

[0053] The rotating platform 1 is a ring-shaped structure with a hole in the middle. The lifting platform 7 is provided with a through hole in the middle, and a retaining ring frame 8 with a hole in the middle is provided therein. The top of the retaining ring frame 8 extends into the through hole of the rotating platform 1, and Figure 1 As shown, the top surface of the retaining ring frame 8 is lower than the top surface of the rotating platform 1.

[0054] The jacking base 25 is also provided with two reinforcing support rods 28, the reinforcing support rods 28 are located below the parallel four-bar mechanism, and the two reinforcing support rods 28 are provided with a camera bracket 32 ​​for mounting a camera;

[0055] The bottom surface of the retaining ring frame 8 is connected to the top of the camera bracket 32. A through hole is opened in the middle of the camera bracket 32. Two upper and lower camera mounting positions are provided at the bottom of the camera bracket 32. The camera lens of the upper camera mounting position can shoot objects on the rotating platform 1 through the through hole in the middle of the camera bracket 32, the through hole in the middle of the retaining ring frame 8, and the through hole in the middle of the rotating platform 1, thereby obtaining the object position information. The camera lens of the lower camera mounting position can shoot the markers on the ground below the chassis frame 4, thereby obtaining the AGV position information.

[0056] Specifically, Figure 8 As shown, a through hole is provided in the middle of the camera bracket 32, and connecting sections connected to the reinforcing support rod 28 are extended on both sides. The bottom surface of the camera bracket 32 ​​is connected to the mounting plate 26, and the mounting plate 26 has two mounting positions;

[0057] Specifically, the retaining ring frame 8 is a cylindrical structure, which is inserted into the jacking platform 7 and can move up and down with the jacking platform 7. The upper part of the retaining ring frame 8 has a retaining edge with an increased diameter, which can cooperate with the jacking platform 7, and Figure 1 As shown, the outer diameter of the retaining edge is smaller than the inner diameter of the through hole of the rotating platform 1, so that it is connected to the inner ring of the rotating platform 1. The function of the retaining ring frame 8 is to prevent dust from falling from the rotating platform 1 and play a dust-blocking role.

[0058] Specifically, the retaining ring frame 8 can adopt a hose structure, which is retractable and can be raised and lowered along with the jacking platform 7 .

[0059] Specifically, the camera lens installed at the upper mounting position of the mounting plate 26 faces upward, and can take pictures of the object placed on the rotating platform 1 through the through holes of the camera bracket 32 ​​and the through holes of the retaining ring frame 8 to obtain the object's position information. The camera lens installed at the lower mounting position of the mounting plate 26 faces downward, and can take pictures and scan the marking code (such as a QR code, bar code or other graphic code, etc.) on the ground (or other positioning surface) where the trolley is traveling through the hollow structure of the jacking base 25 and the chassis frame 4, so as to obtain the position information of the trolley.

[0060] like Figure 4 As shown, the structure of each parallel four-bar mechanism includes three connecting rods 19, both ends of which are respectively hinged to the bottom end of a front and rear connecting rod 21, and are simultaneously hinged to one end of a short swing rod 15 at the hinge point;

[0061] The top ends of the four front and rear connecting rods 21 of the two parallel four-bar mechanisms are each hinged with a platform corner connecting block 16, and the four corners of the jacking platform 7 are respectively engaged with the four platform corner connecting blocks 16, so that the jacking platform 7 is horizontally installed in the horizontal plane formed by the four platform corner connecting blocks 16.

[0062] Specifically, the four platform corner connecting blocks 16 are welded to the jacking platform 7 , so as to further improve the stability and balance performance of the jacking platform 7 structure.

[0063] The three-section connecting rod 19 is bent, with the middle portion being a horizontal section, and both ends of the horizontal section being bent downward and extended to form vertical sections, and the vertical section at one end is inclined, so that the cross section of the three-section connecting rod 19 is enclosed in a right-angled trapezoid.

[0064] Specifically, the front and rear connecting rods 21 at both ends of the three-section connecting rod 19 are arranged in parallel, and they always remain parallel during the lifting process of the jacking platform 7.

[0065] Specifically, the horizontal rod segments of the three-section connecting rods 19 of the two parallel four-bar mechanisms constitute the lower horizontal plane in the above-mentioned "two sets of parallel four-bar mechanisms corresponding to each other to form two upper and lower parallel horizontal planes", and the jacking platform 7 constitutes the upper horizontal plane. The three-section connecting rod 19 always remains horizontal during the lifting process of the jacking platform 7, and the jacking platform 7 also always remains horizontal during the lifting process.

[0066] Specifically, Figure 6As shown, a swing support structure is provided at the top of the parallelogram mechanism by fixing the connecting rod 12 and the long swing rod 18, so that the top structure of the parallelogram mechanism is more stable; the three-section connecting rod 19 is bent, the middle part is a horizontal rod section, and the two ends of the horizontal rod section are bent downward and extended to form vertical rod sections, and the vertical rod section at one end is inclined, so that the cross-section of the three-section connecting rod 19 is surrounded by a right-angled trapezoid, so that the bottom structure of the parallelogram mechanism is more stable.

[0067] Driving wheels 5 and a main drive motor 37 connected to the transmission are symmetrically installed on the left and right sides of the middle of the chassis frame 4; a laser radar device 2 for obstacle avoidance and a power supply device 6 for powering all drive motors of the AGV vehicle are respectively installed on the front and rear ends of the upper part of the chassis frame 4.

[0068] Specifically, Figure 7 As shown, a front wheel frame connecting shaft seat 42 is provided at the front end of the chassis frame 4, and the front wheel frame connecting shaft 11 is installed in the front wheel frame connecting shaft seat 42, and the front driven wheel frame 3 is rotatably connected to the chassis frame 4;

[0069] Main drive motor bearing seat mounting holes 43 are provided on both sides of the middle of the chassis frame 4 for mounting the driving wheel 5 ; specifically, the driving wheel 5 can control the movement of the trolley by differential driving.

[0070] A chassis connecting hinge support 41 is provided at the rear end of the chassis frame 4, and is hinged to the chassis connecting frame 17 via the chassis connecting hinge support 41.

[0071] The chassis frame 4 is hollow in the middle to provide a viewing space for the lower camera.

[0072] Specifically, Figure 6 As shown, the front end of the lifting base 25 is connected to the corresponding hinge seat on the chassis frame 4 through the hinge support 3 44, the hinge support 29 on the lifting base 25 is hinged to one end of the connecting frame swing rod 27, and the other end of the connecting frame swing rod 27 is hinged to the chassis connecting frame 17. Figure 3 As shown, the chassis connecting frame 17 is provided with two groups of reaming holes arranged at intervals, one group is hinged to the chassis connecting hinge support 41, and the other group is hinged to one end of the connecting frame swing rod 27, and the other end of the connecting frame swing rod 27 is hinged to the hinge support 29. As a result, when the trolley goes up and down the slope, the rear driven wheel has stronger followability, preventing the rigid deformation of the driven wheel frame and improving the stability of the structure. Similarly, the front and rear driven wheel frames are connected to the chassis frame 4 (chassis connecting frame 17) through the front wheel frame connecting shaft 11 and the rear wheel frame connecting shaft 20 respectively, so that the front and rear driven wheels of the trolley can follow the uneven road, improve the flexible deformation ability of the wheel frame structure, and enhance the buffering performance of the vehicle body.

[0073] The lifting base 25 is also provided with a lifting motor mounting seat 31 for mounting the lifting motor 24 (or / and the reducer 23).

[0074] Specifically, the laser radar is installed at the front of the AGV car for obstacle avoidance. The power supply device 6 can be a battery, and a charging interface for charging the battery is also installed at the rear end (rear end) of the car.

[0075] Specifically, a driver board is also installed on the car. After the camera obtains the QR code information, it will calculate the optimal path required. If multiple AGVs are working at the same time, the paths need to be reasonably allocated to avoid obstacles.

[0076] Specifically, a control panel is set at the front of the AGV car to coordinate the underlying control of the car: including 5-speed differential movement of the two active wheels, platform lifting and rotation, and obstacle avoidance of the car.

[0077] Specifically, the two reinforcing support rods 28, on the one hand, connect the two spaced-apart parts of the lifting base 25 (in order to provide space for the lower camera lens to shoot the ground), and on the other hand, utilize the higher mounting surface at the top of the lifting base 25 to provide sufficient installation space for the camera.

[0078] The lifting motor 24 (reducer 23) provides the torque required for lifting, and drives the entire parallel four-bar mechanism to swing back and forth through the rocker 13 and the driving connecting rod 14, thereby making the lifting platform 7 and the rotating platform 1 move up and down. Fig. 9 and Fig.10 The diagrams shown are schematic diagrams of the structure of the rotating platform 1 in two states: lowered and raised.

[0079] It should be noted that, through the comprehensive design of the length dimensions of the front and rear connecting rods 21 and other rods, the lifting stroke of the jacking platform 7 is adjusted to meet the actual use requirements. Fig. 9 and Fig.10 The lifting action of the jacking platform 7 is only indicated, and its lifting stroke is not limited.

[0080] Specifically, the operation process of the AGV vehicle in this embodiment is as follows:

[0081] After the AGV car obtains the command by shooting the QR code printed on the ground with the lower camera and moves to the specified position, the lifting motor 24 starts to lift the lifting platform 7 (and the rotating platform 1), and the lifting platform 7 is lowered after the goods are transported to the rotating platform 1; the AGV car drives to the designated location according to the command sent by the QR code (during the process, the posture and orientation are adjusted by the differential motion of the dual-drive active wheels), and the posture of the goods is adjusted by the rotating platform 1. After alignment, the goods are transported to the designated shelf or another conveyor belt. When the upper camera captures the goods moving away from the platform and confirms that the goods have been successfully docked, it returns to the starting point or goes to pick up another goods, thereby completing a cargo transportation.

Claims

1. A connecting rod lifting AGV, comprising a chassis frame (4), characterized in that: The chassis frame (4) is in a frame-shaped structure, and a lifting base (25) with an elevated mounting surface is connected to the upper part of the chassis frame (4), and a set of parallelogram mechanisms are respectively arranged on the left and right sides above the chassis frame (4), and each set of the parallelogram mechanisms is a parallelogram formed by connecting four hinges; Each of the parallelograms has two hinge points, one at the top and one at the bottom. The two hinge points at the bottom are each hinged to the lifting base (25) via a short swing rod (15), and the other hinge point at the top is hinged to a fixed connecting rod (12) fixed to the lifting base (25) via a long swing rod (18). A hinge point at the lower part of one of the parallelograms is hinged to one end of a rocker (13) through a driving connecting rod (14), and the other end of the rocker (13) is drivingly connected to a lifting motor (24); The two groups of parallel four-bar mechanisms correspond to each other to form two upper and lower parallel horizontal planes, and a lifting platform (7) is provided on the upper horizontal plane. The lifting motor (24) provides power to drive the parallel four-bar mechanism to swing back and forth, thereby realizing the lifting of the lifting platform (7); The front end of the lifting base (25) is directly hinged to the chassis frame (4), and the rear end is movably connected to the chassis frame (4) via a chassis connecting frame (17); A front driven wheel frame (3) and a rear driven wheel frame (10) are provided at the front and rear ends of the lower part of the chassis frame (4); the middle part of the front driven wheel frame (3) is rotatably connected to the chassis frame (4) via a front wheel frame connecting shaft (11), so that when the front driven wheel frame (3) rotates around the front wheel frame connecting shaft (11), it swings left and right relative to the chassis frame (4); The middle portion of the rear driven wheel frame (10) is rotatably connected to the rear end of the chassis connecting frame (17) via a rear wheel frame connecting shaft (20), and the front end of the chassis connecting frame (17) is hinged to the chassis frame (4), so that when the rear driven wheel frame (10) rotates around the rear wheel frame connecting shaft (20), it swings left and right relative to the chassis frame (4), and can also swing up and down following the chassis connecting frame (17) around the hinge point where it is hinged to the chassis frame (4); The front driven wheel frame (3) and the rear driven wheel frame (10) are used to mount the front and rear driven wheels respectively; A rotating platform (1) is installed on the upper part of the jacking platform (7) via a slewing bearing (36); the rotating platform (1) is an annular structure with a hole in the middle; a through hole is provided in the middle of the jacking platform (7), a retaining ring frame (8) with a hole in the middle is provided therein, and the top of the retaining ring frame (8) extends into the through hole of the rotating platform (1); A reinforcing support rod (28) is also provided on the lifting base (25), and the reinforcing support rod (28) is located below the parallel four-bar mechanism. A camera bracket (32) for mounting a camera is provided on the reinforcing support rod (28); The bottom surface of the retaining ring frame (8) is connected to the top of the camera bracket (32), a through hole is opened in the middle of the camera bracket (32), and two upper and lower camera mounting positions are provided at the bottom of the camera bracket (32). The camera lens of the upper camera mounting position can shoot an object on the rotating platform (1) through the middle through hole of the camera bracket (32), the middle through hole of the retaining ring frame (8), and the middle through hole of the rotating platform (1), thereby obtaining object position information, and the camera lens of the lower camera mounting position can shoot a marker on the ground below the chassis frame (4), thereby obtaining AGV position information.

2. The connecting rod lifting AGV according to claim 1 is characterized in that: The two fixed connecting rods (12) are respectively fixedly mounted on both sides of the front end of the lifting base (25), and the top end of the fixed connecting rod (12) is provided with a hinge point for rotating one end of the long swing rod (18); The two sides of the jacking base (25) are provided with hinge support three (44) for connecting to the chassis frame (4), hinge support one (30) connected to the short swing arm (15), and hinge support two (29) with a height higher than the hinge support one (30). The hinge support two (29) is rotatably connected to the chassis connecting frame (17) through a connecting frame swing arm (27).

3. The connecting rod lifting AGV according to claim 1 or 2, characterized in that: The slewing bearing (36) is driven to rotate by a gear transmission assembly, thereby driving the rotating platform (1) to rotate around the central axis of the slewing bearing (36).

4. The connecting rod lifting AGV according to claim 3 is characterized in that: The outer ring of the slewing bearing (36) is provided with a gear surface (22), and the gear transmission assembly comprises a pinion (9) meshing with the gear surface (22) and a transmission gear (35) coaxially mounted with the pinion (9); A rotary motor (33) is mounted on the lifting platform (7), and an output shaft thereof is mounted with an output shaft gear meshing with the transmission gear (35).

5. The connecting rod lifting AGV according to claim 3 is characterized in that: The top surface of the retaining ring frame (8) is lower than the top surface of the rotating platform (1).

6. The connecting rod lifting AGV according to claim 1, characterized in that: The structure of each parallel four-bar mechanism comprises three connecting rods (19), both ends of which are respectively hinged to the bottom end of a front and rear connecting rod (21), and are simultaneously hinged to one end of the short swing rod (15) at the hinge point; The top ends of the four front and rear connecting rods (21) of the two parallel four-bar mechanisms are each hingedly connected to a platform corner connecting block (16), and the four corners of the jacking platform (7) are respectively engaged with the four platform corner connecting blocks (16); The three-section connecting rod (19) is in a bent shape, wherein the middle portion is a horizontal rod section, and both ends of the horizontal rod section are bent downward and extended to form vertical rod sections, and the vertical rod section at one end is arranged obliquely, so that the cross section of the three-section connecting rod (19) is surrounded by a right-angled trapezoid.

7. The connecting rod lifting AGV according to claim 1, characterized in that: Driving wheels (5) and a main drive motor (37) connected thereto are symmetrically mounted on the left and right sides of the middle of the chassis frame (4); a laser radar device (2) for avoiding obstacles and a power supply device (6) for supplying power to all the drive motors of the AGV vehicle are respectively mounted on the front and rear ends of the upper part of the chassis frame (4).

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